version: 66.04
glider: 101
mission: 7
dive: 218
start: 12 13 108 15 44 29
data:
$ID,101
$MISSION,7
$DIVE,218
$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,-736581.69
$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,38
$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
$GPS1,153548,6329.077,-1308.571,10,7.2,29,-12.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-57.7
$GPS2,154407,6329.103,-1308.947,39,1.2,44,-12.3
$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,176.4,27162,-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,-80.65,0.000,2,0.000,0.000,28,2610,3014
$GC,103,-1.16,-146.6,3.3,-3.2,4,135,10.85,2.47,-15.57,0.000,4,0.124,0.053,2118,1201,3512
$GC,390,-1.08,-146.6,32.8,-9.3,17,394,0.00,2.45,0.00,0.000,6,0.000,0.040,2118,2600,3512
$GC,718,-0.98,-146.6,59.1,-7.5,33,723,0.17,2.45,0.00,0.000,4,0.081,0.040,2158,1200,3512
$GC,796,-0.98,-146.6,65.7,-6.6,36,803,0.00,2.45,0.00,0.000,6,0.000,0.038,2158,2601,3512
$GC,1113,-0.98,-146.6,84.4,-5.7,52,1117,0.00,1.92,0.00,0.000,4,0.000,0.057,2158,3691,3512
$GC,1165,-0.93,-146.6,87.3,-5.7,54,1169,0.00,1.85,0.00,0.000,6,0.000,0.035,2158,2600,3512
$GC,1493,-0.93,-146.6,106.0,-6.6,70,1496,0.00,1.95,0.00,0.000,4,0.000,0.055,2158,3690,3512
$GC,1533,-0.93,-146.6,108.6,-6.0,71,1539,0.00,1.88,0.00,0.000,6,0.000,0.035,2158,2601,3511
$GC,1851,-0.93,-146.6,126.6,-6.1,87,1854,0.00,1.95,0.00,0.000,4,0.000,0.054,2158,3692,3512
$GC,1907,-0.93,-146.6,130.5,-6.3,89,1911,0.00,1.85,0.00,0.000,6,0.000,0.035,2158,2600,3512
$GC,2229,-0.93,-146.6,149.7,-6.6,105,2234,0.00,1.95,0.00,0.000,4,0.000,0.054,2158,3695,3511
$GC,2292,-0.93,-146.6,154.4,-6.5,107,2298,0.00,1.88,0.00,0.000,6,0.000,0.035,2158,2587,3512
$GC,2609,-0.93,-146.6,170.7,-6.0,123,2613,0.00,1.98,0.00,0.000,4,0.000,0.054,2158,3692,3512
$GC,2643,-0.93,-146.6,172.7,-5.8,124,2647,0.00,1.85,0.00,0.000,6,0.000,0.035,2158,2600,3511
$GC,2965,-0.93,-146.6,192.6,-6.4,140,2969,0.00,1.95,0.00,0.000,4,0.000,0.054,2158,3699,3512
$GC,2994,-0.93,-146.6,194.0,-5.2,141,2997,0.00,1.88,0.00,0.000,6,0.000,0.035,2158,2591,3511
$GC,3321,-0.93,-146.6,210.9,-5.5,157,3325,0.00,1.98,0.00,0.000,4,0.000,0.054,2158,3695,3511
$GC,3351,-0.93,-146.6,212.5,-5.5,158,3354,0.00,1.85,0.00,0.000,6,0.000,0.035,2158,2601,3511
$GC,3678,-0.93,-146.6,230.2,-5.0,174,3682,0.00,1.95,0.00,0.000,4,0.000,0.054,2158,3692,3511
$GC,3718,-0.93,-146.6,232.6,-6.2,175,3724,0.00,1.88,0.00,0.000,6,0.000,0.035,2158,2603,3512
$GC,4037,-0.93,-146.6,251.6,-6.6,191,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2603,3512
$GC,4344,-0.93,-146.6,276.9,-8.0,206,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2603,3511
