version: 66.04
glider: 101
mission: 7
dive: 205
start: 12 11 108 7 54 30
data:
$ID,101
$MISSION,7
$DIVE,205
$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,-736279.88
$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,42
$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
$GPS1,074837,6357.279,-1211.796,29,1.8,29,-11.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-56.9
$GPS2,075409,6357.323,-1211.793,15,1.9,15,-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,249.1,42112,-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,-80.47,0.000,2,0.000,0.000,30,2612,3109
$GC,102,-1.16,-146.6,3.2,-3.1,4,132,10.98,2.53,-12.52,0.000,4,0.130,0.052,2113,1200,3513
$GC,139,-0.78,-146.6,8.6,-12.3,5,146,0.43,2.45,0.00,0.000,6,0.072,0.038,2202,2597,3513
$GC,457,-0.84,-146.6,24.6,-3.0,21,460,0.00,1.95,0.00,0.000,4,0.000,0.058,2202,3698,3514
$GC,491,-0.90,-146.6,26.3,-5.3,22,495,0.12,1.85,0.00,0.000,6,0.054,0.034,2167,2603,3514
$GC,813,-0.90,-146.6,48.2,-6.6,38,817,0.00,1.95,0.00,0.000,4,0.000,0.055,2167,3692,3514
$GC,869,-0.90,-146.6,51.9,-6.4,40,873,0.00,1.88,0.00,0.000,6,0.000,0.034,2167,2599,3514
$GC,1191,-0.90,-146.6,67.9,-4.9,56,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2599,3514
$GC,1501,-0.90,-146.6,85.3,-4.7,71,1504,0.00,1.95,0.00,0.000,4,0.000,0.054,2167,3693,3513
$GC,1574,-0.90,-146.6,89.3,-6.3,74,1577,0.00,1.85,0.00,0.000,6,0.000,0.034,2167,2594,3514
$GC,1902,-0.90,-146.6,118.1,-4.8,90,1906,0.00,1.95,0.00,0.000,4,0.000,0.053,2167,3690,3514
$GC,1949,-0.90,-146.6,120.8,-5.2,92,1953,0.00,1.88,0.00,0.000,6,0.000,0.034,2167,2596,3514
$GC,2283,-0.90,-146.6,142.6,-7.2,108,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2596,3514
$GC,2592,-0.90,-146.6,164.1,-7.0,123,2596,0.00,1.95,0.00,0.000,4,0.000,0.054,2167,3693,3514
$GC,2649,-0.90,-146.6,168.2,-7.4,125,2652,0.00,1.85,0.00,0.000,6,0.000,0.034,2167,2594,3514
$GC,2971,-0.90,-146.6,187.5,-6.3,141,2975,0.00,1.95,0.00,0.000,4,0.000,0.054,2167,3691,3514
$GC,3010,-0.90,-146.6,190.3,-6.9,142,3016,0.00,1.85,0.00,0.000,6,0.000,0.033,2167,2590,3514
$GC,3327,-0.90,-146.6,211.8,-7.5,158,3330,0.00,1.98,0.00,0.000,4,0.000,0.054,2167,3698,3514
$GC,3362,-0.90,-146.6,214.5,-7.5,159,3365,0.00,1.85,0.00,0.000,6,0.000,0.033,2167,2597,3514
$GC,3683,-0.90,-146.6,237.5,-7.5,175,3688,0.00,2.40,0.00,0.000,4,0.000,0.040,2167,1201,3514
$GC,3706,-0.90,-146.6,239.3,-7.6,176,3710,0.00,2.45,0.00,0.000,6,0.000,0.038,2167,2608,3514
$GC,4027,-0.90,-146.6,262.9,-7.2,192,4031,0.00,1.90,0.00,0.000,4,0.000,0.055,2167,3689,3514
$GC,4063,-0.90,-146.6,265.5,-7.3,193,4066,0.00,1.85,0.00,0.000,6,0.000,0.034,2167,2589,3514
