version: 66.04
glider: 101
mission: 7
dive: 131
start: 11 27 108 19 40 54
data:
$ID,101
$MISSION,7
$DIVE,131
$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,-734526.94
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,193438,6309.557,-1312.743,25,1.4,25,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-55.0
$GPS2,194033,6309.551,-1312.828,14,1.5,14,-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,58.9,14703,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.16,-146.6,0.0,0.0,0,101,0.00,0.00,-80.57,0.000,2,0.000,0.000,25,2527,3285
$GC,105,-1.16,-146.6,5.0,-5.6,4,127,10.88,0.00,-5.03,0.000,6,0.124,0.000,2117,2527,3513
$GC,438,-1.04,-146.6,40.7,-7.7,20,443,0.15,2.08,0.00,0.000,4,0.081,0.058,2148,3690,3513
$GC,528,-0.99,-146.6,50.0,-10.7,24,532,0.00,2.03,0.00,0.000,6,0.000,0.035,2148,2502,3513
$GC,857,-0.99,-146.6,74.4,-5.5,40,860,0.00,2.15,0.00,0.000,4,0.000,0.056,2148,3699,3513
$GC,971,-0.91,-146.6,81.0,-9.1,45,975,0.12,2.03,0.00,0.000,6,0.087,0.035,2173,2508,3513
$GC,1304,-0.91,-146.6,103.5,-6.3,61,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2508,3513
$GC,1613,-0.91,-146.6,126.8,-7.4,76,1617,0.00,2.12,0.00,0.000,4,0.000,0.055,2173,3693,3513
$GC,1720,-0.91,-146.6,135.2,-8.0,80,1726,0.00,2.03,0.00,0.000,6,0.000,0.035,2173,2502,3513
$GC,2036,-0.91,-146.6,154.8,-6.1,96,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2502,3513
$GC,2346,-0.91,-146.6,171.7,-5.4,111,2350,0.00,2.12,0.00,0.000,4,0.000,0.055,2173,3693,3513
$GC,2512,-0.91,-146.6,179.3,-4.7,118,2516,0.00,2.00,0.00,0.000,6,0.000,0.035,2173,2514,3513
$GC,2840,-0.91,-146.6,195.9,-5.8,134,2844,0.00,2.10,0.00,0.000,4,0.000,0.056,2173,3693,3513
$GC,2909,-0.91,-146.6,200.4,-7.1,137,2912,0.00,2.00,0.00,0.000,6,0.000,0.036,2173,2513,3513
$GC,3242,-0.91,-146.6,222.4,-7.4,153,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2513,3514
$GC,3552,-0.91,-146.6,241.4,-5.6,168,3555,0.00,2.12,0.00,0.000,4,0.000,0.057,2173,3697,3513
$GC,3658,-0.91,-146.6,248.5,-7.3,172,3664,0.00,2.00,0.00,0.000,6,0.000,0.035,2173,2517,3513
$GC,3975,-0.91,-146.6,267.2,-5.6,188,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2516,3513
$GC,4284,-0.91,-146.6,285.9,-6.0,203,4288,0.00,2.12,0.00,0.000,4,0.000,0.058,2173,3698,3513
$GC,4420,-0.91,-146.6,295.0,-6.7,209,4424,0.00,2.00,0.00,0.000,6,0.000,0.036,2173,2517,3513
$GC,4753,-0.91,-146.6,318.6,-6.9,225,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2516,3513
$GC,5063,-0.91,-146.6,334.0,-4.8,240,5066,0.00,2.12,0.00,0.000,4,0.000,0.059,2173,3697,3513
$GC,5199,-0.91,-146.6,341.0,-5.3,246,5203,0.00,2.00,0.00,0.000,6,0.000,0.035,2173,2518,3513
$GC,5533,-0.91,-146.6,357.3,-5.1,262,5537,0.00,2.12,0.00,0.000,4,0.000,0.060,2173,3693,3513
$GC,5602,-0.91,-146.6,362.0,-7.6,265,5605,0.00,2.00,0.00,0.000,6,0.000,0.036,2173,2516,3513
$GC,5936,-0.91,-146.6,380.7,-5.2,281,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2514,3513
$GC,6245,-0.91,-146.6,395.6,-4.7,296,6248,0.00,2.12,0.00,0.000,4,0.000,0.062,2173,3687,3512
$GC,6329,-0.91,-146.6,399.9,-5.2,299,6336,0.00,2.00,0.00,0.000,6,0.000,0.036,2173,2514,3513
$GC,6646,-0.96,-146.6,414.4,-4.4,315,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2515,3513
$GC,6955,-0.96,-146.6,430.2,-6.2,330,6958,0.00,2.15,0.00,0.000,4,0.000,0.065,2173,3692,3513
