version: 66.04
glider: 101
mission: 7
dive: 241
start: 12 20 108 17 33 11
data:
$ID,101
$MISSION,7
$DIVE,241
$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,330
$T_MISSION,350
$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,-750440.25
$T_RSLEEP,7
$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,20
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,5
$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
$GPS1,171608,6318.565,-1327.425,32,1.4,32,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.2
$GPS2,173250,6318.613,-1326.689,9,1.6,14,-12.4
$SPEED_LIMITS,0.173,0.260
$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,119.1,23232,-17.9,-10.000
$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,-1.81,-146.6,0.0,0.0,0,82,0.00,0.00,-60.58,0.000,2,0.000,0.000,18,540,2953
$GC,86,-1.81,-146.6,3.2,-3.3,3,121,10.62,0.00,-19.10,0.000,6,0.234,0.000,1976,543,3513
$GC,433,-1.71,-146.6,54.2,-14.8,20,435,0.15,0.00,0.00,0.000,6,0.196,0.000,2000,545,3514
$GC,741,-1.65,-146.6,90.5,-11.5,35,742,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,544,3514
$GC,1050,-1.57,-146.6,132.0,-12.6,50,1052,0.20,0.00,0.00,0.000,6,0.191,0.000,2032,543,3514
$GC,1359,-1.57,-146.6,170.4,-12.7,65,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,544,3514
$GC,1668,-1.57,-146.6,208.2,-12.1,80,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,546,3513
$GC,1977,-1.57,-146.6,246.6,-12.3,95,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,544,3514
$GC,2286,-1.57,-146.6,283.6,-11.6,110,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3514
$GC,2595,-1.57,-146.6,319.6,-11.5,125,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,2905,-1.57,-146.6,355.4,-11.6,140,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3514
$GC,3214,-1.57,-146.6,390.7,-11.3,155,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,3524,-1.57,-146.6,425.3,-11.1,170,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,3832,-1.57,-146.6,459.9,-11.3,185,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,4142,-1.57,-146.6,496.6,-11.6,200,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,4451,-1.57,-146.6,534.9,-13.0,215,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,4761,-1.57,-146.6,571.4,-11.4,230,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,5070,-1.57,-146.6,606.0,-10.9,245,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,5379,-1.61,-146.6,638.0,-10.4,260,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,548,3513
$GC,5688,-1.61,-146.6,669.9,-10.5,275,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,5997,-1.61,-146.6,703.9,-11.3,290,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,547,3513
$GC,6307,-1.61,-146.6,738.8,-11.3,305,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,545,3513
$GC,6617,-1.65,-146.6,772.6,-10.6,320,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,545,3513
$GC,6926,-1.71,-146.6,805.2,-11.3,335,6927,0.12,0.00,0.00,0.000,6,0.156,0.000,1999,545,3512
$GC,7234,-1.71,-146.6,840.5,-11.2,350,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,543,3512
$STATE,7376,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7376,begin apogee
$GC,7399,-0.45,0.0,858.8,12.4,357,7534,1.33,0.00,131.05,1.480,6,0.179,0.000,2272,543,2916
$STATE,7535,end apogee,CONTROL_FINISHED_OK
$STATE,7535,begin climb
$GC,7538,1.81,146.6,865.2,0.0,364,7674,2.33,0.00,130.57,1.447,6,0.156,0.000,2768,543,2317
$GC,7980,1.74,146.6,822.9,11.6,386,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,543,2316
$GC,8286,1.66,147.2,788.9,10.0,401,8288,0.17,0.00,0.00,0.000,6,0.192,0.000,2736,543,2315
$GC,8595,1.66,147.2,761.0,10.2,416,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,544,2315
$GC,8904,1.66,147.2,726.7,12.0,431,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,544,2314
$GC,9213,1.66,147.2,689.7,11.4,446,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,544,2313
$GC,9523,1.68,162.6,659.7,9.3,461,9541,0.00,0.00,15.07,1.314,6,0.000,0.000,2735,544,2252
$GC,9852,1.71,186.2,629.9,8.9,477,9876,0.00,0.00,22.38,1.323,6,0.000,0.000,2735,544,2155
$GC,10181,1.72,193.3,598.7,9.7,493,10191,0.00,0.00,7.88,1.153,6,0.000,0.000,2735,544,2126
$GC,10490,1.72,193.3,566.9,10.5,508,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,544,2127
$GC,10800,1.72,193.3,532.8,11.6,523,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,547,2127
$GC,11109,1.72,193.3,496.6,11.8,538,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,547,2127
$GC,11418,1.72,193.3,458.3,12.8,553,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,547,2127
$GC,11727,1.72,193.3,418.9,12.5,568,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,547,2127
$GC,12036,1.72,193.3,379.2,12.3,583,12038,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,547,2127
$GC,12346,1.72,193.3,340.2,11.5,598,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,547,2127
$GC,12655,1.72,193.3,304.1,11.2,613,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,547,2127
$GC,12964,1.72,193.3,270.3,11.7,628,12965,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,547,2128
$GC,13273,1.72,193.3,235.0,11.4,643,13275,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,547,2128
$GC,13583,1.72,193.3,201.2,10.5,658,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,547,2128
$GC,13892,1.72,195.2,170.1,9.9,673,13898,0.00,0.00,4.22,0.761,6,0.000,0.000,2744,547,2119
$GC,14202,1.72,195.6,137.9,10.0,688,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,547,2119
$GC,14512,1.72,197.2,106.7,9.9,703,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,547,2119
$GC,14822,1.72,197.2,72.3,12.2,718,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,547,2119
$GC,15129,1.72,197.2,34.8,11.9,733,15131,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,547,2119
$STATE,15435,end climb,SURFACE_DEPTH_REACHED
$STATE,15436,begin surface coast
$FINISH,0.8,1.027469
$STATE,15457,end surface coast,CONTROL_FINISHED_OK
$STATE,15457,begin surface
$SM_CCo,15498,87.68,0.901,2,0,1692,300.00
$SM_GC,1.55,0.00,0.00,87.68,0.000,0.000,0.901,25,543,1692,-10.81,-58.21,300.00
$IRIDIUM_FIX,6254.00,-1330.86,160398,171722
$TT8_MAMPS,0.029146
$HUMID,2008
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.6,68.2
$24V_AH,22.8,41.447
$10V_AH,10.1,18.597
$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,27.150,28.450,311.175,87.675,0.000,80.187,103.616,500.552,7.250,0.000,0.000,15.580,1244.403,12568.003,544.451,1229.893,1008.309,0.000,1105.628,0.000,1210.177,0.000,50.600,0.000
$DEVICE_MAMPS,233.935,1.534,1479.543,901.225,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.505,513.058,427.982,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37981,749
$CAP_FILE_SIZE,89049,16
$CFSIZE,260165632,245600256
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,2,0
$GPS,201208,215407,6319.657,-1321.476,24,1.1,24,-12.4