version: 66.04
glider: 101
mission: 7
dive: 141
start: 11 30 108 2 12 34
data:
$ID,101
$MISSION,7
$DIVE,141
$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,-734792.25
$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,29
$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
$GPS1,020008,6328.980,-1301.158,46,1.2,46,-12.2
$_CALLS,2
$_XMS_NAKs,35
$_XMS_TOUTs,5
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-43.7
$GPS2,021214,6328.804,-1301.587,13,1.1,30,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$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,22.4,30477,-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,15,-1.16,-146.6,0.0,0.0,0,118,0.00,0.00,-100.62,0.000,2,0.000,0.000,26,2530,3257
$GC,122,-1.16,-146.6,4.2,-3.3,5,145,10.80,2.15,-6.20,0.000,4,0.122,0.072,2115,3692,3515
$GC,267,-1.02,-146.6,20.9,-7.8,11,271,0.17,2.03,0.00,0.000,6,0.085,0.036,2148,2506,3515
$GC,594,-1.02,-146.6,53.6,-9.6,27,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2506,3515
$GC,904,-0.98,-146.6,73.3,-6.8,42,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2506,3515
$GC,1214,-0.98,-146.6,97.4,-7.2,57,1218,0.00,2.12,0.00,0.000,4,0.000,0.056,2148,3686,3515
$GC,1356,-0.92,-146.6,106.8,-5.9,63,1360,0.12,2.00,0.00,0.000,6,0.084,0.036,2174,2516,3514
$GC,1683,-0.92,-146.6,126.1,-8.1,79,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2516,3515
$GC,1993,-0.92,-146.6,151.2,-9.7,94,1997,0.00,2.10,0.00,0.000,4,0.000,0.056,2174,3685,3515
$GC,2089,-0.92,-146.6,158.0,-6.4,98,2093,0.00,2.00,0.00,0.000,6,0.000,0.037,2174,2512,3515
$GC,2416,-0.92,-146.6,178.4,-6.7,114,2420,0.00,2.12,0.00,0.000,4,0.000,0.056,2174,3696,3515
$GC,2523,-0.92,-146.6,185.9,-6.1,118,2529,0.00,2.03,0.00,0.000,6,0.000,0.036,2174,2507,3515
$GC,2839,-0.92,-146.6,207.5,-8.0,134,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2507,3515
$GC,3148,-0.92,-146.6,229.2,-7.1,149,3152,0.00,2.12,0.00,0.000,4,0.000,0.057,2174,3689,3514
$GC,3278,-0.92,-146.6,239.2,-7.6,154,3284,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2512,3514
$GC,3594,-0.92,-146.6,263.6,-7.7,170,3597,0.00,2.12,0.00,0.000,4,0.000,0.057,2174,3695,3513
$GC,3678,-0.92,-146.6,270.9,-8.8,173,3684,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2517,3515
$GC,3994,-0.92,-146.6,296.9,-7.8,189,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2517,3515
$GC,4303,-0.92,-146.6,318.2,-6.7,204,4307,0.00,2.10,0.00,0.000,4,0.000,0.058,2174,3686,3515
$GC,4433,-0.92,-146.6,326.8,-4.0,209,4439,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2510,3514
$GC,4750,-0.92,-146.6,340.2,-3.2,225,4753,0.00,2.12,0.00,0.000,4,0.000,0.058,2174,3688,3514
$GC,4874,-0.92,-146.6,344.2,-3.4,230,4878,0.00,1.98,0.00,0.000,6,0.000,0.036,2174,2519,3515
$GC,5197,-0.92,-146.6,359.0,-5.5,246,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2517,3514
$GC,5505,-0.92,-146.6,381.3,-8.0,261,5509,0.00,2.10,0.00,0.000,4,0.000,0.061,2174,3687,3514
$GC,5668,-0.92,-146.6,394.8,-8.5,268,5672,0.00,2.00,0.00,0.000,6,0.000,0.037,2174,2520,3514
$GC,5996,-0.92,-146.6,417.3,-6.8,284,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2520,3514
