version: 66.04
glider: 101
mission: 7
dive: 214
start: 12 12 108 23 41 6
data:
$ID,101
$MISSION,7
$DIVE,214
$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,-736458.44
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,233502,6330.929,-1242.225,36,1.9,36,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-56.1
$GPS2,234047,6330.893,-1242.173,15,3.0,34,-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,274.4,12363,-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,-80.45,0.000,2,0.000,0.000,29,2599,3379
$GC,103,-1.16,-146.6,4.9,-5.9,4,125,10.88,2.00,-3.03,0.000,4,0.126,0.071,2113,3686,3515
$GC,294,-1.01,-146.6,27.1,-7.2,12,298,0.12,1.88,0.00,0.000,6,0.065,0.035,2151,2604,3515
$GC,616,-0.96,-146.6,55.4,-9.8,28,620,0.00,1.95,0.00,0.000,4,0.000,0.055,2151,3691,3515
$GC,667,-0.92,-146.6,62.3,-13.4,30,671,0.05,1.88,0.00,0.000,6,0.084,0.035,2172,2604,3516
$GC,995,-0.92,-146.6,93.8,-4.9,46,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2604,3516
$GC,1304,-0.92,-146.6,108.7,-6.5,61,1307,0.00,1.95,0.00,0.000,4,0.000,0.054,2172,3695,3516
$GC,1366,-0.92,-146.6,113.4,-6.8,63,1372,0.00,1.90,0.00,0.000,6,0.000,0.035,2173,2594,3516
$GC,1683,-0.92,-146.6,128.5,-5.3,79,1686,0.00,1.98,0.00,0.000,4,0.000,0.054,2172,3699,3516
$GC,1731,-0.92,-146.6,131.2,-5.4,81,1735,0.00,1.88,0.00,0.000,6,0.000,0.036,2173,2594,3516
$GC,2067,-0.92,-146.6,148.6,-4.4,97,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2594,3515
$GC,2374,-0.92,-146.6,165.0,-5.5,112,2377,0.00,1.98,0.00,0.000,4,0.000,0.055,2173,3699,3515
$GC,2453,-0.92,-146.6,170.1,-6.6,115,2456,0.00,1.88,0.00,0.000,6,0.000,0.036,2172,2595,3515
$GC,2776,-0.92,-146.6,188.2,-5.4,131,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2596,3515
$GC,3084,-0.92,-146.6,205.3,-6.6,146,3088,0.00,1.98,0.00,0.000,4,0.000,0.056,2173,3699,3516
$GC,3168,-0.92,-146.6,211.0,-7.0,149,3174,0.00,1.88,0.00,0.000,6,0.000,0.036,2173,2594,3516
$GC,3485,-0.92,-146.6,232.4,-6.8,165,3488,0.00,1.98,0.00,0.000,4,0.000,0.056,2172,3698,3516
$GC,3524,-0.92,-146.6,235.4,-6.8,166,3530,0.00,1.88,0.00,0.000,6,0.000,0.036,2173,2592,3515
$GC,3841,-0.92,-146.6,254.8,-6.0,182,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2591,3516
$GC,4150,-0.92,-146.6,273.9,-6.3,197,4154,0.00,1.98,0.00,0.000,4,0.000,0.056,2173,3693,3515
$GC,4206,-0.92,-146.6,277.8,-6.7,199,4209,0.00,1.85,0.00,0.000,6,0.000,0.035,2172,2600,3515
$GC,4527,-0.92,-146.6,298.0,-6.0,215,4531,0.00,1.95,0.00,0.000,4,0.000,0.057,2173,3692,3515
$GC,4567,-0.92,-146.6,300.6,-6.9,216,4573,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2598,3516
$GC,4884,-0.92,-146.6,318.8,-5.1,232,4887,0.00,1.98,0.00,0.000,4,0.000,0.057,2173,3699,3516
$GC,4923,-0.92,-146.6,321.0,-5.3,233,4930,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2590,3515
$GC,5240,-0.92,-146.6,336.8,-5.0,249,5244,0.00,1.98,0.00,0.000,4,0.000,0.058,2173,3691,3515
$GC,5291,-0.92,-146.6,339.7,-5.8,251,5295,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2594,3515
$GC,5619,-0.92,-146.6,356.1,-5.2,267,5623,0.00,1.98,0.00,0.000,4,0.000,0.058,2173,3692,3516
