version: 66.04
glider: 101
mission: 7
dive: 204
start: 12 11 108 4 35 30
data:
$ID,101
$MISSION,7
$DIVE,204
$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,-736261.88
$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,29
$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
$GPS1,043007,6357.834,-1206.590,31,1.1,31,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-49.9
$GPS2,043509,6357.840,-1206.716,13,1.2,13,-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,250.9,46149,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.45,0.000,2,0.000,0.000,25,2607,3099
$GC,102,-1.16,-146.6,3.7,-4.4,4,127,10.95,0.00,-11.77,0.000,6,0.127,0.000,2116,2607,3513
$GC,435,-1.05,-146.6,46.9,-12.4,20,440,0.15,2.47,0.00,0.000,4,0.081,0.040,2147,1196,3513
$GC,480,-1.05,-146.6,51.5,-7.8,22,485,0.00,2.45,0.00,0.000,6,0.000,0.038,2147,2597,3514
$GC,803,-1.00,-146.6,84.2,-8.7,38,806,0.00,1.95,0.00,0.000,4,0.000,0.057,2147,3697,3514
$GC,843,-0.95,-146.6,87.4,-6.6,39,849,0.00,1.90,0.00,0.000,6,0.000,0.035,2147,2598,3513
$GC,1161,-0.91,-146.6,110.7,-9.3,55,1163,0.12,0.00,0.00,0.000,6,0.082,0.000,2174,2598,3513
$GC,1469,-0.91,-146.6,130.5,-8.0,70,1472,0.00,1.98,0.00,0.000,4,0.000,0.054,2173,3699,3514
$GC,1519,-0.91,-146.6,134.9,-7.9,72,1523,0.00,1.88,0.00,0.000,6,0.000,0.034,2174,2590,3514
$GC,1847,-0.91,-146.6,153.9,-5.0,88,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2591,3514
$GC,2156,-0.91,-146.6,171.7,-5.9,103,2160,0.00,1.98,0.00,0.000,4,0.000,0.054,2174,3693,3514
$GC,2203,-0.91,-146.6,174.7,-6.0,105,2207,0.00,1.85,0.00,0.000,6,0.000,0.034,2174,2596,3514
$GC,2536,-0.91,-146.6,194.8,-6.0,121,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2596,3513
$GC,2845,-0.91,-146.6,211.9,-5.3,136,2846,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2596,3514
$GC,3155,-0.91,-146.6,232.3,-7.0,151,3158,0.00,1.98,0.00,0.000,4,0.000,0.055,2174,3699,3513
$GC,3217,-0.91,-146.6,236.9,-7.8,153,3223,0.00,1.85,0.00,0.000,6,0.000,0.034,2174,2603,3513
$GC,3533,-0.91,-146.6,259.5,-7.3,169,3536,0.00,1.95,0.00,0.000,4,0.000,0.055,2174,3695,3514
$GC,3566,-0.91,-146.6,262.1,-7.6,170,3570,0.00,1.85,0.00,0.000,6,0.000,0.034,2174,2597,3513
$GC,3889,-0.91,-146.6,285.3,-7.2,186,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2597,3514
$GC,4198,-0.91,-146.6,306.1,-6.8,201,4201,0.00,1.98,0.00,0.000,4,0.000,0.056,2174,3699,3514
$GC,4277,-0.91,-146.6,311.8,-7.1,204,4280,0.00,1.85,0.00,0.000,6,0.000,0.034,2174,2600,3513
$GC,4599,-0.91,-146.6,331.1,-5.4,220,4603,0.00,1.95,0.00,0.000,4,0.000,0.058,2173,3688,3513
$GC,4723,-0.91,-146.6,338.3,-5.5,225,4727,0.00,1.85,0.00,0.000,6,0.000,0.035,2174,2592,3513
$GC,5046,-0.95,-146.6,354.1,-4.6,241,5050,0.00,2.00,0.00,0.000,4,0.000,0.060,2174,3698,3513
$GC,5120,-0.95,-146.6,357.2,-3.6,244,5124,0.00,1.90,0.00,0.000,6,0.000,0.035,2174,2568,3513
$GC,5448,-1.00,-146.6,374.0,-5.4,260,5452,0.00,2.40,0.00,0.000,4,0.000,0.048,2174,1198,3513
$GC,5483,-1.04,-146.6,375.9,-5.5,261,5490,0.12,2.47,0.00,0.000,6,0.062,0.044,2144,2604,3513
$GC,5799,-1.04,-146.6,398.3,-7.5,277,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2604,3513
$STATE,5920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5920,begin apogee
$GC,5928,-0.45,0.0,407.0,7.1,283,6056,0.60,0.00,124.60,1.091,6,0.065,0.000,2274,2404,2915
$STATE,6057,end apogee,CONTROL_FINISHED_OK
$STATE,6057,begin climb
$GC,6060,1.16,146.6,411.5,0.0,289,6192,1.60,2.60,123.15,1.055,4,0.056,0.054,2623,1011,2317
