version: 66.04
glider: 101
mission: 7
dive: 191
start: 12 9 108 7 37 36
data:
$ID,101
$MISSION,7
$DIVE,191
$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,-735977.44
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,072237,6415.320,-1203.841,30,1.4,30,-12.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-51.3
$GPS2,073715,6415.359,-1203.427,11,1.6,11,-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,228.9,70326,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.75,0.000,2,0.000,0.000,27,2501,3034
$GC,88,-1.16,-146.6,3.6,-3.5,4,118,10.85,2.45,-14.23,0.000,4,0.123,0.057,2117,1116,3514
$GC,234,-1.05,-146.6,18.2,-8.6,10,239,0.15,2.45,0.00,0.000,6,0.091,0.038,2146,2520,3514
$GC,552,-1.00,-146.6,37.5,-5.6,25,555,0.00,2.08,0.00,0.000,4,0.000,0.056,2145,3690,3514
$GC,622,-0.93,-146.6,42.4,-6.7,28,626,0.12,2.00,0.00,0.000,6,0.087,0.034,2171,2513,3514
$GC,956,-0.93,-146.6,62.1,-5.6,44,960,0.00,2.12,0.00,0.000,4,0.000,0.055,2171,3693,3514
$GC,1030,-0.93,-146.6,66.1,-5.8,47,1034,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2515,3513
$GC,1360,-0.93,-146.6,89.3,-5.2,63,1363,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3699,3514
$GC,1444,-0.93,-146.6,94.4,-6.0,66,1450,0.00,2.03,0.00,0.000,6,0.000,0.035,2171,2504,3513
$GC,1762,-0.93,-146.6,113.4,-6.4,82,1766,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3690,3514
$GC,1847,-0.93,-146.6,119.3,-7.1,85,1853,0.00,2.03,0.00,0.000,6,0.000,0.034,2171,2490,3514
$GC,2165,-0.93,-146.6,138.1,-5.1,101,2169,0.00,2.15,0.00,0.000,4,0.000,0.054,2171,3692,3514
$GC,2239,-0.93,-146.6,142.5,-5.6,104,2242,0.00,2.00,0.00,0.000,6,0.000,0.033,2171,2509,3514
$GC,2567,-0.93,-146.6,163.5,-7.0,120,2570,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3696,3514
$GC,2674,-0.93,-146.6,171.4,-8.0,124,2680,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2513,3514
$GC,2990,-0.93,-146.6,192.5,-5.5,140,2994,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3690,3514
$GC,3041,-0.93,-146.6,196.1,-7.5,142,3044,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2505,3514
$GC,3368,-0.93,-146.6,216.7,-6.5,158,3372,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3693,3514
$GC,3460,-0.93,-146.6,222.6,-6.5,162,3463,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2507,3514
$GC,3793,-0.93,-146.6,246.9,-7.9,178,3796,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3695,3514
$GC,3888,-0.93,-146.6,254.5,-7.9,182,3892,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2510,3514
$GC,4217,-0.93,-146.6,275.3,-5.9,198,4221,0.00,2.12,0.00,0.000,4,0.000,0.055,2171,3698,3514
$GC,4358,-0.93,-146.6,283.0,-4.6,204,4362,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2513,3514
$GC,4686,-0.93,-146.6,297.8,-4.4,220,4690,0.00,2.12,0.00,0.000,4,0.000,0.056,2171,3698,3514
$GC,4739,-0.93,-146.6,300.3,-4.8,222,4743,0.00,2.00,0.00,0.000,6,0.000,0.034,2172,2511,3514
$GC,5067,-0.93,-146.6,316.6,-5.4,238,5071,0.00,2.12,0.00,0.000,4,0.000,0.057,2171,3696,3514
$GC,5137,-0.93,-146.6,320.7,-5.7,241,5140,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2510,3514
$GC,5470,-0.93,-146.6,337.2,-4.6,257,5474,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3692,3514
$GC,5539,-0.93,-146.6,340.7,-5.0,260,5543,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2507,3514
$GC,5873,-0.93,-146.6,356.4,-5.2,276,5877,0.00,2.15,0.00,0.000,4,0.000,0.058,2171,3700,3514
$GC,6042,-0.93,-146.6,366.5,-6.5,283,6046,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2520,3513
$GC,6364,-0.98,-146.6,390.0,-7.2,299,6367,0.00,2.12,0.00,0.000,4,0.000,0.061,2171,3690,3514
$GC,6500,-0.98,-146.6,399.7,-6.7,305,6504,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2517,3514
$STATE,6768,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6768,begin apogee
$GC,6776,-0.45,0.0,415.8,5.6,318,6905,0.47,0.00,125.32,1.092,6,0.067,0.000,2273,2312,2915
