version: 66.04
glider: 101
mission: 7
dive: 130
start: 11 27 108 14 8 36
data:
$ID,101
$MISSION,7
$DIVE,130
$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,-734510.69
$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,38
$R_STBD_OVSHOOT,16
$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
$GPS1,140128,6307.813,-1312.388,32,2.1,51,-12.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-55.4
$GPS2,140817,6307.732,-1312.518,8,3.2,27,-12.2
$SPEED_LIMITS,0.104,0.209
$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,50.0,17032,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.90,0.000,2,0.000,0.000,26,2511,3061
$GC,88,-1.16,-146.6,3.7,-3.6,4,114,10.80,0.00,-12.75,0.000,6,0.121,0.000,2116,2511,3514
$GC,422,-1.01,-146.6,43.6,-11.6,20,424,0.17,0.00,0.00,0.000,6,0.074,0.000,2154,2512,3515
$GC,729,-1.01,-146.6,73.9,-14.1,35,733,0.00,2.15,0.00,0.000,4,0.000,0.058,2154,3702,3515
$GC,870,-0.97,-146.6,90.6,-8.9,41,874,0.00,2.03,0.00,0.000,6,0.000,0.036,2154,2514,3515
$GC,1198,-0.97,-146.6,115.1,-7.4,57,1202,0.00,2.12,0.00,0.000,4,0.000,0.055,2154,3699,3515
$GC,1412,-0.93,-146.6,131.0,-8.0,66,1416,0.00,2.03,0.00,0.000,6,0.000,0.036,2154,2510,3515
$GC,1734,-0.93,-146.6,166.5,-11.0,82,1738,0.00,2.15,0.00,0.000,4,0.000,0.056,2154,3708,3515
$GC,1863,-0.93,-146.6,179.4,-11.6,87,1869,0.00,2.03,0.00,0.000,6,0.000,0.036,2154,2518,3515
$GC,2180,-0.93,-146.6,209.8,-9.4,103,2184,0.00,2.10,0.00,0.000,4,0.000,0.056,2154,3698,3515
$GC,2303,-0.93,-146.6,221.9,-9.6,108,2307,0.00,2.03,0.00,0.000,6,0.000,0.035,2154,2508,3515
$GC,2625,-0.93,-146.6,255.1,-11.1,124,2629,0.00,2.15,0.00,0.000,4,0.000,0.057,2154,3703,3515
$GC,2838,-0.93,-146.6,279.1,-10.3,133,2842,0.00,2.03,0.00,0.000,6,0.000,0.036,2154,2513,3515
$GC,3160,-0.93,-146.6,315.0,-11.4,149,3164,0.00,2.15,0.00,0.000,4,0.000,0.058,2154,3708,3515
$GC,3301,-0.93,-146.6,330.9,-11.4,155,3305,0.00,2.05,0.00,0.000,6,0.000,0.036,2154,2506,3515
$GC,3629,-0.93,-146.6,362.9,-8.9,171,3632,0.00,2.17,0.00,0.000,4,0.000,0.060,2154,3706,3515
$GC,3887,-0.93,-146.6,388.0,-9.6,182,3890,0.00,2.05,0.00,0.000,6,0.000,0.037,2154,2508,3515
$GC,4209,-0.93,-146.6,416.8,-7.9,198,4213,0.00,2.15,0.00,0.000,4,0.000,0.062,2154,3695,3515
$GC,4306,-0.93,-146.6,425.3,-8.6,202,4310,0.00,2.03,0.00,0.000,6,0.000,0.035,2154,2512,3515
$GC,4635,-0.93,-146.6,450.6,-7.2,218,4636,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2512,3515
$GC,4943,-0.93,-146.6,470.8,-6.7,233,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2512,3515
$GC,5252,-0.93,-146.6,494.3,-7.9,248,5256,0.00,2.22,0.00,0.000,4,0.000,0.075,2154,3702,3515
$GC,5399,-0.93,-146.6,507.8,-10.2,254,5402,0.00,2.08,0.00,0.000,6,0.000,0.044,2154,2520,3515
$GC,5721,-0.93,-146.6,536.6,-8.0,270,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2518,3515
$GC,6030,-0.93,-146.6,557.7,-6.2,285,6033,0.00,2.25,0.00,0.000,4,0.000,0.086,2154,3698,3515
$GC,6125,-0.93,-146.6,564.5,-6.9,289,6129,0.00,2.10,0.00,0.000,6,0.000,0.048,2154,2512,3514
$GC,6453,-0.93,-146.6,587.0,-6.1,305,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2511,3514
