version: 66.04
glider: 101
mission: 7
dive: 213
start: 12 12 108 19 19 54
data:
$ID,101
$MISSION,7
$DIVE,213
$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,-736421.44
$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,33
$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
$GPS1,191358,6332.164,-1244.168,37,2.3,56,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-54.2
$GPS2,191934,6332.158,-1244.058,12,1.5,25,-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,261.6,11417,-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,-80.43,0.000,2,0.000,0.000,26,2597,3063
$GC,102,-1.16,-146.6,3.7,-4.0,4,132,10.85,2.05,-12.75,0.000,4,0.123,0.071,2116,3702,3513
$GC,184,-1.07,-146.6,13.5,-11.0,7,191,0.05,1.92,0.00,0.000,6,0.097,0.035,2140,2595,3513
$GC,501,-1.00,-146.6,35.9,-7.4,23,505,0.00,1.98,0.00,0.000,4,0.000,0.054,2140,3692,3513
$GC,535,-0.93,-146.6,38.2,-7.1,24,539,0.15,1.88,0.00,0.000,6,0.082,0.035,2171,2591,3514
$GC,858,-0.93,-146.6,55.4,-5.5,40,862,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3692,3514
$GC,914,-0.93,-146.6,58.6,-6.5,42,918,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2607,3513
$GC,1236,-0.93,-146.6,80.2,-6.4,58,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2607,3513
$GC,1546,-0.93,-146.6,101.5,-8.2,73,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2607,3514
$GC,1855,-0.93,-146.6,122.1,-5.7,88,1859,0.00,1.95,0.00,0.000,4,0.000,0.054,2171,3698,3514
$GC,1906,-0.93,-146.6,125.3,-6.1,90,1910,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2595,3513
$GC,2234,-0.93,-146.6,145.0,-6.1,106,2238,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3699,3514
$GC,2285,-0.93,-146.6,148.7,-7.1,108,2289,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2596,3513
$GC,2613,-0.93,-146.6,170.9,-6.8,124,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2596,3513
$GC,2922,-0.93,-146.6,193.0,-7.1,139,2926,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3699,3513
$GC,2973,-0.93,-146.6,197.2,-8.6,141,2976,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2596,3513
$GC,3300,-0.93,-146.6,221.0,-7.1,157,3304,0.00,1.98,0.00,0.000,4,0.000,0.055,2171,3699,3513
$GC,3346,-0.93,-146.6,224.3,-6.6,159,3350,0.00,1.88,0.00,0.000,6,0.000,0.036,2171,2594,3514
$GC,3680,-0.93,-146.6,247.2,-6.9,175,3683,0.00,1.98,0.00,0.000,4,0.000,0.055,2171,3697,3513
$GC,3720,-0.93,-146.6,250.2,-7.5,176,3726,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2591,3513
$GC,4036,-0.93,-146.6,270.4,-6.3,192,4040,0.00,1.98,0.00,0.000,4,0.000,0.056,2171,3693,3513
$GC,4082,-0.93,-146.6,273.5,-6.5,194,4086,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2598,3513
$GC,4415,-0.93,-146.6,294.0,-6.2,210,4419,0.00,1.95,0.00,0.000,4,0.000,0.056,2171,3689,3513
$GC,4450,-0.93,-146.6,295.9,-5.4,211,4453,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2596,3513
$GC,4772,-0.93,-146.6,313.8,-5.3,227,4776,0.00,1.98,0.00,0.000,4,0.000,0.057,2171,3698,3513
