version: 66.04
glider: 101
mission: 7
dive: 203
start: 12 11 108 1 22 59
data:
$ID,101
$MISSION,7
$DIVE,203
$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,-736246.38
$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,44
$R_STBD_OVSHOOT,37
$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
$GPS1,011707,6401.774,-1158.340,59,0.9,71,-11.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.4
$GPS2,012238,6401.667,-1158.514,9,1.5,9,-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,248.1,55620,-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,11,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,2,0.000,0.000,25,2624,2947
$GC,82,-1.16,-146.6,3.2,-4.0,3,117,10.85,2.53,-17.42,0.000,4,0.123,0.051,2118,1208,3514
$GC,355,-1.06,-146.6,23.9,-4.9,15,360,0.12,2.42,0.00,0.000,6,0.093,0.038,2142,2592,3515
$GC,677,-0.95,-146.6,47.2,-11.4,31,681,0.12,1.95,0.00,0.000,4,0.084,0.055,2168,3694,3515
$GC,779,-0.95,-146.6,56.0,-7.2,35,782,0.00,1.85,0.00,0.000,6,0.000,0.034,2169,2600,3515
$GC,1102,-0.95,-146.6,86.4,-10.3,51,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2601,3515
$GC,1410,-0.95,-146.6,109.9,-9.0,66,1414,0.00,1.95,0.00,0.000,4,0.000,0.054,2169,3693,3515
$GC,1457,-0.95,-146.6,113.1,-7.6,68,1460,0.00,1.85,0.00,0.000,6,0.000,0.035,2169,2598,3515
$GC,1790,-0.95,-146.6,140.4,-8.4,84,1794,0.00,1.95,0.00,0.000,4,0.000,0.054,2169,3690,3515
$GC,1830,-0.95,-146.6,143.9,-8.6,85,1836,0.00,1.88,0.00,0.000,6,0.000,0.034,2169,2599,3515
$GC,2146,-0.95,-146.6,169.5,-8.1,101,2151,0.00,2.42,0.00,0.000,4,0.000,0.041,2169,1194,3515
$GC,2169,-0.95,-146.6,171.4,-8.0,102,2173,0.00,2.47,0.00,0.000,6,0.000,0.038,2169,2612,3515
$GC,2490,-0.95,-146.6,195.6,-7.2,118,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2612,3515
$GC,2800,-0.95,-146.6,217.0,-6.6,133,2803,0.00,1.90,0.00,0.000,4,0.000,0.055,2168,3692,3515
$GC,2856,-0.95,-146.6,221.3,-7.6,135,2860,0.00,1.85,0.00,0.000,6,0.000,0.035,2168,2596,3515
$GC,3178,-0.95,-146.6,243.0,-6.5,151,3182,0.00,1.98,0.00,0.000,4,0.000,0.055,2169,3699,3515
$GC,3207,-0.95,-146.6,245.0,-7.1,152,3210,0.00,1.88,0.00,0.000,6,0.000,0.035,2169,2607,3515
$GC,3534,-0.95,-146.6,265.3,-6.2,168,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2607,3515
$GC,3844,-0.95,-146.6,283.9,-6.6,183,3847,0.00,1.95,0.00,0.000,4,0.000,0.057,2169,3699,3515
$GC,3900,-0.95,-146.6,288.2,-7.6,185,3904,0.00,1.88,0.00,0.000,6,0.000,0.035,2169,2585,3514
$GC,4223,-0.95,-146.6,311.6,-7.5,201,4227,0.00,2.00,0.00,0.000,4,0.000,0.058,2168,3698,3515
$GC,4279,-0.95,-146.6,315.8,-6.5,203,4283,0.00,1.85,0.00,0.000,6,0.000,0.035,2169,2600,3515
$GC,4601,-0.95,-146.6,333.3,-6.5,219,4605,0.00,2.42,0.00,0.000,4,0.000,0.046,2169,1201,3515
$GC,4630,-0.99,-146.6,335.5,-7.9,220,4634,0.00,2.47,0.00,0.000,6,0.000,0.042,2168,2609,3515
$GC,4951,-0.99,-146.6,356.1,-6.8,236,4956,0.00,2.47,0.00,0.000,4,0.000,0.046,2169,1208,3514
$GC,4969,-0.99,-146.6,357.1,-6.2,237,4974,0.00,2.45,0.00,0.000,6,0.000,0.044,2168,2600,3514
$STATE,5134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5134,begin apogee
$GC,5143,-0.45,0.0,368.9,6.4,245,5270,0.50,0.00,124.15,1.063,6,0.066,0.000,2276,2397,2915
$STATE,5271,end apogee,CONTROL_FINISHED_OK
$STATE,5271,begin climb
$GC,5274,1.16,146.6,373.2,0.0,251,5405,1.58,2.42,123.35,1.024,4,0.048,0.060,2626,3695,2317
$GC,5412,1.23,207.9,369.0,4.2,257,5472,0.00,2.28,52.90,0.993,6,0.000,0.036,2626,2401,2067
$GC,5792,1.23,207.9,345.9,6.6,276,5797,0.00,2.50,0.00,0.000,4,0.000,0.050,2626,999,2065
