version: 66.04
glider: 101
mission: 7
dive: 326
start: 1 2 109 12 10 6
data:
$ID,101
$MISSION,7
$DIVE,326
$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,-752157.06
$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
$GPS1,120136,6315.562,-1234.607,36,1.5,36,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-57.9
$GPS2,120943,6315.564,-1234.573,9,1.5,14,-11.9
$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,279.1,21221,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.67,0.000,2,0.000,0.000,27,745,2963
$GC,83,-1.16,-146.6,3.5,-4.0,3,118,11.38,0.00,-17.85,0.000,6,0.225,0.000,2119,753,3513
$GC,430,-1.05,-146.6,35.7,-9.8,20,432,0.12,0.00,0.00,0.000,6,0.191,0.000,2142,754,3513
$GC,738,-0.99,-146.6,60.5,-7.5,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,754,3513
$GC,1047,-0.92,-146.6,85.6,-8.8,50,1049,0.15,0.00,0.00,0.000,6,0.183,0.000,2173,754,3513
$GC,1356,-0.92,-146.6,108.1,-7.2,65,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,1665,-0.92,-146.6,130.9,-7.0,80,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,1974,-0.92,-146.6,152.1,-7.3,95,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,2283,-0.92,-146.6,171.7,-6.1,110,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,2593,-0.92,-146.6,191.3,-6.8,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,2902,-0.92,-146.6,213.4,-7.6,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,3211,-0.92,-146.6,238.4,-8.2,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,754,3513
$GC,3521,-0.92,-146.6,262.3,-7.4,170,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,3830,-0.92,-146.6,284.1,-6.6,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,4139,-0.92,-146.6,304.0,-6.2,200,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,4448,-0.92,-146.6,323.7,-6.6,215,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,4757,-0.92,-146.6,345.0,-6.9,230,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3513
$GC,5067,-0.97,-146.6,367.3,-8.0,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,755,3513
$GC,5377,-1.01,-146.6,389.6,-6.8,260,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,754,3512
$GC,5686,-1.06,-146.6,408.2,-5.3,275,5688,0.12,0.00,0.00,0.000,6,0.161,0.000,2139,755,3512
$GC,5994,-1.06,-146.6,428.6,-6.7,290,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,754,3512
$GC,6304,-1.06,-146.6,451.1,-8.5,305,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,754,3511
$STATE,6548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6548,begin apogee
$GC,6571,-0.45,0.0,469.8,7.5,317,6708,0.62,0.00,133.62,1.265,6,0.173,0.000,2273,754,2915
$STATE,6709,end apogee,CONTROL_FINISHED_OK
$STATE,6709,begin climb
$GC,6713,1.16,146.6,477.1,0.0,324,6851,1.65,0.00,134.25,1.223,6,0.163,0.000,2625,754,2317
$GC,7149,1.16,146.6,457.8,6.1,346,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,754,2316
$GC,7459,1.16,146.6,440.2,6.1,361,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,754,2316
$GC,7769,1.19,170.6,422.8,5.3,376,7794,0.00,0.00,23.55,1.215,6,0.000,0.000,2625,754,2219
$GC,8097,1.19,170.6,402.8,6.4,392,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,754,2218
$GC,8406,1.19,170.6,380.4,7.7,407,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,755,2218
$GC,8716,1.19,170.6,358.7,7.0,422,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,756,2217
$GC,9025,1.19,170.8,340.1,6.0,437,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,756,2217
$GC,9334,1.20,184.3,321.9,5.6,452,9353,0.00,0.00,13.73,1.150,6,0.000,0.000,2629,756,2162
$GC,9664,1.24,212.1,303.6,5.2,468,9692,0.00,0.00,26.45,1.164,6,0.000,0.000,2629,756,2050
$GC,9993,1.24,213.7,284.0,6.0,484,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,756,2050
$GC,10302,1.24,213.7,262.9,7.1,499,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,756,2049
$GC,10612,1.24,213.7,241.2,7.0,514,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,756,2050
$GC,10920,1.24,213.7,221.2,6.2,529,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,756,2050
$GC,11230,1.25,221.3,202.9,5.8,544,11242,0.00,0.00,10.02,1.021,6,0.000,0.000,2630,757,2013
$GC,11539,1.25,221.3,184.0,6.5,559,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,756,2013
$GC,11849,1.26,227.8,165.0,5.8,574,11858,0.00,0.00,7.72,0.952,6,0.000,0.000,2630,756,1986
$GC,12158,1.26,227.8,145.0,6.8,589,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,756,1986
$GC,12468,1.26,227.8,124.2,6.9,604,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,756,1986
$GC,12776,1.26,227.8,102.4,7.3,619,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,756,1986
$GC,13087,1.26,227.8,80.0,6.9,634,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,755,1986
$GC,13395,1.26,227.8,57.1,7.6,649,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,755,1986
$GC,13704,1.26,227.8,35.9,7.7,664,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,755,1986
$GC,14014,1.26,227.8,13.3,8.3,679,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,755,1986
$STATE,14175,end climb,SURFACE_DEPTH_REACHED
$STATE,14175,begin surface coast
$FINISH,1.0,1.014782
$STATE,14197,end surface coast,CONTROL_FINISHED_OK
$STATE,14197,begin surface
$SM_CCo,14237,70.60,0.828,7,0,1692,300.00
$SM_GC,1.67,0.00,0.00,70.60,0.000,0.000,0.828,27,749,1692,-10.80,-52.41,300.00
$IRIDIUM_FIX,6249.28,-1221.37,290398,080855
$TT8_MAMPS,0.029146
$HUMID,2015
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.8,53.3
$24V_AH,21.9,54.837
$10V_AH,10.1,23.521
$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,25.975,28.450,349.350,70.600,0.000,25.389,27.514,260.486,3.250,0.000,0.000,15.756,1142.648,11354.908,587.601,1146.020,602.042,0.000,1107.665,0.000,1139.975,0.000,23.358,0.000
$DEVICE_MAMPS,224.731,1.534,1264.783,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,521.287,470.313,503.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34832,688
$CAP_FILE_SIZE,76128,16
$CFSIZE,260165632,242339840
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,7,0
$GPS,020109,161025,6314.550,-1233.952,39,1.1,39,-11.9