version: 66.04
glider: 101
mission: 7
dive: 132
start: 11 28 108 1 44 36
data:
$ID,101
$MISSION,7
$DIVE,132
$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,-734562
$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,33
$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
$GPS1,012407,6311.013,-1309.026,49,1.6,50,-12.2
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-43.0
$GPS2,014417,6310.503,-1309.783,13,2.1,32,-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,56.6,11656,-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,-100.97,0.000,2,0.000,0.000,22,2538,3116
$GC,123,-1.16,-146.6,4.1,-3.4,5,152,10.98,2.58,-10.32,0.000,4,0.124,0.058,2121,1119,3515
$GC,229,-1.04,-146.6,22.1,-17.7,10,234,0.12,2.45,0.00,0.000,6,0.087,0.040,2146,2515,3515
$GC,558,-0.96,-146.6,35.8,-6.2,26,560,0.10,0.00,0.00,0.000,6,0.090,0.000,2166,2515,3514
$GC,866,-0.96,-146.6,59.2,-2.0,41,870,0.00,2.10,0.00,0.000,4,0.000,0.060,2166,3692,3514
$GC,939,-0.96,-146.6,64.1,-9.3,44,943,0.00,2.03,0.00,0.000,6,0.000,0.037,2166,2506,3514
$GC,1269,-0.96,-146.6,83.9,-3.6,60,1273,0.00,2.12,0.00,0.000,4,0.000,0.057,2166,3686,3514
$GC,1376,-0.96,-146.6,90.0,-4.3,64,1382,0.00,2.03,0.00,0.000,6,0.000,0.037,2165,2498,3514
$GC,1692,-0.96,-146.6,107.8,-6.8,80,1696,0.00,2.15,0.00,0.000,4,0.000,0.057,2166,3692,3514
$GC,1761,-0.96,-146.6,112.8,-6.9,83,1765,0.00,2.03,0.00,0.000,6,0.000,0.036,2165,2505,3514
$GC,2095,-0.96,-146.6,131.7,-3.6,99,2099,0.00,2.12,0.00,0.000,4,0.000,0.055,2166,3686,3514
$GC,2214,-0.96,-146.6,137.1,-5.2,104,2217,0.00,2.00,0.00,0.000,6,0.000,0.036,2166,2516,3514
$GC,2541,-0.96,-146.6,153.8,-5.9,120,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2516,3514
$GC,2851,-0.96,-146.6,169.0,-4.5,135,2854,0.00,2.12,0.00,0.000,4,0.000,0.057,2166,3698,3514
$GC,3012,-0.96,-146.6,177.1,-3.9,142,3016,0.00,2.03,0.00,0.000,6,0.000,0.037,2166,2509,3514
$GC,3345,-0.96,-146.6,196.1,-6.8,158,3349,0.00,2.12,0.00,0.000,4,0.000,0.057,2166,3689,3513
$GC,3420,-0.96,-146.6,201.5,-7.5,161,3423,0.00,2.00,0.00,0.000,6,0.000,0.036,2166,2514,3514
$GC,3747,-0.96,-146.6,224.4,-7.0,177,3751,0.00,2.12,0.00,0.000,4,0.000,0.058,2166,3695,3514
$GC,3820,-0.96,-146.6,229.6,-7.2,180,3824,0.00,2.03,0.00,0.000,6,0.000,0.036,2166,2506,3514
$GC,4148,-0.96,-146.6,253.7,-7.7,196,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2506,3514
$GC,4458,-0.96,-146.6,274.5,-6.7,211,4461,0.00,2.12,0.00,0.000,4,0.000,0.058,2166,3686,3514
$GC,4616,-0.96,-146.6,284.8,-6.4,218,4620,0.00,1.98,0.00,0.000,6,0.000,0.037,2166,2518,3514
$GC,4949,-0.96,-146.6,309.2,-8.5,234,4953,0.00,2.12,0.00,0.000,4,0.000,0.060,2166,3696,3514
$GC,5022,-0.96,-146.6,315.8,-8.8,237,5026,0.00,2.03,0.00,0.000,6,0.000,0.036,2166,2509,3514
$GC,5350,-0.96,-146.6,339.3,-6.4,253,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2507,3513
$GC,5659,-0.96,-146.6,357.8,-6.3,268,5663,0.00,2.15,0.00,0.000,4,0.000,0.061,2166,3693,3514
$GC,5811,-0.96,-146.6,368.3,-6.6,274,5817,0.00,2.03,0.00,0.000,6,0.000,0.037,2166,2510,3514
$GC,6128,-0.96,-146.6,387.4,-5.8,290,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2509,3514
$GC,6437,-0.96,-146.6,404.5,-5.3,305,6441,0.00,2.15,0.00,0.000,4,0.000,0.063,2166,3690,3513
$GC,6596,-0.96,-146.6,413.7,-5.7,312,6600,0.00,2.03,0.00,0.000,6,0.000,0.038,2166,2510,3513
$GC,6929,-0.96,-146.6,431.6,-6.0,328,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2510,3513
