version: 66.04
glider: 101
mission: 7
dive: 215
start: 12 13 108 4 43 6
data:
$ID,101
$MISSION,7
$DIVE,215
$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,-736471.25
$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,39
$R_STBD_OVSHOOT,29
$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
$GPS1,043338,6328.154,-1252.296,37,1.2,37,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-58.1
$GPS2,044245,6328.184,-1252.611,10,1.2,10,-12.1
$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,206.3,25181,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-81.07,0.000,2,0.000,0.000,27,2614,3397
$GC,103,-1.16,-146.6,4.8,-5.4,4,125,10.82,1.95,-2.62,0.000,4,0.123,0.071,2114,3679,3514
$GC,379,-1.02,-146.6,40.7,-8.4,16,383,0.17,1.85,0.00,0.000,6,0.078,0.036,2150,2594,3515
$GC,706,-1.02,-146.6,67.1,-6.5,32,710,0.00,1.98,0.00,0.000,4,0.000,0.055,2151,3693,3514
$GC,859,-0.96,-146.6,80.4,-9.2,38,865,0.00,1.90,0.00,0.000,6,0.000,0.036,2150,2597,3515
$GC,1177,-0.96,-146.6,103.8,-8.0,54,1181,0.00,1.95,0.00,0.000,4,0.000,0.054,2150,3686,3515
$GC,1239,-0.89,-146.6,108.7,-8.2,56,1246,0.10,1.88,0.00,0.000,6,0.074,0.036,2177,2603,3515
$GC,1556,-0.89,-146.6,124.5,-5.2,72,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2603,3514
$GC,1865,-0.89,-146.6,140.0,-5.7,87,1869,0.00,1.95,0.00,0.000,4,0.000,0.054,2177,3692,3515
$GC,1927,-0.89,-146.6,144.4,-7.6,89,1934,0.00,1.90,0.00,0.000,6,0.000,0.035,2177,2592,3515
$GC,2244,-0.89,-146.6,164.0,-5.5,105,2248,0.00,1.98,0.00,0.000,4,0.000,0.054,2177,3696,3515
$GC,2283,-0.89,-146.6,166.9,-7.0,106,2289,0.00,1.88,0.00,0.000,6,0.000,0.035,2177,2591,3514
$GC,2600,-0.89,-146.6,187.0,-6.6,122,2603,0.00,1.98,0.00,0.000,4,0.000,0.055,2177,3694,3514
$GC,2624,-0.89,-146.6,188.5,-6.6,123,2628,0.00,1.88,0.00,0.000,6,0.000,0.035,2177,2605,3515
$GC,2957,-0.89,-146.6,212.9,-7.9,139,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2605,3515
$GC,3266,-0.89,-146.6,236.3,-7.7,154,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2605,3515
$GC,3576,-0.89,-146.6,259.7,-7.3,169,3579,0.00,1.95,0.00,0.000,4,0.000,0.055,2177,3693,3514
$GC,3649,-0.89,-146.6,264.9,-6.8,172,3653,0.00,1.88,0.00,0.000,6,0.000,0.035,2177,2603,3515
$GC,3976,-0.89,-146.6,286.6,-6.6,188,3980,0.00,1.95,0.00,0.000,4,0.000,0.055,2177,3693,3515
$GC,4022,-0.89,-146.6,289.6,-7.2,190,4026,0.00,1.85,0.00,0.000,6,0.000,0.035,2177,2598,3514
$GC,4356,-0.89,-146.6,312.7,-7.3,206,4360,0.00,1.95,0.00,0.000,4,0.000,0.056,2177,3689,3514
$GC,4390,-0.89,-146.6,315.4,-7.8,207,4393,0.00,1.85,0.00,0.000,6,0.000,0.035,2177,2592,3514
$GC,4712,-0.89,-146.6,336.5,-7.1,223,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2592,3514
$GC,5021,-0.89,-146.6,360.0,-8.3,238,5024,0.00,1.98,0.00,0.000,4,0.000,0.058,2177,3690,3514
$GC,5094,-0.89,-146.6,366.6,-9.0,241,5098,0.00,1.88,0.00,0.000,6,0.000,0.035,2177,2602,3514