$GC,7050,-0.96,-146.6,437.0,-6.8,334,7054,0.00,2.00,0.00,0.000,6,0.000,0.038,2173,2524,3513
$GC,7378,-1.00,-146.6,457.3,-6.0,350,7382,0.00,2.15,0.00,0.000,4,0.000,0.070,2173,3691,3512
$GC,7492,-1.00,-146.6,465.1,-6.0,355,7496,0.00,2.03,0.00,0.000,6,0.000,0.039,2173,2519,3512
$GC,7826,-1.05,-146.6,484.8,-5.6,371,7828,0.12,0.00,0.00,0.000,6,0.054,0.000,2136,2519,3513
$GC,8134,-1.05,-146.6,507.7,-7.3,386,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2519,3513
$GC,8444,-1.05,-146.6,529.3,-6.8,401,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2519,3512
$GC,8753,-1.05,-146.6,546.9,-6.3,416,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2519,3512
$GC,9063,-1.05,-146.6,565.8,-5.7,431,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2517,3512
$GC,9371,-1.05,-146.6,584.6,-6.3,446,9375,0.00,2.25,0.00,0.000,4,0.000,0.088,2136,3693,3512
$GC,9496,-1.01,-146.6,593.4,-6.7,451,9502,0.00,2.08,0.00,0.000,6,0.000,0.051,2136,2526,3512
$GC,9812,-1.01,-146.6,613.1,-6.6,467,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2526,3511
$GC,10121,-1.01,-146.6,634.4,-8.0,482,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2525,3511
$GC,10430,-1.01,-146.6,658.5,-8.6,497,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2525,3511
$GC,10740,-1.01,-146.6,682.2,-8.6,512,10743,0.00,2.22,0.00,0.000,4,0.000,0.087,2136,3690,3510
$GC,10824,-1.01,-146.6,690.4,-8.7,515,10830,0.00,2.10,0.00,0.000,6,0.000,0.050,2136,2506,3510
$STATE,11116,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11116,begin apogee
$GC,11125,-0.45,0.0,711.7,5.6,530,11259,0.65,0.00,128.82,1.309,6,0.070,0.000,2275,2314,2915
$STATE,11260,end apogee,CONTROL_FINISHED_OK
$STATE,11260,begin climb
$GC,11263,1.16,146.6,714.9,0.0,537,11401,1.60,2.75,128.52,1.263,4,0.058,0.072,2622,905,2317
$GC,11506,1.16,146.6,702.1,7.4,548,11510,0.00,2.60,0.00,0.000,6,0.000,0.059,2622,2311,2316
$GC,11828,1.15,178.4,683.2,5.1,564,11859,0.00,0.00,29.50,1.232,6,0.000,0.000,2622,2312,2186
$GC,12156,1.18,202.1,665.1,5.3,580,12185,0.00,2.72,22.38,1.219,4,0.000,0.078,2622,3693,2091
$GC,12249,1.18,202.1,659.1,6.8,584,12253,0.00,2.50,0.00,0.000,6,0.000,0.048,2622,2308,2090
$GC,12570,1.18,202.1,641.2,6.6,600,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2308,2090
$GC,12880,1.18,202.5,624.0,6.0,615,12884,0.00,2.65,0.00,0.000,4,0.000,0.077,2621,3699,2089
$GC,12920,1.20,213.7,621.7,5.7,617,12941,0.00,2.47,11.65,1.165,6,0.000,0.048,2622,2316,2043
$GC,13251,1.24,250.7,605.0,4.9,633,13290,0.10,0.00,34.08,1.243,6,0.058,0.000,2650,2316,1891
$GC,13600,1.24,250.7,582.6,6.4,650,13604,0.00,2.62,0.00,0.000,4,0.000,0.076,2651,3698,1891
$GC,13701,1.16,250.7,575.4,7.5,654,13708,0.12,2.47,0.00,0.000,6,0.100,0.045,2628,2311,1891
$GC,14017,1.17,254.3,557.5,5.9,670,14024,0.00,0.00,4.43,0.863,6,0.000,0.000,2628,2311,1878
$GC,14327,1.19,272.2,541.1,5.5,685,14346,0.00,0.00,17.55,1.174,6,0.000,0.000,2628,2311,1805
$GC,14656,1.19,272.2,513.7,10.1,701,14661,0.00,2.60,0.00,0.000,4,0.000,0.070,2627,3697,1805
$GC,14802,1.19,272.2,497.6,11.8,707,14809,0.00,2.45,0.00,0.000,6,0.000,0.041,2627,2309,1804
$GC,15119,1.19,272.2,461.7,11.1,723,15123,0.00,2.58,0.00,0.000,4,0.000,0.064,2628,3699,1804
$GC,15192,1.19,272.2,454.1,9.6,726,15196,0.00,2.42,0.00,0.000,6,0.000,0.040,2627,2316,1804
