version: 66.04
glider: 101
mission: 7
dive: 201
start: 12 10 108 18 38 6
data:
$ID,101
$MISSION,7
$DIVE,201
$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,-736202.06
$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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,182807,6410.448,-1159.118,36,1.9,48,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-51.4
$GPS2,183744,6410.417,-1158.687,12,1.1,29,-11.9
$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,236.3,65906,-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,-65.85,0.000,2,0.000,0.000,30,2613,3070
$GC,88,-1.16,-146.6,3.5,-3.2,4,113,10.95,0.00,-11.77,0.000,6,0.130,0.000,2114,2613,3514
$GC,422,-1.03,-146.6,41.1,-11.1,20,427,0.17,2.47,0.00,0.000,4,0.078,0.040,2151,1206,3514
$GC,472,-1.03,-146.6,46.4,-8.9,22,477,0.00,2.45,0.00,0.000,6,0.000,0.038,2151,2602,3515
$GC,790,-1.03,-146.6,67.3,-6.6,37,794,0.00,1.92,0.00,0.000,4,0.000,0.055,2151,3690,3514
$GC,807,-1.03,-146.6,69.1,-9.1,37,814,0.00,1.88,0.00,0.000,6,0.000,0.034,2151,2601,3515
$GC,1124,-1.03,-146.6,93.3,-7.5,53,1127,0.00,1.95,0.00,0.000,4,0.000,0.054,2151,3692,3515
$GC,1197,-0.98,-146.6,98.6,-7.5,56,1201,0.00,1.85,0.00,0.000,6,0.000,0.033,2151,2597,3515
$GC,1525,-0.98,-146.6,124.5,-7.9,72,1529,0.00,1.98,0.00,0.000,4,0.000,0.053,2151,3700,3515
$GC,1640,-0.92,-146.6,133.5,-8.7,77,1645,0.10,1.88,0.00,0.000,6,0.092,0.034,2170,2590,3515
$GC,1974,-0.92,-146.6,155.7,-5.7,93,1977,0.00,1.98,0.00,0.000,4,0.000,0.054,2170,3693,3515
$GC,2025,-0.92,-146.6,159.4,-6.7,95,2028,0.00,1.85,0.00,0.000,6,0.000,0.033,2170,2597,3515
$GC,2352,-0.92,-146.6,181.1,-6.6,111,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2597,3515
$GC,2662,-0.92,-146.6,201.9,-7.0,126,2665,0.00,1.95,0.00,0.000,4,0.000,0.054,2170,3690,3515
$GC,2731,-0.92,-146.6,206.7,-6.4,129,2735,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2593,3515
$GC,3064,-0.92,-146.6,230.4,-7.1,145,3068,0.00,1.98,0.00,0.000,4,0.000,0.054,2170,3701,3515
$GC,3098,-0.92,-146.6,233.0,-7.7,146,3102,0.00,1.90,0.00,0.000,6,0.000,0.034,2170,2594,3515
$GC,3420,-0.92,-146.6,253.4,-5.6,162,3424,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3698,3515
$GC,3482,-0.92,-146.6,257.1,-6.0,164,3488,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2600,3515
$GC,3800,-0.92,-146.6,275.3,-6.2,180,3804,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3692,3515
$GC,3840,-0.92,-146.6,278.2,-7.4,181,3846,0.00,1.85,0.00,0.000,6,0.000,0.034,2171,2596,3515
$GC,4156,-0.92,-146.6,298.6,-6.5,197,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2595,3515
$GC,4466,-0.92,-146.6,316.2,-4.3,212,4469,0.00,1.95,0.00,0.000,4,0.000,0.057,2170,3689,3515
$GC,4528,-0.92,-146.6,318.3,-3.0,214,4534,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2594,3515
$GC,4845,-0.92,-146.6,329.4,-4.5,230,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2594,3515
$GC,5153,-0.92,-146.6,347.1,-6.1,245,5157,0.00,1.98,0.00,0.000,4,0.000,0.060,2170,3689,3515
$GC,5216,-0.92,-146.6,351.2,-6.3,247,5222,0.00,1.85,0.00,0.000,6,0.000,0.036,2170,2597,3514
$GC,5532,-0.92,-146.6,369.4,-4.4,263,5536,0.00,1.98,0.00,0.000,4,0.000,0.061,2170,3689,3514
$GC,5696,-0.92,-146.6,378.6,-4.2,270,5700,0.00,1.85,0.00,0.000,6,0.000,0.036,2170,2606,3514
$STATE,5855,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5855,begin apogee
$GC,5864,-0.45,0.0,387.9,6.0,278,5991,0.47,0.00,124.18,1.085,6,0.063,0.000,2273,2392,2915
$STATE,5992,end apogee,CONTROL_FINISHED_OK
$STATE,5992,begin climb
