version: 66.04
glider: 101
mission: 7
dive: 193
start: 12 9 108 14 38 18
data:
$ID,101
$MISSION,7
$DIVE,193
$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,-736025.5
$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,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
$GPS1,142907,6413.349,-1205.733,43,1.4,43,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-54.0
$GPS2,143757,6413.363,-1205.704,10,1.4,10,-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,229.6,66254,-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,14,begin dive
$GC,18,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-77.85,0.000,2,0.000,0.000,27,2535,3035
$GC,102,-1.16,-146.6,3.3,-2.9,4,132,10.80,2.08,-14.50,0.000,4,0.122,0.072,2115,3688,3514
$GC,386,-1.03,-146.6,41.1,-14.9,16,393,0.17,2.00,0.00,0.000,6,0.082,0.035,2150,2500,3514
$GC,703,-1.03,-146.6,68.4,-5.0,32,707,0.00,2.12,0.00,0.000,4,0.000,0.053,2150,3688,3514
$GC,963,-0.97,-146.6,86.1,-5.9,43,967,0.00,2.00,0.00,0.000,6,0.000,0.034,2150,2507,3514
$GC,1285,-0.97,-146.6,106.5,-8.1,59,1289,0.00,2.12,0.00,0.000,4,0.000,0.052,2151,3696,3514
$GC,1460,-0.97,-146.6,121.7,-8.9,66,1466,0.00,2.00,0.00,0.000,6,0.000,0.034,2151,2505,3513
$GC,1778,-0.97,-146.6,150.6,-5.9,82,1781,0.00,2.12,0.00,0.000,4,0.000,0.053,2151,3695,3514
$GC,1847,-0.92,-146.6,155.4,-7.4,85,1851,0.10,2.00,0.00,0.000,6,0.090,0.034,2171,2512,3513
$GC,2181,-0.92,-146.6,179.5,-8.0,101,2184,0.00,2.10,0.00,0.000,4,0.000,0.053,2171,3689,3514
$GC,2249,-0.92,-146.6,184.3,-7.1,104,2253,0.00,1.98,0.00,0.000,6,0.000,0.033,2171,2515,3513
$GC,2582,-0.92,-146.6,206.0,-7.3,120,2586,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3689,3513
$GC,2723,-0.92,-146.6,217.2,-8.4,126,2727,0.00,1.98,0.00,0.000,6,0.000,0.033,2171,2517,3513
$GC,3050,-0.92,-146.6,241.9,-6.9,142,3054,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3696,3513
$GC,3169,-0.92,-146.6,250.3,-4.9,147,3173,0.00,2.00,0.00,0.000,6,0.000,0.033,2171,2513,3513
$GC,3496,-0.92,-146.6,270.0,-6.4,163,3500,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3688,3513
$GC,3536,-0.92,-146.6,272.6,-6.6,164,3542,0.00,1.98,0.00,0.000,6,0.000,0.033,2171,2514,3513
$GC,3852,-0.92,-146.6,293.1,-5.7,180,3856,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3687,3513
$GC,3943,-0.92,-146.6,299.1,-6.4,184,3947,0.00,1.98,0.00,0.000,6,0.000,0.033,2171,2513,3513
$GC,4277,-0.92,-146.6,322.2,-7.3,200,4280,0.00,2.10,0.00,0.000,4,0.000,0.056,2171,3687,3513
$GC,4315,-0.92,-146.6,325.0,-7.6,201,4319,0.00,1.98,0.00,0.000,6,0.000,0.033,2171,2515,3513
$GC,4637,-0.92,-146.6,351.0,-8.1,217,4640,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3695,3513
$GC,4761,-0.92,-146.6,360.8,-7.5,222,4764,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2517,3513
$GC,5083,-0.92,-146.6,375.0,-3.1,238,5087,0.00,2.12,0.00,0.000,4,0.000,0.059,2171,3692,3513
$GC,5117,-0.92,-146.6,376.1,-3.2,239,5121,0.00,2.00,0.00,0.000,6,0.000,0.034,2171,2514,3513
$GC,5440,-0.96,-146.6,386.1,-3.6,255,5444,0.00,2.12,0.00,0.000,4,0.000,0.061,2171,3686,3513
$GC,5464,-0.96,-146.6,387.1,-4.0,256,5468,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2510,3513
$GC,5798,-1.01,-146.6,406.8,-7.0,272,5802,0.00,2.15,0.00,0.000,4,0.000,0.062,2171,3691,3513
$GC,5844,-1.01,-146.6,410.5,-6.7,274,5848,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2518,3512
$STATE,5989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5989,begin apogee
$GC,5998,-0.45,0.0,420.5,7.7,281,6126,0.47,0.00,125.22,1.091,6,0.068,0.000,2273,2317,2915