$GC,6277,1.21,190.4,404.9,4.7,299,6322,0.00,2.50,38.28,1.020,6,0.000,0.044,2623,2404,2138
$GC,6649,1.24,214.5,382.8,5.3,317,6677,0.00,2.58,21.67,1.009,4,0.000,0.051,2623,1003,2039
$GC,6759,1.24,214.5,375.9,6.4,322,6763,0.00,2.50,0.00,0.000,6,0.000,0.042,2623,2406,2040
$GC,7086,1.24,215.0,356.3,6.0,338,7090,0.00,2.33,0.00,0.000,4,0.000,0.061,2623,3693,2039
$GC,7166,1.24,215.0,351.3,6.3,341,7172,0.00,2.22,0.00,0.000,6,0.000,0.036,2623,2401,2038
$GC,7483,1.35,300.9,337.4,3.4,357,7567,0.17,2.47,72.60,1.051,4,0.048,0.058,2673,3695,1687
$GC,7599,1.27,300.9,331.0,7.0,362,7603,0.00,2.25,0.00,0.000,6,0.000,0.035,2673,2398,1687
$GC,7921,1.23,300.9,306.8,7.7,378,7926,0.15,2.38,0.00,0.000,4,0.099,0.056,2644,3701,1687
$GC,7943,1.23,300.9,305.1,7.4,379,7947,0.00,2.25,0.00,0.000,6,0.000,0.035,2644,2389,1686
$GC,8271,1.27,330.0,286.8,5.1,395,8302,0.00,2.50,25.65,1.002,4,0.000,0.046,2644,1002,1569
$GC,8320,1.30,355.3,284.1,5.2,397,8351,0.00,2.50,22.30,0.978,6,0.000,0.039,2644,2406,1466
$GC,8661,1.30,355.3,260.6,7.6,414,8665,0.00,2.30,0.00,0.000,4,0.000,0.056,2644,3702,1466
$GC,8700,1.30,355.3,257.1,8.8,415,8707,0.00,2.25,0.00,0.000,6,0.000,0.034,2644,2403,1465
$GC,9017,1.30,355.3,231.4,8.4,431,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2402,1465
$GC,9326,1.30,355.3,204.6,9.0,446,9330,0.00,2.33,0.00,0.000,4,0.000,0.054,2644,3693,1465
$GC,9354,1.30,355.3,201.7,9.6,447,9358,0.00,2.22,0.00,0.000,6,0.000,0.033,2644,2385,1465
$GC,9670,1.35,355.3,173.9,8.8,462,9672,0.10,0.00,0.00,0.000,6,0.057,0.000,2674,2384,1465
$GC,9979,1.35,355.3,144.8,10.0,477,9983,0.00,2.35,0.00,0.000,4,0.000,0.053,2674,3703,1465
$GC,10019,1.35,355.3,140.4,10.8,478,10026,0.00,2.22,0.00,0.000,6,0.000,0.033,2674,2391,1465
$GC,10336,1.35,355.3,112.2,7.0,494,10340,0.00,2.33,0.00,0.000,4,0.000,0.052,2674,3693,1465
$GC,10363,1.35,355.3,109.4,9.9,495,10367,0.00,2.20,0.00,0.000,6,0.000,0.032,2674,2391,1465
$GC,10680,1.35,355.3,75.6,10.1,510,10684,0.00,2.33,0.00,0.000,4,0.000,0.052,2674,3692,1465
$GC,10708,1.35,355.3,72.8,10.2,511,10712,0.00,2.17,0.00,0.000,6,0.000,0.032,2674,2402,1465
$GC,11026,1.35,355.3,48.3,10.0,526,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2401,1465
$GC,11334,1.35,355.3,10.7,12.7,541,11338,0.00,2.42,0.00,0.000,4,0.000,0.044,2674,1009,1465
$GC,11345,1.35,355.3,9.1,12.4,541,11351,0.00,2.42,0.00,0.000,6,0.000,0.036,2674,2405,1466
$STATE,11410,end climb,SURFACE_DEPTH_REACHED
$STATE,11411,begin surface coast
$FINISH,0.6,1.003126
$STATE,11432,end surface coast,CONTROL_FINISHED_OK
$STATE,11433,begin surface
$SM_CCo,11518,0.00,0.000,0,0,1465,355.68
$SM_GC,1.37,11.90,0.00,0.00,0.048,0.000,0.000,30,2610,1465,-10.74,0.28,355.68
$IRIDIUM_FIX,6337.14,-1157.11,070398,010149
$TT8_MAMPS,0.028379
$HUMID,2034
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,325.4,91.1
$24V_AH,23.2,32.785
$10V_AH,10.1,15.070
$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,25.875,97.775,428.250,0.000,0.000,26.302,26.583,124.631,2.250,0.000,0.000,14.850,1029.599,8585.326,511.277,1254.091,443.685,0.000,1195.885,0.000,1229.844,0.000,17.003,0.000
$DEVICE_MAMPS,127.322,60.593,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.091,370.587,400.336,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28572,546
$CAP_FILE_SIZE,88483,0
$CFSIZE,260165632,247402496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111208,074837,6357.279,-1211.796,29,1.8,29,-11.9