$GC,5666,-0.92,-146.6,358.6,-5.7,269,5670,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2596,3515
$GC,5999,-0.92,-146.6,376.6,-5.1,285,6003,0.00,1.98,0.00,0.000,4,0.000,0.059,2173,3689,3515
$GC,6039,-0.92,-146.6,378.6,-4.8,286,6045,0.00,1.85,0.00,0.000,6,0.000,0.035,2172,2597,3515
$GC,6356,-0.92,-146.6,390.7,-3.2,302,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2596,3515
$GC,6665,-0.92,-146.6,402.0,-4.0,317,6669,0.00,1.98,0.00,0.000,4,0.000,0.061,2173,3696,3515
$GC,6727,-0.92,-146.6,404.7,-4.1,319,6733,0.00,1.85,0.00,0.000,6,0.000,0.035,2173,2603,3515
$GC,7044,-0.92,-146.6,414.0,-2.4,335,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2603,3515
$GC,7354,-0.92,-146.6,425.4,-4.5,350,7358,0.00,1.98,0.00,0.000,4,0.000,0.063,2173,3699,3515
$GC,7400,-0.92,-146.6,427.7,-5.0,352,7404,0.00,1.88,0.00,0.000,6,0.000,0.035,2173,2596,3515
$GC,7734,-0.92,-146.6,440.4,-3.5,368,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2596,3514
$GC,8043,-0.92,-146.6,453.4,-5.1,383,8047,0.00,2.00,0.00,0.000,4,0.000,0.066,2173,3688,3515
$GC,8100,-0.92,-146.6,456.8,-5.9,385,8104,0.00,1.88,0.00,0.000,6,0.000,0.036,2173,2593,3515
$GC,8422,-0.92,-146.6,473.9,-5.1,401,8426,0.00,2.03,0.00,0.000,4,0.000,0.070,2172,3694,3515
$GC,8462,-0.92,-146.6,476.2,-5.8,402,8468,0.00,1.88,0.00,0.000,6,0.000,0.038,2172,2601,3515
$GC,8780,-0.96,-146.6,493.3,-5.5,418,8783,0.00,2.03,0.00,0.000,4,0.000,0.074,2173,3689,3515
$GC,8864,-0.96,-146.6,498.6,-6.3,421,8870,0.00,1.90,0.00,0.000,6,0.000,0.042,2173,2600,3515
$GC,9181,-1.01,-146.6,517.8,-5.3,437,9185,0.00,2.08,0.00,0.000,4,0.000,0.087,2173,3694,3515
$GC,9295,-1.06,-146.6,523.3,-4.5,442,9299,0.12,1.95,0.00,0.000,6,0.061,0.053,2140,2603,3515
$STATE,9562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9563,begin apogee
$GC,9571,-0.45,0.0,540.5,6.4,455,9700,0.62,0.00,125.65,1.167,6,0.065,0.000,2274,2404,2915
$STATE,9700,end apogee,CONTROL_FINISHED_OK
$STATE,9701,begin climb
$GC,9704,1.16,146.6,545.3,0.0,461,9834,1.60,0.00,124.43,1.127,6,0.052,0.000,2627,2404,2317
$GC,10139,1.22,194.6,529.7,4.6,482,10188,0.00,2.60,42.17,1.116,4,0.000,0.092,2627,3689,2121
$GC,10225,1.22,194.6,525.0,6.7,486,10229,0.00,2.40,0.00,0.000,6,0.000,0.059,2627,2391,2120
$GC,10551,1.22,194.6,504.5,6.1,502,10556,0.00,2.47,0.00,0.000,4,0.000,0.077,2627,3690,2120
$GC,10619,1.24,210.8,500.7,5.5,505,10639,0.00,2.33,14.77,1.068,6,0.000,0.045,2626,2388,2055
$GC,10968,1.24,210.8,479.2,6.2,522,10973,0.00,2.42,0.00,0.000,4,0.000,0.067,2626,3689,2055
$GC,11009,1.24,210.8,476.4,7.2,524,11013,0.00,2.28,0.00,0.000,6,0.000,0.040,2627,2394,2054
$GC,11336,1.24,210.8,453.4,7.4,540,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2394,2054
$GC,11645,1.24,210.8,430.3,6.9,555,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2394,2054
$GC,11954,1.26,229.1,412.0,5.5,570,11974,0.00,0.00,16.73,1.056,6,0.000,0.000,2627,2394,1980
$GC,12284,1.34,292.7,396.7,4.1,586,12347,0.17,2.42,54.55,1.078,4,0.047,0.058,2673,3696,1721
$GC,12372,1.28,292.7,391.3,6.9,590,12376,0.00,2.28,0.00,0.000,6,0.000,0.035,2673,2394,1720