$GC,4384,-0.90,-146.6,287.9,-6.7,209,4388,0.00,1.98,0.00,0.000,4,0.000,0.056,2167,3693,3514
$GC,4418,-0.90,-146.6,290.3,-7.0,210,4422,0.00,1.85,0.00,0.000,6,0.000,0.033,2167,2591,3514
$GC,4741,-0.90,-146.6,311.4,-6.4,226,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2591,3514
$GC,5050,-0.90,-146.6,330.4,-5.9,241,5054,0.00,1.95,0.00,0.000,4,0.000,0.057,2167,3689,3514
$GC,5084,-0.90,-146.6,332.6,-6.3,242,5088,0.00,1.85,0.00,0.000,6,0.000,0.034,2167,2588,3514
$GC,5406,-0.90,-146.6,349.8,-5.3,258,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2588,3514
$GC,5716,-0.90,-146.6,363.0,-3.7,273,5719,0.00,1.98,0.00,0.000,4,0.000,0.058,2167,3688,3514
$GC,5762,-0.90,-146.6,364.8,-4.4,275,5766,0.00,1.83,0.00,0.000,6,0.000,0.034,2167,2601,3514
$GC,6096,-0.90,-146.6,377.0,-4.1,291,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2600,3514
$GC,6406,-0.90,-146.6,393.2,-6.0,306,6410,0.00,1.98,0.00,0.000,4,0.000,0.061,2167,3699,3514
$GC,6468,-0.90,-146.6,397.4,-7.0,308,6474,0.00,1.85,0.00,0.000,6,0.000,0.035,2167,2604,3514
$GC,6784,-0.90,-146.6,416.1,-6.3,324,6787,0.00,1.98,0.00,0.000,4,0.000,0.064,2167,3688,3514
$GC,6857,-0.90,-146.6,421.7,-7.2,327,6861,0.00,1.85,0.00,0.000,6,0.000,0.036,2167,2605,3513
$STATE,6894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6894,begin apogee
$GC,6903,-0.45,0.0,424.2,6.5,329,7035,0.50,0.00,124.40,1.098,6,0.059,0.000,2277,2397,2915
$STATE,7035,end apogee,CONTROL_FINISHED_OK
$STATE,7036,begin climb
$GC,7039,1.16,146.6,429.1,0.0,336,7171,1.58,2.62,123.18,1.060,4,0.051,0.057,2625,1000,2317
$GC,7203,1.21,193.2,426.8,4.6,343,7251,0.00,2.53,40.53,1.028,6,0.000,0.046,2626,2394,2128
$GC,7560,1.21,193.2,402.2,7.9,361,7564,0.00,2.38,0.00,0.000,4,0.000,0.063,2625,3699,2126
$GC,7639,1.21,193.2,395.3,8.2,364,7644,0.00,2.28,0.00,0.000,6,0.000,0.037,2626,2392,2126
$GC,7956,1.30,265.8,378.4,3.8,379,8025,0.15,2.50,61.62,1.055,4,0.053,0.060,2664,3703,1831
$GC,8043,1.29,294.9,374.8,5.1,383,8074,0.00,2.30,25.88,1.012,6,0.000,0.036,2663,2390,1712
$GC,8385,1.29,294.9,352.8,7.6,399,8389,0.00,2.40,0.00,0.000,4,0.000,0.059,2664,3705,1711
$GC,8413,1.29,294.9,350.7,8.0,400,8418,0.00,2.28,0.00,0.000,6,0.000,0.035,2664,2387,1711
$GC,8736,1.29,294.9,322.4,8.8,416,8740,0.00,2.45,0.00,0.000,4,0.000,0.048,2664,1000,1711
$GC,8764,1.29,294.9,319.9,9.1,417,8768,0.00,2.50,0.00,0.000,6,0.000,0.040,2663,2415,1711
$GC,9080,1.29,294.9,292.7,8.5,432,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2415,1710
$GC,9389,1.29,294.9,266.9,8.6,447,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2415,1711
