version: 66.04
glider: 101
mission: 7
dive: 181
start: 12 7 108 19 33 48
data:
$ID,101
$MISSION,7
$DIVE,181
$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,-735711.12
$T_RSLEEP,2
$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,40
$C_ROLL_DIVE,2517
$C_ROLL_CLIMB,2317
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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
$GPS1,192655,6415.968,-1216.016,34,1.6,34,-12.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-49.3
$GPS2,193327,6416.013,-1215.632,14,1.6,14,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$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,221.4,65869,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-80.45,0.000,2,0.000,0.000,22,2526,3047
$GC,102,-1.16,-146.6,3.5,-3.6,4,132,10.88,2.12,-13.25,0.000,4,0.123,0.071,2114,3686,3514
$GC,336,-1.02,-146.6,32.0,-8.7,14,340,0.17,2.03,0.00,0.000,6,0.084,0.034,2149,2498,3514
$GC,652,-1.02,-146.6,62.4,-13.6,29,656,0.00,2.40,0.00,0.000,4,0.000,0.044,2149,1123,3514
$GC,725,-1.02,-146.6,74.2,-16.3,32,729,0.00,2.45,0.00,0.000,6,0.000,0.038,2149,2522,3514
$GC,1043,-1.02,-146.6,102.8,-7.4,47,1046,0.00,2.08,0.00,0.000,4,0.000,0.054,2149,3693,3515
$GC,1150,-0.98,-146.6,111.1,-6.9,51,1156,0.00,2.00,0.00,0.000,6,0.000,0.034,2149,2505,3515
$GC,1467,-0.98,-146.6,134.4,-7.1,67,1470,0.00,2.12,0.00,0.000,4,0.000,0.054,2149,3689,3515
$GC,1546,-0.93,-146.6,140.6,-8.0,70,1550,0.12,2.00,0.00,0.000,6,0.085,0.034,2174,2510,3515
$GC,1868,-0.93,-146.6,163.3,-6.9,86,1871,0.00,2.12,0.00,0.000,4,0.000,0.054,2174,3693,3515
$GC,1997,-0.93,-146.6,172.5,-6.8,91,2003,0.00,2.00,0.00,0.000,6,0.000,0.034,2174,2511,3515
$GC,2313,-0.93,-146.6,191.3,-6.5,107,2317,0.00,2.12,0.00,0.000,4,0.000,0.055,2174,3695,3515
$GC,2405,-0.93,-146.6,197.3,-6.2,111,2408,0.00,2.00,0.00,0.000,6,0.000,0.034,2174,2517,3515
$GC,2738,-0.93,-146.6,216.8,-5.5,127,2742,0.00,2.10,0.00,0.000,4,0.000,0.056,2174,3687,3515
$GC,2825,-0.93,-146.6,221.7,-5.3,130,2831,0.00,2.03,0.00,0.000,6,0.000,0.035,2174,2494,3515
$GC,3142,-0.93,-146.6,238.1,-5.1,146,3145,0.00,2.15,0.00,0.000,4,0.000,0.057,2174,3686,3515
$GC,3257,-0.93,-146.6,245.0,-6.6,151,3261,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2510,3515
$GC,3591,-0.93,-146.6,264.5,-6.0,167,3595,0.00,2.12,0.00,0.000,4,0.000,0.058,2174,3688,3515
$GC,3669,-0.93,-146.6,269.7,-6.6,170,3673,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2517,3515
$GC,3992,-0.93,-146.6,287.5,-5.1,186,3996,0.00,2.12,0.00,0.000,4,0.000,0.059,2174,3693,3515
$GC,4122,-0.93,-146.6,294.6,-5.6,191,4128,0.00,2.03,0.00,0.000,6,0.000,0.037,2174,2506,3514
$GC,4438,-0.93,-146.6,310.6,-5.4,207,4442,0.00,2.15,0.00,0.000,4,0.000,0.059,2174,3693,3514