$GC,6762,-0.93,-146.6,604.2,-5.6,320,6766,0.00,2.25,0.00,0.000,4,0.000,0.084,2154,3695,3514
$GC,6908,-0.93,-146.6,613.0,-7.0,326,6914,0.00,2.10,0.00,0.000,6,0.000,0.048,2154,2508,3514
$GC,7224,-0.93,-146.6,630.9,-5.6,342,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2508,3514
$GC,7533,-0.93,-146.6,651.8,-6.8,357,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2508,3513
$GC,7843,-0.93,-146.6,670.3,-5.9,372,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2507,3512
$GC,8152,-0.93,-146.6,691.5,-6.8,387,8156,0.00,2.25,0.00,0.000,4,0.000,0.084,2154,3698,3512
$GC,8236,-0.93,-146.6,697.6,-7.3,390,8242,0.00,2.10,0.00,0.000,6,0.000,0.048,2154,2512,3512
$GC,8553,-0.93,-146.6,718.4,-6.7,406,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2512,3511
$GC,8862,-0.93,-146.6,739.0,-5.9,421,8866,0.00,2.25,0.00,0.000,4,0.000,0.084,2154,3703,3511
$STATE,8950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8950,begin apogee
$GC,8961,-0.45,0.0,744.9,7.9,425,9094,0.57,0.00,129.07,1.331,6,0.074,0.000,2274,2319,2915
$STATE,9094,end apogee,CONTROL_FINISHED_OK
$STATE,9095,begin climb
$GC,9098,1.16,146.6,748.6,0.0,432,9236,1.60,2.75,128.65,1.285,4,0.051,0.073,2626,907,2317
$GC,9496,1.18,218.0,726.4,3.9,450,9567,0.00,2.62,63.67,1.267,6,0.000,0.059,2626,2324,2026
$GC,9893,1.18,218.0,702.2,6.5,469,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2324,2025
$GC,10199,1.19,228.9,685.7,5.7,484,10212,0.00,0.00,10.93,1.163,6,0.000,0.000,2626,2324,1980
$GC,10508,1.19,228.9,667.2,6.2,499,10512,0.00,2.58,0.00,0.000,4,0.000,0.080,2626,3697,1981
$GC,10593,1.19,228.9,660.9,8.3,503,10597,0.00,2.47,0.00,0.000,6,0.000,0.048,2626,2312,1980
$GC,10925,1.19,228.9,630.7,9.9,519,10930,0.00,2.60,0.00,0.000,4,0.000,0.077,2626,3692,1980
$GC,10983,1.19,228.9,624.3,11.7,521,10989,0.00,2.47,0.00,0.000,6,0.000,0.046,2626,2307,1980
$GC,11299,1.19,228.9,590.8,10.1,537,11300,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2307,1980
$GC,11608,1.19,228.9,559.9,8.8,552,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2307,1979
$GC,11917,1.19,228.9,537.5,6.9,567,11919,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2307,1979
$GC,12227,1.19,228.9,515.0,6.8,582,12231,0.00,2.58,0.00,0.000,4,0.000,0.068,2626,3693,1979
$GC,12294,1.19,228.9,509.9,7.6,585,12298,0.00,2.42,0.00,0.000,6,0.000,0.041,2626,2312,1978
$GC,12616,1.19,228.9,485.8,7.3,601,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2312,1978
$GC,12925,1.20,234.9,465.0,5.8,616,12939,0.00,2.65,6.47,0.960,4,0.000,0.064,2626,3701,1957
$GC,13064,1.20,234.9,456.2,6.4,622,13068,0.00,2.42,0.00,0.000,6,0.000,0.039,2626,2317,1957
$GC,13385,1.20,234.9,434.9,7.3,638,13389,0.00,2.53,0.00,0.000,4,0.000,0.063,2626,3706,1957
$GC,13449,1.20,234.9,430.3,7.0,641,13453,0.00,2.42,0.00,0.000,6,0.000,0.038,2625,2313,1957
$GC,13776,1.20,234.9,405.4,8.6,657,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2313,1957
$GC,14085,1.20,234.9,377.9,9.2,672,14089,0.00,2.50,0.00,0.000,4,0.000,0.060,2626,3695,1957
$GC,14164,1.20,234.9,370.4,9.9,675,14170,0.00,2.40,0.00,0.000,6,0.000,0.037,2626,2309,1957
