version: 66.04
glider: 101
mission: 7
dive: 190
start: 12 9 108 3 57 6
data:
$ID,101
$MISSION,7
$DIVE,190
$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,-735963.5
$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,31
$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
$GPS1,035110,6414.538,-1205.148,37,1.4,37,-12.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-53.4
$GPS2,035645,6414.568,-1205.104,14,1.4,14,-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,228.7,68330,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,78,0.00,0.00,-60.30,0.000,2,0.000,0.000,28,2537,2946
$GC,82,-1.16,-146.6,3.3,-4.1,3,117,10.85,2.12,-17.62,0.000,4,0.123,0.069,2117,3692,3515
$GC,373,-1.02,-146.6,33.3,-10.9,16,377,0.17,2.03,0.00,0.000,6,0.084,0.034,2152,2501,3515
$GC,700,-1.02,-146.6,50.6,-3.9,32,704,0.00,2.12,0.00,0.000,4,0.000,0.054,2151,3685,3515
$GC,926,-0.98,-146.6,64.0,-7.0,42,930,0.00,2.00,0.00,0.000,6,0.000,0.035,2152,2507,3515
$GC,1260,-0.98,-146.6,87.8,-7.7,58,1264,0.00,2.12,0.00,0.000,4,0.000,0.054,2152,3692,3515
$GC,1356,-0.94,-146.6,97.1,-10.4,62,1360,0.00,2.00,0.00,0.000,6,0.000,0.034,2152,2512,3515
$GC,1684,-0.94,-146.6,124.1,-9.0,78,1688,0.00,2.10,0.00,0.000,4,0.000,0.054,2152,3686,3515
$GC,1735,-0.89,-146.6,129.1,-9.8,80,1740,0.15,1.98,0.00,0.000,6,0.081,0.035,2182,2517,3515
$GC,2064,-0.93,-146.6,149.9,-5.6,96,2072,0.00,2.10,0.00,0.000,4,0.000,0.054,2182,3693,3515
$GC,2101,-0.93,-146.6,151.9,-5.6,97,2105,0.00,1.98,0.00,0.000,6,0.000,0.034,2182,2515,3515
$GC,2423,-0.98,-146.6,166.1,-5.1,113,2427,0.00,2.10,0.00,0.000,4,0.000,0.054,2182,3689,3515
$GC,2508,-0.98,-146.6,171.4,-6.8,116,2514,0.00,2.00,0.00,0.000,6,0.000,0.035,2182,2508,3515
$GC,2825,-1.03,-146.6,190.5,-5.4,132,2829,0.15,2.10,0.00,0.000,4,0.047,0.054,2139,3686,3515
$GC,2939,-0.96,-146.6,200.2,-12.7,137,2943,0.12,1.98,0.00,0.000,6,0.084,0.034,2164,2516,3515
$GC,3272,-0.96,-146.6,233.2,-6.6,153,3276,0.00,2.10,0.00,0.000,4,0.000,0.055,2163,3688,3515
$GC,3374,-0.96,-146.6,239.6,-6.5,157,3377,0.00,1.98,0.00,0.000,6,0.000,0.034,2164,2518,3515
$GC,3696,-0.96,-146.6,264.0,-8.6,173,3699,0.00,2.10,0.00,0.000,4,0.000,0.055,2164,3692,3514
$GC,3769,-0.96,-146.6,270.7,-8.8,176,3773,0.00,1.98,0.00,0.000,6,0.000,0.034,2164,2511,3514
$GC,4096,-0.96,-146.6,296.5,-7.3,192,4100,0.00,2.10,0.00,0.000,4,0.000,0.056,2164,3683,3514
$GC,4198,-0.96,-146.6,304.3,-7.4,196,4201,0.00,1.98,0.00,0.000,6,0.000,0.035,2164,2506,3515
$GC,4519,-0.96,-146.6,326.5,-7.1,212,4523,0.00,2.12,0.00,0.000,4,0.000,0.057,2164,3689,3515
$GC,4638,-0.96,-146.6,336.6,-8.8,217,4642,0.00,1.98,0.00,0.000,6,0.000,0.035,2163,2517,3515
$GC,4965,-0.96,-146.6,359.9,-6.7,233,4969,0.00,2.12,0.00,0.000,4,0.000,0.058,2164,3692,3515
$GC,4994,-0.96,-146.6,362.1,-7.9,234,4997,0.00,2.00,0.00,0.000,6,0.000,0.035,2164,2516,3515
$GC,5321,-0.96,-146.6,384.3,-6.5,250,5325,0.00,2.10,0.00,0.000,4,0.000,0.060,2164,3682,3514
$GC,5371,-0.96,-146.6,387.7,-6.7,252,5375,0.00,2.00,0.00,0.000,6,0.000,0.035,2164,2506,3515
$GC,5699,-0.96,-146.6,403.8,-4.7,268,5703,0.00,2.12,0.00,0.000,4,0.000,0.061,2164,3685,3514
$GC,5850,-0.96,-146.6,412.2,-6.5,274,5856,0.00,2.00,0.00,0.000,6,0.000,0.036,2164,2515,3515
$STATE,6019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6019,begin apogee
$GC,6028,-0.45,0.0,420.6,4.8,283,6156,0.52,0.00,125.68,1.095,6,0.067,0.000,2276,2313,2915
$STATE,6157,end apogee,CONTROL_FINISHED_OK
$STATE,6157,begin climb
$GC,6161,1.16,146.6,425.3,0.0,289,6293,1.60,2.62,124.15,1.058,4,0.056,0.059,2625,919,2317
$GC,6342,1.18,168.4,419.8,5.3,297,6368,0.00,2.50,20.48,0.990,6,0.000,0.044,2625,2309,2228
