version: 66.04
glider: 101
mission: 7
dive: 328
start: 1 2 109 20 41 15
data:
$ID,101
$MISSION,7
$DIVE,328
$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,-752209.75
$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
$GPS1,202606,6311.641,-1237.481,33,1.6,33,-11.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-56.8
$GPS2,204055,6311.464,-1237.583,10,1.8,15,-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,301.2,19800,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,78,0.00,0.00,-60.55,0.000,2,0.000,0.000,25,748,2964
$GC,82,-1.16,-146.6,3.2,-3.8,3,117,11.43,0.00,-18.92,0.000,6,0.224,0.000,2119,754,3512
$GC,429,-1.04,-146.6,34.6,-9.9,20,431,0.15,0.00,0.00,0.000,6,0.183,0.000,2148,754,3513
$GC,737,-1.04,-146.6,60.4,-8.7,35,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,754,3513
$GC,1046,-0.99,-146.6,85.3,-8.0,50,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,755,3513
$GC,1355,-0.99,-146.6,111.1,-8.1,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,756,3513
$GC,1665,-0.95,-146.6,135.9,-8.2,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,757,3513
$GC,1973,-0.91,-146.6,160.7,-8.3,95,1975,0.15,0.00,0.00,0.000,6,0.183,0.000,2178,757,3512
$GC,2283,-0.95,-146.6,183.2,-7.2,110,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,757,3512
$GC,2591,-0.95,-146.6,204.9,-7.4,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,757,3512
$GC,2901,-0.99,-146.6,227.0,-6.9,140,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,757,3512
$GC,3211,-1.03,-146.6,249.1,-7.3,155,3213,0.12,0.00,0.00,0.000,6,0.156,0.000,2144,757,3513
$GC,3520,-0.99,-146.6,276.0,-8.9,170,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,760,3512
$GC,3828,-0.99,-146.6,303.5,-9.3,185,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,760,3512
$GC,4139,-0.95,-146.6,330.4,-8.5,200,4140,0.12,0.00,0.00,0.000,6,0.184,0.000,2169,760,3512
$GC,4447,-0.95,-146.6,353.8,-7.2,215,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,761,3512
$GC,4756,-0.95,-146.6,376.9,-7.4,230,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,760,3512
$GC,5069,-0.95,-146.6,400.2,-7.4,245,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,761,3512
$GC,5375,-0.95,-146.6,422.0,-6.5,260,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,760,3512
$GC,5684,-0.95,-146.6,440.7,-6.3,275,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,760,3511
$GC,5994,-0.95,-146.6,461.4,-6.8,290,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,759,3511
$STATE,6279,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6279,begin apogee
$GC,6302,-0.45,0.0,481.0,6.7,304,6439,0.47,0.00,134.05,1.263,6,0.170,0.000,2269,760,2915
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6440,begin climb
$GC,6444,1.16,146.6,488.1,0.0,311,6583,1.67,0.00,134.57,1.226,6,0.167,0.000,2625,759,2317
$GC,6881,1.16,146.6,467.5,6.8,333,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,759,2316
$GC,7190,1.16,146.6,446.8,6.6,348,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,759,2315
$GC,7500,1.21,191.6,430.2,4.7,363,7544,0.00,0.00,42.20,1.227,6,0.000,0.000,2626,760,2134
$GC,7849,1.22,198.6,411.3,5.8,380,7859,0.00,0.00,8.20,1.088,6,0.000,0.000,2626,760,2106
$GC,8158,1.23,205.2,394.2,5.8,395,8168,0.00,0.00,7.97,1.081,6,0.000,0.000,2626,760,2078
$GC,8467,1.23,205.2,373.8,6.9,410,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,761,2077
$GC,8776,1.23,205.2,352.5,6.7,425,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,761,2077
$GC,9085,1.23,205.2,332.1,6.1,440,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,760,2077
$GC,9395,1.23,205.2,313.1,6.1,455,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,760,2077
$GC,9704,1.23,205.2,293.0,6.9,470,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,760,2077
$GC,10013,1.23,205.2,271.5,7.0,485,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,760,2077
$GC,10323,1.23,205.2,251.3,6.7,500,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,760,2077
$GC,10632,1.23,205.2,231.2,6.5,515,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,760,2077
$GC,10941,1.23,205.2,211.0,6.1,530,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,761,2077
$GC,11251,1.23,205.2,191.4,6.3,545,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,760,2077
$GC,11560,1.23,205.2,171.3,6.5,560,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2077
$GC,11869,1.23,205.2,150.8,6.7,575,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2077
$GC,12181,1.23,205.2,130.7,6.8,590,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2077
$GC,12488,1.23,205.2,111.4,6.4,605,12489,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2077
$GC,12797,1.23,205.2,91.9,6.7,620,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2078
$GC,13106,1.23,205.2,71.3,6.8,635,13108,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2078
$GC,13416,1.23,205.2,48.6,7.3,650,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,759,2078
$GC,13726,1.23,205.2,28.7,6.7,665,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,757,2079
$GC,14035,1.24,210.7,7.4,5.8,680,14043,0.00,0.00,6.78,0.831,6,0.000,0.000,2631,758,2056
$STATE,14134,end climb,SURFACE_DEPTH_REACHED
$STATE,14134,begin surface coast
$FINISH,0.9,1.027507
$STATE,14157,end surface coast,CONTROL_FINISHED_OK
$STATE,14157,begin surface
$SM_CCo,14198,85.65,0.817,9,0,1692,300.00
$SM_GC,1.73,0.00,0.00,85.65,0.000,0.000,0.817,28,746,1692,-10.80,-52.41,300.00
$IRIDIUM_FIX,6249.28,-1235.35,290398,202049
$TT8_MAMPS,0.029146
$HUMID,2015
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.7,64.7
$24V_AH,21.8,55.164
$10V_AH,10.1,23.659
$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,26.100,28.450,333.775,85.650,0.000,70.548,91.048,414.456,3.750,0.000,0.000,16.693,1144.812,11446.674,594.994,1148.269,881.997,0.000,1113.299,0.000,1139.067,0.000,26.319,0.000
$DEVICE_MAMPS,223.964,1.534,1263.249,816.855,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.132,468.571,508.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34849,686
$CAP_FILE_SIZE,81121,16
$CFSIZE,260165632,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,9,0
$GPS,030109,004126,6310.272,-1237.770,26,5.3,45,-11.9