$GC,4512,-0.93,-146.6,315.2,-6.4,210,4516,0.00,2.03,0.00,0.000,6,0.000,0.036,2174,2506,3514
$GC,4840,-0.93,-146.6,335.0,-5.9,226,4844,0.00,2.15,0.00,0.000,4,0.000,0.061,2174,3694,3514
$GC,4955,-0.93,-146.6,341.8,-5.7,231,4959,0.00,2.03,0.00,0.000,6,0.000,0.037,2174,2509,3513
$GC,5288,-0.93,-146.6,359.2,-5.4,247,5292,0.00,2.15,0.00,0.000,4,0.000,0.061,2174,3695,3513
$GC,5373,-0.93,-146.6,364.5,-6.3,250,5379,0.00,2.03,0.00,0.000,6,0.000,0.037,2174,2511,3513
$GC,5691,-0.97,-146.6,380.6,-5.1,266,5694,0.00,2.15,0.00,0.000,4,0.000,0.062,2174,3690,3513
$GC,5805,-0.97,-146.6,387.2,-6.0,271,5809,0.00,2.03,0.00,0.000,6,0.000,0.038,2174,2509,3513
$GC,6139,-1.03,-146.6,404.2,-4.7,287,6143,0.10,2.15,0.00,0.000,4,0.060,0.064,2143,3685,3513
$GC,6287,-1.03,-146.6,414.4,-8.4,293,6293,0.00,2.03,0.00,0.000,6,0.000,0.038,2143,2511,3512
$GC,6603,-1.03,-146.6,437.1,-7.8,309,6607,0.00,2.17,0.00,0.000,4,0.000,0.068,2143,3689,3512
$GC,6665,-0.99,-146.6,442.5,-8.7,311,6672,0.00,2.03,0.00,0.000,6,0.000,0.039,2143,2520,3512
$STATE,6772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6772,begin apogee
$GC,6780,-0.45,0.0,449.9,6.7,317,6910,0.62,0.00,126.25,1.135,6,0.067,0.000,2276,2307,2915
$STATE,6911,end apogee,CONTROL_FINISHED_OK
$STATE,6911,begin climb
$GC,6914,1.16,146.6,454.2,0.0,323,7048,1.60,2.65,126.03,1.092,4,0.053,0.066,2626,3689,2316
$GC,7140,1.11,146.6,444.6,6.7,333,7146,0.00,2.42,0.00,0.000,6,0.000,0.040,2626,2321,2316
$GC,7456,1.12,150.5,428.2,5.9,349,7463,0.00,0.00,5.03,0.802,6,0.000,0.000,2626,2321,2301
$GC,7765,1.12,154.9,409.2,5.9,364,7776,0.00,2.55,5.72,0.858,4,0.000,0.062,2626,3685,2282
$GC,7851,1.08,154.9,404.1,6.5,368,7855,0.00,2.42,0.00,0.000,6,0.000,0.039,2626,2306,2282
$GC,8178,1.12,188.6,387.1,5.0,384,8212,0.00,0.00,30.15,1.075,6,0.000,0.000,2626,2306,2146
$GC,8531,1.14,199.4,366.0,5.7,401,8547,0.00,2.60,10.93,0.996,4,0.000,0.060,2626,3694,2101
$GC,8691,1.14,199.4,355.7,7.1,407,8695,0.00,2.42,0.00,0.000,6,0.000,0.038,2626,2308,2101
$GC,9012,1.14,199.4,335.2,6.3,423,9016,0.00,2.53,0.00,0.000,4,0.000,0.059,2626,3686,2101
$GC,9035,1.14,199.4,333.8,6.4,424,9039,0.00,2.38,0.00,0.000,6,0.000,0.037,2626,2308,2101
$GC,9362,1.14,199.4,312.3,6.6,440,9367,0.00,2.53,0.00,0.000,4,0.000,0.058,2626,3690,2100
$GC,9419,1.14,199.4,307.9,7.8,442,9425,0.00,2.38,0.00,0.000,6,0.000,0.037,2626,2319,2101
$GC,9735,1.14,199.4,286.8,6.2,458,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2318,2101
$GC,10044,1.14,199.4,267.8,6.3,473,10048,0.00,2.50,0.00,0.000,4,0.000,0.058,2626,3693,2100
$GC,10140,1.14,199.4,261.2,7.0,477,10144,0.00,2.38,0.00,0.000,6,0.000,0.036,2626,2315,2101
$GC,10456,1.16,216.3,243.2,5.5,492,10478,0.00,2.55,15.73,0.979,4,0.000,0.056,2626,3687,2032