$GC,5995,1.16,146.6,392.7,0.0,284,6128,1.60,2.60,122.97,1.045,4,0.054,0.053,2623,997,2317
$GC,6279,1.18,168.5,378.5,5.3,297,6304,0.00,2.50,20.25,0.989,6,0.000,0.043,2623,2396,2227
$GC,6626,1.18,168.5,356.0,6.9,314,6630,0.00,2.35,0.00,0.000,4,0.000,0.059,2623,3696,2227
$GC,6768,1.21,192.3,347.6,5.3,320,6794,0.00,2.25,21.42,1.011,6,0.000,0.036,2623,2395,2130
$GC,7105,1.27,241.8,330.6,4.5,336,7154,0.12,2.45,42.62,1.035,4,0.055,0.058,2657,3696,1928
$GC,7184,1.21,241.8,326.2,6.7,340,7188,0.00,2.28,0.00,0.000,6,0.000,0.036,2657,2392,1928
$GC,7511,1.21,241.8,302.5,8.1,356,7515,0.00,2.38,0.00,0.000,4,0.000,0.058,2657,3692,1928
$GC,7546,1.15,241.8,299.6,8.8,357,7552,0.15,2.25,0.00,0.000,6,0.099,0.035,2628,2388,1927
$GC,7862,1.15,241.8,276.2,7.9,373,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2387,1927
$GC,8171,1.15,241.8,250.5,8.4,388,8175,0.00,2.38,0.00,0.000,4,0.000,0.056,2628,3697,1927
$GC,8199,1.15,241.8,248.0,8.9,389,8203,0.00,2.22,0.00,0.000,6,0.000,0.035,2628,2399,1926
$GC,8515,1.15,241.8,223.3,7.8,404,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2398,1926
$GC,8825,1.15,241.8,201.2,6.6,419,8828,0.00,2.33,0.00,0.000,4,0.000,0.054,2628,3693,1926
$GC,8871,1.15,241.8,197.9,7.6,421,8875,0.00,2.22,0.00,0.000,6,0.000,0.035,2628,2390,1926
$GC,9199,1.17,255.5,178.8,5.6,437,9221,0.00,2.42,12.80,0.912,4,0.000,0.053,2628,3690,1873
$GC,9232,1.17,255.5,176.8,6.3,438,9236,0.00,2.22,0.00,0.000,6,0.000,0.034,2628,2399,1872
$GC,9548,1.17,255.5,158.3,6.2,453,9553,0.00,2.35,0.00,0.000,4,0.000,0.053,2628,3705,1873
$GC,9577,1.17,255.5,156.4,7.1,454,9581,0.00,2.22,0.00,0.000,6,0.000,0.033,2628,2399,1873
$GC,9895,1.17,255.5,135.6,6.9,469,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2398,1873
$GC,10203,1.22,255.5,113.1,7.5,484,10207,0.00,2.33,0.00,0.000,4,0.000,0.052,2628,3694,1872
$GC,10248,1.22,255.5,109.4,8.1,486,10252,0.00,2.20,0.00,0.000,6,0.000,0.032,2628,2398,1872
$GC,10570,1.26,255.5,86.2,7.5,502,10574,0.00,2.33,0.00,0.000,4,0.000,0.052,2628,3696,1872
$GC,10592,1.26,255.5,84.4,7.6,503,10596,0.00,2.20,0.00,0.000,6,0.000,0.032,2628,2395,1873
$GC,10914,1.30,255.5,60.9,7.6,519,10919,0.12,2.33,0.00,0.000,4,0.054,0.051,2663,3694,1873
$GC,10942,1.30,255.5,58.3,9.2,520,10946,0.00,2.20,0.00,0.000,6,0.000,0.032,2663,2392,1873
$GC,11264,1.30,255.5,30.3,9.6,536,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2392,1873
$GC,11574,1.34,287.3,8.1,5.1,551,11603,0.00,0.00,27.65,0.827,6,0.000,0.000,2663,2392,1742
$STATE,11656,end climb,SURFACE_DEPTH_REACHED
$STATE,11656,begin surface coast
$FINISH,0.7,1.027435
$STATE,11677,end surface coast,CONTROL_FINISHED_OK
$STATE,11677,begin surface
$SM_CCo,11702,11.48,0.651,1,0,1692,300.00
$SM_GC,1.16,0.00,0.00,11.48,0.000,0.000,0.651,27,2611,1692,-10.80,0.31,300.00
$IRIDIUM_FIX,6346.88,-1201.20,060398,181841
$TT8_MAMPS,0.029146
$HUMID,2019
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.0,97.7
$24V_AH,23.2,32.381
$10V_AH,10.1,14.889
$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,25.350,98.675,371.900,11.475,0.000,45.221,71.097,256.405,2.000,0.000,0.000,34.037,1063.471,8781.846,467.982,1344.803,644.984,0.000,1164.577,0.000,1305.399,0.000,15.388,0.000
$DEVICE_MAMPS,129.623,60.593,1084.538,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.442,378.111,444.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28514,556
$CAP_FILE_SIZE,94449,0
$CFSIZE,260165632,247529472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101208,215438,6407.664,-1154.212,30,1.5,30,-11.8