version: 66.04
glider: 101
mission: 7
dive: 246
start: 12 21 108 13 54 57
data:
$ID,101
$MISSION,7
$DIVE,246
$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,-750553.81
$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
$GPS1,134638,6327.072,-1324.392,28,1.0,28,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-59.4
$GPS2,135433,6327.016,-1324.575,13,1.0,13,-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,149.8,30247,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.81,-146.6,0.0,0.0,0,99,0.00,0.00,-80.62,0.000,2,0.000,0.000,23,565,3389
$GC,103,-1.81,-146.6,4.7,-4.7,4,119,10.55,0.00,-2.85,0.000,6,0.194,0.000,1973,565,3515
$GC,430,-1.71,-146.6,57.4,-14.8,20,432,0.15,0.00,0.00,0.000,6,0.163,0.000,2001,570,3515
$GC,738,-1.67,-146.6,95.1,-12.1,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,570,3515
$GC,1047,-1.62,-146.6,132.3,-11.9,50,1049,0.10,0.00,0.00,0.000,6,0.169,0.000,2018,570,3515
$GC,1355,-1.62,-146.6,165.6,-10.1,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,570,3515
$GC,1665,-1.62,-146.6,198.4,-11.1,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,570,3515
$GC,1974,-1.62,-146.6,232.1,-11.3,95,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,570,3515
$GC,2283,-1.62,-146.6,265.4,-12.0,110,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,2593,-1.62,-146.6,297.6,-10.6,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,2902,-1.62,-146.6,332.8,-12.7,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,3211,-1.62,-146.6,367.9,-11.0,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,3521,-1.62,-146.6,402.2,-11.3,170,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,3829,-1.62,-146.6,435.5,-10.7,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,4139,-1.62,-146.6,466.8,-9.3,200,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,571,3515
$GC,4448,-1.62,-146.6,506.5,-13.6,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,4757,-1.62,-146.6,546.6,-12.0,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,5067,-1.62,-146.6,581.1,-10.9,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,570,3515
$GC,5376,-1.62,-146.6,615.6,-10.3,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,571,3515
$GC,5685,-1.62,-146.6,646.0,-9.7,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,571,3515
$GC,5996,-1.62,-146.6,675.2,-9.8,290,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,6304,-1.62,-146.6,711.7,-12.5,305,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,571,3516
$GC,6615,-1.62,-146.6,751.6,-13.5,320,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,6922,-1.62,-146.6,791.4,-12.3,335,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$GC,7232,-1.62,-146.6,824.3,-9.9,350,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,570,3515
$GC,7541,-1.62,-146.6,856.9,-10.7,365,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,570,3515
$STATE,7785,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7785,begin apogee
$GC,7808,-0.45,0.0,886.2,12.3,377,7944,1.23,0.00,132.02,1.505,6,0.179,0.000,2268,570,2915
$STATE,7945,end apogee,CONTROL_FINISHED_OK
$STATE,7945,begin climb
$GC,7949,1.81,146.6,893.1,0.0,384,8085,2.33,0.00,131.18,1.474,6,0.158,0.000,2773,570,2317
$GC,8389,1.74,175.7,857.8,8.6,406,8419,0.00,0.00,27.60,1.415,6,0.000,0.000,2772,571,2198
$GC,8715,1.68,175.7,817.9,14.2,422,8717,0.17,0.00,0.00,0.000,6,0.196,0.000,2740,570,2197
$GC,9024,1.68,175.7,778.4,12.7,437,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,572,2197
$GC,9333,1.68,175.7,744.5,10.3,452,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,572,2196
$GC,9642,1.68,175.7,711.6,10.0,467,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,572,2196
$GC,9952,1.70,191.8,681.9,9.2,482,9971,0.00,0.00,15.12,1.335,6,0.000,0.000,2740,572,2133
$GC,10281,1.73,215.8,653.8,8.9,498,10306,0.00,0.00,22.75,1.339,6,0.000,0.000,2740,572,2035
$GC,10611,1.78,215.8,617.6,12.1,514,10612,0.10,0.00,0.00,0.000,6,0.169,0.000,2769,572,2035
$GC,10920,1.78,215.8,573.5,14.5,529,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,572,2035
$GC,11229,1.78,215.8,523.6,16.5,544,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,572,2035
$GC,11538,1.78,215.8,482.9,12.7,559,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,572,2035
$GC,11847,1.78,215.8,449.1,10.7,574,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,572,2035
$GC,12157,1.78,215.8,414.2,11.2,589,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,572,2035
$GC,12466,1.78,215.8,376.2,11.4,604,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,572,2035
$GC,12775,1.78,217.3,345.1,9.9,619,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,572,2035
$GC,13085,1.78,217.3,313.3,10.7,634,13086,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,572,2035
$GC,13394,1.78,217.3,279.2,10.4,649,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,572,2035
$GC,13703,1.78,217.3,243.9,12.1,664,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,572,2035
$GC,14012,1.78,217.3,207.3,11.3,679,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,572,2035
$GC,14321,1.78,217.3,176.3,10.5,694,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,572,2036
$GC,14631,1.78,217.3,142.8,11.1,709,14633,0.12,0.00,0.00,0.000,6,0.200,0.000,2760,572,2036
$GC,14941,1.79,229.2,112.9,9.4,724,14959,0.00,0.00,13.68,0.958,6,0.000,0.000,2762,576,1979
$GC,15271,1.81,239.8,82.3,9.5,740,15288,0.00,0.00,10.45,0.911,6,0.000,0.000,2763,576,1937
$GC,15600,1.81,239.8,42.2,11.2,756,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,576,1937
$STATE,15905,end climb,SURFACE_DEPTH_REACHED
$STATE,15905,begin surface coast
$FINISH,0.7,1.027441
$STATE,15926,end surface coast,CONTROL_FINISHED_OK
$STATE,15927,begin surface
$SM_CCo,15967,53.58,0.844,4,0,1691,300.00
$SM_GC,1.45,0.00,0.00,53.58,0.000,0.000,0.844,29,563,1691,-10.79,-57.59,300.00
$IRIDIUM_FIX,6258.74,-1320.21,170398,101030
$TT8_MAMPS,0.029146
$HUMID,1992
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.7,93.8
$24V_AH,22.8,42.306
$10V_AH,10.1,18.906
$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,27.000,28.450,352.800,53.575,0.000,22.907,34.595,244.241,7.000,0.000,0.000,14.637,1283.352,12802.738,566.628,1256.831,610.744,0.000,1145.781,0.000,1241.193,0.000,47.730,0.000
$DEVICE_MAMPS,200.187,1.534,1504.854,844.467,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,583.204,528.389,434.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37972,772
$CAP_FILE_SIZE,84958,16
$CFSIZE,260165632,245395456
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,4,0
$GPS,211208,182402,6328.157,-1323.974,68,1.2,68,-12.4