$GC,4808,-0.93,-146.6,315.8,-5.3,228,4811,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2588,3513
$GC,5130,-0.93,-146.6,333.6,-5.7,244,5134,0.00,1.98,0.00,0.000,4,0.000,0.057,2171,3691,3513
$GC,5164,-0.93,-146.6,335.7,-6.4,245,5167,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2593,3513
$GC,5486,-0.93,-146.6,355.5,-6.1,261,5490,0.00,1.98,0.00,0.000,4,0.000,0.058,2171,3693,3513
$GC,5542,-0.93,-146.6,359.2,-7.1,263,5546,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2597,3513
$GC,5864,-0.93,-146.6,379.0,-6.2,279,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2595,3513
$GC,6174,-0.93,-146.6,400.5,-7.6,294,6178,0.00,1.98,0.00,0.000,4,0.000,0.060,2171,3691,3513
$GC,6221,-0.93,-146.6,404.3,-7.9,296,6224,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2598,3513
$GC,6554,-0.93,-146.6,430.7,-8.0,312,6558,0.00,1.98,0.00,0.000,4,0.000,0.062,2171,3687,3513
$GC,6600,-0.93,-146.6,434.4,-7.6,314,6604,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2600,3513
$GC,6933,-0.93,-146.6,461.8,-8.3,330,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2600,3513
$GC,7243,-0.93,-146.6,484.1,-6.6,345,7246,0.00,2.03,0.00,0.000,4,0.000,0.072,2171,3692,3513
$GC,7289,-0.93,-146.6,487.4,-7.6,347,7293,0.00,1.90,0.00,0.000,6,0.000,0.040,2171,2612,3513
$GC,7622,-0.93,-146.6,507.5,-5.3,363,7626,0.00,2.03,0.00,0.000,4,0.000,0.080,2171,3685,3513
$GC,7702,-0.93,-146.6,511.1,-5.9,366,7705,0.00,1.92,0.00,0.000,6,0.000,0.050,2171,2598,3513
$STATE,7917,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7917,begin apogee
$GC,7926,-0.45,0.0,521.9,2.9,377,8054,0.47,0.00,125.55,1.141,6,0.061,0.000,2275,2398,2915
$STATE,8055,end apogee,CONTROL_FINISHED_OK
$STATE,8055,begin climb
$GC,8059,1.16,146.6,524.1,0.0,383,8192,1.60,2.78,124.00,1.108,4,0.054,0.079,2625,988,2317
$GC,8223,1.16,146.6,519.5,7.4,390,8229,0.00,2.65,0.00,0.000,6,0.000,0.066,2625,2389,2317
$GC,8540,1.16,146.6,496.8,6.5,406,8544,0.00,2.45,0.00,0.000,4,0.000,0.078,2625,3705,2317
$GC,8687,1.13,178.1,488.1,5.1,412,8722,0.00,2.33,28.08,1.081,6,0.000,0.044,2625,2394,2188
$GC,9053,1.14,179.1,465.9,6.0,430,9058,0.00,2.42,0.00,0.000,4,0.000,0.067,2625,3697,2187
$GC,9087,1.14,179.1,463.6,6.1,431,9093,0.00,2.30,0.00,0.000,6,0.000,0.040,2625,2387,2187
$GC,9404,1.18,214.4,446.8,4.9,447,9445,0.00,2.58,31.90,1.091,4,0.000,0.056,2625,988,2040
$GC,9469,1.20,231.3,443.4,5.5,450,9492,0.00,2.58,15.75,1.028,6,0.000,0.045,2625,2414,1972
$GC,9801,1.20,232.1,424.4,6.0,466,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2414,1971
$GC,10111,1.23,254.5,406.7,5.3,481,10137,0.00,2.62,21.35,1.048,4,0.000,0.049,2624,989,1877
$GC,10161,1.24,265.8,403.8,5.7,483,10177,0.00,2.53,11.15,0.972,6,0.000,0.041,2625,2402,1830
$GC,10499,1.24,265.8,383.3,6.1,500,10503,0.00,2.33,0.00,0.000,4,0.000,0.059,2625,3694,1830
$GC,10544,1.24,265.8,380.6,6.8,502,10548,0.00,2.25,0.00,0.000,6,0.000,0.035,2625,2392,1830
