version: 66.04
glider: 101
mission: 7
dive: 189
start: 12 9 108 0 28 3
data:
$ID,101
$MISSION,7
$DIVE,189
$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,-735946.38
$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,40
$R_STBD_OVSHOOT,27
$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
$GPS1,002228,6414.573,-1201.522,84,2.7,103,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-51.6
$GPS2,002744,6414.539,-1201.635,14,1.9,31,-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,230.6,70025,-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,-80.53,0.000,2,0.000,0.000,29,2521,3416
$GC,103,-1.16,-146.6,4.2,-4.3,4,125,10.93,2.12,-2.30,0.000,4,0.127,0.071,2114,3683,3515
$GC,379,-1.01,-146.6,36.4,-10.5,16,384,0.20,2.00,0.00,0.000,6,0.083,0.034,2154,2507,3516
$GC,700,-1.01,-146.6,64.0,-9.7,32,704,0.00,2.12,0.00,0.000,4,0.000,0.054,2154,3690,3516
$GC,889,-0.96,-146.6,75.6,-7.6,40,893,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2511,3516
$GC,1218,-0.96,-146.6,97.4,-7.5,56,1222,0.00,2.10,0.00,0.000,4,0.000,0.054,2154,3688,3516
$GC,1247,-0.96,-146.6,99.7,-7.9,57,1250,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2507,3516
$GC,1575,-0.96,-146.6,122.2,-7.2,73,1578,0.00,2.12,0.00,0.000,4,0.000,0.054,2154,3693,3516
$GC,1654,-0.96,-146.6,129.0,-8.5,76,1657,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2514,3516
$GC,1977,-0.96,-146.6,150.8,-6.9,92,1980,0.00,2.10,0.00,0.000,4,0.000,0.054,2154,3688,3516
$GC,2050,-0.96,-146.6,155.7,-7.2,95,2054,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2506,3516
$GC,2378,-0.96,-146.6,177.4,-6.7,111,2382,0.00,2.12,0.00,0.000,4,0.000,0.054,2154,3695,3516
$GC,2440,-0.96,-146.6,182.3,-6.6,113,2446,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2511,3516
$GC,2757,-0.96,-146.6,202.3,-7.3,129,2760,0.00,2.10,0.00,0.000,4,0.000,0.054,2154,3686,3516
$GC,2814,-0.96,-146.6,206.4,-7.5,131,2818,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2504,3516
$GC,3136,-0.96,-146.6,224.8,-5.2,147,3141,0.00,2.12,0.00,0.000,4,0.000,0.054,2154,3691,3516
$GC,3205,-0.96,-146.6,228.4,-5.2,150,3209,0.00,2.00,0.00,0.000,6,0.000,0.035,2154,2507,3516
$GC,3539,-0.96,-146.6,245.0,-4.7,166,3543,0.00,2.10,0.00,0.000,4,0.000,0.054,2154,3688,3516
$GC,3602,-0.96,-146.6,248.6,-5.6,168,3608,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2504,3516
$GC,3918,-0.96,-146.6,265.8,-5.6,184,3922,0.00,2.12,0.00,0.000,4,0.000,0.055,2154,3695,3516
$GC,4003,-0.96,-146.6,271.5,-7.5,187,4009,0.00,2.00,0.00,0.000,6,0.000,0.034,2154,2511,3516
$GC,4319,-0.96,-146.6,294.1,-8.0,203,4323,0.00,2.12,0.00,0.000,4,0.000,0.056,2154,3695,3516
$GC,4389,-0.96,-146.6,300.5,-9.9,206,4393,0.00,2.00,0.00,0.000,6,0.000,0.035,2154,2507,3516
$GC,4722,-0.96,-146.6,333.2,-9.3,222,4726,0.00,2.12,0.00,0.000,4,0.000,0.058,2154,3688,3515
$GC,4824,-0.96,-146.6,341.6,-7.5,226,4827,0.00,1.98,0.00,0.000,6,0.000,0.035,2154,2520,3516
$GC,5146,-0.96,-146.6,361.4,-5.2,242,5149,0.00,2.12,0.00,0.000,4,0.000,0.060,2154,3692,3516
$GC,5215,-0.96,-146.6,365.1,-5.2,245,5219,0.00,2.00,0.00,0.000,6,0.000,0.035,2154,2519,3516
$GC,5549,-0.96,-146.6,380.2,-3.7,261,5553,0.00,2.10,0.00,0.000,4,0.000,0.061,2154,3687,3516
$GC,5605,-0.96,-146.6,382.2,-3.3,263,5609,0.00,2.00,0.00,0.000,6,0.000,0.035,2154,2515,3516
$GC,5928,-0.96,-146.6,394.1,-5.2,279,5932,0.00,2.47,0.00,0.000,4,0.000,0.052,2154,1114,3515
$GC,5950,-0.96,-146.6,395.2,-4.9,280,5955,0.00,2.47,0.00,0.000,6,0.000,0.046,2154,2510,3515
$GC,6273,-0.96,-146.6,413.7,-6.2,296,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2510,3515
$STATE,6289,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6290,begin apogee
$GC,6298,-0.45,0.0,414.9,6.4,297,6427,0.57,0.00,125.50,1.095,6,0.066,0.000,2277,2320,2915
