version: 66.04
glider: 101
mission: 7
dive: 198
start: 12 10 108 7 58 3
data:
$ID,101
$MISSION,7
$DIVE,198
$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,-736114.12
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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
$GPS1,075225,6414.546,-1202.919,38,1.1,38,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-51.0
$GPS2,075742,6414.622,-1202.817,9,2.0,12,-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,229.9,69545,-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,-80.55,0.000,2,0.000,0.000,27,2616,3427
$GC,102,-1.16,-146.6,4.7,-4.5,4,124,10.95,2.55,-1.90,0.000,4,0.129,0.055,2115,1202,3515
$GC,153,-1.10,-146.6,17.3,-13.6,6,158,0.00,2.45,0.00,0.000,6,0.000,0.039,2115,2598,3515
$GC,476,-1.01,-146.6,40.8,-6.0,22,481,0.17,1.95,0.00,0.000,4,0.081,0.057,2154,3699,3515
$GC,511,-1.01,-146.6,42.8,-5.3,23,514,0.00,1.88,0.00,0.000,6,0.000,0.035,2155,2592,3515
$GC,834,-1.01,-146.6,60.9,-6.5,39,838,0.00,1.98,0.00,0.000,4,0.000,0.056,2154,3692,3515
$GC,897,-0.96,-146.6,65.7,-8.9,41,903,0.00,1.88,0.00,0.000,6,0.000,0.035,2154,2601,3515
$GC,1213,-0.96,-146.6,87.7,-6.5,57,1217,0.00,1.95,0.00,0.000,4,0.000,0.055,2154,3691,3516
$GC,1247,-0.96,-146.6,90.0,-6.6,58,1250,0.00,1.85,0.00,0.000,6,0.000,0.034,2154,2596,3515
$GC,1570,-0.96,-146.6,112.4,-7.8,74,1573,0.00,1.95,0.00,0.000,4,0.000,0.054,2154,3689,3515
$GC,1621,-0.92,-146.6,116.6,-8.0,76,1624,0.00,1.85,0.00,0.000,6,0.000,0.034,2154,2594,3515
$GC,1949,-0.92,-146.6,140.4,-7.1,92,1952,0.00,1.98,0.00,0.000,4,0.000,0.054,2154,3699,3515
$GC,1977,-0.92,-146.6,142.6,-7.6,93,1981,0.00,1.88,0.00,0.000,6,0.000,0.035,2154,2588,3515
$GC,2304,-0.92,-146.6,164.1,-6.9,109,2308,0.00,1.98,0.00,0.000,4,0.000,0.054,2154,3699,3515
$GC,2360,-0.92,-146.6,168.4,-7.8,111,2364,0.00,1.85,0.00,0.000,6,0.000,0.034,2154,2601,3515
$GC,2682,-0.92,-146.6,192.5,-7.8,127,2686,0.00,1.95,0.00,0.000,4,0.000,0.054,2155,3693,3515
$GC,2716,-0.92,-146.6,195.4,-8.0,128,2720,0.00,1.85,0.00,0.000,6,0.000,0.034,2154,2596,3515
$GC,3038,-0.92,-146.6,221.9,-8.3,144,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2596,3515
$GC,3347,-0.92,-146.6,247.7,-8.4,159,3351,0.00,1.95,0.00,0.000,4,0.000,0.054,2154,3689,3515
$GC,3395,-0.92,-146.6,251.7,-9.2,161,3399,0.00,1.85,0.00,0.000,6,0.000,0.035,2154,2590,3515
$GC,3728,-0.92,-146.6,278.4,-7.3,177,3732,0.00,1.98,0.00,0.000,4,0.000,0.056,2154,3694,3515
$GC,3791,-0.92,-146.6,283.2,-8.1,179,3797,0.00,1.85,0.00,0.000,6,0.000,0.034,2154,2593,3515
$GC,4107,-0.92,-146.6,304.2,-6.1,195,4110,0.00,1.98,0.00,0.000,4,0.000,0.056,2154,3695,3515
$GC,4163,-0.92,-146.6,307.6,-5.9,197,4167,0.00,1.88,0.00,0.000,6,0.000,0.034,2154,2598,3515
$GC,4486,-0.92,-146.6,322.2,-4.3,213,4489,0.00,1.98,0.00,0.000,4,0.000,0.057,2154,3696,3515
$GC,4515,-0.92,-146.6,323.5,-4.3,214,4518,0.00,1.85,0.00,0.000,6,0.000,0.035,2154,2598,3515
$GC,4842,-0.92,-146.6,336.1,-4.4,230,4846,0.00,2.42,0.00,0.000,4,0.000,0.045,2154,1203,3515
$GC,4894,-0.92,-146.6,338.8,-5.5,232,4898,0.00,2.45,0.00,0.000,6,0.000,0.041,2155,2605,3515
$GC,5215,-0.92,-146.6,362.1,-7.5,248,5219,0.00,1.92,0.00,0.000,4,0.000,0.060,2154,3691,3515
$GC,5261,-0.92,-146.6,365.8,-8.0,250,5265,0.00,1.85,0.00,0.000,6,0.000,0.036,2154,2596,3515
$GC,5595,-0.92,-146.6,390.1,-7.2,266,5599,0.00,2.00,0.00,0.000,4,0.000,0.063,2154,3697,3514
$GC,5758,-0.92,-146.6,403.2,-7.7,273,5762,0.00,1.88,0.00,0.000,6,0.000,0.036,2154,2598,3515
$STATE,5876,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5876,begin apogee
