version: 66.04
glider: 101
mission: 7
dive: 212
start: 12 12 108 14 52 24
data:
$ID,101
$MISSION,7
$DIVE,212
$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,-736393.75
$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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,144256,6334.996,-1242.749,39,1.3,39,-12.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,2
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-58.8
$GPS2,145203,6334.830,-1242.705,10,1.3,10,-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,245.0,14818,-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,12,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-80.20,0.000,2,0.000,0.000,29,2602,3442
$GC,102,-1.16,-146.6,5.5,-6.4,4,123,10.88,2.05,-1.50,0.000,4,0.126,0.071,2112,3698,3515
$GC,374,-1.03,-146.6,41.0,-10.9,16,379,0.17,1.90,0.00,0.000,6,0.086,0.035,2148,2581,3516
$GC,710,-0.99,-146.6,64.7,-7.0,32,713,0.00,2.00,0.00,0.000,4,0.000,0.054,2147,3693,3516
$GC,780,-0.93,-146.6,70.5,-7.6,35,784,0.12,1.88,0.00,0.000,6,0.086,0.035,2173,2593,3516
$GC,1114,-0.93,-146.6,90.4,-6.3,51,1118,0.00,1.98,0.00,0.000,4,0.000,0.054,2173,3693,3516
$GC,1161,-0.93,-146.6,93.2,-6.0,53,1165,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2591,3516
$GC,1494,-0.93,-146.6,115.6,-6.8,69,1498,0.00,1.98,0.00,0.000,4,0.000,0.054,2173,3692,3516
$GC,1528,-0.93,-146.6,118.0,-6.7,70,1532,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2590,3516
$GC,1851,-0.93,-146.6,139.1,-6.0,86,1855,0.00,1.98,0.00,0.000,4,0.000,0.054,2173,3693,3516
$GC,1898,-0.93,-146.6,142.3,-6.3,88,1901,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2600,3516
$GC,2231,-0.93,-146.6,163.5,-7.1,104,2234,0.00,1.95,0.00,0.000,4,0.000,0.054,2173,3693,3516
$GC,2277,-0.93,-146.6,166.8,-7.5,106,2281,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2600,3516
$GC,2610,-0.93,-146.6,187.5,-6.1,122,2614,0.00,1.95,0.00,0.000,4,0.000,0.054,2173,3694,3516
$GC,2650,-0.93,-146.6,189.8,-6.5,123,2656,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2587,3516
$GC,2966,-0.93,-146.6,209.2,-6.1,139,2970,0.00,1.98,0.00,0.000,4,0.000,0.054,2173,3692,3516
$GC,3017,-0.93,-146.6,212.4,-6.1,141,3020,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2598,3516
$GC,3345,-0.93,-146.6,229.7,-5.3,157,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2599,3516
$GC,3654,-0.93,-146.6,245.1,-5.0,172,3657,0.00,1.95,0.00,0.000,4,0.000,0.055,2172,3690,3515
$GC,3723,-0.93,-146.6,248.9,-5.7,175,3727,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2595,3516
$GC,4057,-0.93,-146.6,268.1,-6.1,191,4060,0.00,1.98,0.00,0.000,4,0.000,0.055,2173,3699,3516
$GC,4103,-0.93,-146.6,271.0,-6.5,193,4106,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2591,3516
$GC,4436,-0.93,-146.6,291.2,-6.0,209,4440,0.00,1.98,0.00,0.000,4,0.000,0.056,2173,3693,3516
$GC,4483,-0.93,-146.6,294.1,-6.1,211,4487,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2598,3516
$GC,4816,-0.93,-146.6,314.8,-6.7,227,4817,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2598,3516
$GC,5125,-0.93,-146.6,337.5,-7.6,242,5129,0.00,1.98,0.00,0.000,4,0.000,0.057,2173,3698,3516
$GC,5159,-0.93,-146.6,340.3,-8.1,243,5163,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2589,3516
$GC,5481,-0.93,-146.6,364.6,-7.5,259,5485,0.00,1.98,0.00,0.000,4,0.000,0.058,2173,3688,3516
$GC,5572,-0.93,-146.6,371.3,-7.6,263,5576,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2593,3516
$GC,5905,-0.93,-146.6,393.6,-6.8,279,5909,0.00,1.98,0.00,0.000,4,0.000,0.059,2173,3696,3516
$GC,5945,-0.93,-146.6,396.6,-7.9,280,5951,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2606,3516
$GC,6262,-0.93,-146.6,416.4,-5.9,296,6265,0.00,1.98,0.00,0.000,4,0.000,0.060,2173,3698,3516
$GC,6301,-0.93,-146.6,419.1,-6.4,297,6307,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2594,3516
$GC,6618,-0.93,-146.6,437.5,-5.7,313,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2594,3516
$GC,6927,-0.93,-146.6,454.6,-5.5,328,6931,0.00,2.00,0.00,0.000,4,0.000,0.065,2173,3686,3516
$GC,6990,-0.93,-146.6,458.2,-5.8,330,6996,0.00,1.88,0.00,0.000,6,0.000,0.036,2173,2608,3516
$GC,7307,-0.93,-146.6,474.0,-5.5,346,7311,0.00,2.53,0.00,0.000,4,0.000,0.058,2173,1193,3516
$GC,7340,-0.98,-146.6,476.3,-6.7,347,7347,0.00,2.53,0.00,0.000,6,0.000,0.053,2173,2597,3516