$STATE,6428,end apogee,CONTROL_FINISHED_OK
$STATE,6428,begin climb
$GC,6431,1.16,146.6,417.7,0.0,303,6564,1.60,2.65,123.55,1.060,4,0.058,0.056,2624,915,2317
$GC,6630,1.14,172.3,410.7,5.2,312,6659,0.00,2.53,23.60,1.004,6,0.000,0.044,2624,2318,2211
$GC,6977,1.14,172.3,385.6,8.2,329,6981,0.00,2.50,0.00,0.000,4,0.000,0.061,2625,3693,2211
$GC,7028,1.14,172.3,381.2,8.7,331,7032,0.00,2.40,0.00,0.000,6,0.000,0.037,2625,2319,2210
$GC,7345,1.14,172.3,359.2,6.6,346,7349,0.00,2.53,0.00,0.000,4,0.000,0.060,2625,3696,2210
$GC,7368,1.14,172.3,357.6,6.9,347,7373,0.00,2.40,0.00,0.000,6,0.000,0.036,2625,2312,2209
$GC,7696,1.16,191.3,339.1,5.4,363,7718,0.00,2.60,17.05,1.009,4,0.000,0.051,2624,918,2135
$GC,7765,1.16,191.3,334.9,6.2,366,7770,0.00,2.50,0.00,0.000,6,0.000,0.041,2625,2324,2135
$GC,8093,1.23,244.8,319.4,4.4,382,8145,0.00,2.53,46.42,1.043,4,0.000,0.058,2624,3692,1914
$GC,8213,1.23,244.8,313.0,6.2,387,8219,0.00,2.40,0.00,0.000,6,0.000,0.036,2625,2314,1914
$GC,8529,1.23,244.8,295.6,6.3,403,8533,0.00,2.50,0.00,0.000,4,0.000,0.056,2625,3689,1914
$GC,8562,1.23,244.8,293.1,7.3,404,8568,0.00,2.38,0.00,0.000,6,0.000,0.035,2624,2315,1914
$GC,8879,1.28,247.7,272.9,5.9,420,8885,0.12,0.00,3.92,0.673,6,0.054,0.000,2659,2315,1905
$GC,9188,1.28,247.7,245.8,8.5,435,9192,0.00,2.50,0.00,0.000,4,0.000,0.055,2659,3696,1905
$GC,9229,1.22,247.7,242.7,8.3,436,9235,0.00,2.40,0.00,0.000,6,0.000,0.035,2659,2304,1905
$GC,9545,1.22,247.7,217.5,8.2,452,9549,0.00,2.50,0.00,0.000,4,0.000,0.054,2659,3688,1905
$GC,9579,1.16,247.7,214.5,9.4,453,9585,0.15,2.38,0.00,0.000,6,0.091,0.035,2629,2308,1905
$GC,9895,1.16,247.7,188.5,8.7,469,9899,0.00,2.50,0.00,0.000,4,0.000,0.054,2629,3693,1905
$GC,9945,1.16,247.7,184.4,8.4,471,9949,0.00,2.35,0.00,0.000,6,0.000,0.034,2629,2314,1905
$GC,10267,1.16,247.7,157.3,9.8,487,10271,0.00,2.50,0.00,0.000,4,0.000,0.054,2629,3700,1905
$GC,10307,1.16,247.7,153.3,10.0,489,10311,0.00,2.38,0.00,0.000,6,0.000,0.034,2629,2315,1905
$GC,10634,1.16,247.7,121.5,10.3,505,10639,0.00,2.47,0.00,0.000,4,0.000,0.052,2629,3692,1905
$GC,10663,1.16,247.7,118.3,10.7,506,10667,0.00,2.35,0.00,0.000,6,0.000,0.033,2629,2315,1905
$GC,10981,1.16,247.7,89.9,9.5,521,10985,0.00,2.45,0.00,0.000,4,0.000,0.053,2629,3689,1905
$GC,11004,1.16,247.7,87.7,8.9,522,11008,0.00,2.35,0.00,0.000,6,0.000,0.033,2629,2312,1905
$GC,11326,1.16,247.7,61.1,10.0,538,11330,0.00,2.47,0.00,0.000,4,0.000,0.053,2629,3690,1905
$GC,11389,1.16,247.7,53.7,12.0,541,11393,0.00,2.35,0.00,0.000,6,0.000,0.033,2629,2310,1905
$GC,11717,1.21,247.7,25.0,8.8,557,11721,0.00,2.47,0.00,0.000,4,0.000,0.052,2629,3690,1905
$GC,11767,1.21,247.7,20.5,9.6,559,11771,0.00,2.33,0.00,0.000,6,0.000,0.033,2629,2319,1905
$STATE,12003,end climb,SURFACE_DEPTH_REACHED
$STATE,12003,begin surface coast
$FINISH,0.9,1.016346
$STATE,12025,end surface coast,CONTROL_FINISHED_OK
$STATE,12025,begin surface
$SM_CCo,12050,45.67,0.788,2,0,1692,300.00
$SM_GC,1.61,0.00,0.00,45.67,0.000,0.000,0.788,28,2537,1692,-10.80,0.57,300.00
$IRIDIUM_FIX,6351.77,-1128.31,040398,212156
$TT8_MAMPS,0.029146
$HUMID,2026
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,350.9,73.6
$24V_AH,23.2,30.753
$10V_AH,10.1,14.109
$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,25.050,131.925,340.050,45.675,0.000,24.227,29.374,116.262,2.750,0.000,0.000,32.668,1127.010,8846.817,504.423,1490.269,459.270,0.000,1270.895,0.000,1437.422,0.000,18.571,0.000
$DEVICE_MAMPS,127.322,70.564,1095.276,787.709,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,422.163,389.139,435.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28647,572
$CAP_FILE_SIZE,99127,0
$CFSIZE,260165632,248111104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,091208,035110,6414.538,-1205.148,37,1.4,37,-12.0