version: 66.04
glider: 101
mission: 7
dive: 329
start: 1 3 109 0 53 17
data:
$ID,101
$MISSION,7
$DIVE,329
$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,-752247.25
$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
$GPS1,004126,6310.272,-1237.770,26,5.3,45,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-56.4
$GPS2,005258,6310.138,-1237.492,15,3.1,34,-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,307.5,20811,-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,-60.75,0.000,2,0.000,0.000,25,751,2968
$GC,83,-1.16,-146.6,3.4,-4.1,3,118,11.45,0.00,-18.05,0.000,6,0.225,0.000,2117,756,3513
$GC,430,-1.06,-146.6,38.3,-9.4,20,432,0.12,0.00,0.00,0.000,6,0.192,0.000,2141,756,3513
$GC,738,-0.99,-146.6,65.7,-8.8,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,756,3513
$GC,1047,-0.93,-146.6,93.0,-8.7,50,1049,0.15,0.00,0.00,0.000,6,0.185,0.000,2171,756,3513
$GC,1356,-0.93,-146.6,116.2,-7.4,65,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,757,3513
$GC,1665,-0.93,-146.6,139.5,-7.6,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,757,3513
$GC,1974,-0.93,-146.6,162.6,-7.5,95,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,760,3513
$GC,2283,-0.93,-146.6,186.3,-7.8,110,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,760,3513
$GC,2592,-0.93,-146.6,210.0,-7.5,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,760,3513
$GC,2902,-0.93,-146.6,233.6,-7.4,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,760,3513
$GC,3211,-0.93,-146.6,255.7,-7.0,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,761,3512
$GC,3520,-0.93,-146.6,277.3,-6.8,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,761,3513
$GC,3830,-0.93,-146.6,298.8,-6.8,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,761,3513
$GC,4139,-0.93,-146.6,321.4,-7.4,200,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,761,3513
$GC,4448,-0.93,-146.6,344.8,-7.6,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,761,3513
$GC,4758,-0.93,-146.6,365.5,-6.1,230,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,761,3513
$GC,5067,-0.93,-146.6,384.1,-6.0,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,761,3513
$GC,5376,-0.93,-146.6,403.4,-6.4,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,761,3513
$GC,5685,-0.93,-146.6,425.4,-7.2,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,761,3512
$GC,5995,-0.97,-146.6,448.2,-7.0,290,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,761,3512
$STATE,6301,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6301,begin apogee
$GC,6324,-0.45,0.0,469.5,7.3,305,6462,0.47,0.00,134.55,1.250,6,0.182,0.000,2273,761,2916
$STATE,6462,end apogee,CONTROL_FINISHED_OK
$STATE,6463,begin climb
$GC,6466,1.16,146.6,475.9,0.0,312,6605,1.67,0.00,134.95,1.212,6,0.160,0.000,2629,760,2317
$GC,6906,1.12,148.8,455.2,5.9,334,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,760,2316
$GC,7212,1.12,148.8,436.3,6.5,349,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,761,2316
$GC,7521,1.12,155.7,416.5,5.8,364,7533,0.00,0.00,9.73,1.108,6,0.000,0.000,2630,761,2280
$GC,7831,1.16,187.3,399.5,5.1,379,7863,0.00,0.00,30.73,1.210,6,0.000,0.000,2630,761,2151
$GC,8160,1.16,187.3,379.2,6.3,395,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,760,2150
$GC,8468,1.16,187.3,356.5,7.5,410,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2150
$GC,8778,1.16,187.3,332.4,7.5,425,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2150
$GC,9088,1.18,203.3,313.3,5.5,440,9107,0.00,0.00,16.25,1.134,6,0.000,0.000,2631,761,2086
$GC,9417,1.20,218.1,295.8,5.6,456,9435,0.00,0.00,14.88,1.112,6,0.000,0.000,2631,761,2025
$GC,9746,1.20,218.1,273.5,7.0,472,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2025
$GC,10055,1.20,218.1,250.1,7.7,487,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2025
$GC,10364,1.20,218.1,227.3,7.0,502,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2025
$GC,10673,1.20,218.1,206.8,6.6,517,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2025
$GC,10983,1.20,218.1,186.8,6.3,532,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2025
$GC,11292,1.20,218.1,165.8,6.7,547,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2025
$GC,11602,1.20,218.1,145.1,6.7,562,11603,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2025
$GC,11911,1.20,218.1,124.7,6.7,577,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2026
$GC,12220,1.20,218.1,103.4,7.1,592,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2026
$GC,12529,1.20,218.1,81.7,6.7,607,12531,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,761,2026
$GC,12840,1.20,218.1,59.4,7.3,622,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2025
$GC,13148,1.20,218.1,38.2,7.3,637,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2026
$GC,13457,1.20,218.1,16.8,7.0,652,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,760,2026
$STATE,13661,end climb,SURFACE_DEPTH_REACHED
$STATE,13662,begin surface coast
$FINISH,1.0,1.027508
$STATE,13682,end surface coast,CONTROL_FINISHED_OK
$STATE,13682,begin surface
$SM_CCo,13722,80.43,0.815,9,0,1692,300.00
$SM_GC,1.75,0.00,0.00,80.43,0.000,0.000,0.815,26,747,1692,-10.81,-52.41,300.00
$IRIDIUM_FIX,6244.56,-1238.96,300398,000001
$TT8_MAMPS,0.029146
$HUMID,2018
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.6,78.2
$24V_AH,21.7,55.322
$10V_AH,10.1,23.726
$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,25.775,28.450,341.075,80.425,0.000,54.895,58.413,310.893,3.250,0.000,0.000,36.871,1100.029,10991.958,596.186,1130.740,719.393,0.000,1099.035,0.000,1101.337,0.000,24.753,0.000
$DEVICE_MAMPS,225.498,1.534,1250.210,815.321,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,501.445,452.477,488.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34900,663
$CAP_FILE_SIZE,76009,16
$CFSIZE,260165632,242212864
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,9,0
$GPS,030109,044524,6308.408,-1235.358,26,1.2,43,-11.8