version: 66.04
glider: 101
mission: 7
dive: 251
start: 12 22 108 10 38 10
data:
$ID,101
$MISSION,7
$DIVE,251
$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,-750668.62
$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
$GPS1,102908,6332.835,-1323.848,34,1.2,34,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-56.9
$GPS2,103747,6332.929,-1323.840,11,2.5,30,-12.5
$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,161.6,38696,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.28,0.000,2,0.000,0.000,28,579,2954
$GC,82,-1.81,-146.6,3.3,-3.9,3,117,10.43,0.00,-17.75,0.000,6,0.229,0.000,1974,595,3514
$GC,429,-1.70,-146.6,53.4,-15.1,20,431,0.15,0.00,0.00,0.000,6,0.199,0.000,2001,597,3514
$GC,736,-1.70,-146.6,107.6,-17.6,35,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,598,3514
$GC,1045,-1.70,-146.6,146.9,-10.4,50,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,599,3514
$GC,1355,-1.65,-146.6,195.3,-16.0,65,1356,0.10,0.00,0.00,0.000,6,0.206,0.000,2012,599,3514
$GC,1664,-1.65,-146.6,234.7,-12.5,80,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,596,3514
$GC,1973,-1.65,-146.6,273.4,-13.3,95,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,599,3514
$GC,2282,-1.65,-146.6,323.6,-17.0,110,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,598,3514
$GC,2592,-1.65,-146.6,372.9,-16.1,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,2901,-1.65,-146.6,419.1,-13.4,140,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,3210,-1.65,-146.6,460.6,-13.5,155,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,3519,-1.65,-146.6,497.7,-11.2,170,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,3828,-1.65,-146.6,532.8,-12.2,185,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,600,3514
$GC,4138,-1.65,-146.6,565.6,-10.5,200,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,4447,-1.65,-146.6,604.5,-12.3,215,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,4757,-1.60,-146.6,638.4,-12.5,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,5066,-1.60,-146.6,681.5,-14.1,245,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,5375,-1.60,-146.6,716.2,-10.4,260,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,600,3514
$GC,5684,-1.60,-146.6,740.8,-8.5,275,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,600,3514
$GC,5994,-1.60,-146.6,766.5,-9.3,290,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,599,3514
$GC,6303,-1.60,-146.6,787.1,-8.2,305,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,599,3513
$GC,6612,-1.60,-146.6,808.1,-8.1,320,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,599,3513
$GC,6922,-1.60,-146.6,837.5,-9.7,335,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,599,3513
$GC,7230,-1.60,-146.6,870.2,-11.1,350,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,599,3513
$GC,7540,-1.60,-146.6,912.4,-14.6,365,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,598,3511
$STATE,7640,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7640,begin apogee
$GC,7663,-0.45,0.0,926.9,14.1,370,7799,1.25,0.00,132.48,1.547,6,0.179,0.000,2268,598,2915
$STATE,7800,end apogee,CONTROL_FINISHED_OK
$STATE,7800,begin climb
$GC,7804,1.81,146.6,936.5,0.0,377,7941,2.33,0.00,132.98,1.503,6,0.157,0.000,2769,599,2316
$GC,8244,1.73,166.2,903.5,9.1,399,8265,0.00,0.00,19.45,1.404,6,0.000,0.000,2769,599,2237
$GC,8570,1.66,166.2,866.4,12.1,415,8572,0.17,0.00,0.00,0.000,6,0.191,0.000,2736,598,2237
$GC,8879,1.66,166.2,827.4,12.9,430,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,605,2236
$GC,9188,1.66,166.2,793.0,10.4,445,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,605,2236
$GC,9497,1.75,234.9,762.6,6.8,460,9561,0.00,0.00,61.95,1.453,6,0.000,0.000,2736,606,1957
$GC,9867,1.80,234.9,725.1,12.4,478,9869,0.12,0.00,0.00,0.000,6,0.163,0.000,2771,606,1956
$GC,10176,1.80,234.9,678.9,13.2,493,10177,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,606,1956
$GC,10485,1.80,234.9,643.0,12.2,508,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,607,1956
$GC,10794,1.80,234.9,604.5,13.5,523,10796,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,606,1956
$GC,11104,1.80,234.9,560.7,14.3,538,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,606,1956
$GC,11413,1.80,234.9,505.6,18.4,553,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,607,1955
$GC,11722,1.80,234.9,456.9,14.7,568,11723,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,606,1956
$GC,12032,1.80,234.9,412.0,14.6,583,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,607,1956
$GC,12341,1.80,234.9,368.2,13.6,598,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,606,1956
$GC,12650,1.80,234.9,327.1,12.4,613,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,606,1956
$GC,12960,1.75,234.9,286.8,12.7,628,12962,0.12,0.00,0.00,0.000,6,0.205,0.000,2755,606,1956
$GC,13269,1.76,243.9,252.0,9.6,643,13280,0.00,0.00,9.82,1.011,6,0.000,0.000,2757,606,1920
$GC,13578,1.76,243.9,217.3,11.8,658,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,606,1920
$GC,13887,1.76,243.9,180.6,12.4,673,13888,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,606,1920
$GC,14197,1.76,243.9,144.1,11.6,688,14198,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,600,1920
$GC,14506,1.76,243.9,111.5,10.5,703,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,599,1920
$GC,14816,1.76,243.9,75.4,10.8,718,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,601,1920
$GC,15125,1.76,243.9,41.3,10.5,733,15126,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,606,1920
$GC,15436,1.81,243.9,2.4,10.2,748,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,604,1920
$STATE,15451,end climb,SURFACE_DEPTH_REACHED
$STATE,15451,begin surface coast
$FINISH,0.8,1.027432
$STATE,15473,end surface coast,CONTROL_FINISHED_OK
$STATE,15473,begin surface
$SM_CCo,15513,50.05,0.866,3,0,1692,300.00
$SM_GC,1.65,0.00,0.00,50.05,0.000,0.000,0.866,28,596,1692,-10.80,-56.65,300.00
$IRIDIUM_FIX,6303.50,-1322.43,180398,060633
$TT8_MAMPS,0.029146
$HUMID,2035
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,827.4,109.3
$24V_AH,22.7,43.234
$10V_AH,10.1,19.216
$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,26.950,28.450,356.675,50.050,0.000,22.015,32.523,275.160,7.250,0.000,0.000,35.448,1249.882,12421.459,553.332,1244.271,630.815,0.000,1118.701,0.000,1208.419,0.000,49.396,0.000
$DEVICE_MAMPS,229.333,1.534,1547.039,865.943,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.827,514.331,417.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38084,750
$CAP_FILE_SIZE,84325,16
$CFSIZE,260165632,245190656
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,3,0
$GPS,221208,145902,6334.691,-1326.416,37,1.3,37,-12.5