version: 66.04
glider: 101
mission: 7
dive: 202
start: 12 10 108 22 6 21
data:
$ID,101
$MISSION,7
$DIVE,202
$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,-736234.75
$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,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
$GPS1,215438,6407.664,-1154.212,30,1.5,30,-11.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-52.2
$GPS2,220602,6407.451,-1154.017,13,1.8,30,-11.8
$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,242.0,64993,-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,-60.67,0.000,2,0.000,0.000,26,2611,2964
$GC,83,-1.16,-146.6,3.1,-3.5,3,118,10.77,2.53,-17.52,0.000,4,0.121,0.053,2115,1204,3514
$GC,127,-1.05,-146.6,7.7,-6.7,5,131,0.15,2.45,0.00,0.000,6,0.087,0.038,2144,2600,3514
$GC,455,-1.00,-146.6,29.2,-4.2,21,458,0.00,1.92,0.00,0.000,4,0.000,0.055,2144,3688,3514
$GC,529,-0.93,-146.6,32.8,-5.1,24,533,0.12,1.85,0.00,0.000,6,0.086,0.034,2170,2598,3514
$GC,858,-0.93,-146.6,49.8,-5.4,40,862,0.00,1.98,0.00,0.000,4,0.000,0.054,2170,3698,3515
$GC,892,-0.93,-146.6,51.7,-5.1,41,896,0.00,1.88,0.00,0.000,6,0.000,0.034,2170,2590,3514
$GC,1215,-0.93,-146.6,66.3,-4.5,57,1219,0.00,1.98,0.00,0.000,4,0.000,0.054,2169,3692,3514
$GC,1277,-0.93,-146.6,70.8,-8.2,59,1283,0.00,1.88,0.00,0.000,6,0.000,0.034,2170,2603,3514
$GC,1594,-0.93,-146.6,93.1,-6.9,75,1597,0.00,1.95,0.00,0.000,4,0.000,0.053,2170,3693,3514
$GC,1633,-0.93,-146.6,96.6,-8.0,76,1640,0.00,1.88,0.00,0.000,6,0.000,0.034,2169,2601,3514
$GC,1950,-0.93,-146.6,118.7,-8.0,92,1953,0.00,1.95,0.00,0.000,4,0.000,0.053,2170,3692,3514
$GC,2000,-0.93,-146.6,122.7,-7.1,94,2004,0.00,1.85,0.00,0.000,6,0.000,0.034,2169,2598,3514
$GC,2328,-0.93,-146.6,146.0,-6.5,110,2332,0.00,1.95,0.00,0.000,4,0.000,0.053,2170,3689,3515
$GC,2412,-0.93,-146.6,151.4,-6.5,113,2418,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2596,3515
$GC,2728,-0.93,-146.6,172.3,-6.8,129,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2596,3515
$GC,3038,-0.93,-146.6,192.8,-6.2,144,3041,0.00,1.95,0.00,0.000,4,0.000,0.054,2170,3688,3515
$GC,3111,-0.93,-146.6,197.8,-7.1,147,3115,0.00,1.85,0.00,0.000,6,0.000,0.034,2169,2591,3515
$GC,3438,-0.93,-146.6,218.8,-6.6,163,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2591,3515
$GC,3748,-0.93,-146.6,239.9,-7.1,178,3751,0.00,1.98,0.00,0.000,4,0.000,0.055,2170,3695,3515
$GC,3817,-0.93,-146.6,244.8,-6.9,181,3820,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2596,3514
$GC,4150,-0.93,-146.6,267.3,-6.8,197,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2596,3515
$GC,4459,-0.93,-146.6,290.7,-7.6,212,4463,0.00,1.95,0.00,0.000,4,0.000,0.056,2170,3691,3515
$GC,4543,-0.93,-146.6,296.5,-6.6,215,4550,0.00,1.88,0.00,0.000,6,0.000,0.035,2169,2600,3515
$GC,4861,-0.93,-146.6,314.0,-4.8,231,4865,0.00,2.42,0.00,0.000,4,0.000,0.044,2170,1203,3515
$GC,4923,-0.93,-146.6,316.6,-4.1,233,4929,0.00,2.45,0.00,0.000,6,0.000,0.041,2169,2604,3515
$GC,5239,-0.93,-146.6,329.5,-5.4,249,5243,0.00,1.92,0.00,0.000,4,0.000,0.061,2170,3692,3515
$GC,5363,-0.93,-146.6,337.8,-7.1,254,5367,0.00,1.85,0.00,0.000,6,0.000,0.037,2170,2600,3514
$GC,5685,-0.93,-146.6,357.4,-6.4,270,5689,0.00,1.98,0.00,0.000,4,0.000,0.063,2169,3689,3514
$STATE,5740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5740,begin apogee
$GC,5750,-0.45,0.0,361.2,6.2,272,5881,0.45,0.00,124.03,1.065,6,0.067,0.000,2271,2408,2915
$STATE,5882,end apogee,CONTROL_FINISHED_OK
