version: 66.04
glider: 101
mission: 7
dive: 184
start: 12 8 108 7 15 54
data:
$ID,101
$MISSION,7
$DIVE,184
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,0.94999993
$RHO,1.023
$MASS,50300
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,60
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.150002
$TGT_DEFAULT_LON,-125.67
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-735812.06
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2375
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,11
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,177
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2517
$C_ROLL_CLIMB,2317
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,657
$VBD_MAX,3935
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.271928
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-1.3
$TCM_ROLL_OFFSET,-0.2
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042858003
$SEABIRD_T_H,0.00062598009
$SEABIRD_T_I,2.1740922e-05
$SEABIRD_T_J,2.0518198e-06
$SEABIRD_C_G,-9.9824123
$SEABIRD_C_H,1.1171527
$SEABIRD_C_I,-0.00017022179
$SEABIRD_C_J,0.00010324208
$GPS1,070955,6417.102,-1201.999,35,1.9,35,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-55.0
$GPS2,071535,6417.111,-1201.755,10,2.7,29,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,228.3,73748,-10.7,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.75,0.000,2,0.000,0.000,22,2510,3401
$GC,103,-1.16,-146.6,5.2,-6.1,4,125,10.93,2.17,-2.40,0.000,4,0.126,0.068,2116,3689,3516
$GC,378,-1.02,-146.6,45.8,-11.0,16,382,0.17,2.00,0.00,0.000,6,0.083,0.034,2151,2511,3516
$GC,700,-1.02,-146.6,63.5,-4.9,32,703,0.00,2.12,0.00,0.000,4,0.000,0.053,2151,3696,3516
$GC,802,-0.97,-146.6,70.1,-6.5,36,805,0.00,2.00,0.00,0.000,6,0.000,0.033,2150,2515,3516
$GC,1125,-0.97,-146.6,90.4,-6.6,52,1129,0.00,2.12,0.00,0.000,4,0.000,0.053,2151,3703,3516
$GC,1142,-0.97,-146.6,91.9,-7.1,52,1149,0.00,2.05,0.00,0.000,6,0.000,0.033,2151,2508,3516
$GC,1459,-0.97,-146.6,111.4,-6.1,68,1463,0.00,2.12,0.00,0.000,4,0.000,0.053,2151,3697,3516
$GC,1561,-0.93,-146.6,118.7,-7.2,72,1565,0.10,2.00,0.00,0.000,6,0.090,0.033,2171,2513,3516
$GC,1882,-0.93,-146.6,134.1,-4.3,88,1886,0.00,2.12,0.00,0.000,4,0.000,0.053,2171,3702,3516
$GC,1976,-0.93,-146.6,138.1,-4.1,92,1980,0.00,2.00,0.00,0.000,6,0.000,0.033,2171,2514,3516
$GC,2309,-0.93,-146.6,153.8,-5.6,108,2313,0.00,2.10,0.00,0.000,4,0.000,0.053,2171,3692,3516
$GC,2333,-0.93,-146.6,155.2,-5.6,109,2337,0.00,2.00,0.00,0.000,6,0.000,0.033,2171,2504,3516
$GC,2666,-0.93,-146.6,174.0,-6.3,125,2670,0.00,2.12,0.00,0.000,4,0.000,0.053,2171,3702,3516
$GC,2758,-0.93,-146.6,180.4,-6.3,129,2761,0.00,2.00,0.00,0.000,6,0.000,0.033,2171,2515,3516
$GC,3091,-0.93,-146.6,203.4,-7.2,145,3095,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3698,3516
$GC,3209,-0.93,-146.6,212.3,-8.1,150,3212,0.00,2.00,0.00,0.000,6,0.000,0.033,2171,2513,3516
$GC,3536,-0.93,-146.6,237.0,-7.4,166,3540,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3703,3516
$GC,3623,-0.93,-146.6,243.9,-8.2,169,3628,0.00,2.00,0.00,0.000,6,0.000,0.032,2171,2514,3516
$GC,3939,-0.93,-146.6,264.1,-5.6,185,3943,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3702,3516
$GC,4035,-0.93,-146.6,269.7,-6.0,189,4038,0.00,2.00,0.00,0.000,6,0.000,0.032,2171,2511,3516
$GC,4362,-0.93,-146.6,291.6,-7.4,205,4366,0.00,2.12,0.00,0.000,4,0.000,0.055,2171,3699,3516
$GC,4503,-0.93,-146.6,302.9,-8.6,211,4507,0.00,2.00,0.00,0.000,6,0.000,0.033,2171,2512,3516
$GC,4830,-0.93,-146.6,328.5,-8.1,227,4834,0.00,2.12,0.00,0.000,4,0.000,0.057,2171,3695,3516
$GC,4909,-0.93,-146.6,335.1,-8.2,230,4913,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2514,3516
$GC,5231,-0.93,-146.6,360.1,-8.0,246,5235,0.00,2.12,0.00,0.000,4,0.000,0.059,2171,3689,3516
$GC,5368,-0.93,-146.6,371.8,-8.4,252,5372,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2514,3516
