version: 66.04
glider: 101
mission: 7
dive: 336
start: 1 4 109 6 34 47
data:
$ID,101
$MISSION,7
$DIVE,336
$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,550
$T_MISSION,580
$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,-752367.38
$T_RSLEEP,27
$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
$GPS1,062607,6254.161,-1154.242,36,0.9,36,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-58.9
$GPS2,063426,6254.214,-1153.965,11,2.0,11,-11.3
$SPEED_LIMITS,0.104,0.209
$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,316.3,67171,-10.7,-6.000
$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,15,-1.16,-146.6,0.0,0.0,0,78,0.00,0.00,-60.22,0.000,2,0.000,0.000,23,749,2962
$GC,82,-1.16,-146.6,3.2,-3.8,3,117,12.12,0.00,-18.48,0.000,6,0.220,0.000,2117,762,3514
$GC,429,-1.03,-146.6,33.6,-8.5,20,431,0.17,0.00,0.00,0.000,6,0.182,0.000,2150,762,3514
$GC,737,-0.98,-146.6,57.8,-7.7,35,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,762,3514
$GC,1046,-0.93,-146.6,82.1,-8.0,50,1048,0.10,0.00,0.00,0.000,6,0.189,0.000,2169,762,3515
$GC,1355,-0.93,-146.6,105.3,-7.7,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3515
$GC,1664,-0.93,-146.6,129.3,-8.0,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3515
$GC,1973,-0.93,-146.6,153.3,-7.8,95,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3515
$GC,2282,-0.93,-146.6,177.4,-7.6,110,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3515
$GC,2592,-0.93,-146.6,200.4,-7.2,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3515
$GC,2901,-0.93,-146.6,222.4,-7.2,140,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3515
$GC,3210,-0.93,-146.6,245.3,-7.8,155,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3515
$GC,3520,-0.93,-146.6,268.6,-7.6,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3515
$GC,3829,-0.93,-146.6,291.0,-6.9,185,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3515
$GC,4138,-0.93,-146.6,311.9,-6.7,200,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3515
$GC,4447,-0.93,-146.6,331.3,-6.5,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,763,3514
$GC,4756,-0.93,-146.6,351.3,-6.2,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3514
$GC,5066,-0.93,-146.6,369.0,-5.8,245,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3514
$GC,5375,-0.93,-146.6,388.1,-6.4,260,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3514
$GC,5684,-0.93,-146.6,410.2,-7.4,275,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3514
$GC,5993,-0.93,-146.6,432.5,-7.5,290,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3514
$GC,6303,-0.97,-146.6,455.1,-7.2,305,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3514
$GC,6612,-1.03,-146.6,477.1,-7.2,320,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,763,3513
$GC,6922,-1.08,-146.6,498.1,-6.7,335,6924,0.15,0.00,0.00,0.000,6,0.160,0.000,2133,763,3513
$STATE,7207,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7207,begin apogee
$GC,7230,-0.45,0.0,519.9,7.7,349,7416,0.68,0.00,180.65,1.183,6,0.168,0.000,2268,763,2915
$STATE,7417,end apogee,CONTROL_FINISHED_OK
$STATE,7417,begin climb
$GC,7421,1.16,146.6,527.9,0.0,359,7618,1.85,0.00,191.95,1.136,6,0.161,0.000,2625,763,2317
$GC,7927,1.16,146.6,507.0,6.1,384,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,762,2316
$GC,8236,1.16,146.6,486.8,6.6,399,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,762,2316
$GC,8546,1.21,192.6,468.3,4.6,414,8610,0.00,0.00,62.47,1.139,6,0.000,0.000,2625,762,2129
$GC,8915,1.24,214.7,448.4,5.3,432,8948,0.00,0.00,31.08,1.114,6,0.000,0.000,2626,763,2039
$GC,9244,1.25,220.5,429.5,5.8,448,9255,0.00,0.00,8.95,1.002,6,0.000,0.000,2626,763,2016
$GC,9554,1.25,220.5,409.8,6.6,463,9555,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,764,2016
$GC,9863,1.25,220.5,388.2,7.1,478,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,764,2016
$GC,10172,1.25,220.5,364.5,8.0,493,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,764,2015
$GC,10481,1.25,220.5,339.4,8.0,508,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,764,2015
$GC,10790,1.25,220.5,315.3,7.7,523,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,764,2015
$GC,11100,1.25,220.5,292.8,7.3,538,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,764,2015
$GC,11409,1.25,220.5,271.4,6.8,553,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,764,2015
$GC,11718,1.25,220.5,250.8,6.6,568,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,764,2015
$GC,12028,1.25,220.5,230.7,6.4,583,12029,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,764,2016
$GC,12337,1.25,220.5,211.1,6.6,598,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,764,2016
$GC,12646,1.25,220.5,190.3,6.9,613,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,764,2016
$GC,12955,1.25,220.5,168.5,7.2,628,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,764,2016
$GC,13265,1.25,220.5,147.4,6.7,643,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,764,2016
$GC,13575,1.25,220.5,127.0,6.4,658,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,764,2016
$GC,13884,1.25,220.5,106.7,6.7,673,13885,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,764,2016
$GC,14193,1.25,220.5,86.0,6.7,688,14194,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,764,2016
$GC,14502,1.25,220.5,65.8,6.1,703,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,764,2016
$GC,14813,1.27,236.7,47.4,5.5,718,14836,0.00,0.00,21.20,0.856,6,0.000,0.000,2632,762,1949
$GC,15142,1.27,236.7,23.1,7.9,734,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,762,1949
$STATE,15427,end climb,SURFACE_DEPTH_REACHED
$STATE,15427,begin surface coast
$FINISH,0.9,1.020351
$STATE,15448,end surface coast,CONTROL_FINISHED_OK
$STATE,15448,begin surface
$SM_CCo,15488,79.45,0.735,9,0,1692,300.00
$SM_GC,1.73,0.00,0.00,79.45,0.000,0.000,0.735,28,752,1692,-10.80,-52.33,300.00
$IRIDIUM_FIX,6230.49,-1203.05,310398,010142
$TT8_MAMPS,0.029146
$HUMID,2031
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.7,53.8
$24V_AH,15.6,56.542
$10V_AH,10.1,24.211
$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,27.525,28.450,496.300,79.450,0.000,23.224,28.230,264.359,3.750,0.000,0.000,13.348,1225.774,12280.682,741.010,1239.477,623.487,0.000,1310.408,0.000,1233.563,0.000,26.598,0.000
$DEVICE_MAMPS,220.129,1.534,1182.714,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.465,510.258,530.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37942,749
$CAP_FILE_SIZE,81303,16
$CFSIZE,260165632,241909760
$ERRORS,0,1,0,0,0,0,0,0,0,2,0,0,62,9,0
$GPS,040109,105607,6256.236,-1148.421,30,1.2,30,-11.3