version: 66.04
glider: 101
mission: 7
dive: 197
start: 12 10 108 4 22 9
data:
$ID,101
$MISSION,7
$DIVE,197
$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,-736099.19
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,28
$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
$GPS1,041638,6412.982,-1205.016,24,1.4,24,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-55.7
$GPS2,042150,6413.070,-1204.969,12,1.5,29,-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,230.2,66197,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,2,0.000,0.000,26,2605,2968
$GC,83,-1.16,-146.6,3.1,-3.4,3,118,10.88,2.47,-18.95,0.000,4,0.125,0.054,2116,1207,3513
$GC,229,-1.06,-146.6,17.7,-9.7,9,234,0.12,2.42,0.00,0.000,6,0.093,0.039,2139,2601,3514
$GC,546,-0.99,-146.6,49.8,-11.8,24,550,0.00,1.92,0.00,0.000,4,0.000,0.057,2140,3689,3514
$GC,580,-0.93,-146.6,53.8,-11.2,25,584,0.15,1.85,0.00,0.000,6,0.081,0.035,2170,2600,3514
$GC,904,-0.93,-146.6,76.6,-7.2,41,908,0.00,1.95,0.00,0.000,4,0.000,0.056,2170,3689,3514
$GC,951,-0.93,-146.6,80.7,-8.6,43,954,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2598,3514
$GC,1284,-0.93,-146.6,101.1,-6.0,59,1288,0.00,1.98,0.00,0.000,4,0.000,0.055,2170,3698,3514
$GC,1318,-0.93,-146.6,103.7,-7.3,60,1322,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2591,3514
$GC,1641,-0.93,-146.6,124.1,-7.1,76,1645,0.00,1.98,0.00,0.000,4,0.000,0.055,2170,3693,3514
$GC,1675,-0.93,-146.6,126.3,-5.8,77,1679,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2599,3514
$GC,1998,-0.93,-146.6,144.3,-5.6,93,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2599,3514
$GC,2306,-0.93,-146.6,164.4,-7.1,108,2310,0.00,1.95,0.00,0.000,4,0.000,0.054,2170,3689,3514
$GC,2353,-0.93,-146.6,167.1,-5.6,110,2356,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2594,3514
$GC,2687,-0.93,-146.6,186.5,-5.8,126,2690,0.00,1.98,0.00,0.000,4,0.000,0.055,2171,3698,3514
$GC,2743,-0.93,-146.6,190.4,-7.3,128,2747,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2606,3514
$GC,3065,-0.93,-146.6,211.5,-6.8,144,3068,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3695,3514
$GC,3098,-0.93,-146.6,213.9,-7.2,145,3102,0.00,1.85,0.00,0.000,6,0.000,0.034,2171,2599,3514
$GC,3421,-0.93,-146.6,235.2,-6.5,161,3425,0.00,1.95,0.00,0.000,4,0.000,0.055,2171,3689,3514
$GC,3449,-0.93,-146.6,237.2,-6.7,162,3453,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2599,3514
$GC,3777,-0.93,-146.6,259.5,-7.2,178,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2599,3514
$GC,4086,-0.93,-146.6,282.9,-7.8,193,4090,0.00,1.95,0.00,0.000,4,0.000,0.056,2170,3689,3514
$GC,4159,-0.93,-146.6,289.1,-8.8,196,4163,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2596,3514
$GC,4487,-0.93,-146.6,312.4,-6.7,212,4490,0.00,1.95,0.00,0.000,4,0.000,0.058,2170,3689,3514
$GC,4521,-0.93,-146.6,314.8,-7.6,213,4524,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2592,3514
$GC,4842,-0.93,-146.6,335.0,-6.2,229,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2592,3514
$GC,5152,-0.93,-146.6,353.9,-6.1,244,5156,0.00,1.98,0.00,0.000,4,0.000,0.059,2170,3688,3514
$GC,5199,-0.93,-146.6,356.7,-6.0,246,5203,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2597,3514
$GC,5532,-0.93,-146.6,377.7,-6.9,262,5536,0.00,1.98,0.00,0.000,4,0.000,0.060,2171,3688,3514
$GC,5633,-0.93,-146.6,384.9,-7.1,266,5637,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2597,3514
$GC,5956,-0.97,-146.6,408.3,-7.7,282,5959,0.00,2.00,0.00,0.000,4,0.000,0.063,2170,3695,3514
$GC,6047,-0.97,-146.6,414.6,-7.1,286,6051,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2596,3514
$STATE,6089,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6089,begin apogee
$GC,6097,-0.45,0.0,418.1,7.8,288,6225,0.47,0.00,124.70,1.093,6,0.063,0.000,2274,2398,2915
