version: 66.04
glider: 101
mission: 7
dive: 331
start: 1 3 109 9 8 12
data:
$ID,101
$MISSION,7
$DIVE,331
$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,-752295.75
$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
$GPS1,085306,6305.615,-1235.222,32,1.0,32,-11.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-58.8
$GPS2,090749,6305.326,-1234.721,13,1.8,30,-11.8
$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,322.2,27659,-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,-60.47,0.000,2,0.000,0.000,22,753,2967
$GC,82,-1.16,-146.6,3.3,-3.9,3,117,11.50,0.00,-18.42,0.000,6,0.223,0.000,2120,758,3512
$GC,429,-1.04,-146.6,26.9,-4.5,20,431,0.12,0.00,0.00,0.000,6,0.190,0.000,2145,760,3513
$GC,737,-0.99,-146.6,50.0,-6.1,35,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,760,3513
$GC,1046,-0.94,-146.6,76.4,-8.3,50,1048,0.12,0.00,0.00,0.000,6,0.193,0.000,2170,760,3513
$GC,1355,-0.94,-146.6,101.1,-7.7,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,760,3513
$GC,1664,-0.94,-146.6,123.9,-7.2,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,760,3512
$GC,1975,-0.94,-146.6,146.2,-7.2,95,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3513
$GC,2282,-0.94,-146.6,168.5,-7.2,110,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,761,3512
$GC,2592,-0.94,-146.6,190.9,-7.6,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3513
$GC,2901,-0.94,-146.6,215.2,-7.6,140,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,3210,-0.94,-146.6,238.5,-7.4,155,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,3519,-0.94,-146.6,261.2,-7.1,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,3828,-0.94,-146.6,282.4,-6.6,185,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,4138,-0.94,-146.6,302.8,-6.8,200,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,4447,-0.94,-146.6,322.1,-6.4,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,4756,-0.94,-146.6,342.6,-6.4,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,5066,-0.94,-146.6,363.0,-6.5,245,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,761,3512
$GC,5375,-0.94,-146.6,382.8,-6.6,260,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,5684,-0.94,-146.6,404.0,-7.2,275,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3512
$GC,5993,-0.94,-146.6,424.0,-6.2,290,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3511
$GC,6303,-0.94,-146.6,444.2,-6.6,305,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,761,3511
$STATE,6609,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6609,begin apogee
$GC,6632,-0.45,0.0,464.0,6.3,320,6771,0.47,0.00,135.90,1.242,6,0.173,0.000,2270,761,2915
$STATE,6772,end apogee,CONTROL_FINISHED_OK
$STATE,6772,begin climb
$GC,6775,1.16,146.6,470.4,0.0,327,6916,1.67,0.00,136.43,1.205,6,0.163,0.000,2624,761,2317
$GC,7212,1.16,146.6,448.7,6.7,349,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,761,2316
$GC,7521,1.16,146.6,427.1,6.7,364,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,761,2316
$GC,7831,1.16,146.6,407.1,6.5,379,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,761,2315
$GC,8140,1.20,178.2,389.5,5.1,394,8173,0.00,0.00,30.85,1.200,6,0.000,0.000,2626,761,2188
$GC,8469,1.20,181.0,371.5,5.9,410,8475,0.00,0.00,4.28,0.860,6,0.000,0.000,2627,761,2176
$GC,8779,1.26,230.8,354.9,4.5,425,8829,0.10,0.00,47.35,1.192,6,0.166,0.000,2655,761,1973
$GC,9128,1.26,271.2,336.9,4.8,442,9169,0.00,0.00,39.17,1.166,6,0.000,0.000,2656,761,1809
$GC,9477,1.26,271.2,310.5,8.0,459,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,761,1809
$GC,9786,1.26,271.2,284.5,8.7,474,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,761,1809
$GC,10095,1.26,271.2,257.5,8.2,489,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,761,1809
$GC,10404,1.26,271.2,231.2,8.3,504,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,761,1809
$GC,10714,1.26,271.2,205.5,8.3,519,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,761,1809
$GC,11023,1.26,271.2,179.0,8.5,534,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,761,1809
$GC,11332,1.26,271.2,151.9,8.5,549,11333,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,761,1809
$GC,11642,1.26,271.2,125.8,7.8,564,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,761,1809
$GC,11953,1.26,271.2,99.5,8.4,579,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,761,1809
$GC,12261,1.26,271.2,71.7,8.7,594,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,761,1809
$GC,12570,1.26,271.2,45.4,8.6,609,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,761,1809
$GC,12879,1.26,271.2,17.9,9.1,624,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,761,1809
$STATE,13061,end climb,SURFACE_DEPTH_REACHED
$STATE,13061,begin surface coast
$FINISH,0.8,1.027458
$STATE,13083,end surface coast,CONTROL_FINISHED_OK
$STATE,13083,begin surface
$SM_CCo,13124,30.05,0.804,3,0,1692,300.00
$SM_GC,1.65,0.00,0.00,30.05,0.000,0.000,0.804,29,746,1692,-10.79,-52.33,300.00
$IRIDIUM_FIX,6239.86,-1231.21,300398,090931
$TT8_MAMPS,0.029146
$HUMID,2036
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,16.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,375.9,98.0
$24V_AH,21.4,55.656
$10V_AH,10.1,23.858
$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,26.050,28.450,393.975,30.050,0.000,80.382,94.170,388.099,3.000,0.000,0.000,34.626,1051.502,10512.909,562.867,1077.313,850.115,0.000,1046.769,0.000,1054.681,0.000,20.243,0.000
$DEVICE_MAMPS,223.197,1.534,1241.773,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.649,432.029,467.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31657,634
$CAP_FILE_SIZE,74804,16
$CFSIZE,260165632,242135040
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,3,0
$GPS,030109,124855,6304.155,-1230.222,37,1.3,37,-11.8