$GC,7657,-0.98,-146.6,499.0,-6.9,363,7661,0.00,2.03,0.00,0.000,4,0.000,0.077,2173,3700,3515
$GC,7816,-0.98,-146.6,509.3,-5.2,370,7820,0.00,1.92,0.00,0.000,6,0.000,0.045,2173,2594,3516
$STATE,8125,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8125,begin apogee
$GC,8134,-0.45,0.0,526.2,5.1,385,8267,0.47,0.00,126.12,1.143,6,0.063,0.000,2276,2406,2914
$STATE,8268,end apogee,CONTROL_FINISHED_OK
$STATE,8268,begin climb
$GC,8271,1.16,146.6,529.8,0.0,392,8408,1.62,2.80,125.03,1.106,4,0.056,0.079,2627,993,2317
$GC,8433,1.17,161.4,524.4,5.6,400,8455,0.00,2.67,14.18,0.998,6,0.000,0.067,2627,2402,2257
$GC,8765,1.22,198.7,506.6,4.9,416,8804,0.00,2.78,33.62,1.076,4,0.000,0.071,2627,987,2104
$GC,8822,1.26,232.7,503.6,5.0,418,8857,0.10,2.65,30.00,1.062,6,0.071,0.060,2650,2405,1966
$GC,9183,1.26,232.7,478.7,7.1,436,9187,0.00,2.38,0.00,0.000,4,0.000,0.068,2650,3696,1965
$GC,9234,1.21,232.7,474.6,7.8,438,9238,0.00,2.30,0.00,0.000,6,0.000,0.039,2650,2386,1964
$GC,9550,1.21,232.7,451.2,7.8,453,9554,0.00,2.50,0.00,0.000,4,0.000,0.056,2650,987,1964
$GC,9584,1.21,232.7,448.3,8.5,454,9588,0.00,2.55,0.00,0.000,6,0.000,0.045,2650,2412,1964
$GC,9900,1.21,232.7,421.6,8.9,469,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,10209,1.21,232.7,394.7,8.5,484,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,10519,1.21,232.7,370.9,7.4,499,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,10828,1.21,232.7,348.3,7.2,514,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,11137,1.21,232.7,327.1,6.7,529,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,11446,1.21,232.7,306.3,6.7,544,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,11755,1.21,232.7,287.6,6.4,559,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,12065,1.21,232.7,268.1,6.6,574,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2412,1964
$GC,12374,1.21,232.7,248.6,7.3,589,12378,0.00,2.53,0.00,0.000,4,0.000,0.044,2650,982,1964
$GC,12421,1.21,232.7,244.9,7.9,591,12426,0.00,2.50,0.00,0.000,6,0.000,0.038,2650,2414,1964
$GC,12748,1.21,232.7,219.1,7.9,607,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2414,1964
$GC,13058,1.21,232.7,195.3,7.8,622,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2414,1964
$GC,13366,1.21,232.7,172.3,7.7,637,13370,0.00,2.50,0.00,0.000,4,0.000,0.043,2650,989,1964
$GC,13406,1.21,232.7,169.0,8.1,638,13412,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2411,1964
$GC,13723,1.21,232.7,142.5,8.2,654,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2411,1964
$GC,14032,1.21,232.7,118.8,6.6,669,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2411,1964
$GC,14341,1.21,232.7,96.6,7.2,684,14345,0.00,2.28,0.00,0.000,4,0.000,0.054,2650,3699,1964
$GC,14359,1.21,232.7,95.4,6.6,685,14363,0.00,2.22,0.00,0.000,6,0.000,0.035,2650,2385,1964
$GC,14687,1.28,291.8,77.0,4.2,701,14743,0.00,2.55,48.75,0.869,4,0.000,0.044,2650,997,1725
$GC,14767,1.28,291.8,71.1,8.3,704,14773,0.00,2.47,0.00,0.000,6,0.000,0.037,2650,2408,1725
$GC,15085,1.28,291.8,46.6,6.9,720,15089,0.00,2.28,0.00,0.000,4,0.000,0.054,2649,3689,1725
$GC,15109,1.38,368.5,45.7,3.7,721,15177,0.10,2.20,62.55,0.831,6,0.065,0.035,2675,2398,1411
$GC,15494,1.38,368.5,2.5,10.5,740,15498,0.00,2.35,0.00,0.000,4,0.000,0.054,2675,3699,1410
$STATE,15501,end climb,SURFACE_DEPTH_REACHED
$STATE,15501,begin surface coast
$FINISH,1.1,1.027429
$STATE,15510,end surface coast,CONTROL_FINISHED_OK
$STATE,15510,begin surface
$SM_CCo,15597,0.00,0.000,0,0,1409,369.42
$SM_GC,1.21,11.80,0.00,0.00,0.039,0.000,0.000,26,2597,1409,-10.75,-0.08,369.42
$IRIDIUM_FIX,6308.26,-1245.90,080398,141447
$TT8_MAMPS,0.028379
$HUMID,2008
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.6,110.1
$24V_AH,23.2,33.895
$10V_AH,10.1,15.670
$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,25.275,119.775,440.250,0.000,0.000,49.146,63.699,235.495,3.250,0.000,0.000,12.345,1365.428,11894.090,551.449,1651.578,679.543,0.000,1403.656,0.000,1622.008,0.000,23.520,0.000
$DEVICE_MAMPS,125.788,79.001,1142.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,550.289,505.252,506.663,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38029,741
$CAP_FILE_SIZE,112745,0
$CFSIZE,260165632,246935552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,121208,191358,6332.164,-1244.168,37,2.3,56,-12.1