version: 66.04
glider: 101
mission: 7
dive: 148
start: 12 1 108 16 59 44
data:
$ID,101
$MISSION,7
$DIVE,148
$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,-734939.19
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,165326,6343.499,-1303.904,49,1.2,49,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-51.5
$GPS2,165923,6343.500,-1304.032,12,1.2,12,-12.4
$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,81.8,7903,-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,-80.90,0.000,2,0.000,0.000,26,2534,3364
$GC,105,-1.16,-146.6,4.5,-4.4,4,127,10.82,2.55,-3.42,0.000,4,0.123,0.054,2114,1116,3516
$GC,380,-1.04,-146.6,41.8,-11.2,16,385,0.17,2.45,0.00,0.000,6,0.085,0.039,2148,2516,3516
$GC,704,-1.04,-146.6,63.1,-4.0,32,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2516,3516
$GC,1011,-1.04,-146.6,76.5,-6.3,47,1015,0.00,2.08,0.00,0.000,4,0.000,0.058,2148,3688,3515
$GC,1068,-0.99,-146.6,79.8,-6.6,49,1072,0.00,2.00,0.00,0.000,6,0.000,0.035,2148,2509,3515
$GC,1390,-0.99,-146.6,118.4,-14.8,65,1393,0.00,2.12,0.00,0.000,4,0.000,0.054,2148,3696,3516
$GC,1452,-0.93,-146.6,128.5,-17.2,67,1459,0.12,2.03,0.00,0.000,6,0.084,0.035,2174,2503,3516
$GC,1769,-0.97,-146.6,159.2,-7.8,83,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2503,3516
$GC,2078,-0.97,-146.6,173.2,-4.4,98,2082,0.00,2.12,0.00,0.000,4,0.000,0.054,2174,3688,3515
$GC,2192,-0.97,-146.6,179.5,-5.3,103,2196,0.00,1.98,0.00,0.000,6,0.000,0.036,2174,2519,3515
$GC,2525,-0.97,-146.6,194.7,-4.8,119,2529,0.00,2.10,0.00,0.000,4,0.000,0.055,2174,3692,3515
$GC,2599,-0.97,-146.6,198.3,-4.8,122,2602,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2510,3515
$GC,2926,-0.97,-146.6,214.2,-5.2,138,2930,0.00,2.10,0.00,0.000,4,0.000,0.055,2174,3686,3515
$GC,3040,-0.97,-146.6,223.1,-9.1,143,3044,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2506,3516
$GC,3374,-0.97,-146.6,250.2,-8.3,159,3378,0.00,2.12,0.00,0.000,4,0.000,0.054,2174,3695,3515
$GC,3469,-0.97,-146.6,259.1,-8.3,163,3473,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2513,3515
$GC,3797,-0.97,-146.6,281.8,-5.7,179,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2513,3515
$GC,4106,-0.97,-146.6,306.1,-6.6,194,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2513,3515
$GC,4415,-0.97,-146.6,335.2,-10.1,209,4419,0.00,2.12,0.00,0.000,4,0.000,0.058,2174,3695,3515
$GC,4545,-0.97,-146.6,348.1,-9.8,214,4551,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2516,3515
$GC,4862,-0.97,-146.6,376.6,-10.0,230,4866,0.00,2.10,0.00,0.000,4,0.000,0.059,2174,3686,3516
$GC,4976,-0.97,-146.6,388.5,-10.0,235,4979,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2510,3515
$GC,5310,-1.01,-146.6,414.3,-7.0,251,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2510,3515
$GC,5618,-1.01,-146.6,438.1,-6.3,266,5622,0.00,2.15,0.00,0.000,4,0.000,0.064,2174,3692,3515
$GC,5831,-1.01,-146.6,454.3,-7.0,275,5835,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2521,3515
$GC,6154,-1.05,-146.6,472.5,-5.2,291,6159,0.12,2.15,0.00,0.000,4,0.051,0.067,2136,3686,3515
$GC,6244,-0.99,-146.6,478.0,-6.4,295,6249,0.10,2.03,0.00,0.000,6,0.090,0.038,2156,2513,3515
$GC,6572,-0.99,-146.6,504.3,-10.2,311,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2513,3516
$GC,6882,-0.99,-146.6,531.7,-9.1,326,6885,0.00,2.22,0.00,0.000,4,0.000,0.084,2155,3684,3515
$GC,7011,-0.99,-146.6,542.5,-7.3,331,7017,0.00,2.08,0.00,0.000,6,0.000,0.055,2156,2527,3515
$GC,7327,-0.99,-146.6,569.8,-10.3,347,7332,0.00,2.62,0.00,0.000,4,0.000,0.074,2156,1106,3515
$GC,7401,-0.99,-146.6,579.0,-12.3,350,7405,0.00,2.58,0.00,0.000,6,0.000,0.066,2156,2505,3515
$GC,7717,-0.99,-146.6,617.8,-12.3,365,7720,0.00,2.22,0.00,0.000,4,0.000,0.088,2156,3693,3516
$GC,7841,-0.99,-146.6,633.9,-12.8,370,7845,0.00,2.10,0.00,0.000,6,0.000,0.051,2156,2506,3515
$GC,8163,-0.99,-146.6,667.4,-10.2,386,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2506,3515
$STATE,8345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8345,begin apogee
$GC,8353,-0.45,0.0,685.4,10.1,395,8488,0.55,0.00,128.75,1.246,6,0.064,0.000,2275,2317,2914
