version: 66.04
glider: 101
mission: 7
dive: 126
start: 11 26 108 15 59 0
data:
$ID,101
$MISSION,7
$DIVE,126
$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,412.5
$T_MISSION,440
$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,-734430.19
$T_RSLEEP,2
$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,40
$C_ROLL_DIVE,2517
$C_ROLL_CLIMB,2317
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$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
$GPS1,155320,6303.186,-1319.599,11,1.6,29,-12.2
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-51.4
$GPS2,155839,6303.170,-1319.806,11,1.7,11,-12.2
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,HW
$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,49.2,27433,-14.7,-8.000
$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,-1.51,-146.6,0.0,0.0,0,98,0.00,0.00,-80.62,0.000,2,0.000,0.000,25,2523,3481
$GC,102,-1.51,-146.6,5.5,-6.8,4,118,10.52,2.08,-0.68,0.000,4,0.127,0.071,2036,3689,3515
$GC,262,-1.35,-146.6,32.7,-13.2,10,267,0.20,2.03,0.00,0.000,6,0.092,0.035,2077,2506,3515
$GC,585,-1.35,-146.6,67.3,-10.4,26,589,0.00,2.12,0.00,0.000,4,0.000,0.056,2076,3686,3515
$GC,700,-1.31,-146.6,79.6,-10.8,31,704,0.00,2.00,0.00,0.000,6,0.000,0.036,2077,2516,3515
$GC,1035,-1.31,-146.6,116.2,-11.8,47,1038,0.00,2.12,0.00,0.000,4,0.000,0.055,2076,3696,3515
$GC,1105,-1.26,-146.6,124.5,-12.3,50,1109,0.10,2.03,0.00,0.000,6,0.098,0.035,2096,2508,3515
$GC,1438,-1.26,-146.6,160.5,-10.5,66,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2508,3515
$GC,1747,-1.26,-146.6,193.5,-10.4,81,1751,0.00,2.12,0.00,0.000,4,0.000,0.056,2096,3689,3515
$GC,1883,-1.26,-146.6,208.8,-11.3,87,1886,0.00,2.00,0.00,0.000,6,0.000,0.036,2096,2514,3515
$GC,2216,-1.26,-146.6,243.9,-10.5,103,2219,0.00,2.12,0.00,0.000,4,0.000,0.057,2096,3696,3516
$GC,2289,-1.26,-146.6,252.2,-11.1,106,2293,0.00,2.03,0.00,0.000,6,0.000,0.035,2096,2505,3515
$GC,2616,-1.26,-146.6,288.6,-11.5,122,2620,0.00,2.12,0.00,0.000,4,0.000,0.058,2096,3685,3515
$GC,2701,-1.26,-146.6,298.5,-11.5,125,2707,0.00,2.03,0.00,0.000,6,0.000,0.036,2096,2496,3515
$GC,3017,-1.26,-146.6,333.6,-11.6,141,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2496,3515
$GC,3327,-1.26,-146.6,368.5,-11.1,156,3331,0.00,2.15,0.00,0.000,4,0.000,0.059,2096,3685,3514
$GC,3468,-1.26,-146.6,384.4,-11.2,162,3471,0.00,2.00,0.00,0.000,6,0.000,0.036,2096,2513,3515
$GC,3795,-1.26,-146.6,414.9,-8.6,178,3799,0.00,2.12,0.00,0.000,4,0.000,0.062,2096,3690,3514
$GC,3897,-1.26,-146.6,424.9,-9.9,182,3902,0.00,2.03,0.00,0.000,6,0.000,0.037,2096,2510,3515
$GC,4218,-1.26,-146.6,452.6,-8.1,198,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2510,3514
$GC,4531,-1.26,-146.6,475.1,-6.7,213,4534,0.00,2.17,0.00,0.000,4,0.000,0.071,2096,3684,3514
$GC,4617,-1.26,-146.6,481.4,-6.1,216,4623,0.00,2.03,0.00,0.000,6,0.000,0.040,2096,2517,3514
$GC,4933,-1.26,-146.6,504.0,-7.0,232,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2517,3514
$GC,5242,-1.26,-146.6,527.5,-8.7,247,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2517,3514
$GC,5552,-1.30,-146.6,559.8,-10.6,262,5556,0.00,2.28,0.00,0.000,4,0.000,0.095,2096,3687,3514
$GC,5647,-1.30,-146.6,570.0,-10.7,266,5651,0.00,2.10,0.00,0.000,6,0.000,0.053,2096,2515,3514
$GC,5969,-1.30,-146.6,603.3,-9.9,282,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2513,3514
$GC,6278,-1.30,-146.6,633.7,-9.2,297,6281,0.00,2.22,0.00,0.000,4,0.000,0.086,2096,3680,3514
$GC,6362,-1.30,-146.6,642.3,-9.2,300,6368,0.00,2.05,0.00,0.000,6,0.000,0.051,2096,2517,3514
$GC,6680,-1.34,-146.6,665.1,-6.4,316,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2516,3514
$GC,6989,-1.39,-146.6,677.1,-2.9,331,6991,0.10,0.00,0.00,0.000,6,0.059,0.000,2065,2516,3514
$GC,7298,-1.39,-146.6,687.2,-3.4,346,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2516,3514
$GC,7608,-1.39,-146.6,700.9,-4.8,361,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2515,3514
$GC,7916,-1.39,-146.6,719.1,-6.2,376,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2515,3514
$GC,8226,-1.39,-146.6,739.8,-6.8,391,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2515,3514
$GC,8535,-1.39,-146.6,764.0,-7.4,406,8539,0.00,2.25,0.00,0.000,4,0.000,0.089,2065,3686,3513