$GC,7238,-0.96,-146.6,452.4,-6.3,343,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2510,3513
$GC,7547,-0.96,-146.6,471.9,-6.2,358,7551,0.00,2.20,0.00,0.000,4,0.000,0.073,2166,3693,3513
$GC,7699,-0.96,-146.6,482.9,-6.9,364,7706,0.00,2.05,0.00,0.000,6,0.000,0.041,2166,2517,3513
$GC,8015,-0.96,-146.6,504.6,-6.5,380,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2517,3513
$GC,8325,-1.00,-146.6,524.5,-6.5,395,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2517,3512
$GC,8634,-1.04,-146.6,546.4,-6.8,410,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2517,3512
$GC,8944,-1.08,-146.6,563.8,-5.1,425,8949,0.12,2.30,0.00,0.000,4,0.052,0.102,2128,3680,3512
$GC,9040,-1.02,-146.6,570.2,-7.2,429,9044,0.12,2.12,0.00,0.000,6,0.088,0.064,2153,2517,3512
$GC,9356,-1.02,-146.6,590.4,-6.8,444,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2517,3512
$GC,9665,-1.02,-146.6,611.6,-6.9,459,9666,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2516,3512
$GC,9974,-1.02,-146.6,631.3,-6.1,474,9978,0.00,2.25,0.00,0.000,4,0.000,0.087,2153,3689,3511
$GC,10120,-1.02,-146.6,640.8,-6.5,480,10124,0.00,2.10,0.00,0.000,6,0.000,0.051,2153,2511,3511
$GC,10443,-1.02,-146.6,659.5,-5.5,496,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2510,3511
$GC,10752,-1.02,-146.6,675.4,-5.2,511,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2510,3510
$GC,11061,-1.06,-146.6,692.9,-6.0,526,11066,0.00,2.25,0.00,0.000,4,0.000,0.086,2153,3689,3509
$GC,11203,-1.06,-146.6,702.5,-5.8,532,11206,0.00,2.10,0.00,0.000,6,0.000,0.051,2153,2508,3509
$STATE,11315,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11315,begin apogee
$GC,11323,-0.45,0.0,710.3,6.6,538,11458,0.57,0.00,129.02,1.312,6,0.069,0.000,2276,2320,2915
$STATE,11458,end apogee,CONTROL_FINISHED_OK
$STATE,11459,begin climb
$GC,11462,1.16,146.6,714.7,0.0,545,11602,1.62,2.70,128.35,1.276,4,0.054,0.081,2626,3678,2317
$GC,11662,1.09,146.6,705.9,6.3,554,11666,0.00,2.47,0.00,0.000,6,0.000,0.050,2626,2309,2316
$GC,11979,1.12,175.9,686.9,5.1,569,12013,0.00,2.72,27.05,1.225,4,0.000,0.077,2626,3683,2197
$GC,12059,1.05,175.9,682.2,7.6,572,12066,0.12,2.47,0.00,0.000,6,0.101,0.048,2604,2314,2196
$GC,12376,1.05,175.9,661.2,6.9,588,12380,0.00,2.60,0.00,0.000,4,0.000,0.076,2604,3683,2196
$GC,12431,1.05,175.9,657.4,7.0,590,12438,0.00,2.45,0.00,0.000,6,0.000,0.048,2604,2315,2195
$GC,12748,1.05,175.9,637.0,6.5,606,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2315,2196
$GC,13057,1.05,175.9,617.4,6.1,621,13062,0.00,2.60,0.00,0.000,4,0.000,0.077,2604,3690,2195
$GC,13204,1.06,186.2,608.1,5.7,627,13219,0.00,2.45,10.43,1.152,6,0.000,0.046,2604,2316,2155
$GC,13536,1.12,234.2,591.4,4.6,644,13581,0.00,0.00,43.05,1.249,6,0.000,0.000,2603,2316,1960
$GC,13886,1.17,234.2,571.0,6.4,661,13891,0.12,2.60,0.00,0.000,4,0.053,0.073,2639,3689,1960
$GC,13995,1.13,234.2,562.1,8.0,666,13999,0.00,2.45,0.00,0.000,6,0.000,0.045,2639,2313,1960
$GC,14322,1.13,234.2,538.5,6.8,682,14326,0.00,2.58,0.00,0.000,4,0.000,0.071,2640,3686,1960
$GC,14390,1.08,234.2,533.2,8.0,685,14395,0.15,2.45,0.00,0.000,6,0.091,0.044,2610,2306,1959
$GC,14719,1.15,257.9,514.4,5.3,701,14743,0.00,0.00,22.25,1.174,6,0.000,0.000,2610,2306,1863
$GC,15047,1.21,257.9,495.5,6.1,717,15049,0.12,0.00,0.00,0.000,6,0.051,0.000,2646,2305,1863
$GC,15356,1.21,257.9,471.3,7.9,732,15360,0.00,2.55,0.00,0.000,4,0.000,0.065,2646,3690,1863
