version: 66.04
glider: 101
mission: 7
dive: 127
start: 11 26 108 20 39 56
data:
$ID,101
$MISSION,7
$DIVE,127
$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,-734448.19
$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,24
$R_STBD_OVSHOOT,18
$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
$GPS1,203325,6305.067,-1317.322,66,1.0,66,-12.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-50.7
$GPS2,203935,6304.992,-1317.409,15,1.7,15,-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,50.3,23540,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.51,-146.6,0.0,0.0,0,76,0.00,0.00,-56.17,0.000,2,0.000,0.000,25,2513,2758
$GC,80,-1.51,-146.6,3.1,-3.1,3,123,10.52,2.53,-23.67,0.000,4,0.128,0.057,2037,1098,3514
$GC,219,-1.41,-146.6,22.8,-11.2,9,224,0.15,2.53,0.00,0.000,6,0.099,0.042,2066,2531,3514
$GC,548,-1.35,-146.6,68.0,-12.9,25,552,0.00,2.53,0.00,0.000,4,0.000,0.043,2066,1100,3514
$GC,612,-1.35,-146.6,79.1,-16.5,28,617,0.00,2.50,0.00,0.000,6,0.000,0.040,2066,2525,3514
$GC,940,-1.35,-146.6,133.2,-15.3,44,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2525,3514
$GC,1250,-1.30,-146.6,167.4,-7.0,59,1254,0.12,2.05,0.00,0.000,4,0.093,0.057,2091,3689,3514
$GC,1329,-1.30,-146.6,173.0,-7.4,62,1332,0.00,2.03,0.00,0.000,6,0.000,0.035,2091,2500,3514
$GC,1652,-1.30,-146.6,200.0,-7.6,78,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2500,3514
$GC,1960,-1.30,-146.6,231.3,-10.8,93,1963,0.00,2.15,0.00,0.000,4,0.000,0.058,2091,3693,3514
$GC,2039,-1.30,-146.6,241.2,-11.7,96,2042,0.00,2.00,0.00,0.000,6,0.000,0.035,2091,2516,3514
$GC,2360,-1.30,-146.6,271.0,-8.7,112,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2516,3514
$GC,2670,-1.30,-146.6,292.2,-7.1,127,2674,0.00,2.12,0.00,0.000,4,0.000,0.058,2091,3693,3514
$GC,2732,-1.30,-146.6,297.2,-7.7,129,2738,0.00,2.03,0.00,0.000,6,0.000,0.036,2091,2503,3514
$GC,3048,-1.30,-146.6,322.3,-9.1,145,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2503,3514
$GC,3358,-1.30,-146.6,347.5,-8.3,160,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2502,3514
$GC,3667,-1.30,-146.6,372.6,-8.0,175,3671,0.00,2.15,0.00,0.000,4,0.000,0.060,2091,3690,3514
$GC,3751,-1.30,-146.6,380.1,-8.5,178,3757,0.00,2.00,0.00,0.000,6,0.000,0.036,2091,2517,3514
$GC,4068,-1.30,-146.6,404.9,-7.5,194,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2518,3514
$GC,4377,-1.30,-146.6,428.3,-7.6,209,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2518,3514
$GC,4686,-1.30,-146.6,451.9,-7.9,224,4690,0.00,2.15,0.00,0.000,4,0.000,0.067,2091,3692,3514
$GC,4778,-1.30,-146.6,459.1,-8.0,228,4782,0.00,2.00,0.00,0.000,6,0.000,0.038,2091,2526,3514
$GC,5111,-1.30,-146.6,483.8,-6.2,244,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2526,3514
$GC,5420,-1.30,-146.6,507.7,-8.2,259,5424,0.00,2.20,0.00,0.000,4,0.000,0.079,2091,3692,3514
$GC,5527,-1.30,-146.6,516.5,-8.0,263,5533,0.00,2.08,0.00,0.000,6,0.000,0.048,2091,2517,3514
$GC,5844,-1.30,-146.6,539.8,-7.4,279,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2517,3514
$GC,6153,-1.30,-146.6,564.8,-8.3,294,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2515,3514
$GC,6462,-1.30,-146.6,590.8,-8.8,309,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2515,3514
$GC,6772,-1.30,-146.6,609.2,-3.7,324,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2515,3514
$GC,7081,-1.30,-146.6,622.3,-5.3,339,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2515,3514
$GC,7390,-1.30,-146.6,642.3,-6.8,354,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2515,3514
$GC,7700,-1.35,-146.6,664.9,-7.7,369,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2515,3513
$GC,8009,-1.35,-146.6,693.7,-9.0,384,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2515,3513
$GC,8318,-1.35,-146.6,722.5,-9.7,399,8322,0.00,2.60,0.00,0.000,4,0.000,0.074,2091,1107,3512
$GC,8430,-1.42,-146.6,733.6,-10.1,404,8435,0.12,2.60,0.00,0.000,6,0.072,0.067,2063,2509,3512
$GC,8751,-1.42,-146.6,767.3,-10.8,420,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2509,3512
$STATE,8831,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8831,begin apogee
$GC,8839,-0.45,0.0,776.1,10.4,424,8974,1.00,0.00,130.23,1.335,6,0.071,0.000,2274,2310,2914