$GC,10866,1.26,278.0,362.2,5.6,518,10884,0.10,0.00,11.98,0.978,6,0.060,0.000,2653,2391,1781
$GC,11194,1.26,278.0,338.8,7.4,534,11198,0.00,2.35,0.00,0.000,4,0.000,0.056,2653,3692,1781
$GC,11222,1.26,278.0,336.5,8.4,535,11226,0.00,2.22,0.00,0.000,6,0.000,0.035,2653,2394,1781
$GC,11544,1.26,278.0,310.9,8.2,551,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2393,1781
$GC,11853,1.26,278.0,285.5,7.7,566,11857,0.00,2.35,0.00,0.000,4,0.000,0.054,2653,3697,1781
$GC,11886,1.26,278.0,282.5,8.2,567,11892,0.00,2.22,0.00,0.000,6,0.000,0.034,2653,2393,1781
$GC,12202,1.26,278.0,255.1,8.8,583,12207,0.00,2.42,0.00,0.000,4,0.000,0.044,2653,1005,1781
$GC,12231,1.26,278.0,252.3,9.6,584,12235,0.00,2.45,0.00,0.000,6,0.000,0.038,2653,2407,1781
$GC,12547,1.26,278.0,223.5,8.6,599,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2407,1781
$GC,12856,1.26,278.0,198.4,7.9,614,12860,0.00,2.47,0.00,0.000,4,0.000,0.043,2653,1001,1781
$GC,12884,1.26,278.0,195.9,8.2,615,12888,0.00,2.45,0.00,0.000,6,0.000,0.038,2653,2404,1781
$GC,13206,1.26,278.0,170.7,8.8,631,13210,0.00,2.28,0.00,0.000,4,0.000,0.054,2653,3692,1781
$GC,13256,1.26,278.0,165.7,9.6,633,13260,0.00,2.20,0.00,0.000,6,0.000,0.035,2653,2396,1781
$GC,13574,1.26,278.0,133.4,10.3,648,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2395,1780
$GC,13882,1.26,278.0,105.8,9.7,663,13886,0.00,2.33,0.00,0.000,4,0.000,0.054,2653,3694,1781
$GC,13910,1.26,278.0,102.9,9.6,664,13914,0.00,2.20,0.00,0.000,6,0.000,0.034,2653,2399,1781
$GC,14226,1.26,278.0,75.5,9.3,679,14227,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2398,1781
$GC,14536,1.26,278.0,53.1,6.5,694,14537,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2398,1781
$GC,14847,1.26,278.0,26.0,7.6,709,14848,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2398,1781
$GC,15154,1.26,278.0,3.0,8.7,724,15158,0.00,2.33,0.00,0.000,4,0.000,0.053,2653,3701,1781
$STATE,15162,end climb,SURFACE_DEPTH_REACHED
$STATE,15162,begin surface coast
$FINISH,1.4,1.027442
$STATE,15170,end surface coast,CONTROL_FINISHED_OK
$STATE,15170,begin surface
$SM_CCo,15197,20.77,0.696,2,0,1692,300.00
$SM_GC,1.58,0.00,0.00,20.77,0.000,0.000,0.696,29,2598,1692,-10.79,-0.06,300.00
$IRIDIUM_FIX,6308.26,-1240.12,080398,141401
$TT8_MAMPS,0.029146
$HUMID,2026
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.8,56.1
$24V_AH,23.2,34.025
$10V_AH,10.1,15.744
$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,24.825,127.900,369.750,20.775,0.000,23.443,28.473,136.895,3.750,0.000,0.000,27.087,1345.916,11563.909,512.371,1626.376,518.616,0.000,1354.582,0.000,1579.960,0.000,26.603,0.000
$DEVICE_MAMPS,123.487,79.768,1140.529,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.784,494.657,513.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34917,725
$CAP_FILE_SIZE,111675,0
$CFSIZE,260165632,246878208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121208,233502,6330.929,-1242.225,36,1.9,36,-12.1