$GC,15418,1.16,257.9,466.4,7.8,734,15425,0.00,2.42,0.00,0.000,6,0.000,0.040,2646,2308,1863
$GC,15734,1.16,257.9,443.2,7.7,750,15739,0.00,2.53,0.00,0.000,4,0.000,0.063,2646,3687,1863
$GC,15802,1.12,257.9,437.4,8.3,753,15807,0.15,2.40,0.00,0.000,6,0.092,0.040,2616,2316,1863
$GC,16124,1.17,257.9,415.5,6.8,769,16128,0.00,2.53,0.00,0.000,4,0.000,0.062,2616,3695,1863
$GC,16193,1.17,257.9,410.4,7.5,772,16197,0.00,2.40,0.00,0.000,6,0.000,0.038,2616,2314,1864
$GC,16520,1.22,257.9,384.3,9.1,788,16522,0.10,0.00,0.00,0.000,6,0.058,0.000,2646,2314,1863
$GC,16829,1.22,257.9,353.2,9.8,803,16833,0.00,2.50,0.00,0.000,4,0.000,0.059,2646,3686,1863
$GC,16897,1.22,257.9,346.7,9.2,806,16902,0.00,2.38,0.00,0.000,6,0.000,0.037,2646,2314,1863
$GC,17219,1.22,257.9,317.3,9.7,822,17220,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2314,1863
$GC,17528,1.22,257.9,292.7,6.9,837,17532,0.00,2.47,0.00,0.000,4,0.000,0.058,2646,3688,1864
$GC,17614,1.22,257.9,286.2,7.8,841,17619,0.00,2.38,0.00,0.000,6,0.000,0.036,2646,2312,1864
$GC,17942,1.24,274.4,265.7,5.5,857,17964,0.00,2.55,15.98,0.971,4,0.000,0.056,2646,3687,1796
$GC,18015,1.24,274.4,260.5,7.1,860,18019,0.00,2.38,0.00,0.000,6,0.000,0.037,2646,2317,1795
$GC,18343,1.24,274.4,236.9,7.4,876,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2316,1795
$GC,18652,1.24,274.4,212.7,7.6,891,18657,0.00,2.50,0.00,0.000,4,0.000,0.057,2646,3694,1795
$GC,18761,1.24,274.4,204.5,7.1,896,18765,0.00,2.38,0.00,0.000,6,0.000,0.036,2646,2306,1795
$GC,19094,1.24,274.4,175.2,10.3,912,19098,0.00,2.50,0.00,0.000,4,0.000,0.056,2646,3688,1796
$GC,19149,1.24,274.4,169.2,11.1,914,19156,0.00,2.38,0.00,0.000,6,0.000,0.036,2646,2310,1796
$GC,19466,1.35,368.6,143.3,3.2,930,19552,0.10,2.55,78.57,0.917,4,0.056,0.055,2678,3686,1411
$GC,19644,1.30,368.6,133.6,11.0,938,19648,0.00,2.38,0.00,0.000,6,0.000,0.035,2678,2317,1411
$GC,19972,1.25,368.6,97.4,10.8,954,19974,0.15,0.00,0.00,0.000,6,0.094,0.000,2649,2315,1411
$GC,20281,1.28,388.9,77.9,5.4,969,20304,0.00,2.55,18.10,0.844,4,0.000,0.054,2649,3693,1329
$GC,20372,1.32,388.9,71.3,7.0,973,20376,0.00,2.40,0.00,0.000,6,0.000,0.035,2648,2309,1328
$GC,20691,1.54,521.0,48.1,2.1,988,20810,0.28,0.00,114.05,0.840,6,0.040,0.000,2721,2309,790
$GC,21124,1.44,521.0,11.0,13.6,1009,21129,0.17,2.50,0.00,0.000,4,0.091,0.053,2683,3688,788
$STATE,21184,end climb,SURFACE_DEPTH_REACHED
$STATE,21184,begin surface coast
$FINISH,1.2,1.027425
$STATE,21189,end surface coast,CONTROL_FINISHED_OK
$STATE,21189,begin surface
$SM_CCo,21276,0.00,0.000,0,0,785,522.49
$SM_GC,1.49,11.95,0.00,0.00,0.043,0.000,0.000,26,2515,785,-10.75,-0.06,522.49
$IRIDIUM_FIX,6249.28,-1308.97,220298,010116
$TT8_MAMPS,0.028379
$HUMID,2013
$INTERNAL_PRESSURE,7.73467
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.3,93.2
$24V_AH,23.0,21.923
$10V_AH,10.1,9.575
$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,27.075,152.550,586.850,0.000,0.000,136.099,144.150,500.126,5.250,0.000,0.000,34.442,1877.702,16242.807,713.661,2447.415,1197.356,0.000,1924.086,0.000,2377.854,0.000,36.407,0.000
$DEVICE_MAMPS,124.254,102.011,1311.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,756.391,691.680,628.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50628,1012
$CAP_FILE_SIZE,161362,0
$CFSIZE,260165632,251428864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,281108,074032,6312.990,-1310.147,40,1.7,40,-12.2