$GC,5422,-0.93,-146.6,396.5,-9.1,257,5426,0.00,1.95,0.00,0.000,4,0.000,0.059,2177,3685,3514
$GC,5473,-0.93,-146.6,401.7,-9.9,259,5477,0.00,1.88,0.00,0.000,6,0.000,0.035,2177,2599,3514
$GC,5800,-0.93,-146.6,430.2,-8.5,275,5804,0.00,1.98,0.00,0.000,4,0.000,0.062,2177,3685,3514
$GC,5851,-0.93,-146.6,434.7,-9.0,277,5855,0.00,1.88,0.00,0.000,6,0.000,0.035,2177,2604,3514
$GC,6178,-0.93,-146.6,461.4,-7.8,293,6182,0.00,2.50,0.00,0.000,4,0.000,0.056,2177,1202,3515
$GC,6218,-0.98,-146.6,464.5,-8.2,295,6223,0.00,2.50,0.00,0.000,6,0.000,0.051,2177,2598,3514
$GC,6547,-1.02,-146.6,488.2,-7.1,311,6551,0.12,2.00,0.00,0.000,4,0.054,0.072,2141,3692,3514
$GC,6597,-0.96,-146.6,492.6,-8.7,313,6602,0.12,1.88,0.00,0.000,6,0.087,0.039,2165,2610,3514
$GC,6925,-0.96,-146.6,515.5,-6.9,329,6929,0.00,2.05,0.00,0.000,4,0.000,0.080,2165,3694,3514
$GC,6972,-0.96,-146.6,519.0,-7.8,331,6975,0.00,1.92,0.00,0.000,6,0.000,0.047,2165,2601,3514
$GC,7305,-0.96,-146.6,539.5,-5.9,347,7309,0.00,2.60,0.00,0.000,4,0.000,0.074,2165,1193,3514
$GC,7368,-0.96,-146.6,543.5,-6.9,350,7372,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2606,3514
$GC,7695,-0.96,-146.6,567.1,-7.4,366,7699,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1194,3514
$GC,7757,-0.96,-146.6,571.9,-7.5,369,7762,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2611,3514
$GC,8085,-0.96,-146.6,596.7,-7.5,385,8089,0.00,2.05,0.00,0.000,4,0.000,0.089,2165,3696,3514
$STATE,8196,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8196,begin apogee
$GC,8206,-0.45,0.0,605.0,6.3,390,8338,0.50,0.00,126.57,1.206,6,0.068,0.000,2273,2395,2914
$STATE,8339,end apogee,CONTROL_FINISHED_OK
$STATE,8339,begin climb
$GC,8343,1.16,146.6,612.0,0.0,397,8476,1.60,2.72,124.62,1.174,4,0.051,0.076,2625,986,2317
$GC,8553,1.16,146.6,605.7,7.3,407,8558,0.00,2.65,0.00,0.000,6,0.000,0.063,2626,2399,2317
$GC,8880,1.16,146.6,582.0,8.4,423,8884,0.00,2.45,0.00,0.000,4,0.000,0.079,2625,3701,2317
$GC,9017,1.11,146.6,568.8,10.1,429,9021,0.00,2.33,0.00,0.000,6,0.000,0.044,2625,2395,2316
$GC,9339,1.11,146.6,537.2,9.8,445,9343,0.00,2.58,0.00,0.000,4,0.000,0.062,2626,985,2315
$GC,9406,1.11,146.6,530.6,8.9,448,9411,0.00,2.58,0.00,0.000,6,0.000,0.051,2625,2404,2315
$GC,9727,1.29,296.4,515.4,1.5,464,9861,0.12,2.67,126.82,1.163,4,0.060,0.058,2656,987,1706
$GC,9882,1.43,407.4,512.8,2.7,471,9984,0.12,2.60,94.30,1.123,6,0.065,0.049,2685,2406,1254
$GC,10306,1.43,407.4,482.3,9.1,492,10310,0.00,2.38,0.00,0.000,4,0.000,0.065,2685,3702,1254
$GC,10352,1.38,407.4,477.7,10.5,494,10356,0.00,2.30,0.00,0.000,6,0.000,0.038,2685,2389,1253
$GC,10673,1.38,407.4,439.0,13.1,510,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2388,1253
$GC,10982,1.38,407.4,402.1,11.3,525,10986,0.00,2.40,0.00,0.000,4,0.000,0.059,2685,3699,1253
$GC,11017,1.34,407.4,397.8,11.9,526,11021,0.00,2.25,0.00,0.000,6,0.000,0.036,2685,2394,1253