$STATE,6906,end apogee,CONTROL_FINISHED_OK
$STATE,6906,begin climb
$GC,6909,1.16,146.6,419.9,0.0,324,7038,1.60,0.00,123.55,1.056,6,0.054,0.000,2624,2312,2317
$GC,7343,1.20,181.3,402.8,5.0,345,7379,0.00,2.60,30.50,1.025,4,0.000,0.061,2624,3687,2176
$GC,7464,1.22,200.1,396.3,5.4,349,7491,0.00,2.40,17.73,0.989,6,0.000,0.037,2624,2320,2099
$GC,7801,1.23,203.3,377.4,5.9,366,7811,0.00,2.55,4.53,0.734,4,0.000,0.059,2624,3693,2086
$GC,7886,1.23,203.3,371.9,6.8,370,7890,0.00,2.40,0.00,0.000,6,0.000,0.036,2624,2313,2086
$GC,8213,1.23,203.3,350.7,6.9,386,8218,0.00,2.53,0.00,0.000,4,0.000,0.057,2624,3695,2085
$GC,8366,1.23,203.3,340.3,6.6,393,8371,0.00,2.40,0.00,0.000,6,0.000,0.035,2624,2309,2085
$GC,8694,1.24,214.4,321.1,5.7,409,8710,0.00,2.55,10.93,0.963,4,0.000,0.055,2624,3689,2039
$GC,8750,1.24,214.4,317.3,6.9,410,8756,0.00,2.38,0.00,0.000,6,0.000,0.035,2624,2316,2039
$GC,9067,1.24,214.4,297.7,6.4,426,9071,0.00,2.50,0.00,0.000,4,0.000,0.055,2624,3698,2039
$GC,9106,1.24,214.4,294.9,6.8,427,9112,0.00,2.38,0.00,0.000,6,0.000,0.035,2624,2315,2039
$GC,9422,1.24,214.4,274.5,6.5,443,9426,0.00,2.47,0.00,0.000,4,0.000,0.048,2624,912,2039
$GC,9446,1.24,214.4,273.0,6.7,444,9451,0.00,2.47,0.00,0.000,6,0.000,0.038,2624,2327,2039
$GC,9768,1.24,214.4,253.6,6.0,460,9772,0.00,2.42,0.00,0.000,4,0.000,0.055,2624,3690,2039
$GC,9869,1.24,214.4,245.8,8.2,464,9876,0.00,2.38,0.00,0.000,6,0.000,0.034,2624,2302,2039
$GC,10186,1.27,237.6,229.1,5.3,480,10214,0.12,2.62,20.58,0.963,4,0.054,0.053,2658,3693,1946
$GC,10232,1.22,237.6,226.1,7.0,482,10237,0.00,2.40,0.00,0.000,6,0.000,0.033,2658,2308,1945
$GC,10555,1.31,344.2,206.5,2.8,498,10651,0.00,2.62,88.68,0.959,4,0.000,0.054,2658,3693,1511
$GC,10708,1.31,344.2,198.6,8.0,505,10712,0.00,2.38,0.00,0.000,6,0.000,0.033,2658,2317,1510
$GC,11036,1.31,344.2,172.3,7.9,521,11040,0.00,2.47,0.00,0.000,4,0.000,0.053,2658,3687,1510
$GC,11081,1.31,344.2,168.2,9.7,523,11085,0.00,2.35,0.00,0.000,6,0.000,0.032,2658,2314,1511
$GC,11403,1.38,399.6,148.5,4.3,539,11455,0.00,2.55,46.75,0.909,4,0.000,0.052,2658,3694,1284
$GC,11517,1.43,439.3,144.4,4.8,544,11559,0.12,2.38,34.45,0.883,6,0.056,0.032,2691,2319,1123
$GC,11881,1.43,439.3,119.3,8.1,562,11886,0.00,2.47,0.00,0.000,4,0.000,0.054,2691,3687,1123
$GC,11915,1.43,439.3,116.3,8.4,563,11922,0.00,2.35,0.00,0.000,6,0.000,0.033,2691,2310,1123
$GC,12232,1.43,439.3,79.8,12.6,579,12236,0.00,2.50,0.00,0.000,4,0.000,0.053,2691,3693,1123
$GC,12276,1.43,439.3,74.4,11.9,581,12281,0.00,2.38,0.00,0.000,6,0.000,0.032,2691,2306,1123
$GC,12599,1.43,439.3,40.3,12.6,597,12603,0.00,2.50,0.00,0.000,4,0.000,0.053,2691,3692,1123
$GC,12639,1.43,439.3,35.6,11.8,599,12643,0.00,2.35,0.00,0.000,6,0.000,0.032,2691,2316,1123
$GC,12968,1.53,478.9,7.2,4.8,615,13011,0.00,2.53,37.33,0.822,4,0.000,0.052,2691,3688,960
$STATE,13032,end climb,SURFACE_DEPTH_REACHED
$STATE,13033,begin surface coast
$FINISH,1.5,1.027467
$STATE,13038,end surface coast,CONTROL_FINISHED_OK
$STATE,13038,begin surface
$SM_CCo,13125,0.00,0.000,0,0,957,480.30
$SM_GC,1.45,11.88,0.00,0.00,0.036,0.000,0.000,28,2512,957,-10.74,-0.14,480.30
$IRIDIUM_FIX,6346.88,-1208.11,050398,070727
$TT8_MAMPS,0.028379
$HUMID,2009
$INTERNAL_PRESSURE,7.73467
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,351.1,74.1
$24V_AH,23.2,31.063
$10V_AH,10.1,14.251
$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,25.325,140.475,540.325,0.000,0.000,101.623,112.058,333.467,2.500,0.000,0.000,13.290,1220.676,9634.727,593.594,1684.267,871.178,0.000,1489.510,0.000,1645.462,0.000,18.560,0.000
$DEVICE_MAMPS,123.487,61.360,1092.208,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.823,419.824,474.684,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31634,618
$CAP_FILE_SIZE,115476,0
$CFSIZE,260165632,247988224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091208,111738,6414.056,-1203.581,36,1.6,37,-12.0