$GC,9699,1.29,294.9,239.1,9.2,462,9703,0.00,2.53,0.00,0.000,4,0.000,0.044,2663,990,1710
$GC,9721,1.29,294.9,236.8,10.1,463,9725,0.00,2.47,0.00,0.000,6,0.000,0.038,2664,2403,1711
$GC,10042,1.29,294.9,206.8,9.2,479,10046,0.00,2.30,0.00,0.000,4,0.000,0.054,2663,3697,1711
$GC,10076,1.24,294.9,203.4,9.5,480,10083,0.00,2.22,0.00,0.000,6,0.000,0.034,2663,2390,1710
$GC,10392,1.24,294.9,173.8,9.1,496,10396,0.00,2.40,0.00,0.000,4,0.000,0.045,2664,1008,1710
$GC,10416,1.24,294.9,171.7,9.0,497,10420,0.00,2.45,0.00,0.000,6,0.000,0.037,2663,2412,1710
$GC,10744,1.24,294.9,144.7,7.8,513,10748,0.00,2.28,0.00,0.000,4,0.000,0.054,2663,3699,1710
$GC,10766,1.24,294.9,142.6,8.6,514,10770,0.00,2.20,0.00,0.000,6,0.000,0.033,2664,2399,1710
$GC,11088,1.24,294.9,114.2,9.8,530,11092,0.00,2.33,0.00,0.000,4,0.000,0.053,2664,3699,1710
$GC,11116,1.24,294.9,111.6,9.0,531,11120,0.00,2.20,0.00,0.000,6,0.000,0.032,2664,2398,1710
$GC,11433,1.24,294.9,92.2,7.6,546,11437,0.00,2.42,0.00,0.000,4,0.000,0.044,2664,1005,1710
$GC,11466,1.24,294.9,88.6,9.6,547,11473,0.00,2.45,0.00,0.000,6,0.000,0.036,2663,2414,1710
$GC,11785,1.24,294.9,60.7,8.9,563,11789,0.00,2.25,0.00,0.000,4,0.000,0.053,2664,3692,1710
$GC,11813,1.24,294.9,57.7,10.2,564,11817,0.00,2.20,0.00,0.000,6,0.000,0.031,2664,2388,1710
$GC,12130,1.25,301.9,36.4,5.8,579,12144,0.00,2.50,7.30,0.750,4,0.000,0.043,2663,999,1684
$GC,12162,1.25,301.9,32.8,10.6,580,12166,0.00,2.45,0.00,0.000,6,0.000,0.035,2664,2404,1684
$STATE,12475,end climb,SURFACE_DEPTH_REACHED
$STATE,12475,begin surface coast
$FINISH,0.7,1.027441
$STATE,12497,end surface coast,CONTROL_FINISHED_OK
$STATE,12498,begin surface
$SM_CCo,12583,0.00,0.000,0,0,1683,302.21
$SM_GC,1.62,11.77,0.00,0.00,0.043,0.000,0.000,27,2606,1683,-10.75,0.20,302.21
$IRIDIUM_FIX,6332.30,-1205.69,070398,040444
$TT8_MAMPS,0.028379
$HUMID,2034
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,16.30
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,375.2,58.9
$24V_AH,23.2,32.912
$10V_AH,10.1,15.134
$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,25.525,121.875,382.900,0.000,0.000,25.243,34.529,149.660,8.750,0.000,0.000,17.368,1125.825,9455.223,491.429,1353.332,493.297,0.000,1210.522,0.000,1315.670,0.000,26.007,0.000
$DEVICE_MAMPS,130.390,63.661,1097.577,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.446,405.220,477.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28484,596
$CAP_FILE_SIZE,96975,0
$CFSIZE,260165632,247353344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,111208,112537,6356.195,-1218.277,39,1.0,44,-12.0