$GC,6305,-0.97,-146.6,440.3,-8.4,299,6309,0.00,2.12,0.00,0.000,4,0.000,0.067,2174,3685,3514
$GC,6384,-0.97,-146.6,446.7,-7.0,302,6388,0.00,2.00,0.00,0.000,6,0.000,0.038,2174,2520,3514
$GC,6707,-1.02,-146.6,458.4,-1.6,318,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2521,3514
$GC,7016,-1.07,-146.6,469.2,-4.7,333,7020,0.15,2.15,0.00,0.000,4,0.047,0.070,2130,3682,3514
$GC,7185,-1.00,-146.6,484.0,-8.9,340,7192,0.12,2.00,0.00,0.000,6,0.088,0.042,2154,2525,3514
$GC,7502,-1.00,-146.6,508.3,-5.7,356,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2525,3513
$GC,7811,-1.00,-146.6,522.9,-5.7,371,7815,0.00,2.20,0.00,0.000,4,0.000,0.086,2154,3678,3513
$GC,7884,-1.00,-146.6,527.8,-7.5,374,7888,0.00,2.08,0.00,0.000,6,0.000,0.052,2154,2518,3513
$GC,8212,-1.00,-146.6,543.7,-3.3,390,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2519,3513
$GC,8521,-1.00,-146.6,557.1,-5.4,405,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2517,3513
$GC,8830,-1.00,-146.6,568.9,-4.2,420,8834,0.00,2.22,0.00,0.000,4,0.000,0.088,2155,3679,3512
$GC,8922,-1.00,-146.6,572.5,-3.3,424,8925,0.00,2.08,0.00,0.000,6,0.000,0.051,2155,2515,3512
$GC,9255,-1.00,-146.6,585.1,-4.8,440,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2514,3512
$GC,9564,-1.00,-146.6,605.7,-7.9,455,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2514,3512
$GC,9874,-1.05,-146.6,628.8,-6.5,470,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2513,3511
$GC,10182,-1.05,-146.6,645.4,-6.3,485,10186,0.00,2.22,0.00,0.000,4,0.000,0.086,2154,3686,3511
$GC,10261,-1.05,-146.6,652.4,-8.5,488,10265,0.00,2.10,0.00,0.000,6,0.000,0.050,2154,2506,3511
$STATE,10539,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10539,begin apogee
$GC,10547,-0.45,0.0,672.3,5.6,502,10681,0.55,0.00,127.80,1.285,6,0.064,0.000,2274,2316,2914
$STATE,10682,end apogee,CONTROL_FINISHED_OK
$STATE,10682,begin climb
$GC,10686,1.16,146.6,675.0,0.0,509,10818,1.60,0.00,127.95,1.245,6,0.054,0.000,2624,2316,2317
$GC,11122,1.25,222.6,657.4,3.7,530,11195,0.10,2.67,67.12,1.223,4,0.057,0.077,2655,3682,2007
$GC,11339,1.14,222.6,638.8,13.6,540,11344,0.15,2.45,0.00,0.000,6,0.092,0.046,2626,2316,2006
$GC,11666,1.14,222.6,611.2,7.0,556,11671,0.00,2.60,0.00,0.000,4,0.000,0.069,2625,911,2005
$GC,11722,1.14,222.6,606.8,8.0,558,11729,0.00,2.58,0.00,0.000,6,0.000,0.056,2626,2312,2006
$GC,12039,1.14,222.6,577.5,10.3,574,12043,0.00,2.58,0.00,0.000,4,0.000,0.075,2626,3693,2005
$GC,12146,1.16,238.2,569.9,5.5,579,12168,0.00,2.45,14.73,1.153,6,0.000,0.044,2626,2314,1943
$GC,12478,1.18,248.9,554.3,5.7,595,12494,0.00,2.62,11.10,1.114,4,0.000,0.064,2625,912,1899
$GC,12551,1.18,248.9,549.7,6.9,597,12556,0.00,2.58,0.00,0.000,6,0.000,0.051,2625,2323,1899
$GC,12867,1.18,248.9,523.8,8.5,612,12868,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2324,1899
$GC,13176,1.18,248.9,501.5,6.6,627,13181,0.00,2.53,0.00,0.000,4,0.000,0.068,2626,3699,1899
$GC,13255,1.18,248.9,495.6,8.1,630,13262,0.00,2.45,0.00,0.000,6,0.000,0.041,2626,2307,1898
$GC,13572,1.18,248.9,476.3,6.4,646,13576,0.00,2.58,0.00,0.000,4,0.000,0.065,2626,3699,1898
$GC,13695,1.18,248.9,468.0,6.7,651,13701,0.00,2.42,0.00,0.000,6,0.000,0.039,2626,2314,1898
