version: 66.04
glider: 101
mission: 7
dive: 335
start: 1 4 109 1 50 53
data:
$ID,101
$MISSION,7
$DIVE,335
$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,-752353.38
$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
$GPS1,013407,6253.992,-1205.553,37,1.2,37,-11.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.7
$GPS2,015032,6253.918,-1204.632,12,1.2,12,-11.4
$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,321.6,60453,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,81,0.00,0.00,-60.20,0.000,2,0.000,0.000,25,754,2963
$GC,85,-1.16,-146.6,3.3,-3.9,3,120,11.82,0.00,-17.88,0.000,6,0.222,0.000,2119,760,3513
$GC,432,-1.05,-146.6,34.2,-8.8,20,434,0.15,0.00,0.00,0.000,6,0.186,0.000,2146,761,3513
$GC,740,-0.99,-146.6,56.6,-7.0,35,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,761,3513
$GC,1049,-0.95,-146.6,79.9,-7.5,50,1051,0.10,0.00,0.00,0.000,6,0.192,0.000,2166,761,3513
$GC,1358,-0.95,-146.6,102.4,-7.6,65,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,761,3513
$GC,1667,-0.95,-146.6,125.7,-7.4,80,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,1978,-0.95,-146.6,149.5,-7.6,95,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,2285,-0.95,-146.6,173.2,-7.7,110,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,2595,-0.95,-146.6,196.8,-7.5,125,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,2904,-0.95,-146.6,220.1,-7.5,140,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,3213,-0.95,-146.6,242.4,-7.3,155,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,3523,-0.95,-146.6,264.6,-6.9,170,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3512
$GC,3831,-0.95,-146.6,285.5,-6.6,185,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3512
$GC,4141,-0.95,-146.6,307.2,-7.2,200,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,4450,-0.95,-146.6,329.5,-7.4,215,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3513
$GC,4759,-0.95,-146.6,352.0,-7.2,230,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,762,3512
$GC,5069,-0.95,-146.6,374.2,-6.9,245,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3512
$GC,5378,-0.95,-146.6,395.1,-6.4,260,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3512
$GC,5687,-0.95,-146.6,414.9,-6.1,275,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3512
$GC,5997,-0.95,-146.6,432.9,-5.6,290,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,763,3512
$GC,6306,-0.95,-146.6,452.6,-7.3,305,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3512
$GC,6619,-0.95,-146.6,475.7,-7.4,320,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3512
$GC,6924,-0.95,-146.6,496.3,-6.0,335,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,762,3511
$GC,7234,-0.95,-146.6,514.6,-5.9,350,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3511
$GC,7543,-0.95,-146.6,533.8,-6.3,365,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,762,3511
$STATE,7601,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7601,begin apogee
$GC,7625,-0.45,0.0,538.1,6.7,368,7790,0.50,0.00,158.40,1.231,6,0.166,0.000,2271,762,2915
$STATE,7791,end apogee,CONTROL_FINISHED_OK
$STATE,7791,begin climb
$GC,7795,1.16,146.6,544.0,0.0,377,7964,1.75,0.00,165.05,1.185,6,0.155,0.000,2625,762,2317
$GC,8260,1.16,146.6,522.1,6.1,400,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,762,2316
$GC,8570,1.16,150.0,504.2,5.9,415,8577,0.00,0.00,5.53,0.921,6,0.000,0.000,2626,762,2303
$GC,8879,1.21,186.5,488.7,4.9,430,8924,0.00,0.00,42.67,1.182,6,0.000,0.000,2625,762,2154
$GC,9228,1.21,186.5,466.9,6.4,447,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,762,2153
$GC,9538,1.21,186.5,446.9,6.5,462,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,762,2152
$GC,9847,1.21,186.5,427.0,6.5,477,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,763,2152
$GC,10156,1.21,186.5,407.1,6.5,492,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,762,2151
$GC,10465,1.21,186.5,384.7,7.6,507,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,762,2152
$GC,10775,1.21,186.5,360.4,7.9,522,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,762,2152
$GC,11084,1.21,186.5,339.6,6.4,537,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,762,2152
$GC,11393,1.21,186.5,319.5,6.7,552,11394,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,762,2152
$GC,11703,1.21,186.5,298.5,6.7,567,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,762,2151
$GC,12012,1.21,186.5,277.9,6.8,582,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,762,2152
$GC,12321,1.21,186.5,257.3,6.7,597,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,762,2152
$GC,12631,1.21,186.5,237.3,6.3,612,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,762,2152
$GC,12939,1.21,186.5,217.7,6.1,627,12941,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,762,2152
$GC,13249,1.21,187.8,199.6,6.0,642,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,763,2152
$GC,13558,1.22,195.0,181.4,5.8,657,13571,0.00,0.00,10.73,0.922,6,0.000,0.000,2630,762,2120
$GC,13867,1.22,195.0,162.8,6.2,672,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,762,2120
$GC,14176,1.22,195.0,141.8,6.8,687,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,763,2120
$GC,14486,1.22,195.0,120.4,7.2,702,14487,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,763,2120
$GC,14796,1.22,195.0,98.1,7.1,717,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,762,2120
$GC,15104,1.22,195.0,76.2,6.8,732,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,762,2120
$GC,15414,1.22,195.0,54.8,7.0,747,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,762,2121
$GC,15723,1.22,195.0,32.8,7.1,762,15724,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,762,2120
$GC,16032,1.22,195.0,11.8,6.7,777,16033,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,762,2121
$STATE,16193,end climb,SURFACE_DEPTH_REACHED
$STATE,16194,begin surface coast
$FINISH,0.9,1.004607
$STATE,16217,end surface coast,CONTROL_FINISHED_OK
$STATE,16217,begin surface
$SM_CCo,16258,117.80,0.751,13,0,1692,300.00
$SM_GC,1.54,0.00,0.00,117.80,0.000,0.000,0.751,26,754,1692,-10.80,-52.16,300.00
$IRIDIUM_FIX,6230.49,-1203.05,310398,010146
$TT8_MAMPS,0.029146
$HUMID,1981
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,475.7,71.3
$24V_AH,18.1,56.349
$10V_AH,10.1,24.140
$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,26.625,28.450,382.375,117.800,0.000,71.183,94.487,508.567,4.000,0.000,0.000,14.369,1292.296,13126.771,698.877,1300.534,1006.743,0.000,1288.260,0.000,1293.188,0.000,26.646,0.000
$DEVICE_MAMPS,221.663,1.534,1231.035,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.674,536.675,545.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41137,786
$CAP_FILE_SIZE,92524,16
$CFSIZE,260165632,241938432
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,13,0
$GPS,040109,062607,6254.161,-1154.242,36,0.9,36,-11.4