version: 66.04
glider: 101
mission: 7
dive: 211
start: 12 12 108 10 0 1
data:
$ID,101
$MISSION,7
$DIVE,211
$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,-736380.75
$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,42
$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
$GPS1,095307,6340.136,-1244.723,28,1.0,28,-12.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-48.7
$GPS2,095939,6340.138,-1244.504,8,1.7,8,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IE
$TGT_LATLONG,6330.000,-1257.000
$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,220.9,21428,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.93,0.000,2,0.000,0.000,29,2622,3425
$GC,103,-1.16,-146.6,5.3,-6.6,4,125,10.93,2.55,-1.88,0.000,4,0.128,0.055,2116,1208,3514
$GC,277,-1.07,-146.6,33.7,-10.6,11,284,0.12,2.42,0.00,0.000,6,0.094,0.040,2140,2588,3515
$GC,595,-1.01,-146.6,54.8,-7.2,27,599,0.00,1.95,0.00,0.000,4,0.000,0.056,2139,3691,3515
$GC,665,-0.94,-146.6,60.5,-8.7,30,670,0.15,1.85,0.00,0.000,6,0.083,0.035,2170,2603,3515
$GC,1000,-0.94,-146.6,86.8,-8.3,46,1004,0.00,2.45,0.00,0.000,4,0.000,0.042,2170,1191,3515
$GC,1040,-0.94,-146.6,90.8,-11.3,48,1045,0.00,2.47,0.00,0.000,6,0.000,0.038,2170,2609,3515
$GC,1368,-0.94,-146.6,110.6,-5.2,64,1372,0.00,1.92,0.00,0.000,4,0.000,0.056,2170,3698,3515
$GC,1438,-0.94,-146.6,115.4,-8.2,67,1441,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2594,3515
$GC,1773,-0.94,-146.6,139.1,-7.8,83,1776,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3696,3515
$GC,1829,-0.94,-146.6,143.5,-7.4,85,1833,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2591,3515
$GC,2152,-0.94,-146.6,167.5,-7.3,101,2155,0.00,1.98,0.00,0.000,4,0.000,0.055,2170,3692,3515
$GC,2185,-0.94,-146.6,170.3,-8.9,102,2189,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2606,3515
$GC,2507,-0.94,-146.6,193.5,-6.8,118,2511,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3695,3515
$GC,2541,-0.94,-146.6,195.9,-7.3,119,2545,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2588,3515
$GC,2863,-0.94,-146.6,217.0,-6.9,135,2867,0.00,1.98,0.00,0.000,4,0.000,0.055,2170,3692,3515
$GC,2909,-0.94,-146.6,220.3,-6.9,137,2913,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2599,3515
$GC,3242,-0.94,-146.6,241.7,-6.1,153,3246,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3690,3515
$GC,3276,-0.94,-146.6,244.0,-6.8,154,3280,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2599,3515
$GC,3598,-0.94,-146.6,264.9,-6.4,170,3602,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3689,3515
$GC,3632,-0.94,-146.6,267.3,-7.2,171,3635,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2596,3515
$GC,3954,-0.94,-146.6,286.4,-5.6,187,3958,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3688,3515
$GC,3988,-0.94,-146.6,288.5,-5.9,188,3992,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2593,3514
$GC,4311,-0.94,-146.6,305.7,-5.1,204,4314,0.00,1.98,0.00,0.000,4,0.000,0.056,2170,3694,3515
$GC,4350,-0.94,-146.6,307.9,-5.5,205,4357,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2603,3515
$GC,4668,-0.94,-146.6,324.1,-4.4,221,4671,0.00,1.95,0.00,0.000,4,0.000,0.056,2170,3694,3515
$GC,4701,-0.94,-146.6,326.2,-6.5,222,4705,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2600,3515