$GC,14011,1.18,248.9,447.2,7.4,667,14012,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2314,1899
$GC,14321,1.18,248.9,425.7,8.3,682,14324,0.00,2.53,0.00,0.000,4,0.000,0.061,2626,3693,1899
$GC,14405,1.18,248.9,418.0,9.4,685,14412,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2314,1898
$GC,14722,1.18,248.9,392.3,8.0,701,14723,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2314,1899
$GC,15031,1.18,248.9,368.6,7.3,716,15035,0.00,2.53,0.00,0.000,4,0.000,0.059,2626,3700,1898
$GC,15122,1.18,248.9,360.7,7.9,720,15126,0.00,2.40,0.00,0.000,6,0.000,0.037,2626,2310,1899
$GC,15450,1.21,271.9,338.5,5.3,736,15476,0.00,2.58,21.12,1.027,4,0.000,0.056,2626,3693,1806
$GC,15539,1.25,304.3,334.0,5.0,740,15576,0.00,2.40,28.88,1.019,6,0.000,0.035,2626,2312,1673
$GC,15886,1.30,304.3,316.0,6.4,757,15891,0.15,2.53,0.00,0.000,4,0.048,0.056,2667,3698,1673
$GC,15965,1.25,304.3,309.0,7.4,760,15971,0.00,2.40,0.00,0.000,6,0.000,0.035,2666,2311,1673
$GC,16282,1.20,304.3,280.0,8.3,776,16284,0.15,0.00,0.00,0.000,6,0.092,0.000,2637,2310,1673
$GC,16591,1.20,304.3,252.3,8.7,791,16595,0.00,2.53,0.00,0.000,4,0.000,0.056,2637,3705,1673
$GC,16676,1.20,304.3,243.1,10.2,795,16680,0.00,2.40,0.00,0.000,6,0.000,0.035,2637,2311,1673
$GC,17003,1.22,319.0,216.9,5.6,811,17021,0.00,0.00,13.77,0.913,6,0.000,0.000,2637,2310,1614
$GC,17332,1.27,319.0,198.1,6.1,827,17336,0.00,2.53,0.00,0.000,4,0.000,0.055,2637,3705,1614
$GC,17417,1.27,319.0,192.5,6.1,830,17423,0.00,2.40,0.00,0.000,6,0.000,0.035,2637,2316,1614
$GC,17733,1.27,319.0,165.6,7.4,846,17735,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2314,1614
$GC,18043,1.40,388.7,144.4,3.9,861,18108,0.17,2.62,58.03,0.910,4,0.047,0.054,2689,3699,1330
$GC,18232,1.35,388.7,127.5,10.9,869,18237,0.00,2.40,0.00,0.000,6,0.000,0.035,2689,2315,1329
$GC,18550,1.31,388.7,95.1,16.9,884,18551,0.15,0.00,0.00,0.000,6,0.093,0.000,2660,2314,1329
$GC,18858,1.31,388.7,59.9,12.4,899,18860,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2314,1328
$GC,19168,1.31,388.7,25.7,9.3,914,19172,0.00,2.50,0.00,0.000,4,0.000,0.053,2659,3703,1329
$GC,19254,1.31,388.7,16.7,8.7,918,19258,0.00,2.40,0.00,0.000,6,0.000,0.035,2660,2309,1329
$STATE,19392,end climb,SURFACE_DEPTH_REACHED
$STATE,19393,begin surface coast
$FINISH,1.0,1.027422
$STATE,19415,end surface coast,CONTROL_FINISHED_OK
$STATE,19415,begin surface
$SM_CCo,19500,0.00,0.000,0,0,1329,389.05
$SM_GC,1.60,11.60,0.00,0.00,0.035,0.000,0.000,28,2541,1329,-10.74,0.68,389.05
$IRIDIUM_FIX,6303.50,-1257.87,240298,020209
$TT8_MAMPS,0.028379
$HUMID,2018
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.2,106.5
$24V_AH,23.1,23.480
$10V_AH,10.1,10.377
$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,26.000,129.050,470.500,0.000,0.000,49.182,66.329,383.785,4.750,0.000,0.000,32.177,1704.846,14820.400,606.069,2220.357,870.564,0.000,1698.714,0.000,2153.722,0.000,33.209,0.000
$DEVICE_MAMPS,121.953,88.205,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,685.120,632.335,542.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47439,926
$CAP_FILE_SIZE,141565,0
$CFSIZE,260165632,250851328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301108,073855,6330.119,-1307.851,24,1.6,41,-12.3