version: 66.04
glider: 101
mission: 7
dive: 291
start: 12 28 108 2 47 30
data:
$ID,101
$MISSION,7
$DIVE,291
$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,412.5
$T_MISSION,440
$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,-751508.25
$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
$GPS1,023956,6303.856,-1154.282,41,1.5,41,-11.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-57.6
$GPS2,024709,6303.688,-1154.465,11,1.5,11,-11.4
$SPEED_LIMITS,0.139,0.238
$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,302.4,58508,-14.7,-8.000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.51,-146.6,0.0,0.0,0,78,0.00,0.00,-60.47,0.000,2,0.000,0.000,27,672,2997
$GC,82,-1.51,-146.6,3.3,-3.9,3,117,10.82,0.00,-17.50,0.000,6,0.229,0.000,2040,684,3514
$GC,429,-1.40,-146.6,45.4,-11.0,20,431,0.15,0.00,0.00,0.000,6,0.193,0.000,2067,684,3514
$GC,737,-1.35,-146.6,76.9,-10.1,35,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,684,3514
$GC,1046,-1.29,-146.6,108.1,-10.1,50,1048,0.15,0.00,0.00,0.000,6,0.189,0.000,2094,685,3514
$GC,1355,-1.29,-146.6,135.4,-8.7,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,686,3514
$GC,1664,-1.29,-146.6,161.4,-8.6,80,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,686,3514
$GC,1973,-1.29,-146.6,189.7,-9.3,95,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,686,3514
$GC,2282,-1.29,-146.6,219.9,-10.2,110,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,686,3514
$GC,2591,-1.29,-146.6,249.5,-8.8,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,686,3514
$GC,2901,-1.29,-146.6,273.8,-7.5,140,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,686,3514
$GC,3210,-1.29,-146.6,295.8,-7.1,155,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,686,3514
$GC,3519,-1.29,-146.6,320.8,-8.7,170,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,686,3514
$GC,3829,-1.29,-146.6,352.6,-10.4,185,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,686,3514
$GC,4138,-1.29,-146.6,382.9,-9.8,200,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,686,3515
$GC,4447,-1.29,-146.6,411.0,-9.1,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,686,3514
$GC,4757,-1.29,-146.6,437.1,-7.9,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,686,3514
$STATE,4939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4939,begin apogee
$GC,4962,-0.45,0.0,452.5,7.6,239,5093,0.85,0.00,128.07,1.232,6,0.180,0.000,2270,686,2915
$STATE,5094,end apogee,CONTROL_FINISHED_OK
$STATE,5094,begin climb
$GC,5098,1.51,146.6,458.3,0.0,246,5230,2.05,0.00,127.30,1.193,6,0.163,0.000,2705,686,2317
$GC,5542,1.47,146.6,428.3,9.9,268,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,686,2317
$GC,5848,1.42,146.6,399.3,9.1,283,5850,0.12,0.00,0.00,0.000,6,0.204,0.000,2684,686,2316
$GC,6158,1.45,173.6,373.9,7.0,298,6184,0.00,0.00,24.92,1.177,6,0.000,0.000,2686,686,2207
$GC,6487,1.50,213.9,351.3,6.5,314,6526,0.00,0.00,36.33,1.177,6,0.000,0.000,2688,686,2042
$GC,6837,1.54,244.7,326.0,6.8,331,6866,0.00,0.00,27.92,1.147,6,0.000,0.000,2690,686,1917
$GC,7165,1.55,253.4,301.4,7.7,347,7176,0.00,0.00,9.20,1.037,6,0.000,0.000,2692,686,1882
$GC,7474,1.55,253.4,274.8,8.9,362,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,686,1882
$GC,7784,1.55,253.4,243.6,10.3,377,7785,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,686,1883
$GC,8093,1.55,253.4,209.6,11.3,392,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,686,1882
$GC,8402,1.55,253.4,176.1,10.6,407,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,686,1882
$GC,8712,1.55,253.4,143.5,10.6,422,8714,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,686,1883
$GC,9021,1.55,253.4,111.8,10.2,437,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,686,1882
$GC,9330,1.55,253.4,81.4,9.0,452,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,686,1883
$GC,9640,1.55,253.4,47.6,10.8,467,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,686,1883
$GC,9949,1.55,253.4,15.8,10.7,482,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,686,1882
$STATE,10090,end climb,SURFACE_DEPTH_REACHED
$STATE,10090,begin surface coast
$FINISH,1.1,1.016661
$STATE,10112,end surface coast,CONTROL_FINISHED_OK
$STATE,10112,begin surface
$SM_CCo,10152,44.15,0.828,5,0,1692,300.00
$SM_GC,1.86,0.00,0.00,44.15,0.000,0.000,0.828,29,674,1692,-10.79,-54.48,300.00
$IRIDIUM_FIX,6244.56,-1154.05,230398,232324
$TT8_MAMPS,0.029146
$HUMID,2029
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,376.9,85.5
$24V_AH,22.0,49.499
$10V_AH,10.1,21.383
$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,26.275,28.450,353.750,44.150,0.000,23.397,32.885,222.091,3.000,0.000,0.000,12.898,828.815,7952.811,545.167,821.846,510.385,0.000,931.716,0.000,820.730,0.000,20.213,0.000
$DEVICE_MAMPS,228.566,1.534,1231.802,827.593,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.631,333.503,364.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25422,490
$CAP_FILE_SIZE,57503,16
$CFSIZE,260165632,243765248
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,5,0
$GPS,281208,053908,6300.613,-1158.616,40,1.4,40,-11.4