$STATE,5882,begin climb
$GC,5886,1.16,146.6,367.4,0.0,279,6018,1.60,2.45,122.60,1.030,4,0.054,0.060,2622,3693,2317
$GC,6041,1.20,185.2,363.3,4.8,286,6080,0.00,2.28,34.28,0.986,6,0.000,0.037,2622,2394,2158
$GC,6407,1.23,206.1,343.6,5.4,304,6432,0.00,2.45,18.67,0.979,4,0.000,0.060,2622,3682,2073
$GC,6485,1.23,206.1,338.3,6.9,307,6489,0.00,2.25,0.00,0.000,6,0.000,0.038,2622,2389,2073
$GC,6801,1.23,206.1,318.3,6.7,322,6805,0.00,2.38,0.00,0.000,4,0.000,0.060,2622,3689,2073
$GC,6846,1.23,206.1,315.2,6.6,324,6850,0.00,2.25,0.00,0.000,6,0.000,0.038,2622,2389,2072
$GC,7168,1.26,233.0,296.7,5.2,340,7199,0.12,2.58,23.40,1.015,4,0.054,0.050,2657,997,1965
$GC,7223,1.22,233.0,293.3,6.4,342,7227,0.00,2.53,0.00,0.000,6,0.000,0.041,2657,2409,1964
$GC,7539,1.22,233.0,272.2,6.8,357,7543,0.00,2.30,0.00,0.000,4,0.000,0.059,2657,3690,1965
$GC,7579,1.16,233.0,269.2,8.1,359,7584,0.15,2.22,0.00,0.000,6,0.099,0.037,2629,2398,1965
$GC,7907,1.20,267.1,251.1,5.0,375,7939,0.00,0.00,29.92,1.004,6,0.000,0.000,2629,2396,1826
$GC,8236,1.25,267.1,232.3,6.1,391,8240,0.00,2.35,0.00,0.000,4,0.000,0.056,2628,3697,1826
$GC,8270,1.25,267.1,229.9,6.8,392,8274,0.00,2.22,0.00,0.000,6,0.000,0.035,2629,2397,1825
$GC,8587,1.29,268.7,211.2,6.0,407,8592,0.12,2.35,0.00,0.000,4,0.055,0.054,2663,3701,1825
$GC,8622,1.24,268.7,208.6,8.0,408,8626,0.00,2.22,0.00,0.000,6,0.000,0.034,2662,2398,1825
$GC,8938,1.24,268.7,183.6,8.8,423,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2397,1825
$GC,9247,1.24,268.7,156.3,9.3,438,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2396,1826
$GC,9557,1.24,268.7,127.9,8.8,453,9561,0.00,2.30,0.00,0.000,4,0.000,0.053,2662,3691,1825
$GC,9621,1.19,268.7,121.9,10.2,456,9626,0.15,2.20,0.00,0.000,6,0.097,0.033,2634,2392,1825
$GC,9948,1.19,268.7,96.1,8.4,472,9952,0.00,2.33,0.00,0.000,4,0.000,0.052,2634,3693,1825
$GC,9981,1.19,268.7,93.2,8.7,473,9988,0.00,2.17,0.00,0.000,6,0.000,0.033,2634,2399,1825
$GC,10300,1.19,268.7,71.2,6.4,489,10304,0.00,2.33,0.00,0.000,4,0.000,0.051,2634,3702,1825
$GC,10334,1.23,301.4,69.4,5.0,490,10370,0.00,2.20,29.80,0.870,6,0.000,0.033,2634,2391,1686
$GC,10696,1.31,301.4,46.6,7.4,508,10701,0.10,2.35,0.00,0.000,4,0.057,0.051,2664,3702,1685
$GC,10708,1.37,301.4,45.6,6.7,508,10714,0.00,2.20,0.00,0.000,6,0.000,0.033,2664,2395,1685
$GC,11025,1.37,301.4,16.0,10.3,524,11026,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2395,1685
$STATE,11228,end climb,SURFACE_DEPTH_REACHED
$STATE,11228,begin surface coast
$FINISH,0.8,1.007769
$STATE,11249,end surface coast,CONTROL_FINISHED_OK
$STATE,11250,begin surface
$SM_CCo,11335,0.00,0.000,0,0,1684,301.96
$SM_GC,1.54,11.55,0.00,0.00,0.031,0.000,0.000,25,2624,1684,-10.76,0.68,301.96
$IRIDIUM_FIX,6342.00,-1159.15,060398,222204
$TT8_MAMPS,0.028379
$HUMID,2032
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,276.4,94.7
$24V_AH,23.2,32.513
$10V_AH,10.1,14.952
$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,25.300,103.475,382.700,0.000,0.000,75.052,110.473,231.377,1.750,0.000,0.000,32.052,1025.269,8541.498,469.541,1297.604,686.133,0.000,1144.595,0.000,1254.406,0.000,13.768,0.000
$DEVICE_MAMPS,121.186,62.894,1065.363,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.600,363.238,464.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25346,535
$CAP_FILE_SIZE,90815,0
$CFSIZE,260165632,247488512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,011707,6401.774,-1158.340,59,0.9,71,-11.8