$GC,10525,1.16,216.3,239.2,6.0,495,10529,0.00,2.40,0.00,0.000,6,0.000,0.036,2626,2310,2032
$GC,10853,1.23,242.1,221.3,5.2,511,10882,0.00,2.60,23.23,0.980,4,0.000,0.055,2626,3684,1928
$GC,10924,1.23,242.1,217.0,6.3,514,10928,0.00,2.40,0.00,0.000,6,0.000,0.035,2626,2307,1928
$GC,11245,1.28,242.1,197.0,6.8,530,11250,0.12,2.50,0.00,0.000,4,0.054,0.054,2660,3687,1928
$GC,11302,1.21,242.1,192.6,8.3,532,11308,0.00,2.38,0.00,0.000,6,0.000,0.035,2660,2309,1928
$GC,11618,1.21,242.1,169.7,7.3,548,11622,0.00,2.50,0.00,0.000,4,0.000,0.054,2660,3696,1928
$GC,11670,1.16,242.1,165.5,9.1,550,11675,0.17,2.38,0.00,0.000,6,0.094,0.034,2627,2314,1928
$GC,11992,1.16,242.1,141.0,7.4,566,11996,0.00,2.47,0.00,0.000,4,0.000,0.054,2627,3687,1928
$GC,12037,1.16,242.1,137.3,8.8,568,12040,0.00,2.35,0.00,0.000,6,0.000,0.034,2627,2316,1928
$GC,12364,1.16,242.1,113.2,7.7,584,12369,0.00,2.47,0.00,0.000,4,0.000,0.053,2627,3692,1928
$GC,12415,1.16,242.1,108.9,8.4,586,12419,0.00,2.35,0.00,0.000,6,0.000,0.033,2627,2318,1928
$GC,12732,1.16,242.1,81.9,9.2,601,12736,0.00,2.45,0.00,0.000,4,0.000,0.052,2627,3689,1928
$GC,12787,1.16,242.1,77.8,6.2,603,12794,0.00,2.33,0.00,0.000,6,0.000,0.033,2627,2317,1928
$GC,13105,1.20,242.1,58.1,7.2,619,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2316,1928
$GC,13415,1.20,242.1,38.1,7.2,634,13419,0.00,2.47,0.00,0.000,4,0.000,0.053,2627,3696,1929
$GC,13479,1.20,242.1,32.8,7.4,637,13483,0.00,2.35,0.00,0.000,6,0.000,0.032,2627,2315,1929
$GC,13807,1.21,248.2,10.3,5.8,653,13821,0.00,2.55,7.15,0.737,4,0.000,0.053,2627,3689,1903
$GC,13898,1.24,270.6,6.0,5.3,657,13924,0.00,2.35,19.88,0.813,6,0.000,0.033,2627,2317,1811
$STATE,13961,end climb,SURFACE_DEPTH_REACHED
$STATE,13961,begin surface coast
$FINISH,0.6,1.027533
$STATE,13983,end surface coast,CONTROL_FINISHED_OK
$STATE,13983,begin surface
$SM_CCo,14008,25.12,0.768,1,0,1692,300.00
$SM_GC,1.75,0.00,0.00,25.12,0.000,0.000,0.768,26,2521,1692,-10.81,0.11,300.00
$IRIDIUM_FIX,6351.77,-1217.78,030398,151547
$TT8_MAMPS,0.029146
$HUMID,2017
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,375.5,83.9
$24V_AH,23.1,29.721
$10V_AH,10.1,13.578
$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,25.400,141.400,370.075,25.125,0.000,23.198,43.351,192.700,3.000,0.000,0.000,15.631,1311.670,10248.706,531.029,1767.271,575.097,0.000,1430.582,0.000,1728.146,0.000,20.204,0.000
$DEVICE_MAMPS,123.487,70.564,1135.160,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.214,450.910,469.008,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34850,661
$CAP_FILE_SIZE,116186,0
$CFSIZE,260165632,248500224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071208,232908,6415.344,-1212.193,37,0.9,37,-12.1