version: 66.04
glider: 101
mission: 7
dive: 216
start: 12 13 108 9 7 9
data:
$ID,101
$MISSION,7
$DIVE,216
$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,-736504.62
$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,40
$R_STBD_OVSHOOT,33
$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
$GPS1,085455,6329.266,-1258.833,25,1.6,42,-12.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-51.9
$GPS2,090650,6329.393,-1258.884,14,1.6,31,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$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,194.2,26672,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,122,0.00,0.00,-101.00,0.000,2,0.000,0.000,30,2613,3343
$GC,126,-1.16,-146.6,4.3,-3.8,5,149,10.85,2.50,-3.95,0.000,4,0.126,0.057,2113,1202,3515
$GC,402,-1.06,-146.6,35.7,-10.5,17,407,0.15,2.45,0.00,0.000,6,0.091,0.039,2142,2598,3515
$GC,725,-1.02,-146.6,64.8,-9.3,33,729,0.00,2.45,0.00,0.000,4,0.000,0.041,2142,1203,3515
$GC,833,-1.02,-146.6,74.1,-6.6,38,837,0.00,2.45,0.00,0.000,6,0.000,0.039,2142,2603,3515
$GC,1161,-0.97,-146.6,98.3,-8.2,54,1165,0.10,1.92,0.00,0.000,4,0.091,0.055,2162,3691,3515
$GC,1217,-0.97,-146.6,103.2,-7.9,56,1220,0.00,1.85,0.00,0.000,6,0.000,0.035,2163,2601,3515
$GC,1539,-0.97,-146.6,126.4,-7.5,72,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2601,3515
$GC,1848,-0.97,-146.6,154.3,-9.0,87,1852,0.00,1.95,0.00,0.000,4,0.000,0.054,2162,3699,3515
$GC,1940,-0.97,-146.6,162.8,-9.7,91,1943,0.00,1.90,0.00,0.000,6,0.000,0.035,2162,2577,3516
$GC,2273,-0.97,-146.6,194.8,-9.8,107,2276,0.00,2.00,0.00,0.000,4,0.000,0.055,2163,3693,3515
$GC,2374,-0.97,-146.6,205.4,-10.2,111,2378,0.00,1.88,0.00,0.000,6,0.000,0.035,2163,2607,3515
$GC,2695,-0.97,-146.6,237.9,-10.2,127,2699,0.00,1.95,0.00,0.000,4,0.000,0.056,2162,3695,3515
$GC,2752,-0.97,-146.6,243.9,-11.0,129,2755,0.00,1.88,0.00,0.000,6,0.000,0.035,2163,2590,3515
$GC,3074,-0.97,-146.6,275.5,-9.5,145,3078,0.00,1.98,0.00,0.000,4,0.000,0.056,2163,3692,3515
$GC,3098,-0.97,-146.6,277.9,-9.6,146,3102,0.00,1.85,0.00,0.000,6,0.000,0.035,2162,2598,3515
$GC,3432,-0.97,-146.6,309.9,-9.3,162,3435,0.00,1.98,0.00,0.000,4,0.000,0.056,2162,3698,3515
$GC,3471,-0.97,-146.6,314.1,-10.1,163,3477,0.00,1.88,0.00,0.000,6,0.000,0.035,2162,2588,3516
$GC,3787,-0.97,-146.6,345.5,-10.2,179,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2588,3515
$GC,4097,-0.97,-146.6,377.9,-10.0,194,4101,0.00,1.98,0.00,0.000,4,0.000,0.059,2163,3689,3515
$GC,4137,-0.97,-146.6,382.2,-10.7,195,4143,0.00,1.88,0.00,0.000,6,0.000,0.035,2163,2598,3515
$GC,4453,-0.97,-146.6,413.0,-9.4,211,4457,0.00,1.98,0.00,0.000,4,0.000,0.060,2163,3689,3515
$GC,4481,-0.97,-146.6,416.0,-10.6,212,4485,0.00,1.85,0.00,0.000,6,0.000,0.035,2162,2599,3515
$GC,4810,-0.97,-146.6,450.3,-11.2,228,4814,0.00,2.00,0.00,0.000,4,0.000,0.064,2162,3694,3515
$GC,4879,-0.97,-146.6,459.0,-13.2,231,4883,0.00,1.90,0.00,0.000,6,0.000,0.035,2162,2603,3515
$GC,5213,-0.97,-146.6,501.2,-11.9,247,5217,0.00,2.53,0.00,0.000,4,0.000,0.064,2162,1196,3515
$GC,5242,-0.97,-146.6,504.9,-12.5,248,5246,0.00,2.55,0.00,0.000,6,0.000,0.058,2162,2594,3515
$GC,5563,-0.97,-146.6,539.9,-10.0,264,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2594,3515
$GC,5872,-0.97,-146.6,569.1,-9.3,279,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2594,3515
$GC,6181,-0.97,-146.6,592.6,-6.5,294,6185,0.00,2.08,0.00,0.000,4,0.000,0.087,2162,3698,3515
$GC,6260,-0.97,-146.6,597.7,-6.2,297,6264,0.00,1.92,0.00,0.000,6,0.000,0.048,2163,2611,3515
$GC,6583,-0.97,-146.6,606.7,-0.5,313,6586,0.00,2.08,0.00,0.000,4,0.000,0.085,2162,3698,3515
$GC,6667,-0.97,-146.6,604.5,4.0,316,6673,0.00,1.95,0.00,0.000,6,0.000,0.048,2162,2594,3515
$GC,6984,-0.97,-146.6,573.8,13.0,332,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2594,3515
