version: 66.04
glider: 101
mission: 7
dive: 133
start: 11 28 108 7 47 30
data:
$ID,101
$MISSION,7
$DIVE,133
$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,-734584.62
$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,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
$GPS1,074032,6312.990,-1310.147,40,1.7,40,-12.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-41.9
$GPS2,074708,6313.014,-1310.297,18,1.3,20,-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,79.0,9338,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-116.22,0.000,2,0.000,0.000,26,2516,3239
$GC,138,-1.16,-146.6,3.9,-3.2,6,162,10.82,2.53,-7.22,0.000,4,0.123,0.057,2114,1114,3515
$GC,314,-1.09,-146.6,26.0,-8.2,13,321,0.12,2.47,0.00,0.000,6,0.097,0.040,2138,2526,3513
$GC,632,-1.03,-146.6,44.9,-8.2,29,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2526,3513
$GC,940,-0.96,-146.6,59.6,-4.5,44,942,0.12,0.00,0.00,0.000,6,0.086,0.000,2163,2526,3513
$GC,1249,-0.96,-146.6,83.8,-10.4,59,1252,0.00,2.08,0.00,0.000,4,0.000,0.059,2163,3693,3513
$GC,1342,-0.96,-146.6,95.5,-13.0,63,1345,0.00,2.03,0.00,0.000,6,0.000,0.036,2163,2506,3513
$GC,1677,-0.96,-146.6,123.7,-5.0,79,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2506,3513
$GC,1985,-0.96,-146.6,138.9,-3.5,94,1988,0.00,2.12,0.00,0.000,4,0.000,0.056,2163,3688,3513
$GC,2100,-0.96,-146.6,142.5,-3.1,99,2103,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2512,3513
$GC,2433,-0.96,-146.6,168.4,-8.4,115,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2512,3512
$GC,2742,-0.96,-146.6,189.2,-6.7,130,2745,0.00,2.12,0.00,0.000,4,0.000,0.057,2163,3695,3513
$GC,2828,-0.96,-146.6,194.6,-6.1,133,2834,0.00,2.03,0.00,0.000,6,0.000,0.035,2163,2504,3513
$GC,3144,-0.96,-146.6,212.1,-6.9,149,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2504,3512
$GC,3453,-0.96,-146.6,234.9,-7.7,164,3457,0.00,2.12,0.00,0.000,4,0.000,0.058,2163,3686,3513
$GC,3515,-0.96,-146.6,239.2,-6.1,166,3520,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2512,3513
$GC,3831,-0.96,-146.6,257.5,-6.6,182,3835,0.00,2.12,0.00,0.000,4,0.000,0.057,2163,3694,3512
$GC,3926,-0.96,-146.6,264.3,-8.0,186,3930,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2517,3512
$GC,4254,-0.96,-146.6,289.5,-7.4,202,4257,0.00,2.10,0.00,0.000,4,0.000,0.058,2163,3686,3512
$GC,4338,-0.96,-146.6,296.1,-7.7,205,4344,0.00,2.03,0.00,0.000,6,0.000,0.036,2163,2493,3513
$GC,4655,-0.96,-146.6,319.4,-7.2,221,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2493,3512
$GC,4964,-0.96,-146.6,342.0,-6.7,236,4968,0.00,2.15,0.00,0.000,4,0.000,0.059,2163,3686,3512
$GC,5071,-0.96,-146.6,350.0,-6.7,240,5079,0.00,2.03,0.00,0.000,6,0.000,0.036,2163,2493,3512
$GC,5388,-0.96,-146.6,370.3,-6.6,256,5392,0.00,2.15,0.00,0.000,4,0.000,0.060,2163,3686,3512
