version: 66.04
glider: 101
mission: 7
dive: 239
start: 12 20 108 7 1 36
data:
$ID,101
$MISSION,7
$DIVE,239
$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,-750408.25
$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
$GPS1,065056,6320.001,-1338.545,37,1.6,37,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-55.0
$GPS2,070115,6319.869,-1338.294,13,1.6,13,-12.5
$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,118.3,33170,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.81,-146.6,0.0,0.0,0,102,0.00,0.00,-80.85,0.000,2,0.000,0.000,27,526,3449
$GC,106,-1.81,-146.6,5.7,-7.0,4,122,10.65,0.00,-1.33,0.000,6,0.238,0.000,1974,529,3516
$GC,433,-1.72,-146.6,55.2,-12.1,20,435,0.12,0.00,0.00,0.000,6,0.206,0.000,1997,530,3516
$GC,741,-1.66,-146.6,102.0,-13.8,35,742,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,530,3516
$GC,1050,-1.60,-146.6,148.5,-13.5,50,1052,0.15,0.00,0.00,0.000,6,0.195,0.000,2021,532,3516
$GC,1358,-1.60,-146.6,192.5,-16.2,65,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,531,3516
$GC,1668,-1.60,-146.6,233.5,-13.4,80,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,531,3516
$GC,1977,-1.60,-146.6,272.4,-12.1,95,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,531,3516
$GC,2286,-1.60,-146.6,313.8,-13.3,110,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,531,3516
$GC,2596,-1.60,-146.6,347.1,-9.0,125,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,531,3516
$GC,2905,-1.60,-146.6,378.6,-11.1,140,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,3214,-1.60,-146.6,411.4,-10.5,155,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,3523,-1.60,-146.6,446.5,-11.4,170,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,3833,-1.60,-146.6,482.9,-12.4,185,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,4142,-1.60,-146.6,522.8,-12.6,200,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,4451,-1.60,-146.6,559.5,-12.0,215,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,4761,-1.60,-146.6,596.9,-11.9,230,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,5070,-1.60,-146.6,632.2,-11.2,245,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,5379,-1.60,-146.6,665.7,-11.0,260,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,532,3516
$GC,5688,-1.60,-146.6,698.7,-10.9,275,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,531,3516
$GC,5997,-1.60,-146.6,732.2,-10.3,290,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,6307,-1.60,-146.6,763.7,-10.1,305,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,6616,-1.60,-146.6,794.0,-10.0,320,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3515
$GC,6926,-1.60,-146.6,825.5,-10.7,335,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,7235,-1.60,-146.6,859.3,-10.9,350,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,532,3516
$GC,7544,-1.60,-146.6,893.8,-11.1,365,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3516
$GC,7853,-1.60,-146.6,927.8,-11.0,380,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3515
$GC,8162,-1.60,-146.6,961.0,-10.7,395,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,532,3515
$STATE,8448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8448,begin apogee
$GC,8471,-0.45,0.0,990.2,9.9,409,8608,1.23,0.00,133.68,1.555,6,0.179,0.000,2273,532,2915
$STATE,8609,end apogee,CONTROL_FINISHED_OK
$STATE,8609,begin climb
$GC,8613,1.81,146.6,996.5,0.0,416,8750,2.30,0.00,132.30,1.520,6,0.155,0.000,2772,532,2317
$GC,9053,1.72,146.6,956.0,11.0,438,9054,0.12,0.00,0.00,0.000,6,0.195,0.000,2749,532,2316
$GC,9359,1.68,147.1,924.0,10.0,453,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,531,2316
$GC,9668,1.64,147.1,892.1,10.4,468,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,531,2315
$GC,9977,1.64,147.1,857.6,12.0,483,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,532,2315
$GC,10286,1.64,147.1,823.5,11.1,498,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,533,2314
$GC,10596,1.64,147.1,788.6,12.2,513,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,533,2313
$GC,10906,1.59,147.1,759.2,10.7,528,10907,0.15,0.00,0.00,0.000,6,0.203,0.000,2721,533,2314
$GC,11214,1.61,164.6,728.7,9.2,543,11234,0.00,0.00,17.15,1.344,6,0.000,0.000,2721,533,2244
$GC,11544,1.62,172.9,696.6,9.6,559,11555,0.00,0.00,9.05,1.220,6,0.000,0.000,2721,533,2210
$GC,11853,1.67,172.9,665.0,10.5,574,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,533,2210
$GC,12162,1.72,172.9,633.2,10.6,589,12164,0.12,0.00,0.00,0.000,6,0.156,0.000,2757,533,2210
$GC,12472,1.72,172.9,598.4,11.0,604,12473,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,533,2210
$GC,12781,1.72,172.9,564.2,10.8,619,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,533,2210
$GC,13090,1.72,172.9,529.6,11.2,634,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,533,2210
$GC,13399,1.72,172.9,495.2,11.3,649,13401,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,533,2210
$GC,13708,1.72,172.9,459.4,12.0,664,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,533,2210
$GC,14018,1.72,172.9,422.9,12.0,679,14019,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,533,2211
$GC,14327,1.72,172.9,385.3,12.5,694,14328,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,533,2211
$GC,14636,1.72,172.9,344.9,12.6,709,14637,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,533,2211
$GC,14945,1.72,172.9,302.8,13.7,724,14947,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,533,2212
$GC,15255,1.68,172.9,262.8,12.3,739,15257,0.15,0.00,0.00,0.000,6,0.201,0.000,2739,534,2212
$GC,15564,1.68,172.9,225.7,11.9,754,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,534,2213
$GC,15873,1.70,190.8,191.8,9.2,769,15893,0.00,0.00,17.40,1.018,6,0.000,0.000,2743,534,2136
$GC,16203,1.70,190.8,158.0,11.1,785,16204,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,534,2136
$GC,16512,1.70,190.8,124.0,10.7,800,16513,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,533,2136
$GC,16821,1.70,190.8,93.9,11.5,815,16823,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,534,2136
$GC,17131,1.70,190.8,59.9,10.0,830,17132,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,534,2136
$GC,17442,1.70,190.8,30.1,11.2,845,17443,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,534,2136
$STATE,17704,end climb,SURFACE_DEPTH_REACHED
$STATE,17705,begin surface coast
$FINISH,0.7,1.013112
$STATE,17728,end surface coast,CONTROL_FINISHED_OK
$STATE,17728,begin surface
$SM_CCo,17768,90.95,0.899,2,0,1691,300.00
$SM_GC,1.51,0.00,0.00,90.95,0.000,0.000,0.899,30,532,1691,-10.79,-58.43,300.00
$IRIDIUM_FIX,6258.74,-1337.76,160398,010142
$TT8_MAMPS,0.029146
$HUMID,2003
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,22.8,41.075
$10V_AH,10.1,18.449
$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,27.250,28.450,309.575,90.950,0.000,25.013,35.760,367.636,8.500,0.000,0.000,15.059,1424.550,14347.103,550.276,1396.496,767.882,0.000,1187.201,0.000,1377.864,0.000,56.003,0.000
$DEVICE_MAMPS,237.770,1.534,1554.709,898.924,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.157,590.759,460.611,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44306,859
$CAP_FILE_SIZE,95531,16
$CFSIZE,260165632,245686272
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,2,0
$GPS,201208,120038,6318.059,-1335.620,36,1.1,36,-12.5