$GC,12700,1.28,292.7,366.9,7.8,606,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2393,1721
$GC,13008,1.28,292.7,341.2,8.2,621,13012,0.00,2.35,0.00,0.000,4,0.000,0.056,2673,3690,1720
$GC,13043,1.23,292.7,338.2,8.3,622,13049,0.15,2.22,0.00,0.000,6,0.097,0.035,2644,2392,1720
$GC,13359,1.23,292.7,317.0,6.8,638,13360,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2391,1720
$GC,13668,1.23,292.7,293.8,7.9,653,13672,0.00,2.35,0.00,0.000,4,0.000,0.054,2644,3693,1720
$GC,13696,1.23,292.7,291.3,8.7,654,13700,0.00,2.22,0.00,0.000,6,0.000,0.035,2644,2392,1720
$GC,14012,1.23,292.7,264.3,8.5,669,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2392,1720
$GC,14321,1.23,292.7,239.6,7.3,684,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2391,1720
$GC,14630,1.23,292.7,217.5,8.1,699,14634,0.00,2.33,0.00,0.000,4,0.000,0.054,2644,3690,1720
$GC,14665,1.24,297.4,215.4,5.9,700,14677,0.00,2.20,5.88,0.780,6,0.000,0.034,2644,2397,1702
$GC,14986,1.24,297.4,199.0,8.0,716,14987,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2396,1702
$GC,15296,1.24,297.4,171.7,8.1,731,15299,0.00,2.33,0.00,0.000,4,0.000,0.054,2644,3700,1702
$GC,15335,1.24,297.4,168.3,9.1,732,15341,0.00,2.22,0.00,0.000,6,0.000,0.035,2644,2390,1702
$GC,15653,1.24,297.4,140.0,8.4,748,15657,0.00,2.33,0.00,0.000,4,0.000,0.053,2644,3690,1702
$GC,15682,1.24,297.4,137.2,9.6,749,15686,0.00,2.20,0.00,0.000,6,0.000,0.034,2644,2397,1702
$GC,15998,1.24,297.4,112.9,6.6,764,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2396,1702
$GC,16308,1.24,297.4,89.2,6.9,779,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2397,1702
$GC,16617,1.24,297.4,66.6,7.9,794,16621,0.00,2.33,0.00,0.000,4,0.000,0.053,2644,3695,1702
$GC,16680,1.24,297.4,61.7,8.4,797,16684,0.00,2.20,0.00,0.000,6,0.000,0.034,2644,2399,1702
$GC,17008,1.24,297.4,32.8,8.4,813,17009,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2398,1702
$GC,17317,1.24,297.4,10.5,6.7,828,17321,0.00,2.33,0.00,0.000,4,0.000,0.054,2644,3698,1702
$GC,17358,1.24,297.4,7.3,7.3,830,17361,0.00,2.20,0.00,0.000,6,0.000,0.035,2644,2392,1702
$STATE,17420,end climb,SURFACE_DEPTH_REACHED
$STATE,17420,begin surface coast
$FINISH,0.7,1.014378
$STATE,17442,end surface coast,CONTROL_FINISHED_OK
$STATE,17442,begin surface
$SM_CCo,17467,3.88,0.565,0,0,1692,300.00
$SM_GC,1.81,0.00,0.00,3.88,0.000,0.000,0.565,27,2612,1692,-10.80,0.34,300.00
$IRIDIUM_FIX,6303.50,-1248.47,080398,191943
$TT8_MAMPS,0.028379
$HUMID,2020
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.3,74.6
$24V_AH,23.1,34.158
$10V_AH,10.1,15.825
$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,25.300,125.050,384.175,3.875,0.000,22.858,29.916,138.445,3.750,0.000,0.000,36.375,1533.253,13374.136,500.836,1862.862,546.453,0.000,1443.325,0.000,1805.422,0.000,26.651,0.000
$DEVICE_MAMPS,125.788,92.040,1166.607,565.279,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.996,568.905,544.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41144,834
$CAP_FILE_SIZE,125456,0
$CFSIZE,260165632,246800384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,131208,043338,6328.154,-1252.296,37,1.2,37,-12.1