$GC,5024,-0.94,-146.6,344.2,-5.8,238,5027,0.00,1.95,0.00,0.000,4,0.000,0.057,2171,3689,3515
$GC,5070,-0.94,-146.6,347.2,-6.2,240,5074,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2594,3515
$GC,5404,-0.94,-146.6,365.3,-5.2,256,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2593,3515
$GC,5713,-0.94,-146.6,385.0,-7.1,271,5716,0.00,1.98,0.00,0.000,4,0.000,0.058,2170,3689,3514
$GC,5764,-0.94,-146.6,388.8,-6.7,273,5767,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2596,3514
$GC,6091,-0.94,-146.6,409.9,-5.3,289,6095,0.00,1.98,0.00,0.000,4,0.000,0.060,2170,3686,3515
$GC,6160,-0.94,-146.6,413.4,-5.1,292,6164,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2600,3515
$GC,6494,-0.94,-146.6,432.8,-6.6,308,6497,0.00,1.98,0.00,0.000,4,0.000,0.062,2170,3692,3515
$GC,6528,-0.94,-146.6,435.2,-7.2,309,6531,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2604,3514
$GC,6850,-0.94,-146.6,454.9,-5.5,325,6853,0.00,1.98,0.00,0.000,4,0.000,0.064,2170,3686,3515
$GC,6934,-0.94,-146.6,459.9,-6.0,328,6940,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2604,3515
$GC,7255,-0.94,-146.6,475.5,-4.8,344,7259,0.00,2.00,0.00,0.000,4,0.000,0.069,2170,3689,3514
$GC,7324,-0.94,-146.6,479.4,-5.2,347,7328,0.00,1.88,0.00,0.000,6,0.000,0.038,2171,2599,3514
$GC,7658,-0.94,-146.6,494.2,-4.0,363,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2598,3514
$GC,7967,-0.98,-146.6,509.9,-5.4,378,7971,0.00,2.05,0.00,0.000,4,0.000,0.081,2170,3683,3514
$GC,8139,-0.98,-146.6,520.3,-5.8,385,8143,0.00,1.92,0.00,0.000,6,0.000,0.052,2170,2600,3514
$STATE,8293,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8293,begin apogee
$GC,8301,-0.45,0.0,529.9,6.1,393,8430,0.47,0.00,125.97,1.150,6,0.063,0.000,2274,2397,2915
$STATE,8431,end apogee,CONTROL_FINISHED_OK
$STATE,8431,begin climb
$GC,8435,1.16,146.6,533.4,0.0,399,8568,1.58,2.72,124.72,1.115,4,0.050,0.075,2623,985,2317
$GC,8616,1.18,168.5,527.4,5.3,407,8642,0.00,2.62,20.30,1.047,6,0.000,0.061,2623,2391,2228
$GC,8953,1.19,170.1,506.4,6.0,423,8957,0.00,2.45,0.00,0.000,4,0.000,0.074,2623,3704,2227
$GC,9038,1.19,170.1,500.6,6.4,426,9044,0.00,2.33,0.00,0.000,6,0.000,0.042,2623,2389,2227
$GC,9354,1.19,171.9,482.6,5.9,442,9363,0.00,2.45,4.40,0.758,4,0.000,0.067,2623,3701,2214
$GC,9427,1.19,171.9,478.0,6.3,445,9432,0.00,2.30,0.00,0.000,6,0.000,0.038,2623,2391,2213
$GC,9750,1.19,176.7,460.4,5.9,461,9761,0.00,2.42,5.93,0.881,4,0.000,0.062,2623,3702,2194
$GC,9791,1.19,176.7,458.0,6.3,463,9795,0.00,2.28,0.00,0.000,6,0.000,0.038,2623,2398,2193
$GC,10118,1.19,176.7,438.5,6.3,479,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2398,2193
$GC,10427,1.20,183.0,419.9,5.8,494,10441,0.00,2.45,7.10,0.930,4,0.000,0.059,2623,3705,2168
$GC,10466,1.20,183.0,417.4,7.1,495,10472,0.00,2.28,0.00,0.000,6,0.000,0.036,2623,2387,2168
$GC,10783,1.25,219.9,399.8,4.9,511,10821,0.10,0.00,32.45,1.068,6,0.060,0.000,2653,2387,2018
$GC,11132,1.25,221.1,379.6,6.0,528,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2387,2018
$GC,11441,1.25,226.2,360.2,5.8,543,11455,0.00,2.47,6.97,0.884,4,0.000,0.056,2653,3703,1992
$GC,11479,1.20,226.2,357.7,7.1,544,11485,0.00,2.28,0.00,0.000,6,0.000,0.035,2653,2386,1992
