version: 66.04
glider: 101
mission: 7
dive: 264
start: 12 24 108 22 2 36
data:
$ID,101
$MISSION,7
$DIVE,264
$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,-750901.56
$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
$GPS1,215331,6327.596,-1309.303,35,1.2,35,-12.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-47.1
$GPS2,220215,6327.587,-1308.965,12,1.2,12,-12.3
$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,174.5,24480,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.58,0.000,2,0.000,0.000,26,628,2946
$GC,83,-1.81,-146.6,3.1,-3.1,3,118,10.48,0.00,-18.98,0.000,6,0.229,0.000,1977,639,3514
$GC,430,-1.70,-146.6,51.1,-13.8,20,432,0.15,0.00,0.00,0.000,6,0.200,0.000,2003,638,3514
$GC,738,-1.66,-146.6,89.2,-12.1,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,638,3514
$GC,1047,-1.61,-146.6,128.3,-13.2,50,1049,0.12,0.00,0.00,0.000,6,0.201,0.000,2024,638,3514
$GC,1355,-1.61,-146.6,168.8,-13.3,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,639,3514
$GC,1665,-1.61,-146.6,210.1,-13.8,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,639,3514
$GC,1975,-1.61,-146.6,252.5,-13.7,95,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,640,3514
$GC,2283,-1.61,-146.6,295.1,-13.7,110,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,641,3514
$GC,2592,-1.61,-146.6,336.3,-12.6,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,641,3514
$GC,2902,-1.61,-146.6,373.8,-12.3,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,642,3514
$GC,3211,-1.61,-146.6,407.7,-10.4,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,641,3514
$GC,3521,-1.61,-146.6,438.4,-9.5,170,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,641,3514
$GC,3830,-1.61,-146.6,464.2,-7.0,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,641,3514
$GC,4139,-1.61,-146.6,492.0,-9.2,200,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,641,3514
$GC,4448,-1.61,-146.6,519.2,-9.5,215,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,641,3514
$GC,4757,-1.61,-146.6,548.9,-10.8,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,641,3514
$GC,5067,-1.61,-146.6,582.7,-11.8,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,641,3513
$GC,5376,-1.61,-146.6,618.7,-12.5,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,641,3513
$STATE,5538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5538,begin apogee
$GC,5561,-0.45,0.0,637.1,8.4,268,5694,1.15,0.00,129.05,1.327,6,0.156,0.000,2271,641,2915
$STATE,5694,end apogee,CONTROL_FINISHED_OK
$STATE,5694,begin climb
$GC,5698,1.81,146.6,637.0,0.0,275,5831,2.33,0.00,128.27,1.289,6,0.152,0.000,2769,641,2317
$GC,6140,1.73,146.6,595.3,11.1,297,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,641,2317
$GC,6447,1.63,146.6,565.1,10.4,312,6449,0.20,0.00,0.00,0.000,6,0.196,0.000,2732,643,2316
$GC,6756,1.63,147.2,538.3,10.0,327,6757,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,643,2316
$GC,7065,1.63,147.2,502.6,12.0,342,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,643,2315
$GC,7375,1.63,147.2,467.5,10.6,357,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,643,2315
$GC,7684,1.64,151.2,436.0,9.8,372,7691,0.00,0.00,5.70,0.984,6,0.000,0.000,2735,643,2298
$GC,7993,1.69,196.9,409.9,7.9,387,8036,0.00,0.00,40.72,1.198,6,0.000,0.000,2736,643,2112
$GC,8343,1.76,216.1,378.2,9.1,404,8363,0.00,0.00,18.23,1.133,6,0.000,0.000,2738,643,2033
$GC,8672,1.84,241.1,349.0,8.8,420,8698,0.15,0.00,23.17,1.130,6,0.156,0.000,2780,643,1931
$GC,9002,1.84,241.1,311.8,12.2,436,9003,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,643,1931
$GC,9311,1.84,241.1,273.5,12.6,451,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,643,1931
$GC,9620,1.84,241.1,231.7,13.6,466,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,643,1931
$GC,9929,1.84,241.1,189.0,13.9,481,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,643,1930
$GC,10239,1.84,241.1,147.3,13.8,496,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,643,1931
$GC,10549,1.84,241.1,105.6,13.2,511,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,641,1931
$GC,10857,1.79,241.1,62.5,15.0,526,10859,0.15,0.00,0.00,0.000,6,0.196,0.000,2767,640,1931
$GC,11166,1.79,241.1,21.3,13.0,541,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,641,1931
$STATE,11348,end climb,SURFACE_DEPTH_REACHED
$STATE,11348,begin surface coast
$FINISH,0.9,1.012855
$STATE,11372,end surface coast,CONTROL_FINISHED_OK
$STATE,11372,begin surface
$SM_CCo,11412,55.65,0.811,6,0,1692,300.00
$SM_GC,1.31,0.00,0.00,55.65,0.000,0.000,0.811,27,639,1692,-10.80,-55.38,300.00
$IRIDIUM_FIX,6303.50,-1310.85,200398,181800
$TT8_MAMPS,0.029146
$HUMID,2034
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.5,71.5
$24V_AH,22.8,45.629
$10V_AH,10.1,20.092
$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,27.150,28.450,345.150,55.650,0.000,22.034,34.345,295.672,5.250,0.000,0.000,14.201,931.654,9015.096,555.449,912.105,609.014,0.000,982.730,0.000,902.517,0.000,33.116,0.000
$DEVICE_MAMPS,228.566,1.534,1326.910,810.719,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.312,376.048,347.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28524,551
$CAP_FILE_SIZE,66167,16
$CFSIZE,260165632,244629504
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,6,0
$GPS,251208,011526,6326.474,-1306.542,35,1.9,35,-12.3