$GC,4653,-0.93,-146.6,304.6,-9.5,221,4656,0.00,1.95,0.00,0.000,4,0.000,0.056,2158,3692,3512
$GC,4681,-0.93,-146.6,307.2,-9.5,222,4685,0.00,1.85,0.00,0.000,6,0.000,0.037,2158,2599,3511
$GC,5009,-0.93,-146.6,336.8,-9.1,238,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2598,3511
$GC,5318,-0.93,-146.6,367.7,-10.1,253,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2598,3512
$GC,5627,-0.93,-146.6,394.9,-8.4,268,5631,0.00,1.98,0.00,0.000,4,0.000,0.059,2158,3698,3511
$GC,5684,-0.93,-146.6,399.7,-8.6,270,5688,0.00,1.88,0.00,0.000,6,0.000,0.035,2158,2591,3511
$GC,6008,-0.93,-146.6,425.6,-8.2,286,6011,0.00,2.00,0.00,0.000,4,0.000,0.061,2158,3694,3512
$GC,6042,-0.93,-146.6,428.9,-8.8,287,6046,0.00,1.88,0.00,0.000,6,0.000,0.035,2158,2609,3511
$GC,6364,-0.93,-146.6,458.2,-9.3,303,6367,0.00,1.98,0.00,0.000,4,0.000,0.065,2158,3689,3512
$GC,6403,-0.93,-146.6,462.0,-9.5,304,6409,0.00,1.88,0.00,0.000,6,0.000,0.036,2158,2594,3511
$GC,6719,-0.93,-146.6,488.6,-7.7,320,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2158,2594,3512
$GC,7029,-0.93,-146.6,511.4,-7.9,335,7033,0.00,2.05,0.00,0.000,4,0.000,0.077,2158,3685,3511
$GC,7080,-0.93,-146.6,515.5,-7.7,337,7083,0.00,1.90,0.00,0.000,6,0.000,0.044,2158,2603,3511
$GC,7407,-0.93,-146.6,541.3,-7.7,353,7411,0.00,2.60,0.00,0.000,4,0.000,0.074,2158,1191,3511
$GC,7430,-0.93,-146.6,542.9,-6.8,354,7434,0.00,2.60,0.00,0.000,6,0.000,0.064,2158,2599,3511
$GC,7751,-0.93,-146.6,560.6,-4.6,370,7755,0.00,2.08,0.00,0.000,4,0.000,0.089,2158,3704,3511
$GC,7791,-0.93,-146.6,562.3,-4.9,371,7797,0.00,1.98,0.00,0.000,6,0.000,0.051,2158,2594,3511
$GC,8108,-0.93,-146.6,572.1,-2.7,387,8112,0.00,2.10,0.00,0.000,4,0.000,0.086,2158,3698,3511
$GC,8204,-0.93,-146.6,575.9,-4.8,391,8207,0.00,1.95,0.00,0.000,6,0.000,0.049,2158,2599,3511
$GC,8532,-0.93,-146.6,595.6,-6.2,407,8535,0.00,2.10,0.00,0.000,4,0.000,0.086,2158,3697,3511
$GC,8583,-0.93,-146.6,599.0,-6.6,409,8586,0.00,1.95,0.00,0.000,6,0.000,0.048,2159,2595,3511
$GC,8910,-0.93,-146.6,631.5,-12.9,425,8914,0.00,2.08,0.00,0.000,4,0.000,0.085,2158,3696,3510
$GC,8966,-0.93,-146.6,638.1,-11.5,427,8969,0.00,1.95,0.00,0.000,6,0.000,0.048,2158,2594,3510
$GC,9288,-0.93,-146.6,667.5,-9.9,443,9291,0.00,2.10,0.00,0.000,4,0.000,0.084,2158,3700,3510
$GC,9349,-0.93,-146.6,674.0,-10.4,445,9356,0.00,1.98,0.00,0.000,6,0.000,0.048,2158,2601,3510
$GC,9666,-0.93,-146.6,695.8,-6.2,461,9670,0.00,2.58,0.00,0.000,4,0.000,0.069,2158,1183,3510
$GC,9751,-0.93,-146.6,700.3,-5.6,464,9757,0.00,2.62,0.00,0.000,6,0.000,0.064,2158,2606,3510
$GC,10068,-0.93,-146.6,708.6,-4.1,480,10072,0.00,2.60,0.00,0.000,4,0.000,0.067,2158,1193,3511
