version: 66.04
glider: 101
mission: 7
dive: 261
start: 12 24 108 9 57 30
data:
$ID,101
$MISSION,7
$DIVE,261
$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,-750856.62
$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
$GPS1,094508,6328.696,-1322.149,26,1.3,26,-12.4
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-48.8
$GPS2,095709,6328.660,-1321.825,10,1.5,10,-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,156.7,31160,-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,-80.65,0.000,2,0.000,0.000,23,629,2945
$GC,103,-1.81,-146.6,3.2,-2.4,4,138,10.38,0.00,-20.50,0.000,6,0.223,0.000,1974,631,3513
$GC,450,-1.69,-146.6,50.4,-13.5,21,452,0.17,0.00,0.00,0.000,6,0.196,0.000,2004,631,3514
$GC,758,-1.64,-146.6,90.3,-12.8,36,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,631,3514
$GC,1067,-1.59,-146.6,132.2,-14.4,51,1069,0.15,0.00,0.00,0.000,6,0.194,0.000,2030,632,3514
$GC,1376,-1.59,-146.6,166.4,-10.8,66,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,637,3514
$GC,1685,-1.59,-146.6,202.6,-12.6,81,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,637,3514
$GC,1995,-1.59,-146.6,241.5,-12.2,96,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,637,3514
$GC,2304,-1.59,-146.6,281.6,-13.5,111,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,638,3514
$GC,2614,-1.59,-146.6,325.1,-13.7,126,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3514
$GC,2922,-1.59,-146.6,366.1,-13.4,141,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3514
$GC,3231,-1.59,-146.6,405.6,-12.8,156,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3514
$GC,3541,-1.59,-146.6,444.5,-12.3,171,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3514
$GC,3851,-1.59,-146.6,482.0,-11.8,186,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3514
$GC,4159,-1.59,-146.6,519.7,-12.0,201,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3514
$GC,4469,-1.59,-146.6,556.0,-11.4,216,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,638,3514
$GC,4778,-1.59,-146.6,589.7,-10.4,231,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,638,3514
$GC,5087,-1.59,-146.6,620.7,-9.9,246,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,638,3514
$GC,5397,-1.59,-146.6,650.7,-10.5,261,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,638,3513
$GC,5706,-1.59,-146.6,683.8,-10.6,276,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,638,3514
$GC,6015,-1.59,-146.6,717.3,-10.2,291,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3513
$GC,6324,-1.59,-146.6,752.8,-11.2,306,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3513
$GC,6634,-1.69,-146.6,792.2,-14.1,321,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,638,3513
$GC,6943,-1.69,-146.6,820.5,-9.0,336,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,637,3513
$STATE,6960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6960,begin apogee
$GC,6983,-0.45,0.0,821.9,8.1,337,7118,1.17,0.00,131.12,1.458,6,0.183,0.000,2267,637,2915
$STATE,7119,end apogee,CONTROL_FINISHED_OK
$STATE,7119,begin climb
$GC,7122,1.81,146.6,828.9,0.0,344,7258,2.35,0.00,130.25,1.427,6,0.156,0.000,2768,637,2317
$GC,7564,1.80,178.5,790.8,8.5,366,7599,0.00,0.00,30.00,1.368,6,0.000,0.000,2768,637,2186
$GC,7910,1.75,178.5,753.0,11.6,383,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,639,2186
$GC,8219,1.69,178.5,714.8,10.8,398,8221,0.15,0.00,0.00,0.000,6,0.201,0.000,2741,639,2185
$GC,8528,1.69,178.5,682.6,10.6,413,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,638,2184
$GC,8837,1.69,178.5,650.6,10.5,428,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,639,2184
$GC,9146,1.69,178.5,615.6,11.6,443,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,639,2184
$GC,9455,1.69,178.5,579.5,12.1,458,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,638,2183
$GC,9765,1.69,178.5,543.1,11.6,473,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,638,2183
$GC,10074,1.69,178.5,509.3,10.4,488,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,639,2183
$GC,10383,1.69,178.5,477.8,10.0,503,10384,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,638,2184
$GC,10693,1.69,181.6,446.9,9.9,518,10699,0.00,0.00,4.05,0.847,6,0.000,0.000,2746,639,2173
$GC,11002,1.71,191.3,416.9,9.5,533,11014,0.00,0.00,10.23,1.108,6,0.000,0.000,2747,639,2135
$GC,11311,1.71,192.9,386.7,9.9,548,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,638,2135
$GC,11620,1.71,196.1,355.8,9.8,563,11628,0.00,0.00,6.18,0.966,6,0.000,0.000,2748,638,2115
$GC,11929,1.71,196.1,321.7,10.8,578,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,639,2115
$GC,12238,1.71,196.1,286.9,11.4,593,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,639,2115
$GC,12548,1.71,196.1,252.0,10.8,608,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,639,2115
$GC,12857,1.72,204.0,221.2,9.6,623,12868,0.00,0.00,8.93,0.976,6,0.000,0.000,2753,639,2083
$GC,13166,1.72,204.0,190.4,10.1,638,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,639,2083
$GC,13475,1.72,204.0,156.2,11.2,653,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,639,2083
$GC,13785,1.72,204.0,120.9,10.6,668,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,638,2083
$GC,14094,1.72,204.0,83.7,12.1,683,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,637,2083
$GC,14406,1.73,207.4,49.0,9.8,698,14412,0.00,0.00,4.78,0.761,6,0.000,0.000,2759,637,2069
$GC,14714,1.73,207.4,14.9,11.2,713,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,637,2068
$STATE,14814,end climb,SURFACE_DEPTH_REACHED
$STATE,14814,begin surface coast
$FINISH,0.9,1.026850
$STATE,14834,end surface coast,CONTROL_FINISHED_OK
$STATE,14835,begin surface
$SM_CCo,14876,76.90,0.913,1,0,1692,300.00
$SM_GC,1.70,0.00,0.00,76.90,0.000,0.000,0.913,27,630,1692,-10.80,-55.86,300.00
$IRIDIUM_FIX,6303.50,-1322.43,200398,090922
$TT8_MAMPS,0.028379
$HUMID,2032
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,727.2,103.4
$24V_AH,22.8,45.132
$10V_AH,10.1,19.917
$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,26.950,28.525,325.525,76.900,0.000,47.353,58.055,386.970,6.750,0.000,0.000,12.208,1198.854,11957.107,562.584,1174.277,788.997,0.000,1106.180,0.000,1162.807,0.000,42.918,0.000
$DEVICE_MAMPS,223.197,1.534,1458.067,913.497,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,542.447,492.633,415.964,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37941,719
$CAP_FILE_SIZE,83729,16
$CFSIZE,260165632,244723712
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,59,1,0
$GPS,241208,140802,6327.615,-1319.655,38,1.2,38,-12.4