$GC,8681,-1.39,-146.6,776.0,-9.0,412,8687,0.00,2.10,0.00,0.000,6,0.000,0.053,2065,2515,3512
$GC,8997,-1.39,-146.6,806.9,-10.6,428,9001,0.00,2.22,0.00,0.000,4,0.000,0.087,2065,3685,3512
$GC,9198,-1.39,-146.6,825.6,-7.6,436,9205,0.00,2.10,0.00,0.000,6,0.000,0.052,2065,2508,3512
$STATE,9243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9243,begin apogee
$GC,9252,-0.45,0.0,830.6,9.6,439,9387,1.00,0.00,131.12,1.373,6,0.077,0.000,2274,2317,2915
$STATE,9388,end apogee,CONTROL_FINISHED_OK
$STATE,9388,begin climb
$GC,9391,1.51,146.6,834.5,0.0,446,9527,1.95,0.00,130.75,1.332,6,0.049,0.000,2704,2317,2317
$GC,9828,1.46,146.6,803.2,8.1,467,9832,0.00,2.62,0.00,0.000,4,0.000,0.080,2704,3684,2316
$GC,9917,1.36,146.6,794.9,9.6,471,9922,0.17,2.47,0.00,0.000,6,0.103,0.051,2672,2317,2315
$GC,10239,1.36,146.6,770.9,8.2,487,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2317,2314
$GC,10548,1.44,212.9,748.8,5.5,502,10614,0.00,2.70,59.15,1.323,4,0.000,0.080,2672,3679,2046
$GC,10708,1.59,333.8,741.1,3.4,509,10821,0.22,2.47,106.90,1.304,6,0.051,0.050,2724,2314,1554
$GC,11132,1.59,333.8,695.0,11.9,529,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2314,1553
$GC,11441,1.59,333.8,659.5,11.9,544,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2314,1552
$GC,11750,1.59,333.8,622.5,13.3,559,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2314,1551
$GC,12059,1.59,333.8,583.3,13.1,574,12064,0.00,2.58,0.00,0.000,4,0.000,0.071,2724,3684,1551
$GC,12109,1.59,333.8,576.1,13.4,576,12114,0.00,2.42,0.00,0.000,6,0.000,0.042,2724,2312,1551
$GC,12431,1.59,333.8,531.6,13.3,592,12436,0.00,2.55,0.00,0.000,4,0.000,0.061,2724,907,1551
$GC,12476,1.59,333.8,525.4,13.9,594,12481,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,2307,1551
$GC,12798,1.59,333.8,482.4,13.4,610,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2307,1551
$GC,13107,1.59,333.8,440.2,14.9,625,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2308,1551
$GC,13417,1.59,333.8,386.4,18.6,640,13420,0.00,2.50,0.00,0.000,4,0.000,0.061,2724,3697,1551
$GC,13485,1.59,333.8,373.4,18.0,643,13489,0.00,2.40,0.00,0.000,6,0.000,0.037,2724,2310,1551
$GC,13812,1.59,333.8,326.2,13.3,659,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2309,1551
$GC,14121,1.59,333.8,284.1,13.0,674,14125,0.00,2.53,0.00,0.000,4,0.000,0.058,2724,3702,1551
$GC,14172,1.59,333.8,276.7,14.8,676,14176,0.00,2.40,0.00,0.000,6,0.000,0.036,2724,2308,1551
$GC,14489,1.59,333.8,233.8,13.6,691,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2308,1552
$GC,14798,1.59,333.8,192.4,13.3,706,14802,0.00,2.53,0.00,0.000,4,0.000,0.056,2725,3706,1552
$GC,14871,1.59,333.8,181.9,14.3,709,14875,0.00,2.40,0.00,0.000,6,0.000,0.035,2724,2311,1552
$GC,15193,1.59,333.8,140.1,13.4,725,15194,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2310,1553
$GC,15502,1.59,333.8,96.9,11.4,740,15506,0.00,2.50,0.00,0.000,4,0.000,0.055,2724,3696,1553
$GC,15603,1.59,333.8,86.4,11.5,744,15609,0.00,2.38,0.00,0.000,6,0.000,0.035,2724,2311,1553
$GC,15919,1.59,333.8,48.6,13.2,760,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2310,1553
$GC,16230,1.59,333.8,5.6,14.6,775,16234,0.00,2.53,0.00,0.000,4,0.000,0.061,2724,3699,1553
$STATE,16267,end climb,SURFACE_DEPTH_REACHED
$STATE,16267,begin surface coast
$FINISH,0.7,1.027391
$STATE,16272,end surface coast,CONTROL_FINISHED_OK
$STATE,16272,begin surface
$SM_CCo,16359,0.00,0.000,0,0,1554,333.85
$SM_GC,1.31,11.85,0.00,0.00,0.035,0.000,0.000,25,2513,1554,-10.74,-0.11,333.85
$IRIDIUM_FIX,6239.86,-1319.59,200298,141425
$TT8_MAMPS,0.028379
$HUMID,2032
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.3,88.4
$24V_AH,23.0,20.879
$10V_AH,10.1,9.006
$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,26.125,99.550,427.925,0.000,0.000,25.464,29.762,156.839,6.500,0.000,0.000,13.075,1436.579,12435.729,519.726,1785.073,511.856,0.000,1410.932,0.000,1743.417,0.000,44.498,0.000
$DEVICE_MAMPS,127.322,95.108,1372.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.726,531.512,426.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37949,777
$CAP_FILE_SIZE,111559,0
$CFSIZE,260165632,251895808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,261108,203325,6305.067,-1317.322,66,1.0,66,-12.2