$GC,5843,1.23,207.9,341.7,6.7,278,5847,0.00,2.50,0.00,0.000,6,0.000,0.042,2626,2406,2066
$GC,6159,1.23,207.9,323.3,6.9,293,6163,0.00,2.33,0.00,0.000,4,0.000,0.060,2626,3699,2065
$GC,6193,1.23,207.9,320.8,7.1,294,6197,0.00,2.25,0.00,0.000,6,0.000,0.036,2626,2394,2065
$GC,6509,1.23,207.9,302.2,6.2,309,6513,0.00,2.45,0.00,0.000,4,0.000,0.048,2626,1002,2064
$GC,6533,1.23,207.9,300.8,6.4,310,6537,0.00,2.47,0.00,0.000,6,0.000,0.041,2626,2404,2064
$GC,6861,1.24,216.7,282.1,5.7,326,6875,0.00,2.38,8.43,0.907,4,0.000,0.058,2626,3687,2031
$GC,6921,1.24,216.7,278.4,6.5,328,6927,0.00,2.22,0.00,0.000,6,0.000,0.036,2626,2396,2031
$GC,7238,1.28,244.8,262.0,5.2,344,7266,0.12,0.00,25.17,0.994,6,0.057,0.000,2660,2396,1917
$GC,7567,1.28,244.8,240.0,7.0,360,7571,0.00,2.35,0.00,0.000,4,0.000,0.055,2660,3695,1916
$GC,7601,1.21,244.8,237.4,7.6,361,7606,0.12,2.22,0.00,0.000,6,0.101,0.035,2637,2394,1916
$GC,7923,1.23,259.5,218.8,5.6,377,7944,0.00,2.42,13.85,0.930,4,0.000,0.054,2637,3689,1857
$GC,7956,1.23,259.5,216.6,6.0,378,7960,0.00,2.22,0.00,0.000,6,0.000,0.034,2637,2398,1857
$GC,8272,1.23,260.8,197.8,6.0,393,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2396,1857
$GC,8581,1.23,260.8,179.4,6.2,408,8585,0.00,2.33,0.00,0.000,4,0.000,0.053,2637,3692,1857
$GC,8621,1.23,260.8,176.7,6.2,410,8625,0.00,2.20,0.00,0.000,6,0.000,0.033,2637,2398,1856
$GC,8949,1.23,261.5,157.6,6.0,426,8953,0.00,2.33,0.00,0.000,4,0.000,0.053,2637,3693,1856
$GC,8993,1.23,261.5,154.4,6.6,428,8997,0.00,2.20,0.00,0.000,6,0.000,0.033,2637,2397,1857
$GC,9315,1.23,261.5,132.3,6.5,444,9320,0.00,2.33,0.00,0.000,4,0.000,0.052,2637,3694,1856
$GC,9334,1.23,261.5,131.0,6.9,445,9338,0.00,2.20,0.00,0.000,6,0.000,0.032,2637,2393,1857
$GC,9662,1.23,261.5,108.0,7.2,461,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2392,1857
$GC,9971,1.23,261.5,85.7,8.7,476,9975,0.00,2.33,0.00,0.000,4,0.000,0.052,2637,3695,1857
$GC,10004,1.23,261.5,82.2,10.1,477,10010,0.00,2.20,0.00,0.000,6,0.000,0.033,2637,2394,1856
$GC,10322,1.23,261.5,53.9,9.3,493,10326,0.00,2.33,0.00,0.000,4,0.000,0.053,2637,3696,1857
$GC,10379,1.28,300.7,50.9,4.8,495,10420,0.00,2.22,35.12,0.854,6,0.000,0.032,2637,2396,1688
$GC,10741,1.35,300.7,21.6,9.6,513,10746,0.15,2.42,0.00,0.000,4,0.049,0.044,2680,1010,1689
$GC,10775,1.44,372.9,20.0,3.8,514,10843,0.00,2.42,59.00,0.826,6,0.000,0.036,2679,2413,1394
$STATE,11047,end climb,SURFACE_DEPTH_REACHED
$STATE,11047,begin surface coast
$FINISH,0.9,1.027410
$STATE,11072,end surface coast,CONTROL_FINISHED_OK
$STATE,11072,begin surface
$SM_CCo,11157,0.00,0.000,0,0,1392,373.59
$SM_GC,1.43,11.90,0.00,0.00,0.042,0.000,0.000,25,2605,1392,-10.76,0.14,373.59
$IRIDIUM_FIX,6342.00,-1148.51,060398,222214
$TT8_MAMPS,0.028379
$HUMID,2029
$INTERNAL_PRESSURE,7.77374
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.6,78.0
$24V_AH,23.2,32.648
$10V_AH,10.1,15.012
$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,25.475,107.550,441.975,0.000,0.000,22.526,37.047,153.796,2.000,0.000,0.000,11.017,1003.689,8253.222,517.793,1241.008,476.099,0.000,1186.667,0.000,1219.668,0.000,15.340,0.000
$DEVICE_MAMPS,122.720,59.826,1063.062,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.024,359.498,437.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25389,529
$CAP_FILE_SIZE,87008,0
$CFSIZE,260165632,247451648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,043007,6357.834,-1206.590,31,1.1,31,-11.9