version: 66.04
glider: 101
mission: 7
dive: 145
start: 12 1 108 0 57 43
data:
$ID,101
$MISSION,7
$DIVE,145
$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,-734845.94
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,005116,6336.518,-1306.365,40,4.4,59,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-58.6
$GPS2,005721,6336.481,-1306.283,8,1.5,8,-12.3
$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,42.7,18285,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.03,0.000,6,0.000,0.000,26,2524,3513
$GC,123,-1.16,-146.6,4.9,-3.9,5,138,10.85,2.50,0.00,0.000,4,0.124,0.044,2113,1107,3515
$GC,391,-1.06,-146.6,32.6,-6.2,16,397,0.15,2.47,0.00,0.000,6,0.091,0.040,2142,2521,3515
$GC,715,-1.01,-146.6,58.8,-6.5,32,720,0.00,2.47,0.00,0.000,4,0.000,0.042,2142,1109,3515
$GC,789,-0.96,-146.6,64.4,-7.2,35,794,0.10,2.47,0.00,0.000,6,0.097,0.038,2162,2529,3515
$GC,1106,-0.96,-146.6,88.5,-9.3,50,1109,0.00,2.05,0.00,0.000,4,0.000,0.058,2161,3687,3515
$GC,1179,-0.96,-146.6,96.1,-10.0,53,1183,0.00,2.00,0.00,0.000,6,0.000,0.036,2162,2511,3515
$GC,1507,-0.96,-146.6,127.8,-7.4,69,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2512,3515
$GC,1816,-0.96,-146.6,144.8,-6.0,84,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2512,3515
$GC,2125,-0.96,-146.6,162.0,-5.1,99,2129,0.00,2.12,0.00,0.000,4,0.000,0.057,2162,3696,3515
$GC,2198,-0.96,-146.6,167.1,-6.9,102,2202,0.00,2.00,0.00,0.000,6,0.000,0.035,2162,2514,3515
$GC,2526,-0.96,-146.6,189.6,-5.5,118,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2514,3515
$GC,2836,-0.96,-146.6,204.1,-5.4,133,2839,0.00,2.10,0.00,0.000,4,0.000,0.056,2162,3689,3515
$GC,2950,-0.96,-146.6,210.7,-5.7,138,2953,0.00,1.98,0.00,0.000,6,0.000,0.035,2161,2518,3515
$GC,3283,-0.96,-146.6,232.0,-7.4,154,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2518,3515
$GC,3592,-0.96,-146.6,253.1,-7.0,169,3596,0.00,2.10,0.00,0.000,4,0.000,0.057,2161,3692,3515
$GC,3721,-0.96,-146.6,263.2,-7.4,174,3727,0.00,2.00,0.00,0.000,6,0.000,0.035,2162,2506,3514
$GC,4037,-0.96,-146.6,285.4,-7.3,190,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2506,3515
$GC,4347,-0.96,-146.6,307.0,-8.1,205,4350,0.00,2.12,0.00,0.000,4,0.000,0.057,2162,3692,3515
$GC,4487,-0.96,-146.6,317.8,-7.8,211,4491,0.00,2.00,0.00,0.000,6,0.000,0.035,2162,2509,3515
$GC,4815,-0.96,-146.6,341.9,-7.7,227,4819,0.00,2.12,0.00,0.000,4,0.000,0.058,2162,3692,3515
$GC,4893,-0.96,-146.6,348.5,-8.8,230,4897,0.00,2.00,0.00,0.000,6,0.000,0.035,2162,2510,3514
$GC,5216,-0.96,-146.6,372.5,-7.6,246,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2510,3514
$GC,5525,-0.96,-146.6,397.8,-8.5,261,5529,0.00,2.12,0.00,0.000,4,0.000,0.060,2162,3686,3514
$GC,5713,-0.96,-146.6,415.1,-9.4,269,5717,0.00,2.00,0.00,0.000,6,0.000,0.036,2162,2513,3514
