version: 66.04
glider: 101
mission: 7
dive: 160
start: 12 4 108 6 50 48
data:
$ID,101
$MISSION,7
$DIVE,160
$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,-735211.19
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,064008,6402.604,-1300.964,37,1.2,37,-12.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-47.4
$GPS2,065027,6402.529,-1301.331,10,1.7,10,-12.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6406.000,-1306.000
$TGT_RADIUS,2500.000
$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,342.1,7456,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,118,0.00,0.00,-100.53,0.000,2,0.000,0.000,27,2541,3355
$GC,122,-1.16,-146.6,4.1,-3.1,5,145,10.85,2.10,-3.75,0.000,4,0.123,0.074,2115,3680,3513
$GC,398,-1.01,-146.6,36.0,-10.2,17,403,0.20,2.03,0.00,0.000,6,0.084,0.038,2154,2504,3514
$GC,721,-1.01,-146.6,63.0,-6.6,33,725,0.00,2.15,0.00,0.000,4,0.000,0.058,2154,3690,3514
$GC,981,-0.96,-146.6,90.3,-9.3,44,984,0.00,2.03,0.00,0.000,6,0.000,0.038,2154,2512,3514
$GC,1304,-0.96,-146.6,110.4,-5.2,60,1307,0.00,2.12,0.00,0.000,4,0.000,0.058,2155,3688,3514
$GC,1541,-0.92,-146.6,124.4,-7.6,70,1545,0.00,2.00,0.00,0.000,6,0.000,0.038,2154,2516,3514
$GC,1863,-0.92,-146.6,147.6,-7.5,86,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2516,3514
$GC,2173,-0.92,-146.6,171.1,-9.0,101,2177,0.00,2.12,0.00,0.000,4,0.000,0.058,2154,3692,3514
$GC,2287,-0.92,-146.6,182.5,-9.9,106,2291,0.00,2.03,0.00,0.000,6,0.000,0.038,2155,2511,3514
$GC,2621,-0.92,-146.6,220.8,-11.4,122,2624,0.00,2.12,0.00,0.000,4,0.000,0.057,2154,3690,3514
$GC,2705,-0.92,-146.6,229.3,-10.0,125,2711,0.00,2.03,0.00,0.000,6,0.000,0.038,2155,2506,3514
$GC,3022,-0.92,-146.6,257.0,-8.6,141,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2506,3514
$GC,3331,-0.92,-146.6,277.0,-5.1,156,3335,0.00,2.15,0.00,0.000,4,0.000,0.059,2155,3696,3514
$GC,3427,-0.92,-146.6,282.4,-6.3,160,3431,0.00,2.03,0.00,0.000,6,0.000,0.037,2154,2512,3514
$GC,3755,-0.92,-146.6,301.4,-5.6,176,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2512,3514
$GC,4064,-0.92,-146.6,322.7,-7.1,191,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2511,3514
$GC,4373,-0.92,-146.6,346.1,-7.4,206,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2512,3513
$GC,4683,-0.92,-146.6,372.8,-9.1,221,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2512,3513
$GC,4993,-0.92,-146.6,400.2,-8.4,236,4996,0.00,2.15,0.00,0.000,4,0.000,0.064,2154,3686,3513
$GC,5145,-0.92,-146.6,413.1,-8.8,242,5151,0.00,2.03,0.00,0.000,6,0.000,0.039,2154,2516,3513
$GC,5461,-0.92,-146.6,436.1,-7.1,258,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2516,3513
$GC,5770,-0.92,-146.6,458.3,-7.0,273,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2515,3513
$GC,6080,-0.92,-146.6,481.7,-7.4,288,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2516,3513
$GC,6389,-0.92,-146.6,503.4,-6.3,303,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2516,3513
$GC,6698,-0.92,-146.6,525.6,-6.9,318,6702,0.00,2.28,0.00,0.000,4,0.000,0.091,2154,3690,3513
$GC,6754,-0.92,-146.6,530.3,-8.9,320,6760,0.00,2.10,0.00,0.000,6,0.000,0.058,2155,2529,3513
$GC,7071,-0.92,-146.6,547.9,-2.9,336,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2529,3513
$GC,7380,-0.92,-146.6,577.3,-7.1,351,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2527,3512
$STATE,7480,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7480,begin apogee
$GC,7488,-0.45,0.0,588.5,9.9,356,7622,0.57,0.00,128.40,1.228,6,0.067,0.000,2277,2316,2915
$STATE,7623,end apogee,CONTROL_FINISHED_OK
$STATE,7623,begin climb
$GC,7626,1.16,146.6,595.4,0.0,363,7764,1.60,2.80,127.15,1.188,4,0.055,0.079,2624,907,2316
$GC,8025,1.27,236.8,580.8,3.3,381,8111,0.12,2.60,78.88,1.176,6,0.069,0.061,2651,2314,1948
$GC,8440,1.22,236.8,550.9,8.4,401,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2314,1947
$GC,8749,1.17,236.8,522.7,10.4,416,8753,0.00,2.58,0.00,0.000,4,0.000,0.074,2651,3698,1947