$GC,7293,-0.97,-146.6,524.6,16.0,347,7295,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2594,3515
$GC,7602,-0.97,-146.6,504.4,-0.2,362,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2594,3515
$GC,7911,-0.97,-146.6,559.3,-27.1,377,7915,0.00,2.10,0.00,0.000,4,0.000,0.084,2162,3699,3515
$GC,8003,-0.97,-146.6,582.5,-23.3,381,8007,0.00,1.95,0.00,0.000,6,0.000,0.048,2162,2592,3514
$GC,8336,-0.92,-146.6,620.3,-3.8,397,8340,0.00,2.10,0.00,0.000,4,0.000,0.085,2163,3694,3515
$GC,8421,-0.92,-146.6,625.2,-4.8,400,8428,0.00,1.98,0.00,0.000,6,0.000,0.050,2162,2599,3514
$STATE,8590,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8590,begin apogee
$GC,8598,-0.45,0.0,645.5,14.9,409,8733,0.52,0.00,126.82,1.234,6,0.061,0.000,2278,2391,2915
$STATE,8733,end apogee,CONTROL_FINISHED_OK
$STATE,8734,begin climb
$GC,8737,1.16,146.6,661.4,0.0,416,8871,1.58,2.70,125.93,1.200,4,0.054,0.074,2624,988,2317
$GC,9132,1.18,165.0,644.7,5.5,434,9154,0.00,2.60,17.42,1.130,6,0.000,0.059,2623,2400,2242
$GC,9464,1.62,522.9,645.0,-4.7,450,9781,0.43,2.75,306.52,1.210,4,0.044,0.063,2727,992,782
$GC,9867,2.08,937.8,611.4,-6.4,469,9905,0.45,2.62,27.95,1.137,6,0.051,0.056,2827,2410,658
$GC,10217,1.73,937.8,559.9,10.8,486,10226,0.35,2.42,1.40,0.124,4,0.094,0.076,2756,3700,657
$GC,10267,1.93,1298.9,560.0,-4.8,488,10271,0.17,2.33,0.00,0.000,6,0.057,0.044,2796,2393,657
$GC,10588,1.59,1298.9,520.4,19.0,504,10590,0.38,0.00,0.00,0.000,6,0.091,0.000,2723,2392,656
$GC,10898,1.71,1465.9,502.8,1.0,519,10903,0.10,2.42,0.00,0.000,4,0.064,0.068,2750,3699,656
$GC,10922,1.94,1753.5,503.4,-2.6,520,10927,0.20,2.28,0.00,0.000,6,0.051,0.039,2799,2396,656
$GC,11254,2.35,2313.7,515.6,-10.7,536,11259,0.35,2.55,0.00,0.000,4,0.042,0.060,2886,991,656
$GC,11323,2.51,2761.5,520.4,-7.4,539,11328,0.15,2.58,0.00,0.000,6,0.068,0.055,2919,2400,656
$GC,11645,1.99,2761.5,443.5,34.4,555,11648,0.55,0.00,0.00,0.000,6,0.104,0.000,2811,2401,656
$GC,11955,1.99,2761.5,357.9,27.3,570,11959,0.00,2.35,0.00,0.000,4,0.000,0.060,2811,3706,656
$GC,11983,1.99,2761.5,349.7,27.5,571,11987,0.00,2.28,0.00,0.000,6,0.000,0.035,2811,2382,656
$GC,12300,1.99,2761.5,269.8,23.9,586,12304,0.00,2.40,0.00,0.000,4,0.000,0.057,2811,3705,656
$GC,12340,1.99,2761.5,259.3,24.6,587,12346,0.00,2.25,0.00,0.000,6,0.000,0.035,2811,2390,656
$GC,12657,1.99,2761.5,183.2,22.6,603,12661,0.00,2.38,0.00,0.000,4,0.000,0.055,2811,3704,656
$GC,12685,1.99,2761.5,175.8,26.8,604,12689,0.00,2.22,0.00,0.000,6,0.000,0.035,2811,2400,656
$GC,13002,1.99,2761.5,98.1,21.1,619,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2399,656
$GC,13313,1.99,2761.5,34.9,23.4,634,13317,0.00,2.35,0.00,0.000,4,0.000,0.054,2811,3705,656
$GC,13370,1.99,2761.5,20.5,23.6,636,13376,0.00,2.25,0.00,0.000,6,0.000,0.035,2810,2402,656
$STATE,13456,end climb,SURFACE_DEPTH_REACHED
$STATE,13456,begin surface coast
$FINISH,0.7,1.013319
$STATE,13479,end surface coast,CONTROL_FINISHED_OK
$STATE,13479,begin surface
$SM_CCo,13565,0.00,0.000,0,0,656,554.13
$SM_GC,1.32,12.38,0.00,0.00,0.041,0.000,0.000,27,2625,656,-10.75,0.71,554.13
$IRIDIUM_FIX,6303.50,-1302.57,090398,090956
$TT8_MAMPS,0.028379
$HUMID,2043
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.1,78.3
$24V_AH,23.1,34.562
$10V_AH,10.1,15.972
$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,28.700,110.125,606.050,0.000,0.000,76.354,156.974,205.970,5.500,0.000,0.000,32.766,1214.045,10036.811,647.099,1627.439,751.666,0.000,1526.173,0.000,1562.758,0.000,36.080,0.000
$DEVICE_MAMPS,125.788,86.671,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.168,438.407,380.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31722,642
$CAP_FILE_SIZE,109602,0
$CFSIZE,260165632,246714368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131208,125431,6329.554,-1302.109,37,1.6,37,-12.2