$GC,6041,-0.96,-146.6,445.4,-9.5,285,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2513,3515
$GC,6350,-0.96,-146.6,472.0,-7.6,300,6353,0.00,2.17,0.00,0.000,4,0.000,0.071,2162,3687,3514
$GC,6502,-0.96,-146.6,485.3,-10.3,306,6508,0.00,2.03,0.00,0.000,6,0.000,0.040,2162,2518,3514
$GC,6818,-0.96,-146.6,502.1,-4.8,322,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2517,3514
$GC,7127,-0.96,-146.6,513.2,-3.3,337,7131,0.00,2.20,0.00,0.000,4,0.000,0.079,2162,3690,3514
$GC,7280,-0.96,-146.6,520.6,-5.2,343,7286,0.00,2.08,0.00,0.000,6,0.000,0.048,2162,2513,3514
$GC,7596,-0.96,-146.6,526.5,-2.9,359,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2513,3514
$GC,7906,-0.96,-146.6,539.1,-5.5,374,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2513,3514
$GC,8214,-0.96,-146.6,567.5,-9.2,389,8218,0.00,2.22,0.00,0.000,4,0.000,0.086,2162,3683,3514
$GC,8433,-0.96,-146.6,583.9,-7.6,398,8439,0.00,2.08,0.00,0.000,6,0.000,0.052,2162,2518,3514
$GC,8751,-1.00,-146.6,605.2,-7.5,414,8756,0.00,2.60,0.00,0.000,4,0.000,0.074,2162,1104,3514
$GC,8847,-1.00,-146.6,611.2,-6.9,418,8851,0.00,2.60,0.00,0.000,6,0.000,0.067,2162,2512,3514
$GC,9164,-1.00,-146.6,617.7,-1.6,433,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2512,3513
$STATE,9387,end dive,NO_VERTICAL_VELOCITY
$STATE,9387,begin apogee
$GC,9395,-0.45,0.0,619.0,0.0,444,9530,0.52,0.00,127.47,1.214,6,0.064,0.000,2276,2314,2915
$STATE,9530,end apogee,CONTROL_FINISHED_OK
$STATE,9531,begin climb
$GC,9534,1.16,146.6,615.3,0.0,451,9671,1.60,2.75,126.93,1.173,4,0.056,0.071,2625,907,2317
$GC,9839,1.15,178.1,595.9,5.1,465,9874,0.00,2.60,28.92,1.126,6,0.000,0.054,2625,2328,2187
$GC,10193,1.17,191.7,578.5,5.6,482,10211,0.00,0.00,13.23,1.072,6,0.000,0.000,2625,2328,2132
$GC,10522,1.28,282.3,565.1,3.3,498,10607,0.12,2.65,78.80,1.161,4,0.058,0.072,2658,3690,1764
$GC,10753,1.23,282.3,543.9,11.8,508,10758,0.00,2.45,0.00,0.000,6,0.000,0.041,2658,2308,1763
$GC,11069,1.23,282.3,516.9,7.8,523,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2308,1763
$GC,11379,1.18,282.3,495.7,6.3,538,11381,0.12,0.00,0.00,0.000,6,0.098,0.000,2635,2308,1763
$GC,11688,1.26,346.7,487.6,4.1,553,11751,0.00,2.65,56.08,1.127,4,0.000,0.064,2634,3703,1500
$GC,11856,1.26,346.7,476.8,7.7,560,11860,0.00,2.45,0.00,0.000,6,0.000,0.038,2634,2310,1500
$GC,12172,1.31,346.7,454.8,7.1,575,12174,0.12,0.00,0.00,0.000,6,0.051,0.000,2672,2311,1500
$GC,12481,1.31,346.7,427.5,9.1,590,12485,0.00,2.55,0.00,0.000,4,0.000,0.060,2672,3703,1500
$GC,12567,1.26,346.7,418.8,10.6,594,12572,0.12,2.42,0.00,0.000,6,0.099,0.037,2648,2308,1500
$GC,12894,1.26,346.7,389.3,9.2,610,12898,0.00,2.53,0.00,0.000,4,0.000,0.058,2648,3705,1500
$GC,12944,1.26,346.7,384.4,9.2,612,12948,0.00,2.42,0.00,0.000,6,0.000,0.036,2648,2306,1500
