version: 66.04
glider: 101
mission: 7
dive: 188
start: 12 8 108 21 17 42
data:
$ID,101
$MISSION,7
$DIVE,188
$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,-735913.06
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,211211,6415.765,-1157.108,43,2.0,44,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-54.4
$GPS2,211721,6415.743,-1157.106,15,1.6,15,-11.9
$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,231.7,74098,-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,-146.6,0.0,0.0,0,73,0.00,0.00,-55.72,0.000,2,0.000,0.000,27,2523,2889
$GC,77,-1.16,-146.6,3.0,-3.2,3,120,10.88,2.15,-21.48,0.000,4,0.124,0.071,2116,3690,3513
$GC,374,-1.02,-146.6,32.4,-8.6,16,378,0.17,2.00,0.00,0.000,6,0.083,0.034,2151,2511,3514
$GC,696,-1.02,-146.6,54.5,-4.7,32,699,0.00,2.12,0.00,0.000,4,0.000,0.054,2151,3695,3514
$GC,855,-0.98,-146.6,62.9,-6.6,39,859,0.00,2.00,0.00,0.000,6,0.000,0.034,2151,2515,3514
$GC,1189,-0.98,-146.6,86.6,-8.4,55,1192,0.00,2.10,0.00,0.000,4,0.000,0.054,2151,3687,3514
$GC,1290,-0.98,-146.6,95.0,-7.7,59,1293,0.00,2.00,0.00,0.000,6,0.000,0.034,2151,2506,3514
$GC,1612,-0.98,-146.6,118.2,-7.4,75,1616,0.00,2.12,0.00,0.000,4,0.000,0.053,2151,3695,3514
$GC,1681,-0.98,-146.6,123.2,-7.6,78,1685,0.00,2.00,0.00,0.000,6,0.000,0.033,2151,2511,3514
$GC,2015,-0.98,-146.6,145.6,-6.2,94,2018,0.00,2.10,0.00,0.000,4,0.000,0.053,2151,3686,3514
$GC,2108,-0.94,-146.6,152.6,-8.0,98,2111,0.00,1.98,0.00,0.000,6,0.000,0.034,2151,2516,3514
$GC,2441,-0.94,-146.6,176.9,-8.2,114,2444,0.00,2.10,0.00,0.000,4,0.000,0.054,2151,3691,3514
$GC,2488,-0.89,-146.6,181.0,-9.2,116,2493,0.15,2.00,0.00,0.000,6,0.082,0.034,2182,2506,3514
$GC,2821,-0.94,-146.6,208.8,-8.6,132,2824,0.00,2.12,0.00,0.000,4,0.000,0.054,2182,3695,3514
$GC,2922,-0.94,-146.6,217.8,-8.5,136,2926,0.00,2.00,0.00,0.000,6,0.000,0.034,2182,2507,3514
$GC,3244,-0.99,-146.6,243.2,-8.2,152,3248,0.10,2.12,0.00,0.000,4,0.058,0.054,2151,3694,3514
$GC,3381,-0.99,-146.6,256.1,-9.8,158,3385,0.00,2.00,0.00,0.000,6,0.000,0.034,2150,2510,3514
$GC,3709,-0.99,-146.6,285.0,-8.5,174,3712,0.00,2.12,0.00,0.000,4,0.000,0.056,2150,3695,3514
$GC,3777,-0.99,-146.6,291.3,-9.1,177,3781,0.00,1.98,0.00,0.000,6,0.000,0.034,2150,2513,3514
$GC,4110,-0.99,-146.6,321.0,-8.8,193,4114,0.00,2.10,0.00,0.000,4,0.000,0.057,2151,3684,3514
$GC,4174,-0.99,-146.6,326.9,-9.1,195,4180,0.00,2.00,0.00,0.000,6,0.000,0.035,2150,2521,3514
$GC,4491,-0.99,-146.6,354.7,-8.8,211,4494,0.00,2.10,0.00,0.000,4,0.000,0.059,2150,3692,3514
$GC,4660,-0.99,-146.6,369.2,-7.9,218,4664,0.00,2.00,0.00,0.000,6,0.000,0.035,2150,2518,3514
$GC,4982,-0.99,-146.6,391.8,-6.6,234,4985,0.00,2.12,0.00,0.000,4,0.000,0.062,2150,3685,3514
$GC,5159,-0.99,-146.6,402.1,-5.8,241,5165,0.00,2.00,0.00,0.000,6,0.000,0.036,2150,2517,3514
$STATE,5266,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5266,begin apogee
$GC,5274,-0.45,0.0,408.8,6.1,247,5403,0.57,0.00,125.25,1.083,6,0.067,0.000,2274,2313,2915
$STATE,5403,end apogee,CONTROL_FINISHED_OK
$STATE,5403,begin climb
$GC,5407,1.16,146.6,412.6,0.0,253,5540,1.60,2.62,123.65,1.045,4,0.055,0.058,2624,918,2317
$GC,5589,1.27,239.0,403.6,3.2,261,5675,0.12,2.50,78.72,1.021,6,0.067,0.044,2652,2312,1940
$GC,5992,1.27,239.0,375.7,8.1,281,5996,0.00,2.53,0.00,0.000,4,0.000,0.061,2652,3700,1939
$GC,6065,1.22,239.0,369.8,8.2,284,6070,0.00,2.42,0.00,0.000,6,0.000,0.037,2651,2314,1939