$GC,10092,-0.93,-146.6,709.2,-2.3,481,10096,0.00,2.60,0.00,0.000,6,0.000,0.064,2158,2607,3510
$GC,10419,-0.93,-146.6,722.0,-4.0,497,10423,0.00,2.62,0.00,0.000,4,0.000,0.067,2158,1185,3509
$GC,10459,-0.93,-146.6,723.5,-3.6,499,10464,0.00,2.60,0.00,0.000,6,0.000,0.064,2158,2601,3510
$STATE,10660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10660,begin apogee
$GC,10668,-0.45,0.0,730.4,4.6,509,10803,0.55,0.00,127.50,1.305,6,0.067,0.000,2276,2395,2915
$STATE,10804,end apogee,CONTROL_FINISHED_OK
$STATE,10804,begin climb
$GC,10807,1.16,146.6,729.3,0.0,516,10945,1.60,2.58,127.22,1.259,4,0.061,0.078,2622,3696,2316
$GC,11202,1.29,303.1,710.3,1.3,534,11348,0.15,2.30,135.35,1.246,6,0.059,0.044,2657,2399,1678
$GC,11657,1.23,306.0,700.0,5.9,556,11665,0.00,0.00,3.90,0.751,6,0.000,0.000,2657,2399,1667
$GC,11989,1.36,410.9,684.9,2.9,572,12086,0.00,2.50,91.03,1.245,4,0.000,0.076,2657,3692,1240
$GC,12149,1.49,516.7,672.5,2.8,579,12256,0.17,2.33,98.22,1.217,6,0.054,0.044,2699,2392,808
$GC,12572,1.49,516.7,630.8,11.8,600,12576,0.00,2.58,0.00,0.000,4,0.000,0.066,2699,993,805
$GC,12616,1.49,516.7,623.8,16.3,602,12621,0.00,2.58,0.00,0.000,6,0.000,0.054,2699,2401,803
$GC,12939,1.44,516.7,570.6,13.3,618,12943,0.00,2.40,0.00,0.000,4,0.000,0.073,2699,3701,804
$GC,12968,1.39,516.7,568.9,6.0,619,12973,0.12,2.30,0.00,0.000,6,0.110,0.041,2677,2393,803
$GC,13289,1.66,740.7,573.7,-0.7,635,13332,0.22,2.53,34.20,1.183,4,0.046,0.073,2740,3690,657
$GC,13351,1.65,842.5,572.3,3.0,637,13357,0.00,2.30,0.03,0.266,6,0.000,0.040,2740,2394,657
$GC,13668,1.53,842.5,546.1,12.4,653,13690,0.17,12.90,1.98,0.130,4,0.097,0.002,2707,3,658
$STATE,13694,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,18229,0.00,0.000,0,0,658,553.64
$SM_GC,1.14,15.02,0.00,0.00,0.522,0.000,0.000,34,12,658,-10.75,-67.51,553.64
$IRIDIUM_FIX,6303.50,-1308.35,090398,151516
$TT8_MAMPS,0.028379
$HUMID,2025
$INTERNAL_PRESSURE,7.74444
$TCM_TEMP,18.50
$XPDR_PINGS,39
$ALTIM_BOTTOM_PING,676.4,63.4
$24V_AH,23.1,34.930
$10V_AH,10.1,16.098
$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,29.050,151.275,619.425,0.000,0.000,46.436,58.564,184.133,15.500,0.000,0.000,45.719,1385.940,14376.204,686.714,1659.864,626.531,0.000,1677.578,0.000,1583.184,0.000,39.588,0.000
$DEVICE_MAMPS,521.560,88.972,1305.434,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,484.345,445.662,369.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34806,654
$CAP_FILE_SIZE,124025,16
$CFSIZE,260165632,246603776
$ERRORS,0,1,0,0,0,0,0,0,0,2,0,1,172,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_ROLL_ERRORS
$GPS,131208,204948,6329.441,-1316.276,40,1.9,50,-12.4