$GC,5701,-0.93,-146.6,393.5,-7.0,268,5705,0.00,2.15,0.00,0.000,4,0.000,0.063,2171,3699,3515
$GC,5895,-0.93,-146.6,408.0,-7.6,276,5899,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2518,3516
$STATE,6007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6007,begin apogee
$GC,6016,-0.45,0.0,416.1,6.7,282,6149,0.47,0.00,126.38,1.092,6,0.063,0.000,2274,2315,2915
$STATE,6150,end apogee,CONTROL_FINISHED_OK
$STATE,6150,begin climb
$GC,6154,1.16,146.6,420.9,0.0,289,6285,1.60,0.00,124.18,1.058,6,0.055,0.000,2624,2315,2317
$GC,6609,1.22,197.4,402.9,4.5,311,6659,0.00,2.65,44.38,1.043,4,0.000,0.063,2624,3692,2110
$GC,6741,1.22,197.4,395.9,6.2,317,6745,0.00,2.42,0.00,0.000,6,0.000,0.038,2624,2314,2109
$GC,7068,1.22,202.2,374.5,5.9,333,7079,0.00,2.58,6.10,0.847,4,0.000,0.060,2624,3696,2089
$GC,7147,1.22,202.2,369.2,6.6,336,7153,0.00,2.42,0.00,0.000,6,0.000,0.038,2624,2312,2089
$GC,7464,1.29,254.4,353.3,4.4,352,7515,0.15,2.58,45.17,1.058,4,0.050,0.060,2664,3689,1877
$GC,7538,1.23,254.4,348.6,6.4,355,7545,0.12,2.42,0.00,0.000,6,0.097,0.037,2641,2311,1877
$GC,7855,1.23,254.4,329.0,7.1,371,7859,0.00,2.53,0.00,0.000,4,0.000,0.059,2641,3693,1876
$GC,7923,1.23,254.4,323.6,8.0,374,7928,0.00,2.40,0.00,0.000,6,0.000,0.036,2640,2310,1875
$GC,8250,1.23,254.4,299.9,7.1,390,8254,0.00,2.53,0.00,0.000,4,0.000,0.058,2641,3693,1875
$GC,8290,1.23,254.4,297.2,7.2,392,8294,0.00,2.40,0.00,0.000,6,0.000,0.035,2640,2306,1875
$GC,8617,1.23,254.4,271.8,8.5,408,8621,0.00,2.53,0.00,0.000,4,0.000,0.056,2640,3695,1875
$GC,8680,1.23,254.4,266.4,8.3,411,8684,0.00,2.40,0.00,0.000,6,0.000,0.035,2640,2304,1875
$GC,9007,1.23,254.4,242.6,7.0,427,9011,0.00,2.53,0.00,0.000,4,0.000,0.054,2640,3699,1875
$GC,9085,1.23,254.4,236.7,6.7,430,9091,0.00,2.40,0.00,0.000,6,0.000,0.035,2640,2306,1875
$GC,9402,1.23,254.4,214.3,7.1,446,9406,0.00,2.50,0.00,0.000,4,0.000,0.054,2640,3692,1875
$GC,9452,1.23,254.4,210.3,8.2,448,9456,0.00,2.38,0.00,0.000,6,0.000,0.033,2641,2307,1875
$GC,9768,1.23,254.4,184.4,7.7,463,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2306,1875
$GC,10077,1.23,254.4,154.6,7.5,478,10081,0.00,2.47,0.00,0.000,4,0.000,0.052,2640,3691,1875
$GC,10162,1.34,345.2,150.8,3.3,481,10245,0.12,2.35,75.32,0.928,6,0.054,0.033,2674,2314,1506
$GC,10562,1.34,345.2,118.3,9.9,501,10566,0.00,2.50,0.00,0.000,4,0.000,0.053,2674,3698,1506
$GC,10618,1.34,345.2,111.7,11.1,503,10624,0.00,2.38,0.00,0.000,6,0.000,0.033,2674,2319,1506
$GC,10934,1.34,345.2,82.1,8.7,519,10939,0.00,2.47,0.00,0.000,4,0.000,0.052,2674,3692,1506
$GC,10980,1.34,345.2,78.4,8.6,521,10984,0.00,2.38,0.00,0.000,6,0.000,0.032,2674,2305,1505
$GC,11302,1.34,345.2,46.3,11.3,537,11306,0.00,2.50,0.00,0.000,4,0.000,0.052,2674,3700,1506
$GC,11364,1.34,345.2,39.0,12.3,539,11370,0.00,2.35,0.00,0.000,6,0.000,0.032,2674,2316,1506
$GC,11682,1.34,345.2,4.3,8.5,555,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2314,1505
$STATE,11718,end climb,SURFACE_DEPTH_REACHED
$STATE,11718,begin surface coast
$FINISH,0.9,1.004481
$STATE,11740,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11825,0.00,0.000,0,0,1505,345.87
$SM_GC,1.41,11.77,0.00,0.00,0.041,0.000,0.000,27,2534,1505,-10.74,0.48,345.87
$IRIDIUM_FIX,6351.77,-1213.99,040398,030321
$TT8_MAMPS,0.028379
$HUMID,2014
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,325.2,100.0
$24V_AH,23.2,30.129
$10V_AH,10.1,13.784
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.450,117.625,421.525,0.000,0.000,28.181,26.613,138.778,2.250,0.000,0.000,31.531,1100.248,8537.470,496.307,1554.510,475.160,0.000,1299.195,0.000,1503.708,0.000,17.017,0.000
$DEVICE_MAMPS,125.788,68.263,1092.208,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.105,379.530,437.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28573,558
$CAP_FILE_SIZE,96310,0
$CFSIZE,260165632,248365056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081208,103407,6415.987,-1159.925,28,1.3,28,-12.0