$GC,11795,1.20,226.2,335.7,7.5,560,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2385,1992
$GC,12105,1.20,226.2,314.5,6.7,575,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2385,1992
$GC,12414,1.20,226.2,294.4,6.5,590,12418,0.00,2.35,0.00,0.000,4,0.000,0.054,2653,3699,1992
$GC,12442,1.16,226.2,292.3,7.4,591,12447,0.12,2.22,0.00,0.000,6,0.101,0.035,2630,2396,1992
$GC,12764,1.16,226.2,270.8,6.9,607,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2395,1992
$GC,13073,1.16,226.2,250.1,6.9,622,13077,0.00,2.35,0.00,0.000,4,0.000,0.054,2630,3706,1992
$GC,13097,1.16,226.2,248.3,7.9,623,13101,0.00,2.22,0.00,0.000,6,0.000,0.034,2630,2396,1992
$GC,13419,1.16,226.2,226.9,6.7,639,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2396,1992
$GC,13728,1.16,226.2,206.6,6.4,654,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2396,1992
$GC,14037,1.16,226.2,187.4,6.1,669,14041,0.00,2.33,0.00,0.000,4,0.000,0.054,2630,3702,1992
$GC,14070,1.16,226.2,185.1,6.3,670,14074,0.00,2.22,0.00,0.000,6,0.000,0.035,2630,2394,1992
$GC,14386,1.16,226.2,165.1,6.6,685,14387,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2392,1992
$GC,14696,1.16,226.2,145.0,6.3,700,14700,0.00,2.35,0.00,0.000,4,0.000,0.054,2630,3705,1992
$GC,14724,1.16,226.2,143.0,6.8,701,14728,0.00,2.22,0.00,0.000,6,0.000,0.035,2629,2395,1992
$GC,15040,1.16,226.2,121.3,7.1,716,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2394,1991
$GC,15352,1.16,226.2,102.1,6.3,731,15353,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2393,1992
$GC,15659,1.16,226.2,80.0,7.4,746,15663,0.00,2.35,0.00,0.000,4,0.000,0.053,2630,3709,1992
$GC,15710,1.16,226.2,76.3,6.6,748,15714,0.00,2.22,0.00,0.000,6,0.000,0.035,2630,2393,1992
$GC,16032,1.16,226.2,53.4,7.3,764,16036,0.00,2.42,0.00,0.000,4,0.000,0.044,2629,1002,1992
$GC,16065,1.16,226.2,51.2,6.0,765,16072,0.00,2.45,0.00,0.000,6,0.000,0.037,2630,2420,1992
$GC,16384,1.16,226.2,29.7,7.9,781,16388,0.00,2.50,0.00,0.000,4,0.000,0.044,2629,1002,1992
$GC,16429,1.16,226.2,25.5,9.7,783,16433,0.00,2.45,0.00,0.000,6,0.000,0.038,2629,2411,1992
$GC,16751,1.16,226.2,2.1,8.9,799,16755,0.00,2.22,0.00,0.000,3,0.000,0.054,2629,3676,1992
$STATE,16755,end climb,SURFACE_DEPTH_REACHED
$STATE,16755,begin surface coast
$FINISH,0.4,1.027479
$STATE,16793,end surface coast,CONTROL_FINISHED_OK
$STATE,16793,begin surface
$SM_CCo,16819,62.20,0.786,2,0,1692,300.00
$SM_GC,1.21,0.00,0.00,62.20,0.000,0.000,0.786,29,2601,1692,-10.79,0.06,300.00
$IRIDIUM_FIX,6317.84,-1249.12,080398,040403
$TT8_MAMPS,0.029146
$HUMID,1995
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,475.5,64.2
$24V_AH,23.1,33.746
$10V_AH,10.1,15.594
$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,24.850,145.075,327.850,62.200,0.000,20.413,32.543,196.757,4.250,0.000,0.000,12.648,1507.897,12823.471,532.146,1801.947,618.722,0.000,1457.081,0.000,1769.449,0.000,29.560,0.000
$DEVICE_MAMPS,128.089,81.302,1149.733,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.854,547.743,540.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41143,801
$CAP_FILE_SIZE,125888,0
$CFSIZE,260165632,246968320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,2,0
$GPS,121208,144256,6334.996,-1242.749,39,1.3,39,-12.1