$GC,6679,1.18,168.4,396.6,7.0,313,6683,0.00,2.50,0.00,0.000,4,0.000,0.061,2625,3691,2227
$GC,6837,1.18,168.4,383.5,8.3,320,6841,0.00,2.40,0.00,0.000,6,0.000,0.038,2625,2312,2226
$GC,7171,1.18,168.4,356.0,8.6,336,7175,0.00,2.50,0.00,0.000,4,0.000,0.052,2625,912,2226
$GC,7233,1.18,168.4,350.1,9.4,339,7238,0.00,2.50,0.00,0.000,6,0.000,0.041,2625,2329,2226
$GC,7566,1.18,168.4,320.8,7.7,355,7571,0.00,2.45,0.00,0.000,4,0.000,0.058,2625,3692,2225
$GC,7634,1.18,168.4,315.5,7.4,358,7638,0.00,2.40,0.00,0.000,6,0.000,0.035,2625,2305,2225
$GC,7956,1.20,181.8,295.9,5.6,374,7977,0.00,2.62,12.15,0.967,4,0.000,0.055,2625,3693,2172
$GC,8024,1.22,199.2,291.9,5.5,377,8046,0.00,2.38,16.33,0.980,6,0.000,0.035,2625,2317,2103
$GC,8356,1.30,266.0,276.3,4.0,393,8420,0.15,2.55,56.97,1.012,4,0.051,0.055,2664,3692,1830
$GC,8449,1.24,266.0,271.2,6.8,397,8453,0.00,2.40,0.00,0.000,6,0.000,0.034,2663,2314,1829
$GC,8770,1.24,266.0,251.9,6.2,413,8774,0.00,2.50,0.00,0.000,4,0.000,0.055,2664,3689,1829
$GC,8810,1.19,266.0,249.2,6.9,414,8817,0.15,2.38,0.00,0.000,6,0.094,0.035,2635,2314,1829
$GC,9127,1.22,295.0,233.3,5.1,430,9157,0.00,2.58,25.38,0.963,4,0.000,0.054,2635,3695,1712
$GC,9180,1.22,295.0,229.8,7.0,432,9186,0.00,2.40,0.00,0.000,6,0.000,0.034,2635,2318,1712
$GC,9496,1.22,295.0,209.0,6.2,448,9501,0.00,2.50,0.00,0.000,4,0.000,0.054,2635,3698,1712
$GC,9547,1.22,295.0,205.5,6.7,450,9551,0.00,2.38,0.00,0.000,6,0.000,0.033,2635,2315,1712
$GC,9863,1.22,295.0,182.5,8.0,465,9867,0.00,2.47,0.00,0.000,4,0.000,0.054,2635,3690,1711
$GC,9914,1.22,295.0,178.5,7.6,467,9918,0.00,2.38,0.00,0.000,6,0.000,0.032,2634,2305,1712
$GC,10236,1.22,295.0,150.0,9.1,483,10240,0.00,2.50,0.00,0.000,4,0.000,0.054,2635,3690,1712
$GC,10298,1.22,295.0,143.8,9.3,486,10303,0.00,2.35,0.00,0.000,6,0.000,0.033,2635,2317,1711
$GC,10627,1.27,295.0,118.1,8.6,502,10631,0.00,2.47,0.00,0.000,4,0.000,0.053,2635,3690,1712
$GC,10683,1.27,295.0,113.0,9.8,504,10689,0.00,2.35,0.00,0.000,6,0.000,0.033,2634,2314,1712
$GC,11000,1.31,295.0,90.1,6.8,520,11005,0.12,2.47,0.00,0.000,4,0.052,0.051,2669,3691,1712
$GC,11041,1.26,295.0,86.5,9.5,522,11045,0.10,2.35,0.00,0.000,6,0.104,0.033,2651,2309,1712
$GC,11374,1.28,315.8,60.5,5.4,538,11399,0.00,2.58,18.85,0.852,4,0.000,0.051,2650,3687,1626
$GC,11464,1.28,315.8,55.8,7.1,542,11468,0.00,2.38,0.00,0.000,6,0.000,0.032,2650,2307,1626
$GC,11793,1.34,315.8,26.8,8.2,558,11797,0.00,2.50,0.00,0.000,4,0.000,0.052,2650,3696,1626
$GC,11820,1.34,315.8,24.5,8.8,559,11824,0.00,2.38,0.00,0.000,6,0.000,0.033,2650,2309,1626
$GC,12137,1.34,318.4,3.2,5.9,574,12146,0.00,2.55,3.97,0.578,4,0.000,0.054,2650,3693,1617
$STATE,12151,end climb,SURFACE_DEPTH_REACHED
$STATE,12151,begin surface coast
$FINISH,0.9,1.027485
$STATE,12174,end surface coast,CONTROL_FINISHED_OK
$STATE,12174,begin surface
$SM_CCo,12261,0.00,0.000,0,0,1615,318.89
$SM_GC,1.77,11.70,0.00,0.00,0.040,0.000,0.000,27,2501,1615,-10.75,-0.45,318.89
$IRIDIUM_FIX,6346.88,-1203.26,050398,000004
$TT8_MAMPS,0.027612
$HUMID,2025
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.3,79.6
$24V_AH,23.2,30.883
$10V_AH,10.1,14.176
$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,25.800,136.075,403.950,0.000,0.000,26.288,30.840,152.463,2.500,0.000,0.000,16.469,1151.504,8866.036,483.780,1599.185,497.924,0.000,1320.879,0.000,1563.100,0.000,18.589,0.000
$DEVICE_MAMPS,123.487,69.030,1095.276,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.984,391.150,457.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,575
$CAP_FILE_SIZE,103981,0
$CFSIZE,260165632,248057856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091208,072237,6415.320,-1203.841,30,1.4,30,-12.0