$STATE,8488,end apogee,CONTROL_FINISHED_OK
$STATE,8488,begin climb
$GC,8492,1.16,146.6,694.6,0.0,402,8629,1.60,2.78,127.25,1.214,4,0.053,0.075,2627,901,2317
$GC,8720,1.17,161.3,688.1,5.6,412,8740,0.00,2.62,14.50,1.102,6,0.000,0.060,2627,2318,2257
$GC,9058,1.17,161.3,670.3,7.3,429,9062,0.00,2.58,0.00,0.000,4,0.000,0.076,2627,3696,2256
$GC,9125,1.09,161.3,664.5,8.4,432,9129,0.00,2.45,0.00,0.000,6,0.000,0.044,2627,2316,2255
$GC,9452,1.09,161.3,626.4,13.9,448,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2317,2255
$GC,9761,1.09,161.3,578.3,13.8,463,9762,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2317,2255
$GC,10070,1.09,161.3,542.2,10.3,478,10075,0.00,2.55,0.00,0.000,4,0.000,0.062,2627,908,2255
$GC,10178,1.09,161.3,531.4,8.9,483,10183,0.00,2.55,0.00,0.000,6,0.000,0.050,2627,2328,2255
$GC,10506,1.22,261.2,513.4,3.0,499,10595,0.00,0.00,86.75,1.146,6,0.000,0.000,2627,2328,1850
$GC,10895,1.34,359.9,504.6,3.1,518,10983,0.17,0.00,85.30,1.118,6,0.052,0.000,2670,2328,1447
$GC,11285,1.34,359.9,479.5,7.8,537,11289,0.00,2.50,0.00,0.000,4,0.000,0.064,2671,3702,1447
$GC,11347,1.29,359.9,473.5,10.3,539,11353,0.00,2.45,0.00,0.000,6,0.000,0.038,2671,2302,1446
$GC,11663,1.29,359.9,444.4,10.1,555,11668,0.00,2.55,0.00,0.000,4,0.000,0.061,2670,3693,1446
$GC,11721,1.29,359.9,438.7,9.6,557,11727,0.00,2.40,0.00,0.000,6,0.000,0.037,2671,2315,1446
$GC,12037,1.29,359.9,410.2,9.5,573,12041,0.00,2.53,0.00,0.000,4,0.000,0.058,2670,3700,1446
$GC,12100,1.29,359.9,403.8,10.2,576,12104,0.00,2.40,0.00,0.000,6,0.000,0.036,2670,2312,1446
$GC,12427,1.29,359.9,368.0,11.1,592,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2312,1446
$GC,12736,1.29,359.9,337.1,10.1,607,12740,0.00,2.50,0.00,0.000,4,0.000,0.057,2671,3693,1446
$GC,12799,1.29,359.9,329.5,12.9,610,12803,0.00,2.38,0.00,0.000,6,0.000,0.035,2671,2307,1446
$GC,13132,1.29,359.9,291.9,12.7,626,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2307,1446
$GC,13441,1.29,359.9,253.3,11.6,641,13446,0.00,2.50,0.00,0.000,4,0.000,0.055,2670,3693,1446
$GC,13515,1.29,359.9,245.1,11.7,644,13519,0.00,2.38,0.00,0.000,6,0.000,0.035,2671,2311,1446
$GC,13831,1.29,359.9,206.4,13.0,659,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2310,1445
$GC,14140,1.29,359.9,172.0,10.2,674,14144,0.00,2.50,0.00,0.000,4,0.000,0.054,2670,3700,1446
$GC,14207,1.29,359.9,164.0,12.4,677,14211,0.00,2.38,0.00,0.000,6,0.000,0.035,2671,2318,1446
$GC,14530,1.40,447.0,143.3,3.4,693,14611,0.00,2.60,73.35,0.897,4,0.000,0.055,2670,3694,1092
$GC,14659,1.52,546.0,138.8,3.0,699,14752,0.15,2.40,86.07,0.869,6,0.049,0.035,2710,2310,688
$GC,15075,1.52,546.0,98.6,12.6,719,15079,0.00,2.50,0.00,0.000,4,0.000,0.053,2710,3693,687
$GC,15119,1.52,546.0,92.4,13.4,721,15124,0.00,2.38,0.00,0.000,6,0.000,0.034,2710,2314,686
$GC,15442,1.52,546.0,53.2,13.9,737,15446,0.00,2.50,0.00,0.000,4,0.000,0.053,2710,3702,686
$GC,15487,1.47,546.0,46.0,17.7,739,15491,0.00,2.40,0.00,0.000,6,0.000,0.035,2710,2309,686
$STATE,15805,end climb,SURFACE_DEPTH_REACHED
$STATE,15806,begin surface coast
$FINISH,1.3,1.027428
$STATE,15827,end surface coast,CONTROL_FINISHED_OK
$STATE,15828,begin surface
$SM_CCo,15913,0.00,0.000,0,0,685,547.02
$SM_GC,1.46,11.85,0.00,0.00,0.035,0.000,0.000,22,2534,685,-10.76,0.48,547.02
$IRIDIUM_FIX,6317.84,-1308.04,250298,121259
$TT8_MAMPS,0.028379
$HUMID,2013
$INTERNAL_PRESSURE,7.73467
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.0,94.6
$24V_AH,23.1,24.716
$10V_AH,10.1,11.005
$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,25.675,120.500,601.975,0.000,0.000,23.396,29.641,162.773,5.250,0.000,0.000,14.132,1411.833,11772.494,676.442,1862.994,543.946,0.000,1628.333,0.000,1823.138,0.000,34.798,0.000
$DEVICE_MAMPS,123.487,88.205,1245.608,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.958,515.521,460.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37983,756
$CAP_FILE_SIZE,116348,0
$CFSIZE,260165632,250417152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,212607,6344.984,-1303.670,30,1.8,30,-12.4