$GC,15513,1.19,272.2,424.4,9.5,742,15514,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2315,1804
$GC,15822,1.19,272.2,397.9,8.1,757,15827,0.00,2.53,0.00,0.000,4,0.000,0.061,2627,3696,1804
$GC,15935,1.19,272.2,388.7,8.1,762,15939,0.00,2.42,0.00,0.000,6,0.000,0.038,2627,2302,1804
$GC,16256,1.19,272.2,367.3,6.2,778,16257,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2302,1804
$GC,16566,1.24,314.7,351.6,4.7,793,16609,0.00,2.67,37.62,1.065,4,0.000,0.058,2627,3697,1632
$GC,16682,1.26,334.7,345.2,5.4,798,16707,0.10,2.42,18.35,1.014,6,0.058,0.036,2654,2309,1550
$GC,17032,1.26,334.7,323.6,6.7,815,17037,0.00,2.55,0.00,0.000,4,0.000,0.058,2654,3702,1549
$GC,17083,1.26,334.7,319.6,7.4,817,17087,0.00,2.42,0.00,0.000,6,0.000,0.037,2654,2308,1549
$GC,17399,1.26,334.7,295.3,8.3,832,17403,0.00,2.55,0.00,0.000,4,0.000,0.058,2654,3706,1549
$GC,17451,1.26,334.7,290.7,9.6,834,17455,0.00,2.42,0.00,0.000,6,0.000,0.037,2654,2310,1549
$GC,17767,1.26,334.7,262.7,8.8,849,17771,0.00,2.50,0.00,0.000,4,0.000,0.057,2654,3696,1550
$GC,17817,1.26,334.7,258.4,8.1,851,17821,0.00,2.40,0.00,0.000,6,0.000,0.036,2654,2310,1549
$GC,18139,1.26,334.7,233.3,7.8,867,18143,0.00,2.53,0.00,0.000,4,0.000,0.057,2654,3703,1549
$GC,18183,1.26,334.7,229.5,8.7,869,18188,0.00,2.40,0.00,0.000,6,0.000,0.036,2654,2312,1550
$GC,18504,1.26,334.7,206.3,7.3,885,18509,0.00,2.53,0.00,0.000,4,0.000,0.057,2654,3706,1550
$GC,18555,1.26,334.7,202.1,7.5,887,18559,0.00,2.40,0.00,0.000,6,0.000,0.036,2654,2314,1550
$GC,18876,1.26,334.7,174.0,9.3,903,18881,0.00,2.50,0.00,0.000,4,0.000,0.056,2654,3697,1550
$GC,18933,1.26,334.7,169.0,7.6,905,18939,0.00,2.38,0.00,0.000,6,0.000,0.035,2654,2313,1550
$GC,19249,1.26,334.7,139.3,10.2,921,19253,0.00,2.50,0.00,0.000,4,0.000,0.055,2654,3699,1550
$GC,19295,1.26,334.7,134.9,10.1,923,19299,0.00,2.38,0.00,0.000,6,0.000,0.035,2654,2315,1550
$GC,19617,1.26,334.7,103.8,9.9,939,19621,0.00,2.50,0.00,0.000,4,0.000,0.055,2654,3702,1550
$GC,19680,1.43,465.7,102.0,2.1,942,19795,0.12,2.40,109.10,0.888,6,0.054,0.035,2688,2305,1016
$GC,20112,1.43,465.7,46.7,14.8,963,20117,0.00,2.50,0.00,0.000,4,0.000,0.054,2688,3696,1016
$GC,20186,1.43,465.7,32.3,16.7,966,20190,0.00,2.40,0.00,0.000,6,0.000,0.035,2688,2308,1015
$STATE,20396,end climb,SURFACE_DEPTH_REACHED
$STATE,20396,begin surface coast
$FINISH,0.9,1.027429
$STATE,20418,end surface coast,CONTROL_FINISHED_OK
$STATE,20418,begin surface
$SM_CCo,20503,0.00,0.000,0,0,1015,466.07
$SM_GC,1.58,11.88,0.00,0.00,0.039,0.000,0.000,23,2538,1015,-10.75,0.59,466.07
$IRIDIUM_FIX,6244.56,-1311.44,210298,141426
$TT8_MAMPS,0.028379
$HUMID,2028
$INTERNAL_PRESSURE,7.74444
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.4,95.0
$24V_AH,23.0,21.696
$10V_AH,10.1,9.468
$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,25.850,144.150,542.000,0.000,0.000,23.200,32.882,157.281,5.250,0.000,0.000,15.595,1788.668,15552.374,635.763,2284.596,592.364,0.000,1790.826,0.000,2233.522,0.000,36.427,0.000
$DEVICE_MAMPS,124.254,88.205,1309.269,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,724.691,667.806,547.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50639,977
$CAP_FILE_SIZE,143078,0
$CFSIZE,260165632,251518976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281108,012407,6311.013,-1309.026,49,1.6,50,-12.2