$GC,5505,-0.96,-146.6,379.2,-8.4,261,5509,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2516,3512
$GC,5833,-0.96,-146.6,403.8,-7.5,277,5836,0.00,2.15,0.00,0.000,4,0.000,0.062,2163,3697,3512
$GC,5902,-0.96,-146.6,409.2,-7.5,280,5905,0.00,2.03,0.00,0.000,6,0.000,0.037,2163,2514,3512
$GC,6235,-0.96,-146.6,432.3,-6.7,296,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2514,3512
$GC,6545,-0.96,-146.6,451.8,-5.6,311,6549,0.00,2.15,0.00,0.000,4,0.000,0.069,2163,3684,3512
$GC,6685,-0.96,-146.6,462.1,-7.0,317,6689,0.00,2.03,0.00,0.000,6,0.000,0.038,2163,2515,3512
$GC,7013,-0.96,-146.6,484.7,-6.4,333,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2514,3512
$GC,7322,-0.96,-146.6,503.9,-6.0,348,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2515,3511
$GC,7631,-0.96,-146.6,523.6,-6.2,363,7635,0.00,2.22,0.00,0.000,4,0.000,0.084,2163,3682,3511
$GC,7755,-0.96,-146.6,530.6,-4.1,368,7759,0.00,2.08,0.00,0.000,6,0.000,0.051,2163,2516,3511
$GC,8078,-0.96,-146.6,544.4,-4.1,384,8082,0.00,2.58,0.00,0.000,4,0.000,0.071,2163,1110,3511
$GC,8163,-0.96,-146.6,548.2,-4.1,388,8167,0.00,2.58,0.00,0.000,6,0.000,0.065,2164,2512,3511
$GC,8490,-0.96,-146.6,559.3,-3.0,404,8494,0.00,2.22,0.00,0.000,4,0.000,0.087,2163,3696,3511
$GC,8582,-0.96,-146.6,562.6,-3.7,408,8585,0.00,2.10,0.00,0.000,6,0.000,0.050,2163,2509,3511
$GC,8916,-0.96,-146.6,575.3,-4.4,424,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2509,3510
$GC,9224,-0.96,-146.6,590.9,-5.1,439,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2508,3510
$GC,9534,-1.00,-146.6,602.7,-3.7,454,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2508,3510
$GC,9843,-1.05,-146.6,616.9,-5.5,469,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2508,3510
$GC,10152,-1.05,-146.6,635.5,-6.7,484,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2507,3509
$GC,10461,-1.09,-146.6,656.1,-7.1,499,10466,0.12,2.28,0.00,0.000,4,0.056,0.085,2127,3701,3508
$GC,10551,-1.04,-146.6,664.8,-9.9,503,10556,0.10,2.10,0.00,0.000,6,0.097,0.050,2146,2516,3508
$GC,10873,-1.04,-146.6,686.5,-7.0,519,10876,0.00,2.25,0.00,0.000,4,0.000,0.086,2146,3693,3508
$STATE,10931,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10931,begin apogee
$GC,10942,-0.45,0.0,691.5,6.2,521,11073,0.57,0.00,128.10,1.300,6,0.071,0.000,2273,2319,2915
$STATE,11074,end apogee,CONTROL_FINISHED_OK
$STATE,11074,begin climb
$GC,11078,1.16,146.6,696.9,0.0,528,11216,1.60,2.72,128.05,1.257,4,0.054,0.081,2624,3690,2317
$GC,11475,1.09,161.3,677.9,5.6,546,11497,0.00,2.47,14.25,1.153,6,0.000,0.048,2624,2315,2257
$GC,11807,1.04,161.3,659.4,8.9,562,11812,0.12,2.62,0.00,0.000,4,0.099,0.077,2601,3693,2257
$GC,12054,1.06,179.9,643.6,5.4,573,12079,0.00,2.47,17.65,1.200,6,0.000,0.048,2601,2310,2181
$GC,12402,1.13,232.1,627.4,4.4,590,12456,0.00,2.72,47.15,1.251,4,0.000,0.078,2600,3692,1967
