version: 66.04
glider: 101
mission: 7
dive: 337
start: 1 4 109 11 8 14
data:
$ID,101
$MISSION,7
$DIVE,337
$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,-752398.56
$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
$GPS1,105607,6256.236,-1148.421,30,1.2,30,-11.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-57.0
$GPS2,110755,6256.513,-1148.054,12,1.8,29,-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,311.0,69058,-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,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.50,0.000,2,0.000,0.000,23,752,2962
$GC,83,-1.16,-146.6,3.2,-3.4,3,119,12.55,0.00,-18.80,0.000,6,0.217,0.000,2119,763,3514
$GC,430,-1.04,-146.6,34.0,-8.2,20,432,0.15,0.00,0.00,0.000,6,0.182,0.000,2147,762,3515
$GC,738,-0.99,-146.6,60.7,-9.0,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,762,3514
$GC,1047,-0.94,-146.6,89.0,-9.4,50,1049,0.10,0.00,0.00,0.000,6,0.186,0.000,2166,762,3514
$GC,1356,-0.94,-146.6,116.1,-8.1,65,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,1665,-0.94,-146.6,140.5,-8.0,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,1974,-0.94,-146.6,165.6,-7.7,95,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,2283,-0.94,-146.6,187.7,-6.9,110,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,2592,-0.94,-146.6,210.9,-7.4,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,2902,-0.94,-146.6,234.1,-7.8,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,763,3514
$GC,3211,-0.94,-146.6,256.2,-7.0,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,3520,-0.94,-146.6,277.0,-6.9,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,3830,-0.94,-146.6,298.7,-6.9,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,4139,-0.94,-146.6,320.8,-7.0,200,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3514
$GC,4448,-0.94,-146.6,338.8,-5.2,215,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,764,3514
$GC,4758,-0.94,-146.6,355.6,-5.8,230,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,764,3514
$GC,5067,-0.94,-146.6,376.0,-6.7,245,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,764,3514
$GC,5376,-0.94,-146.6,396.7,-6.5,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,764,3514
$GC,5686,-0.98,-146.6,416.3,-6.4,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,764,3514
$GC,5994,-0.98,-146.6,436.5,-6.8,290,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,764,3514
$GC,6304,-0.98,-146.6,455.6,-5.8,305,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,764,3513
$STATE,6610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6610,begin apogee
$GC,6634,-0.45,0.0,473.9,6.6,320,6865,0.52,0.00,228.45,1.104,6,0.166,0.000,2272,764,2915
$STATE,6866,end apogee,CONTROL_FINISHED_OK
$STATE,6866,begin climb
$GC,6870,1.16,146.6,480.0,0.0,332,7124,1.92,0.00,249.02,1.063,6,0.151,0.000,2623,764,2318
$GC,7435,1.16,149.1,468.1,5.9,360,7443,0.00,0.00,5.28,0.816,6,0.000,0.000,2623,764,2307
$GC,7740,1.10,149.1,447.6,6.9,375,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,764,2307
$GC,8050,1.06,149.1,422.4,8.2,390,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,763,2307
$GC,8359,1.02,164.1,401.2,5.6,405,8387,0.15,0.00,25.10,1.051,6,0.181,0.000,2597,764,2247
$GC,8688,1.20,311.7,392.3,1.6,421,8972,0.17,0.00,280.10,1.025,6,0.148,0.000,2640,767,1644
$GC,9282,1.20,311.7,358.9,8.9,450,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,766,1644
$GC,9587,1.20,311.7,331.8,8.8,465,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,766,1644
$GC,9896,1.20,311.7,304.5,9.2,480,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,766,1644
$GC,10205,1.20,311.7,273.4,10.1,495,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,766,1644
$GC,10515,1.20,311.7,242.3,9.9,510,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,765,1644
$GC,10824,1.20,311.7,213.0,9.3,525,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,765,1644
$GC,11133,1.20,311.7,186.4,8.2,540,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,765,1644
$GC,11442,1.20,311.7,162.2,7.8,555,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,765,1644
$GC,11754,1.20,311.7,137.4,8.2,570,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,765,1644
$GC,12062,1.20,311.7,110.6,8.7,585,12063,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,765,1644
$GC,12371,1.20,311.7,83.7,8.4,600,12372,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,765,1644
$GC,12680,1.20,311.7,58.1,8.1,615,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,762,1645
$GC,12990,1.20,311.7,34.2,7.7,630,12991,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,762,1645
$GC,13300,1.26,311.7,10.6,7.2,645,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,762,1645
$STATE,13400,end climb,SURFACE_DEPTH_REACHED
$STATE,13400,begin surface coast
$FINISH,0.8,1.014285
$STATE,13420,end surface coast,CONTROL_FINISHED_OK
$STATE,13420,begin surface
$SM_CCo,13522,0.00,0.000,0,0,1645,311.29
$SM_GC,1.73,12.85,0.00,0.00,0.134,0.000,0.000,29,761,1645,-10.75,-51.99,311.29
$IRIDIUM_FIX,6230.49,-1144.55,310398,111134
$TT8_MAMPS,0.029146
$HUMID,2069
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.8,32.3
$24V_AH,11.6,56.801
$10V_AH,10.1,24.278
$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,28.425,28.450,787.950,0.000,0.000,45.765,56.369,344.573,3.750,0.000,0.000,30.562,1053.744,10452.295,879.031,1097.665,740.339,0.000,1396.586,0.000,1077.181,0.000,27.809,0.000
$DEVICE_MAMPS,217.061,1.534,1104.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.288,441.540,459.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31684,651
$CAP_FILE_SIZE,74536,16
$CFSIZE,260165632,241881088
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,1,62,0,0
$GPS,040109,145437,6300.372,-1141.821,29,1.2,29,-11.3