version: 66.04
glider: 101
mission: 7
dive: 234
start: 12 19 108 7 4 21
data:
$ID,101
$MISSION,7
$DIVE,234
$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,330
$T_MISSION,350
$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,-750331.88
$T_RSLEEP,7
$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,20
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,5
$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
$GPS1,065538,6323.271,-1326.262,34,1.3,34,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-57.2
$GPS2,070357,6323.264,-1326.415,9,1.8,9,-12.4
$SPEED_LIMITS,0.173,0.260
$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,137.2,26816,-17.9,-10.000
$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,-1.81,-146.6,0.0,0.0,0,99,0.00,0.00,-80.60,0.000,2,0.000,0.000,20,495,3405
$GC,103,-1.81,-146.6,5.4,-6.4,4,119,10.73,0.00,-2.42,0.000,6,0.242,0.000,1977,503,3516
$GC,430,-1.72,-146.6,59.0,-17.8,20,432,0.12,0.00,0.00,0.000,6,0.209,0.000,1998,504,3517
$GC,738,-1.67,-146.6,109.9,-15.4,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,505,3517
$GC,1047,-1.63,-146.6,146.2,-13.4,50,1049,0.12,0.00,0.00,0.000,6,0.203,0.000,2019,505,3517
$GC,1355,-1.63,-146.6,186.1,-11.6,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,505,3517
$GC,1665,-1.63,-146.6,220.2,-11.7,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,507,3516
$GC,1974,-1.63,-146.6,261.2,-13.3,95,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,507,3516
$GC,2284,-1.63,-146.6,302.3,-13.5,110,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,507,3517
$GC,2592,-1.63,-146.6,346.1,-14.5,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,507,3517
$GC,2902,-1.63,-146.6,390.3,-15.0,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,3211,-1.63,-146.6,438.5,-16.6,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3517
$GC,3520,-1.63,-146.6,486.9,-15.3,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3517
$GC,3829,-1.63,-146.6,535.3,-15.5,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,4139,-1.63,-146.6,580.4,-14.2,200,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,4448,-1.63,-146.6,622.5,-12.5,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3517
$GC,4757,-1.63,-146.6,663.9,-12.0,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,5067,-1.63,-146.6,698.1,-11.0,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3517
$GC,5376,-1.63,-146.6,727.6,-8.9,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,5685,-1.63,-146.6,755.0,-8.7,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,5995,-1.63,-146.6,785.1,-10.7,290,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,6304,-1.63,-146.6,818.3,-10.8,305,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3516
$GC,6614,-1.63,-146.6,851.2,-10.5,320,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3515
$GC,6922,-1.63,-146.6,882.9,-10.4,335,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3515
$GC,7231,-1.63,-146.6,915.2,-10.6,350,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3515
$GC,7541,-1.63,-146.6,950.9,-11.1,365,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,508,3514
$STATE,7682,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7682,begin apogee
$GC,7705,-0.45,0.0,965.4,11.1,372,7842,1.23,0.00,133.18,1.565,6,0.187,0.000,2269,508,2915
$STATE,7843,end apogee,CONTROL_FINISHED_OK
$STATE,7843,begin climb
$GC,7846,1.81,146.6,973.0,0.0,379,7984,2.33,0.00,132.65,1.526,6,0.158,0.000,2771,508,2317
$GC,8287,1.74,151.9,936.3,9.8,401,8296,0.00,0.00,6.65,1.202,6,0.000,0.000,2771,508,2295
$GC,8593,1.65,151.9,902.8,11.2,416,8594,0.17,0.00,0.00,0.000,6,0.196,0.000,2738,508,2294
$GC,8902,1.68,177.7,875.7,8.8,431,8928,0.00,0.00,24.35,1.460,6,0.000,0.000,2738,510,2190
$GC,9231,1.68,177.7,838.8,12.8,447,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,511,2190
$GC,9540,1.68,177.7,796.3,13.6,462,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,511,2189
$GC,9849,1.68,177.7,755.1,13.1,477,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,511,2189
$GC,10158,1.68,177.7,717.7,11.4,492,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,511,2189
$GC,10468,1.70,192.9,686.3,9.3,507,10487,0.00,0.00,15.27,1.339,6,0.000,0.000,2739,511,2128
$GC,10797,1.76,238.2,659.1,7.9,523,10840,0.00,0.00,41.33,1.370,6,0.000,0.000,2739,511,1943
$GC,11147,1.83,250.2,628.9,9.4,540,11166,0.15,0.00,12.80,1.253,6,0.157,0.000,2779,511,1893
$GC,11476,1.83,250.2,588.0,14.4,556,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,512,1893
$GC,11785,1.83,250.2,543.7,14.0,571,11787,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,511,1893
$GC,12094,1.83,250.2,492.7,17.0,586,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,511,1893
$GC,12404,1.83,250.2,439.1,17.1,601,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,511,1893
$GC,12713,1.83,250.2,389.3,14.6,616,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,512,1893
$GC,13022,1.83,250.2,345.0,14.6,631,13023,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,512,1893
$GC,13331,1.83,250.2,296.9,14.1,646,13333,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,513,1893
$GC,13641,1.83,250.2,245.6,16.9,661,13642,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,512,1893
$GC,13950,1.83,250.2,198.0,15.9,676,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,513,1893
$GC,14259,1.83,250.2,150.8,14.7,691,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,512,1893
$GC,14569,1.83,250.2,103.1,14.3,706,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,512,1893
$GC,14880,1.83,250.2,56.6,15.5,721,14881,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,512,1893
$GC,15187,1.83,250.2,14.3,13.7,736,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,512,1894
$STATE,15266,end climb,SURFACE_DEPTH_REACHED
$STATE,15266,begin surface coast
$FINISH,0.6,1.013897
$STATE,15288,end surface coast,CONTROL_FINISHED_OK
$STATE,15288,begin surface
$SM_CCo,15329,45.72,0.811,5,0,1692,300.00
$SM_GC,1.28,0.00,0.00,45.72,0.000,0.000,0.811,26,489,1692,-10.80,-59.51,300.00
$IRIDIUM_FIX,6254.00,-1318.00,150398,030329
$TT8_MAMPS,0.029146
$HUMID,2038
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.2,74.2
$24V_AH,22.8,40.162
$10V_AH,10.1,18.089
$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,27.325,28.450,366.225,45.725,0.000,30.458,39.544,262.176,8.000,0.000,0.000,10.651,1235.601,12259.065,573.320,1204.465,631.258,0.000,1134.664,0.000,1191.442,0.000,54.154,0.000
$DEVICE_MAMPS,241.605,1.534,1565.447,811.486,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.783,507.459,393.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37929,741
$CAP_FILE_SIZE,83186,16
$CFSIZE,260165632,245932032
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,5,0
$GPS,191208,112208,6323.756,-1331.794,31,1.4,31,-12.5