$GC,11338,1.34,407.4,363.2,10.5,542,11343,0.00,2.38,0.00,0.000,4,0.000,0.058,2685,3699,1253
$GC,11363,1.34,407.4,360.5,10.9,543,11367,0.00,2.25,0.00,0.000,6,0.000,0.035,2685,2391,1253
$GC,11684,1.34,407.4,327.2,10.0,559,11689,0.00,2.45,0.00,0.000,4,0.000,0.047,2685,997,1253
$GC,11713,1.34,407.4,324.0,10.8,560,11717,0.00,2.50,0.00,0.000,6,0.000,0.040,2685,2415,1253
$GC,12029,1.34,407.4,289.5,11.3,575,12033,0.00,2.28,0.00,0.000,4,0.000,0.057,2685,3692,1253
$GC,12051,1.34,407.4,286.8,11.4,576,12055,0.00,2.22,0.00,0.000,6,0.000,0.034,2685,2390,1253
$GC,12372,1.34,407.4,249.3,12.0,592,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2389,1252
$GC,12681,1.34,407.4,213.1,11.3,607,12685,0.00,2.33,0.00,0.000,4,0.000,0.054,2685,3692,1253
$GC,12716,1.29,407.4,208.9,12.7,608,12720,0.15,2.20,0.00,0.000,6,0.099,0.034,2657,2401,1253
$GC,13032,1.29,407.4,176.0,10.3,623,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2399,1253
$GC,13342,1.35,407.4,139.9,11.0,638,13346,0.00,2.33,0.00,0.000,4,0.000,0.054,2657,3696,1253
$GC,13387,1.35,407.4,135.9,7.3,640,13390,0.00,2.20,0.00,0.000,6,0.000,0.035,2656,2399,1253
$GC,13714,1.35,407.4,109.6,9.3,656,13718,0.00,2.33,0.00,0.000,4,0.000,0.053,2657,3699,1253
$GC,13748,1.35,407.4,105.6,12.0,657,13755,0.00,2.25,0.00,0.000,6,0.000,0.035,2656,2394,1253
$GC,14065,1.39,407.4,77.7,9.6,673,14070,0.00,2.33,0.00,0.000,4,0.000,0.053,2657,3693,1253
$GC,14084,1.39,407.4,75.6,10.5,674,14088,0.00,2.20,0.00,0.000,6,0.000,0.034,2656,2399,1253
$GC,14412,1.39,407.4,48.4,6.1,690,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2398,1253
$GC,14723,1.44,407.4,22.6,7.5,705,14727,0.15,2.33,0.00,0.000,4,0.049,0.052,2699,3696,1253
$GC,14750,1.44,407.4,19.3,11.0,706,14754,0.00,2.20,0.00,0.000,6,0.000,0.034,2699,2400,1253
$STATE,14919,end climb,SURFACE_DEPTH_REACHED
$STATE,14920,begin surface coast
$FINISH,0.5,1.001673
$STATE,14941,end surface coast,CONTROL_FINISHED_OK
$STATE,14941,begin surface
$SM_CCo,15027,0.00,0.000,0,0,1253,407.69
$SM_GC,1.41,11.88,0.00,0.00,0.041,0.000,0.000,30,2611,1253,-10.74,0.31,407.69
$IRIDIUM_FIX,6303.50,-1256.79,090398,040432
$TT8_MAMPS,0.028379
$HUMID,2038
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.30
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,526.1,88.7
$24V_AH,23.1,34.335
$10V_AH,10.1,15.901
$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,25.875,140.750,472.325,0.000,0.000,47.947,57.444,236.822,17.250,0.000,0.000,12.212,1358.019,11250.267,545.593,1737.468,680.748,0.000,1463.673,0.000,1694.894,0.000,29.927,0.000
$DEVICE_MAMPS,123.487,88.972,1205.724,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.224,487.974,482.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34900,715
$CAP_FILE_SIZE,120159,0
$CFSIZE,260165632,246759424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131208,085455,6329.266,-1258.833,25,1.6,42,-12.2