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6226,begin climb
$GC,6229,1.16,146.6,423.0,0.0,294,6362,1.60,2.62,123.35,1.052,4,0.054,0.056,2624,1002,2317
$GC,6445,1.16,146.6,414.7,7.0,304,6449,0.00,2.53,0.00,0.000,6,0.000,0.045,2625,2405,2317
$GC,6772,1.16,146.6,393.6,7.1,320,6776,0.00,2.35,0.00,0.000,4,0.000,0.061,2625,3700,2316
$GC,6889,1.16,146.6,382.8,9.9,325,6893,0.00,2.25,0.00,0.000,6,0.000,0.036,2625,2402,2316
$GC,7206,1.16,146.6,356.7,7.2,340,7210,0.00,2.35,0.00,0.000,4,0.000,0.058,2624,3693,2316
$GC,7234,1.16,146.6,354.5,7.8,341,7238,0.00,2.25,0.00,0.000,6,0.000,0.035,2625,2386,2315
$GC,7555,1.16,146.6,332.6,6.7,357,7559,0.00,2.40,0.00,0.000,4,0.000,0.058,2625,3703,2315
$GC,7628,1.16,146.6,327.5,6.8,360,7632,0.00,2.25,0.00,0.000,6,0.000,0.035,2625,2393,2315
$GC,7944,1.16,151.4,308.2,5.9,375,7954,0.00,2.38,5.72,0.835,4,0.000,0.056,2625,3693,2297
$GC,7984,1.16,151.4,305.8,6.2,377,7988,0.00,2.25,0.00,0.000,6,0.000,0.035,2625,2389,2297
$GC,8311,1.19,172.0,287.1,5.4,393,8336,0.00,2.55,18.62,0.998,4,0.000,0.048,2625,998,2213
$GC,8378,1.20,180.2,283.3,5.8,396,8392,0.00,2.47,8.68,0.897,6,0.000,0.039,2625,2405,2180
$GC,8710,1.20,180.2,263.7,6.1,412,8714,0.00,2.30,0.00,0.000,4,0.000,0.057,2624,3693,2179
$GC,8733,1.20,180.2,262.1,6.6,413,8737,0.00,2.22,0.00,0.000,6,0.000,0.034,2625,2386,2179
$GC,9060,1.20,180.2,240.8,6.6,429,9064,0.00,2.42,0.00,0.000,4,0.000,0.046,2625,1005,2179
$GC,9105,1.20,180.2,237.6,7.3,431,9109,0.00,2.45,0.00,0.000,6,0.000,0.038,2625,2404,2179
$GC,9426,1.20,180.2,217.7,6.0,447,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2404,2179
$GC,9735,1.25,220.1,202.3,4.8,462,9774,0.00,0.00,34.42,0.962,6,0.000,0.000,2625,2404,2017
$GC,10085,1.29,252.0,184.2,5.0,479,10120,0.12,2.58,27.98,0.933,4,0.055,0.044,2658,1009,1887
$GC,10143,1.29,252.0,180.4,6.7,481,10149,0.00,2.47,0.00,0.000,6,0.000,0.037,2658,2410,1887
$GC,10459,1.29,252.0,159.0,6.2,497,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2409,1887
$GC,10771,1.29,252.0,138.6,6.6,512,10775,0.00,2.28,0.00,0.000,4,0.000,0.054,2658,3692,1887
$GC,10800,1.24,252.0,136.4,7.4,513,10804,0.00,2.20,0.00,0.000,6,0.000,0.033,2658,2395,1887
$GC,11116,1.24,252.0,112.1,7.9,528,11120,0.00,2.42,0.00,0.000,4,0.000,0.045,2658,1010,1886
$GC,11134,1.24,252.0,110.5,8.0,529,11139,0.00,2.42,0.00,0.000,6,0.000,0.037,2658,2404,1887
$GC,11462,1.24,252.0,82.1,9.3,545,11466,0.00,2.28,0.00,0.000,4,0.000,0.054,2658,3687,1887
$GC,11504,1.19,252.0,78.0,10.0,547,11508,0.12,2.20,0.00,0.000,6,0.100,0.033,2635,2388,1887
$GC,11831,1.19,252.0,49.6,8.8,563,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2387,1887
$GC,12140,1.19,252.0,24.4,8.2,578,12144,0.00,2.33,0.00,0.000,4,0.000,0.053,2635,3687,1887
$GC,12181,1.19,252.0,21.6,6.8,580,12185,0.00,2.17,0.00,0.000,6,0.000,0.034,2635,2391,1887
$STATE,12428,end climb,SURFACE_DEPTH_REACHED
$STATE,12428,begin surface coast
$FINISH,0.7,1.027478
$STATE,12450,end surface coast,CONTROL_FINISHED_OK
$STATE,12450,begin surface
$SM_CCo,12475,43.10,0.758,3,0,1691,300.00
$SM_GC,1.66,0.00,0.00,43.10,0.000,0.000,0.758,27,2616,1691,-10.81,0.45,300.00
$IRIDIUM_FIX,6346.88,-1202.23,060398,010144
$TT8_MAMPS,0.029146
$HUMID,2018
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,326.0,101.2
$24V_AH,23.2,31.850
$10V_AH,10.1,14.629
$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,25.050,116.675,343.475,43.100,0.000,23.224,27.663,120.044,2.250,0.000,0.000,31.134,1140.954,9341.156,489.676,1423.283,456.268,0.000,1224.781,0.000,1380.081,0.000,17.021,0.000
$DEVICE_MAMPS,125.021,62.894,1092.975,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.104,404.167,461.318,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28566,593
$CAP_FILE_SIZE,96961,0
$CFSIZE,260165632,247721984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,101208,075225,6414.546,-1202.919,38,1.1,38,-12.0