$GC,5885,-0.45,0.0,412.2,7.6,279,6013,0.55,0.00,125.30,1.100,6,0.065,0.000,2273,2402,2915
$STATE,6014,end apogee,CONTROL_FINISHED_OK
$STATE,6014,begin climb
$GC,6017,1.16,146.6,417.0,0.0,285,6149,1.60,2.47,123.15,1.056,4,0.053,0.061,2625,3693,2317
$GC,6219,1.14,173.3,411.2,5.2,295,6249,0.00,2.25,24.33,1.006,6,0.000,0.037,2625,2404,2207
$GC,6572,1.20,219.5,394.2,4.6,312,6617,0.00,2.42,39.92,1.039,4,0.000,0.061,2625,3695,2020
$GC,6671,1.20,219.5,388.2,7.1,316,6675,0.00,2.28,0.00,0.000,6,0.000,0.037,2625,2392,2020
$GC,6988,1.20,219.5,366.3,6.4,331,6992,0.00,2.40,0.00,0.000,4,0.000,0.059,2626,3700,2019
$GC,7038,1.20,219.5,362.4,8.0,333,7042,0.00,2.25,0.00,0.000,6,0.000,0.036,2625,2398,2018
$GC,7355,1.24,219.5,340.6,7.0,348,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2396,2018
$GC,7664,1.24,219.5,315.8,9.1,363,7668,0.00,2.47,0.00,0.000,4,0.000,0.049,2625,1001,2018
$GC,7697,1.24,219.5,312.0,10.8,364,7702,0.00,2.47,0.00,0.000,6,0.000,0.041,2625,2402,2018
$GC,8014,1.28,219.5,277.6,11.1,379,8016,0.12,0.00,0.00,0.000,6,0.057,0.000,2657,2402,2017
$GC,8323,1.28,219.5,243.6,10.1,394,8327,0.00,2.30,0.00,0.000,4,0.000,0.057,2657,3694,2017
$GC,8351,1.23,219.5,240.6,10.4,395,8356,0.00,2.22,0.00,0.000,6,0.000,0.035,2657,2392,2017
$GC,8674,1.23,219.5,212.1,8.2,411,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2391,2017
$GC,8983,1.23,219.5,187.4,7.8,426,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2391,2017
$GC,9292,1.23,219.5,165.7,6.8,441,9296,0.00,2.35,0.00,0.000,4,0.000,0.054,2657,3696,2017
$GC,9326,1.18,231.8,163.6,5.6,442,9344,0.12,2.22,11.75,0.897,6,0.104,0.034,2635,2389,1969
$GC,9660,1.18,231.8,144.2,7.2,459,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2389,1969
$GC,9970,1.23,271.3,126.7,4.8,474,10013,0.00,2.45,33.85,0.914,4,0.000,0.053,2635,3695,1808
$GC,10047,1.23,271.3,122.1,6.6,477,10051,0.00,2.22,0.00,0.000,6,0.000,0.033,2634,2398,1808
$GC,10365,1.23,271.3,101.5,6.2,492,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2398,1809
$GC,10673,1.23,271.3,86.0,6.2,507,10677,0.00,2.33,0.00,0.000,4,0.000,0.053,2634,3693,1808
$GC,10723,1.23,271.3,81.8,9.4,509,10727,0.00,2.20,0.00,0.000,6,0.000,0.033,2635,2389,1808
$GC,11046,1.27,271.3,58.7,6.3,525,11050,0.00,2.42,0.00,0.000,4,0.000,0.044,2634,1002,1808
$GC,11064,1.27,271.3,57.3,8.0,526,11068,0.00,2.45,0.00,0.000,6,0.000,0.036,2635,2412,1808
$GC,11392,1.42,325.1,40.7,4.4,542,11444,0.17,2.35,44.97,0.854,4,0.048,0.054,2682,3684,1590
$GC,11505,1.37,325.1,30.7,9.9,547,11510,0.00,2.20,0.00,0.000,6,0.000,0.033,2683,2398,1589
$STATE,11830,end climb,SURFACE_DEPTH_REACHED
$STATE,11830,begin surface coast
$FINISH,0.7,1.027051
$STATE,11855,end surface coast,CONTROL_FINISHED_OK
$STATE,11855,begin surface
$SM_CCo,11940,0.00,0.000,0,0,1587,325.76
$SM_GC,1.61,11.90,0.00,0.00,0.043,0.000,0.000,28,2604,1587,-10.75,0.11,325.76
$IRIDIUM_FIX,6346.88,-1208.11,060398,040413
$TT8_MAMPS,0.028379
$HUMID,2024
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,351.0,69.9
$24V_AH,23.2,31.977
$10V_AH,10.1,14.692
$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,25.600,107.000,403.275,0.000,0.000,24.405,31.711,136.070,3.000,0.000,0.000,14.327,1080.822,8890.862,471.146,1348.645,468.001,0.000,1184.933,0.000,1320.378,0.000,21.494,0.000
$DEVICE_MAMPS,128.856,62.894,1099.878,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.438,383.465,479.459,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28527,564
$CAP_FILE_SIZE,92601,0
$CFSIZE,260165632,247681024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,101208,111825,6413.568,-1202.233,24,1.5,42,-12.0