version: 66.04
glider: 101
mission: 7
dive: 334
start: 1 3 109 21 5 14
data:
$ID,101
$MISSION,7
$DIVE,334
$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,-752338.38
$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
$GPS1,205700,6255.723,-1214.672,36,1.0,41,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.6
$GPS2,210450,6255.540,-1214.337,12,1.1,12,-11.5
$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,324.9,52419,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.12,0.000,2,0.000,0.000,25,752,2944
$GC,82,-1.16,-146.6,3.2,-4.0,3,118,11.68,0.00,-19.62,0.000,6,0.223,0.000,2119,760,3514
$GC,429,-1.05,-146.6,34.3,-9.1,20,431,0.12,0.00,0.00,0.000,6,0.190,0.000,2144,761,3514
$GC,737,-0.99,-146.6,58.9,-7.6,35,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,761,3514
$GC,1046,-0.93,-146.6,82.8,-7.7,50,1048,0.12,0.00,0.00,0.000,6,0.188,0.000,2169,760,3514
$GC,1355,-0.93,-146.6,106.5,-8.0,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,761,3514
$GC,1664,-0.93,-146.6,132.0,-8.6,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,1973,-0.93,-146.6,156.0,-7.4,95,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,761,3514
$GC,2282,-0.93,-146.6,177.3,-6.7,110,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,761,3514
$GC,2592,-0.93,-146.6,198.4,-6.8,125,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,2901,-0.93,-146.6,219.1,-6.6,140,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,3210,-0.93,-146.6,240.3,-6.9,155,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,3520,-0.93,-146.6,263.3,-7.7,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,3829,-0.93,-146.6,287.2,-7.8,185,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,4138,-0.93,-146.6,310.9,-7.6,200,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,4447,-0.93,-146.6,334.6,-7.9,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,4756,-0.93,-146.6,359.4,-7.9,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,5066,-0.93,-146.6,380.2,-6.2,245,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,5376,-0.93,-146.6,398.5,-5.9,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,5684,-0.93,-146.6,418.3,-7.0,275,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,5993,-0.93,-146.6,442.3,-7.6,290,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3514
$GC,6303,-0.93,-146.6,466.5,-7.8,305,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3513
$GC,6612,-0.93,-146.6,489.4,-8.0,320,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3513
$GC,6921,-0.93,-146.6,514.2,-8.1,335,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3512
$GC,7231,-0.98,-146.6,537.7,-7.1,350,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,762,3512
$STATE,7495,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7495,begin apogee
$GC,7519,-0.45,0.0,556.0,6.5,363,7669,0.47,0.00,147.18,1.276,6,0.168,0.000,2270,762,2916
$STATE,7670,end apogee,CONTROL_FINISHED_OK
$STATE,7670,begin climb
$GC,7673,1.16,146.6,562.9,0.0,371,7827,1.75,0.00,149.43,1.232,6,0.162,0.000,2624,762,2317
$GC,8136,1.16,146.6,538.4,6.8,394,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,762,2316
$GC,8445,1.16,146.6,518.6,6.5,409,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,762,2315
$GC,8754,1.16,146.6,498.3,6.5,424,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,762,2315
$GC,9064,1.16,146.6,477.1,7.1,439,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,762,2314
$GC,9373,1.17,153.7,459.2,5.8,454,9383,0.00,0.00,8.35,1.100,6,0.000,0.000,2625,762,2288
$GC,9682,1.21,191.1,443.3,4.9,469,9724,0.00,0.00,39.72,1.219,6,0.000,0.000,2625,762,2136
$GC,10032,1.26,232.1,427.9,4.8,486,10078,0.10,0.00,43.12,1.197,6,0.166,0.000,2654,762,1968
$GC,10380,1.26,232.1,404.0,7.6,503,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,762,1968
$GC,10690,1.22,232.1,379.0,7.8,518,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,762,1968
$GC,10999,1.17,232.1,352.4,8.9,533,11001,0.12,0.00,0.00,0.000,6,0.189,0.000,2630,762,1968
$GC,11308,1.17,232.1,327.4,7.5,548,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,762,1968
$GC,11618,1.17,232.1,306.1,6.7,563,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,762,1968
$GC,11927,1.17,232.1,285.8,6.3,578,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,762,1968
$GC,12236,1.17,232.1,265.6,6.6,593,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,762,1968
$GC,12546,1.17,232.1,245.3,6.7,608,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,763,1968
$GC,12855,1.17,232.1,224.4,6.9,623,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,762,1968
$GC,13164,1.17,232.1,201.3,7.4,638,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1968
$GC,13473,1.17,232.1,178.0,7.6,653,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1968
$GC,13782,1.17,232.1,154.9,7.4,668,13783,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1968
$GC,14092,1.17,232.1,131.9,7.4,683,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1968
$GC,14402,1.17,232.1,108.7,7.5,698,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1969
$GC,14711,1.17,232.1,84.8,7.9,713,14712,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1969
$GC,15021,1.17,232.1,60.7,7.8,728,15022,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1968
$GC,15329,1.17,232.1,37.7,7.1,743,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,762,1969
$GC,15638,1.17,232.1,17.1,6.8,758,15639,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,762,1969
$STATE,15882,end climb,SURFACE_DEPTH_REACHED
$STATE,15882,begin surface coast
$FINISH,1.0,1.017138
$STATE,15906,end surface coast,CONTROL_FINISHED_OK
$STATE,15906,begin surface
$SM_CCo,15946,73.28,0.773,8,0,1692,300.00
$SM_GC,1.59,0.00,0.00,73.28,0.000,0.000,0.773,29,754,1692,-10.79,-52.21,300.00
$IRIDIUM_FIX,6235.17,-1215.28,300398,171713
$TT8_MAMPS,0.029146
$HUMID,2022
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,501.1,64.8
$24V_AH,19.8,56.158
$10V_AH,10.1,24.062
$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,26.525,28.450,387.800,73.275,0.000,22.905,32.100,241.830,4.000,0.000,0.000,13.834,1270.684,12751.358,627.540,1275.187,609.123,0.000,1206.977,0.000,1268.637,0.000,28.246,0.000
$DEVICE_MAMPS,223.197,1.534,1275.521,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.558,526.120,527.819,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37990,771
$CAP_FILE_SIZE,82875,16
$CFSIZE,260165632,241995776
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,1,62,8,0
$GPS,040109,013407,6253.992,-1205.553,37,1.2,37,-11.5