version: 66.04
glider: 101
mission: 7
dive: 195
start: 12 9 108 21 33 48
data:
$ID,101
$MISSION,7
$DIVE,195
$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,-736052.06
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,33
$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
$GPS1,212802,6414.375,-1200.616,39,1.3,39,-12.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-61.0
$GPS2,213327,6414.380,-1200.549,12,1.2,12,-12.0
$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,231.3,70356,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.42,0.000,2,0.000,0.000,28,2530,2934
$GC,82,-1.16,-146.6,3.2,-3.5,3,117,10.85,2.08,-19.70,0.000,4,0.125,0.070,2115,3686,3514
$GC,373,-1.02,-146.6,30.3,-11.6,16,377,0.17,1.85,0.00,0.000,6,0.077,0.035,2151,2596,3515
$GC,705,-1.02,-146.6,59.9,-8.4,32,709,0.00,1.95,0.00,0.000,4,0.000,0.054,2151,3683,3514
$GC,964,-0.96,-146.6,85.1,-10.1,43,968,0.00,1.85,0.00,0.000,6,0.000,0.035,2151,2592,3515
$GC,1287,-0.96,-146.6,105.4,-6.8,59,1290,0.00,1.95,0.00,0.000,4,0.000,0.054,2151,3682,3515
$GC,1389,-0.92,-146.6,112.9,-6.0,63,1393,0.10,1.85,0.00,0.000,6,0.091,0.034,2172,2587,3515
$GC,1712,-0.92,-146.6,132.8,-5.4,79,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2587,3515
$GC,2020,-0.92,-146.6,151.7,-5.8,94,2024,0.00,1.98,0.00,0.000,4,0.000,0.054,2172,3692,3515
$GC,2104,-0.92,-146.6,157.2,-6.2,97,2110,0.00,1.85,0.00,0.000,6,0.000,0.035,2172,2596,3515
$GC,2421,-0.92,-146.6,175.3,-6.6,113,2425,0.00,1.95,0.00,0.000,4,0.000,0.054,2172,3686,3515
$GC,2450,-0.92,-146.6,177.5,-7.7,114,2453,0.00,1.85,0.00,0.000,6,0.000,0.034,2172,2590,3515
$GC,2777,-0.92,-146.6,198.0,-6.6,130,2781,0.00,1.95,0.00,0.000,4,0.000,0.055,2172,3683,3515
$GC,2816,-0.92,-146.6,201.1,-8.2,131,2822,0.00,1.83,0.00,0.000,6,0.000,0.034,2172,2600,3515
$GC,3133,-0.92,-146.6,225.9,-8.8,147,3137,0.00,1.92,0.00,0.000,4,0.000,0.055,2172,3686,3515
$GC,3167,-0.92,-146.6,229.6,-9.8,148,3171,0.00,1.85,0.00,0.000,6,0.000,0.034,2172,2588,3515
$GC,3489,-0.92,-146.6,254.3,-7.8,164,3492,0.00,1.95,0.00,0.000,4,0.000,0.055,2172,3682,3515
$GC,3568,-0.92,-146.6,261.1,-8.7,167,3571,0.00,1.83,0.00,0.000,6,0.000,0.034,2172,2598,3515
$GC,3890,-0.92,-146.6,286.4,-7.2,183,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2599,3515
$GC,4199,-0.92,-146.6,308.8,-8.0,198,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2599,3515
$GC,4508,-0.92,-146.6,331.4,-6.8,213,4512,0.00,1.95,0.00,0.000,4,0.000,0.058,2172,3683,3514
$GC,4559,-0.92,-146.6,335.2,-7.2,215,4563,0.00,1.85,0.00,0.000,6,0.000,0.035,2172,2587,3514
$GC,4887,-0.92,-146.6,353.3,-4.7,231,4891,0.00,1.98,0.00,0.000,4,0.000,0.060,2172,3682,3514
$GC,4956,-0.92,-146.6,357.1,-5.2,234,4960,0.00,1.83,0.00,0.000,6,0.000,0.035,2171,2601,3514
$GC,5290,-0.97,-146.6,376.8,-6.8,250,5293,0.00,1.95,0.00,0.000,4,0.000,0.061,2172,3680,3514
$GC,5408,-0.97,-146.6,386.2,-7.4,255,5412,0.00,1.83,0.00,0.000,6,0.000,0.035,2172,2607,3514
$GC,5736,-0.97,-146.6,409.6,-7.5,271,5739,0.00,1.98,0.00,0.000,4,0.000,0.064,2172,3687,3514
$STATE,5767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5767,begin apogee
$GC,5777,-0.45,0.0,412.4,7.4,272,5908,0.45,0.00,125.10,1.095,6,0.068,0.000,2272,2410,2915
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5913,1.16,146.6,418.4,0.0,279,6045,1.60,2.65,123.50,1.055,4,0.054,0.056,2624,998,2317