$GC,6382,1.22,239.0,347.7,6.5,299,6386,0.00,2.53,0.00,0.000,4,0.000,0.058,2652,3695,1938
$GC,6455,1.22,239.0,342.5,7.2,302,6459,0.00,2.40,0.00,0.000,6,0.000,0.036,2652,2312,1938
$GC,6771,1.22,239.0,322.5,6.6,317,6775,0.00,2.53,0.00,0.000,4,0.000,0.057,2652,3696,1938
$GC,6816,1.18,239.0,319.0,7.7,319,6820,0.00,2.40,0.00,0.000,6,0.000,0.035,2652,2309,1938
$GC,7137,1.18,239.0,294.4,7.4,335,7142,0.00,2.50,0.00,0.000,4,0.000,0.056,2651,3695,1938
$GC,7188,1.13,239.0,290.0,9.0,337,7193,0.15,2.38,0.00,0.000,6,0.094,0.035,2622,2316,1937
$GC,7505,1.13,239.0,267.6,6.8,352,7509,0.00,2.50,0.00,0.000,4,0.000,0.056,2621,3696,1937
$GC,7551,1.13,239.0,264.5,6.7,354,7555,0.00,2.38,0.00,0.000,6,0.000,0.035,2622,2309,1937
$GC,7884,1.18,241.3,243.4,5.9,370,7888,0.00,2.50,0.00,0.000,4,0.000,0.054,2622,3692,1937
$GC,7907,1.18,241.3,241.7,7.0,371,7911,0.00,2.38,0.00,0.000,6,0.000,0.034,2622,2308,1937
$GC,8229,1.23,241.3,222.3,6.1,387,8233,0.00,2.50,0.00,0.000,4,0.000,0.054,2622,3696,1937
$GC,8268,1.23,241.3,219.8,6.4,388,8274,0.00,2.38,0.00,0.000,6,0.000,0.033,2621,2305,1937
$GC,8585,1.27,241.3,197.9,7.5,404,8589,0.12,2.50,0.00,0.000,4,0.053,0.053,2657,3692,1937
$GC,8626,1.21,241.3,194.2,9.2,406,8630,0.00,2.35,0.00,0.000,6,0.000,0.033,2657,2315,1937
$GC,8953,1.21,241.3,162.7,9.6,422,8957,0.00,2.45,0.00,0.000,4,0.000,0.047,2657,918,1937
$GC,8993,1.21,241.3,158.8,9.3,424,8998,0.00,2.45,0.00,0.000,6,0.000,0.038,2657,2324,1937
$GC,9321,1.21,241.3,130.4,8.5,440,9325,0.00,2.42,0.00,0.000,4,0.000,0.054,2657,3692,1937
$GC,9362,1.16,241.3,126.7,9.1,442,9367,0.15,2.35,0.00,0.000,6,0.094,0.034,2628,2317,1937
$GC,9690,1.16,241.3,100.9,6.9,458,9694,0.00,2.47,0.00,0.000,4,0.000,0.053,2628,3696,1937
$GC,9712,1.16,241.3,98.6,9.2,459,9716,0.00,2.35,0.00,0.000,6,0.000,0.032,2628,2318,1937
$GC,10034,1.16,241.3,74.7,7.1,475,10038,0.00,2.45,0.00,0.000,4,0.000,0.053,2627,3687,1937
$GC,10084,1.16,241.3,71.0,8.0,477,10088,0.00,2.35,0.00,0.000,6,0.000,0.032,2628,2306,1937
$GC,10402,1.16,241.3,46.7,8.9,492,10407,0.00,2.47,0.00,0.000,4,0.000,0.052,2628,3689,1937
$GC,10421,1.16,241.3,44.1,10.7,493,10425,0.00,2.33,0.00,0.000,6,0.000,0.032,2628,2315,1937
$GC,10755,1.23,241.3,9.3,9.7,509,10759,0.00,2.45,0.00,0.000,4,0.000,0.052,2628,3687,1937
$GC,10800,1.23,241.3,4.9,9.1,511,10804,0.00,2.35,0.00,0.000,6,0.000,0.032,2628,2305,1937
$STATE,10830,end climb,SURFACE_DEPTH_REACHED
$STATE,10830,begin surface coast
$FINISH,1.0,1.027455
$STATE,10851,end surface coast,CONTROL_FINISHED_OK
$STATE,10851,begin surface
$SM_CCo,10876,52.12,0.783,2,0,1692,300.00
$SM_GC,1.54,0.00,0.00,52.12,0.000,0.000,0.783,29,2521,1692,-10.79,0.08,300.00
$IRIDIUM_FIX,6346.88,-1158.42,040398,171752
$TT8_MAMPS,0.029146
$HUMID,2026
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,325.3,93.1
$24V_AH,23.2,30.631
$10V_AH,10.1,14.044
$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,25.575,123.250,327.625,52.125,0.000,22.534,37.021,122.679,2.250,0.000,0.000,17.382,1041.239,7845.442,474.326,1433.802,460.163,0.000,1216.881,0.000,1398.831,0.000,16.995,0.000
$DEVICE_MAMPS,124.254,70.564,1083.004,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.798,349.973,426.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25432,514
$CAP_FILE_SIZE,94081,0
$CFSIZE,260165632,248164352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091208,002228,6414.573,-1201.522,84,2.7,103,-12.0