version: 66.04
glider: 101
mission: 7
dive: 321
start: 1 1 109 16 55 22
data:
$ID,101
$MISSION,7
$DIVE,321
$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,-752059.62
$T_RSLEEP,27
$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
$GPS1,164725,6316.896,-1216.900,41,1.4,41,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-56.8
$GPS2,165501,6316.867,-1217.097,10,1.3,10,-11.7
$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,276.2,35930,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.16,-146.6,0.0,0.0,0,81,0.00,0.00,-60.30,0.000,2,0.000,0.000,26,745,2958
$GC,85,-1.16,-146.6,3.2,-3.4,3,120,11.40,0.00,-18.52,0.000,6,0.227,0.000,2118,750,3512
$GC,432,-1.07,-146.6,37.1,-10.5,20,434,0.12,0.00,0.00,0.000,6,0.190,0.000,2141,751,3513
$GC,740,-1.02,-146.6,61.4,-7.7,35,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,751,3513
$GC,1049,-0.96,-146.6,86.5,-8.5,50,1051,0.12,0.00,0.00,0.000,6,0.188,0.000,2167,750,3513
$GC,1358,-0.96,-146.6,110.8,-8.2,65,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,751,3513
$GC,1667,-0.96,-146.6,136.6,-8.3,80,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,751,3513
$GC,1976,-0.96,-146.6,161.3,-7.6,95,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,751,3513
$GC,2285,-0.96,-146.6,184.8,-7.6,110,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,751,3513
$GC,2594,-0.96,-146.6,207.2,-7.1,125,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,751,3513
$GC,2904,-0.96,-146.6,229.5,-7.3,140,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,751,3513
$GC,3213,-0.96,-146.6,251.9,-7.4,155,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3513
$GC,3522,-0.96,-146.6,273.5,-6.4,170,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3513
$GC,3832,-0.96,-146.6,292.3,-5.9,185,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3513
$GC,4141,-0.96,-146.6,312.0,-7.0,200,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3513
$GC,4450,-0.96,-146.6,337.0,-8.4,215,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3513
$GC,4759,-0.96,-146.6,362.1,-7.4,230,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,752,3512
$GC,5069,-0.96,-146.6,384.0,-6.8,245,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3512
$GC,5378,-0.96,-146.6,404.5,-6.8,260,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3512
$GC,5687,-0.96,-146.6,424.6,-6.4,275,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,752,3511
$STATE,5766,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5766,begin apogee
$GC,5789,-0.45,0.0,430.5,7.1,279,5925,0.50,0.00,132.07,1.253,6,0.180,0.000,2273,752,2915
$STATE,5925,end apogee,CONTROL_FINISHED_OK
$STATE,5925,begin climb
$GC,5929,1.16,146.6,437.4,0.0,286,6066,1.65,0.00,132.68,1.204,6,0.161,0.000,2625,752,2317
$GC,6366,1.16,149.6,417.1,5.9,308,6373,0.00,0.00,4.82,0.890,6,0.000,0.000,2625,752,2304
$GC,6676,1.17,155.1,398.4,5.8,323,6684,0.00,0.00,6.62,1.016,6,0.000,0.000,2626,752,2282
$GC,6985,1.21,193.2,382.1,4.9,338,7024,0.00,0.00,35.70,1.206,6,0.000,0.000,2626,752,2127
$GC,7334,1.23,205.9,362.7,5.6,355,7353,0.00,0.00,13.07,1.144,6,0.000,0.000,2626,752,2074
$GC,7664,1.23,205.9,340.1,7.5,371,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,752,2073
$GC,7973,1.23,205.9,313.8,8.9,386,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,752,2073
$GC,8282,1.23,205.9,289.3,6.8,401,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,752,2073
$GC,8592,1.25,222.4,270.8,5.5,416,8610,0.00,0.00,15.75,1.133,6,0.000,0.000,2629,752,2008
$GC,8920,1.25,222.4,250.8,6.3,432,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,752,2008
$GC,9230,1.25,222.4,229.7,6.5,447,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,752,2008
$GC,9539,1.25,222.4,210.5,6.2,462,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,752,2008
$GC,9849,1.25,223.6,191.0,6.0,477,9850,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,10158,1.25,223.6,171.7,6.4,492,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,10467,1.25,223.6,150.8,6.8,507,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,10777,1.25,223.6,128.4,6.9,522,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,11087,1.25,223.6,105.9,6.9,537,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,11395,1.25,223.6,83.8,7.6,552,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,11705,1.25,223.6,61.6,6.6,567,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,12014,1.25,223.6,38.9,7.5,582,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$GC,12323,1.25,223.6,17.2,6.7,597,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,752,2008
$STATE,12546,end climb,SURFACE_DEPTH_REACHED
$STATE,12546,begin surface coast
$FINISH,1.0,1.015145
$STATE,12570,end surface coast,CONTROL_FINISHED_OK
$STATE,12570,begin surface
$SM_CCo,12610,75.78,0.828,8,0,1692,300.00
$SM_GC,1.74,0.00,0.00,75.78,0.000,0.000,0.828,28,748,1692,-10.80,-52.33,300.00
$IRIDIUM_FIX,6249.28,-1212.03,280398,131341
$TT8_MAMPS,0.029146
$HUMID,2032
$INTERNAL_PRESSURE,7.77374
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.3,39.0
$24V_AH,22.1,54.058
$10V_AH,10.1,23.203
$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,25.700,28.450,340.725,75.775,0.000,22.535,28.587,237.829,3.250,0.000,0.000,12.008,1016.429,9999.509,586.623,1022.391,559.160,0.000,1053.668,0.000,1018.088,0.000,24.628,0.000
$DEVICE_MAMPS,227.032,1.534,1252.511,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,461.530,415.799,468.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31625,609
$CAP_FILE_SIZE,68447,16
$CFSIZE,260165632,242552832
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,8,0
$GPS,010109,202837,6316.052,-1222.231,33,0.9,33,-11.8