$GC,6055,1.25,222.5,414.9,3.7,285,6127,0.10,2.53,65.38,1.024,6,0.068,0.044,2647,2398,2007
$GC,6454,1.25,222.5,386.3,7.7,305,6458,0.00,2.35,0.00,0.000,4,0.000,0.062,2647,3695,2006
$GC,6505,1.19,222.5,381.8,8.8,307,6509,0.00,2.25,0.00,0.000,6,0.000,0.037,2648,2398,2006
$GC,6821,1.19,222.5,355.7,7.6,322,6825,0.00,2.35,0.00,0.000,4,0.000,0.059,2647,3692,2005
$GC,6884,1.15,222.5,350.9,7.6,324,6890,0.00,2.25,0.00,0.000,6,0.000,0.036,2647,2386,2005
$GC,7200,1.15,222.5,331.4,6.5,340,7204,0.00,2.45,0.00,0.000,4,0.000,0.050,2647,1000,2004
$GC,7250,1.15,222.5,327.8,7.1,342,7254,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2412,2005
$GC,7573,1.16,228.7,307.7,5.8,358,7581,0.00,0.00,6.40,0.858,6,0.000,0.000,2648,2412,1982
$GC,7881,1.16,228.7,288.1,6.6,373,7885,0.00,2.50,0.00,0.000,4,0.000,0.046,2647,998,1982
$GC,7915,1.16,228.7,285.8,6.7,374,7919,0.00,2.47,0.00,0.000,6,0.000,0.039,2647,2408,1981
$GC,8231,1.16,228.7,265.5,6.3,389,8235,0.00,2.30,0.00,0.000,4,0.000,0.056,2647,3701,1981
$GC,8279,1.11,228.7,262.4,6.3,391,8283,0.15,2.22,0.00,0.000,6,0.095,0.035,2619,2394,1981
$GC,8606,1.17,239.6,243.9,5.7,407,8619,0.00,0.00,10.98,0.927,6,0.000,0.000,2619,2392,1937
$GC,8915,1.31,318.1,229.2,3.7,422,8984,0.20,0.00,66.38,0.976,6,0.047,0.000,2672,2392,1618
$GC,9284,1.31,318.1,201.3,8.9,440,9288,0.00,2.35,0.00,0.000,4,0.000,0.054,2672,3696,1618
$GC,9318,1.26,318.1,198.0,9.3,441,9323,0.12,2.22,0.00,0.000,6,0.100,0.034,2649,2391,1617
$GC,9639,1.26,318.1,171.1,8.3,457,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2389,1617
$GC,9949,1.30,351.2,150.5,5.0,472,9983,0.00,2.42,28.48,0.908,4,0.000,0.053,2649,3685,1482
$GC,10018,1.30,351.2,145.7,7.2,475,10022,0.00,2.20,0.00,0.000,6,0.000,0.033,2649,2400,1482
$GC,10346,1.30,351.2,121.9,8.3,491,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2398,1482
$GC,10656,1.34,351.2,96.2,9.0,506,10660,0.00,2.33,0.00,0.000,4,0.000,0.053,2649,3693,1482
$GC,10696,1.34,351.2,92.7,8.7,508,10700,0.00,2.20,0.00,0.000,6,0.000,0.033,2649,2396,1482
$GC,11030,1.34,351.2,62.7,9.7,524,11034,0.00,2.33,0.00,0.000,4,0.000,0.053,2649,3693,1482
$GC,11048,1.34,351.2,61.3,8.1,525,11052,0.00,2.20,0.00,0.000,6,0.000,0.033,2649,2392,1482
$GC,11376,1.38,351.2,34.7,7.9,541,11381,0.12,2.42,0.00,0.000,4,0.053,0.044,2686,1003,1482
$GC,11399,1.38,351.2,32.5,8.6,542,11403,0.00,2.45,0.00,0.000,6,0.000,0.036,2687,2413,1482
$STATE,11717,end climb,SURFACE_DEPTH_REACHED
$STATE,11717,begin surface coast
$FINISH,1.0,1.027474
$STATE,11739,end surface coast,CONTROL_FINISHED_OK
$STATE,11742,begin surface
$SM_CCo,11827,0.00,0.000,0,0,1481,351.76
$SM_GC,1.60,11.80,0.00,0.00,0.040,0.000,0.000,29,2608,1481,-10.74,0.23,351.76
$IRIDIUM_FIX,6346.88,-1207.07,050398,181844
$TT8_MAMPS,0.029146
$HUMID,2025
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,350.4,71.8
$24V_AH,23.2,31.609
$10V_AH,10.1,14.505
$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,25.675,98.300,426.200,0.000,0.000,22.732,28.230,150.800,3.000,0.000,0.000,14.550,1074.023,8735.666,494.835,1383.866,465.385,0.000,1211.301,0.000,1352.864,0.000,18.557,0.000
$DEVICE_MAMPS,125.021,69.797,1095.276,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,412.405,380.062,436.521,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28499,559
$CAP_FILE_SIZE,91263,0
$CFSIZE,260165632,247816192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101208,005207,6412.807,-1202.531,32,1.2,32,-12.0