$STATE,6127,end apogee,CONTROL_FINISHED_OK
$STATE,6127,begin climb
$GC,6130,1.16,146.6,425.3,0.0,287,6262,1.60,2.65,123.75,1.052,4,0.055,0.058,2624,911,2317
$GC,6298,1.16,188.7,418.3,4.7,295,6341,0.00,2.53,37.20,1.012,6,0.000,0.044,2624,2313,2145
$GC,6650,1.17,194.6,396.7,5.8,312,6664,0.00,2.60,6.60,0.842,4,0.000,0.061,2624,3698,2121
$GC,6839,1.18,203.4,386.1,5.7,320,6854,0.00,2.42,9.20,0.920,6,0.000,0.037,2624,2311,2085
$GC,7182,1.27,277.9,370.3,3.8,337,7253,0.12,2.60,63.62,1.049,4,0.055,0.053,2657,917,1782
$GC,7282,1.27,277.9,364.5,6.6,341,7288,0.00,2.53,0.00,0.000,6,0.000,0.041,2657,2325,1782
$GC,7598,1.27,277.9,342.0,8.0,357,7602,0.00,2.47,0.00,0.000,4,0.000,0.058,2658,3696,1782
$GC,7677,1.23,277.9,335.2,8.6,360,7682,0.00,2.40,0.00,0.000,6,0.000,0.035,2657,2310,1781
$GC,7994,1.23,277.9,303.4,10.1,375,7998,0.00,2.53,0.00,0.000,4,0.000,0.058,2657,3693,1781
$GC,8016,1.23,277.9,300.7,11.5,376,8020,0.00,2.38,0.00,0.000,6,0.000,0.034,2658,2316,1780
$GC,8337,1.23,277.9,267.0,10.6,392,8341,0.00,2.50,0.00,0.000,4,0.000,0.055,2658,3698,1780
$GC,8361,1.23,277.9,264.3,11.6,393,8365,0.00,2.38,0.00,0.000,6,0.000,0.033,2658,2315,1780
$GC,8688,1.23,277.9,234.1,9.5,409,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2315,1780
$GC,8997,1.23,277.9,206.4,8.4,424,9001,0.00,2.50,0.00,0.000,4,0.000,0.054,2658,3700,1780
$GC,9031,1.23,277.9,203.3,8.1,425,9037,0.00,2.38,0.00,0.000,6,0.000,0.032,2657,2314,1780
$GC,9347,1.23,277.9,182.1,6.7,441,9351,0.00,2.50,0.00,0.000,4,0.000,0.054,2657,3701,1780
$GC,9403,1.23,277.9,177.9,7.9,443,9409,0.00,2.38,0.00,0.000,6,0.000,0.032,2657,2314,1780
$GC,9719,1.23,277.9,151.7,9.1,459,9723,0.00,2.47,0.00,0.000,4,0.000,0.053,2658,3692,1780
$GC,9760,1.23,277.9,147.6,10.2,461,9764,0.00,2.35,0.00,0.000,6,0.000,0.033,2658,2315,1780
$GC,10088,1.23,277.9,117.4,7.9,477,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2315,1780
$GC,10397,1.26,297.9,100.6,5.4,492,10420,0.00,2.60,17.90,0.867,4,0.000,0.052,2658,3700,1700
$GC,10477,1.34,366.0,97.7,4.0,495,10539,0.00,2.40,56.60,0.877,6,0.000,0.032,2657,2306,1422
$GC,10860,1.35,369.9,73.5,5.9,514,10869,0.00,2.53,4.72,0.638,4,0.000,0.052,2657,3692,1407
$GC,10931,1.35,369.9,64.9,11.9,517,10936,0.00,2.38,0.00,0.000,6,0.000,0.032,2657,2308,1407
$GC,11250,1.39,369.9,30.8,9.4,532,11254,0.00,2.50,0.00,0.000,4,0.000,0.053,2657,3694,1407
$GC,11291,1.39,369.9,26.7,9.5,534,11295,0.00,2.35,0.00,0.000,6,0.000,0.032,2657,2318,1407
$STATE,11574,end climb,SURFACE_DEPTH_REACHED
$STATE,11574,begin surface coast
$FINISH,1.3,1.027471
$STATE,11597,end surface coast,CONTROL_FINISHED_OK
$STATE,11597,begin surface
$SM_CCo,11682,0.00,0.000,0,0,1405,370.40
$SM_GC,1.84,11.68,0.00,0.00,0.039,0.000,0.000,27,2533,1405,-10.75,0.45,370.40
$IRIDIUM_FIX,6411.46,-426.62,050398,141459
$TT8_MAMPS,0.028379
$HUMID,2035
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,325.0,105.0
$24V_AH,23.2,31.348
$10V_AH,10.1,14.377
$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,24.950,117.475,444.825,0.000,0.000,50.251,73.016,222.562,2.500,0.000,0.000,12.293,1083.043,8491.621,512.005,1506.585,622.459,0.000,1305.666,0.000,1473.490,0.000,17.033,0.000
$DEVICE_MAMPS,121.953,72.098,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,403.951,372.687,420.080,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28559,549
$CAP_FILE_SIZE,98121,0
$CFSIZE,260165632,247914496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091208,175408,6414.404,-1203.539,28,1.6,28,-12.0