$GC,14480,1.20,234.9,343.4,8.4,691,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2309,1957
$GC,14790,1.20,234.9,319.8,6.9,706,14794,0.00,2.53,0.00,0.000,4,0.000,0.058,2626,3703,1958
$GC,14874,1.20,234.9,314.0,6.8,709,14880,0.00,2.40,0.00,0.000,6,0.000,0.036,2625,2311,1958
$GC,15190,1.21,242.2,294.1,5.8,725,15201,0.00,0.00,8.65,0.920,6,0.000,0.000,2626,2311,1927
$GC,15500,1.26,282.6,278.4,4.8,740,15543,0.10,2.60,35.47,1.000,4,0.055,0.056,2656,3699,1763
$GC,15631,1.21,282.6,269.9,7.1,745,15637,0.00,2.40,0.00,0.000,6,0.000,0.035,2656,2317,1762
$GC,15947,1.21,282.6,248.7,6.9,761,15951,0.00,2.50,0.00,0.000,4,0.000,0.056,2656,3703,1763
$GC,16000,1.16,282.6,245.2,6.7,763,16005,0.15,2.40,0.00,0.000,6,0.091,0.035,2627,2312,1762
$GC,16322,1.23,302.2,226.4,5.4,779,16347,0.00,2.60,18.23,0.943,4,0.000,0.054,2627,3695,1681
$GC,16405,1.25,316.8,221.7,5.6,782,16425,0.00,2.40,13.95,0.904,6,0.000,0.035,2627,2310,1622
$GC,16746,1.32,327.9,203.9,5.7,799,16762,0.15,2.55,10.75,0.872,4,0.047,0.054,2668,3696,1577
$GC,16820,1.27,327.9,198.4,7.7,801,16824,0.00,2.40,0.00,0.000,6,0.000,0.035,2668,2311,1577
$GC,17136,1.27,327.9,175.2,7.2,816,17141,0.00,2.50,0.00,0.000,4,0.000,0.054,2668,3703,1577
$GC,17199,1.27,327.9,169.9,7.1,819,17203,0.00,2.38,0.00,0.000,6,0.000,0.035,2667,2318,1577
$GC,17533,1.27,327.9,142.8,6.0,835,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2316,1577
$GC,17842,1.27,327.9,122.4,9.1,850,17846,0.00,2.47,0.00,0.000,4,0.000,0.054,2667,3697,1577
$GC,17943,1.23,327.9,114.4,8.7,854,17950,0.12,2.38,0.00,0.000,6,0.100,0.035,2644,2308,1577
$GC,18260,1.23,327.9,89.3,7.2,870,18261,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2307,1577
$GC,18569,1.23,327.9,63.1,7.9,885,18573,0.00,2.50,0.00,0.000,4,0.000,0.054,2644,3706,1577
$GC,18703,1.23,327.9,52.7,6.8,891,18708,0.00,2.40,0.00,0.000,6,0.000,0.035,2644,2310,1577
$GC,19026,1.27,327.9,34.8,9.2,907,19030,0.00,2.50,0.00,0.000,4,0.000,0.054,2644,3700,1577
$GC,19071,1.27,327.9,30.4,9.9,909,19075,0.00,2.38,0.00,0.000,6,0.000,0.035,2644,2315,1577
$STATE,19389,end climb,SURFACE_DEPTH_REACHED
$STATE,19389,begin surface coast
$FINISH,0.8,1.002034
$STATE,19411,end surface coast,CONTROL_FINISHED_OK
$STATE,19411,begin surface
$SM_CCo,19497,0.00,0.000,0,0,1577,328.21
$SM_GC,1.50,11.62,0.00,0.00,0.041,0.000,0.000,25,2526,1577,-10.75,0.25,328.21
$IRIDIUM_FIX,6244.56,-1312.52,210298,080834
$TT8_MAMPS,0.028379
$HUMID,2010
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,16.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.4,104.3
$24V_AH,23.0,21.506
$10V_AH,10.1,9.375
$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,25.300,135.600,425.850,0.000,0.000,26.611,28.294,192.526,5.750,0.000,0.000,32.396,1732.967,14699.203,519.655,2326.236,619.387,0.000,1657.393,0.000,2258.824,0.000,38.061,0.000
$DEVICE_MAMPS,121.186,85.904,1330.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.139,634.195,552.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47450,926
$CAP_FILE_SIZE,138139,0
$CFSIZE,260165632,251592704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271108,193438,6309.557,-1312.743,25,1.4,25,-12.2