$GC,13265,1.26,346.7,356.8,8.6,628,13270,0.00,2.53,0.00,0.000,4,0.000,0.057,2648,3698,1500
$GC,13316,1.26,346.7,352.1,8.7,630,13320,0.00,2.40,0.00,0.000,6,0.000,0.035,2648,2307,1500
$GC,13632,1.26,346.7,324.4,8.8,645,13636,0.00,2.50,0.00,0.000,4,0.000,0.056,2649,3694,1500
$GC,13678,1.26,346.7,320.2,9.1,647,13683,0.00,2.38,0.00,0.000,6,0.000,0.035,2648,2316,1500
$GC,14006,1.26,346.7,296.8,7.0,663,14010,0.00,2.50,0.00,0.000,4,0.000,0.055,2648,3699,1500
$GC,14050,1.26,346.7,293.1,8.2,665,14055,0.00,2.38,0.00,0.000,6,0.000,0.035,2648,2315,1500
$GC,14373,1.26,346.7,268.7,7.7,681,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2315,1500
$GC,14682,1.26,346.7,244.4,8.1,696,14686,0.00,2.50,0.00,0.000,4,0.000,0.055,2648,3703,1500
$GC,14760,1.26,346.7,237.4,9.9,699,14766,0.00,2.40,0.00,0.000,6,0.000,0.035,2648,2305,1500
$GC,15076,1.26,346.7,209.1,9.4,715,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2305,1499
$GC,15385,1.26,346.7,181.5,8.6,730,15390,0.00,2.50,0.00,0.000,4,0.000,0.054,2648,3694,1500
$GC,15471,1.26,346.7,173.3,9.5,734,15475,0.00,2.38,0.00,0.000,6,0.000,0.035,2648,2308,1500
$GC,15798,1.26,346.7,147.1,7.2,750,15799,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2308,1500
$GC,16107,1.26,346.7,121.9,7.2,765,16112,0.00,2.50,0.00,0.000,4,0.000,0.054,2648,3700,1500
$GC,16203,1.26,346.7,113.6,8.2,769,16207,0.00,2.38,0.00,0.000,6,0.000,0.035,2648,2315,1500
$GC,16520,1.26,346.7,92.6,7.8,784,16521,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2314,1499
$GC,16829,1.31,346.7,66.3,8.8,799,16834,0.00,2.47,0.00,0.000,4,0.000,0.054,2648,3696,1500
$GC,16903,1.31,346.7,59.2,9.1,802,16907,0.00,2.38,0.00,0.000,6,0.000,0.035,2648,2308,1500
$GC,17221,1.31,346.7,31.2,8.2,817,17222,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2306,1500
$STATE,17506,end climb,SURFACE_DEPTH_REACHED
$STATE,17506,begin surface coast
$FINISH,1.0,1.027482
$STATE,17527,end surface coast,CONTROL_FINISHED_OK
$STATE,17527,begin surface
$SM_CCo,17612,0.00,0.000,0,0,1500,347.10
$SM_GC,1.66,11.52,0.00,0.00,0.036,0.000,0.000,25,2537,1500,-10.75,0.57,347.10
$IRIDIUM_FIX,6308.26,-1314.15,240298,191959
$TT8_MAMPS,0.028379
$HUMID,2010
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.4,93.4
$24V_AH,23.1,24.142
$10V_AH,10.1,10.742
$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,25.250,117.075,431.425,0.000,0.000,24.907,30.482,169.584,5.250,0.000,0.000,9.976,1550.875,13272.956,536.350,2045.687,566.291,0.000,1553.961,0.000,2005.440,0.000,34.793,0.000
$DEVICE_MAMPS,124.254,85.904,1214.161,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.836,567.897,521.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41129,832
$CAP_FILE_SIZE,123787,0
$CFSIZE,260165632,250601472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,055232,6337.614,-1307.675,37,1.7,37,-12.3