$GC,8817,1.10,236.8,515.6,9.7,419,8822,0.20,2.47,0.00,0.000,6,0.088,0.044,2612,2308,1946
$GC,9138,1.10,236.8,490.5,8.5,435,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2308,1946
$GC,9448,1.21,281.0,471.0,4.7,450,9495,0.12,2.67,38.70,1.153,4,0.051,0.068,2649,3690,1768
$GC,9588,1.17,281.0,459.8,8.0,456,9592,0.00,2.45,0.00,0.000,6,0.000,0.043,2649,2312,1768
$GC,9916,1.17,281.0,434.6,9.3,472,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2312,1768
$GC,10225,1.17,281.0,413.7,6.3,487,10229,0.00,2.55,0.00,0.000,4,0.000,0.064,2649,3699,1768
$GC,10282,1.12,281.0,409.8,7.5,489,10289,0.15,2.45,0.00,0.000,6,0.091,0.041,2619,2307,1767
$GC,10598,1.16,281.0,391.4,6.3,505,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2308,1767
$GC,10908,1.23,299.8,372.7,5.4,520,10932,0.10,2.67,17.38,1.068,4,0.056,0.061,2649,3696,1692
$GC,10978,1.23,299.8,368.0,7.3,523,10982,0.00,2.45,0.00,0.000,6,0.000,0.040,2649,2307,1692
$GC,11305,1.23,299.8,340.2,8.8,539,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2307,1692
$GC,11614,1.23,299.8,314.8,8.9,554,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2307,1691
$GC,11923,1.23,299.8,289.3,7.7,569,11928,0.00,2.55,0.00,0.000,4,0.000,0.059,2649,3704,1692
$GC,11986,1.23,299.8,285.1,6.3,572,11991,0.00,2.42,0.00,0.000,6,0.000,0.038,2649,2309,1692
$GC,12314,1.47,490.3,276.5,0.3,588,12488,0.20,2.62,164.15,1.019,4,0.041,0.058,2704,3700,915
$GC,12529,1.54,606.5,272.0,2.5,598,12591,0.00,2.45,56.33,0.964,6,0.000,0.038,2704,2310,657
$GC,12913,1.49,606.5,252.6,6.4,617,12915,0.00,0.00,0.05,0.194,6,0.000,0.000,2704,2309,657
$GC,13223,1.44,606.5,228.3,8.8,632,13227,0.00,2.55,0.00,0.000,4,0.000,0.058,2704,3703,657
$GC,13296,1.38,606.5,221.1,10.2,635,13301,0.15,2.40,0.00,0.000,6,0.097,0.038,2675,2316,657
$GC,13612,1.43,606.5,199.8,7.7,650,13614,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2315,657
$GC,13922,1.56,651.0,182.6,4.7,665,13928,0.17,2.53,0.05,0.154,4,0.042,0.057,2730,3700,657
$GC,13986,1.44,651.0,176.6,11.2,668,13991,0.20,2.42,0.00,0.000,6,0.096,0.038,2692,2307,657
$GC,14314,1.44,651.0,143.3,11.3,684,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2306,657
$GC,14623,1.52,715.5,129.8,4.1,699,14627,0.00,2.53,0.00,0.000,4,0.000,0.057,2692,3699,657
$GC,14696,1.52,715.5,124.6,7.2,702,14700,0.00,2.40,0.00,0.000,6,0.000,0.037,2692,2316,656
$GC,15012,1.52,715.5,95.0,10.7,717,15014,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2314,656
$GC,15321,1.52,715.5,55.5,15.2,732,15326,0.00,2.53,0.00,0.000,4,0.000,0.056,2692,3707,656
$GC,15378,1.52,715.5,46.5,16.5,734,15384,0.00,2.42,0.00,0.000,6,0.000,0.038,2692,2306,656
$GC,15694,1.52,715.5,9.0,7.3,750,15699,0.00,2.53,0.00,0.000,4,0.000,0.056,2692,3700,656
$GC,15745,1.57,715.5,3.8,12.7,752,15750,0.10,2.40,0.00,0.000,6,0.056,0.037,2722,2309,656
$STATE,15770,end climb,SURFACE_DEPTH_REACHED
$STATE,15770,begin surface coast
$FINISH,0.9,1.027428
$STATE,15792,end surface coast,CONTROL_FINISHED_OK
$STATE,15792,begin surface
$SM_CCo,15877,0.00,0.000,0,0,656,554.38
$SM_GC,1.27,11.93,0.00,0.00,0.036,0.000,0.000,25,2531,656,-10.75,0.40,554.38
$IRIDIUM_FIX,6337.14,-1257.84,280298,060655
$TT8_MAMPS,0.028379
$HUMID,2016
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,16.50
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,500.8,95.9
$24V_AH,23.1,26.645
$10V_AH,10.1,12.056
$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,26.675,94.700,611.075,0.000,0.000,47.526,58.115,244.468,6.250,0.000,0.000,11.554,1385.577,11868.758,651.832,1842.308,745.995,0.000,1605.284,0.000,1806.868,0.000,28.321,0.000
$DEVICE_MAMPS,123.487,91.273,1227.967,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.232,513.141,478.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38085,754
$CAP_FILE_SIZE,115666,0
$CFSIZE,260165632,249626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041208,111638,6400.843,-1313.758,33,1.6,33,-12.6