$STATE,8975,end apogee,CONTROL_FINISHED_OK
$STATE,8975,begin climb
$GC,8979,1.51,146.6,782.4,0.0,431,9113,1.95,0.00,129.05,1.301,6,0.053,0.000,2711,2310,2317
$GC,9413,1.52,212.1,757.5,5.5,452,9474,0.00,0.00,59.00,1.279,6,0.000,0.000,2712,2310,2050
$GC,9782,1.47,212.1,723.2,10.2,470,9787,0.00,2.62,0.00,0.000,4,0.000,0.071,2711,904,2049
$GC,9856,1.43,212.1,714.9,11.5,473,9861,0.12,2.62,0.00,0.000,6,0.122,0.060,2690,2320,2049
$GC,10172,1.43,212.1,685.5,8.6,488,10176,0.00,2.65,0.00,0.000,4,0.000,0.067,2690,908,2048
$GC,10235,1.43,212.1,680.8,8.3,491,10240,0.00,2.60,0.00,0.000,6,0.000,0.058,2690,2323,2048
$GC,10562,1.43,212.1,652.8,9.4,507,10566,0.00,2.58,0.00,0.000,4,0.000,0.077,2690,3698,2047
$GC,10651,1.43,212.1,641.7,13.3,511,10656,0.00,2.47,0.00,0.000,6,0.000,0.047,2690,2313,2047
$GC,10973,1.43,212.1,594.2,17.1,527,10977,0.00,2.62,0.00,0.000,4,0.000,0.074,2690,3703,2046
$GC,11091,1.43,212.1,575.5,14.7,532,11095,0.00,2.47,0.00,0.000,6,0.000,0.044,2690,2310,2046
$GC,11407,1.43,212.1,538.3,11.2,547,11411,0.00,2.55,0.00,0.000,4,0.000,0.064,2689,909,2046
$GC,11496,1.43,212.1,527.6,12.0,551,11501,0.00,2.55,0.00,0.000,6,0.000,0.051,2690,2320,2046
$GC,11818,1.43,212.1,496.8,8.3,567,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2320,2046
$GC,12127,1.43,212.2,472.3,8.0,582,12131,0.00,2.50,0.00,0.000,4,0.000,0.066,2690,3692,2046
$GC,12200,1.43,212.2,465.9,8.7,585,12204,0.00,2.40,0.00,0.000,6,0.000,0.039,2690,2310,2046
$GC,12522,1.43,212.2,439.1,8.7,601,12527,0.00,2.55,0.00,0.000,4,0.000,0.062,2690,3703,2046
$GC,12585,1.43,212.2,432.9,9.5,604,12589,0.00,2.40,0.00,0.000,6,0.000,0.038,2690,2312,2046
$GC,12918,1.43,212.2,403.0,9.1,620,12919,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2312,2047
$GC,13228,1.43,212.2,371.0,11.6,635,13232,0.00,2.53,0.00,0.000,4,0.000,0.060,2690,3700,2047
$GC,13300,1.43,212.2,362.1,12.3,638,13305,0.00,2.40,0.00,0.000,6,0.000,0.036,2690,2308,2047
$GC,13616,1.43,212.2,327.5,10.3,653,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2308,2048
$GC,13926,1.43,212.2,299.0,8.9,668,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2309,2049
$GC,14235,1.43,212.2,270.1,9.7,683,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2309,2049
$GC,14544,1.43,212.2,241.4,9.4,698,14548,0.00,2.50,0.00,0.000,4,0.000,0.058,2690,3699,2049
$GC,14646,1.43,212.2,230.6,12.4,702,14651,0.00,2.38,0.00,0.000,6,0.000,0.035,2689,2314,2049
$GC,14962,1.43,212.2,195.5,11.3,717,14964,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2314,2049
$GC,15272,1.43,212.2,158.5,13.9,732,15276,0.00,2.45,0.00,0.000,4,0.000,0.048,2690,916,2049
$GC,15334,1.43,212.2,149.4,16.5,735,15339,0.00,2.45,0.00,0.000,6,0.000,0.039,2690,2325,2050
$GC,15668,1.43,212.2,109.8,10.6,751,15669,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2325,2050
$GC,15977,1.43,212.2,79.0,10.3,766,15978,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2325,2050
$GC,16289,1.48,212.2,43.8,11.3,781,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2325,2050
$GC,16596,1.48,212.2,11.9,9.9,796,16597,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2325,2050
$STATE,16695,end climb,SURFACE_DEPTH_REACHED
$STATE,16696,begin surface coast
$FINISH,0.7,1.020989
$STATE,16717,end surface coast,CONTROL_FINISHED_OK
$STATE,16717,begin surface
$SM_CCo,16742,73.15,0.799,1,0,1691,300.00
$SM_GC,1.42,0.00,0.00,73.15,0.000,0.000,0.799,26,2529,1691,-10.80,0.34,300.00
$IRIDIUM_FIX,6235.17,-1318.50,200298,161645
$TT8_MAMPS,0.028379
$HUMID,2003
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,58.7
$24V_AH,23.0,21.027
$10V_AH,10.1,9.081
$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,25.900,91.250,318.275,73.150,0.000,24.190,29.506,184.255,6.250,0.000,0.000,17.358,1452.631,12982.151,505.046,1708.588,547.172,0.000,1346.536,0.000,1670.028,0.000,42.790,0.000
$DEVICE_MAMPS,128.089,79.001,1335.347,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,597.332,549.359,436.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41182,802
$CAP_FILE_SIZE,111682,0
$CFSIZE,260165632,251838464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271108,012148,6305.558,-1315.375,37,1.3,47,-12.2