$GC,12502,1.13,232.1,621.6,6.1,594,12508,0.00,2.50,0.00,0.000,6,0.000,0.048,2601,2309,1967
$GC,12819,1.19,232.1,598.9,7.9,610,12820,0.15,0.00,0.00,0.000,6,0.050,0.000,2640,2308,1967
$GC,13128,1.19,232.1,563.9,12.6,625,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2308,1966
$GC,13437,1.19,232.1,525.7,12.6,640,13441,0.00,2.55,0.00,0.000,4,0.000,0.065,2639,908,1966
$GC,13487,1.19,232.1,519.2,12.0,642,13492,0.00,2.55,0.00,0.000,6,0.000,0.051,2640,2321,1966
$GC,13809,1.19,232.1,481.9,11.7,658,13813,0.00,2.50,0.00,0.000,4,0.000,0.067,2640,3692,1966
$GC,13873,1.15,232.1,474.1,12.3,661,13878,0.00,2.45,0.00,0.000,6,0.000,0.041,2640,2300,1965
$GC,14201,1.15,232.1,437.1,11.5,677,14202,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2301,1965
$GC,14510,1.15,232.1,407.3,9.0,692,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2300,1965
$GC,14819,1.15,232.1,383.5,6.9,707,14823,0.00,2.55,0.00,0.000,4,0.000,0.061,2640,3695,1966
$GC,14904,1.10,232.1,377.7,6.4,710,14911,0.12,2.40,0.00,0.000,6,0.095,0.038,2616,2308,1966
$GC,15222,1.27,330.5,364.5,3.1,726,15313,0.15,2.62,84.05,1.078,4,0.047,0.060,2659,3692,1566
$GC,15363,1.27,330.5,357.2,6.2,732,15369,0.00,2.42,0.00,0.000,6,0.000,0.038,2659,2309,1566
$GC,15680,1.28,339.2,338.5,5.7,748,15691,0.00,0.00,9.00,0.927,6,0.000,0.000,2659,2309,1532
$GC,15989,1.28,341.4,320.0,5.9,763,15998,0.00,2.58,3.72,0.647,4,0.000,0.058,2659,3692,1523
$GC,16089,1.28,341.4,312.8,6.8,767,16094,0.00,2.40,0.00,0.000,6,0.000,0.037,2659,2310,1523
$GC,16405,1.28,341.4,295.8,6.0,782,16409,0.00,2.53,0.00,0.000,4,0.000,0.057,2660,3703,1523
$GC,16474,1.28,341.4,290.6,7.9,785,16478,0.00,2.40,0.00,0.000,6,0.000,0.037,2659,2316,1523
$GC,16801,1.28,341.4,267.5,8.2,801,16805,0.00,2.50,0.00,0.000,4,0.000,0.056,2660,3698,1523
$GC,16847,1.28,341.4,263.3,9.5,803,16852,0.00,2.38,0.00,0.000,6,0.000,0.036,2659,2314,1523
$GC,17180,1.28,341.4,235.5,8.2,819,17185,0.00,2.50,0.00,0.000,4,0.000,0.056,2659,3696,1523
$GC,17248,1.28,341.4,229.4,9.0,822,17252,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2318,1523
$GC,17570,1.28,341.4,205.5,7.0,838,17571,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2317,1523
$GC,17879,1.28,341.4,183.1,7.5,853,17883,0.00,2.47,0.00,0.000,4,0.000,0.056,2660,3695,1523
$GC,17958,1.28,341.4,177.0,7.1,856,17962,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2315,1523
$GC,18275,1.28,341.4,150.6,9.9,871,18279,0.00,2.47,0.00,0.000,4,0.000,0.056,2659,3696,1523
$GC,18337,1.28,341.4,145.5,7.7,873,18343,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2310,1523
$GC,18655,1.28,341.4,112.9,11.7,889,18656,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2308,1523
$GC,18962,1.28,341.4,85.5,9.9,904,18967,0.00,2.50,0.00,0.000,4,0.000,0.055,2659,3699,1523
$GC,19030,1.28,341.4,77.5,9.7,907,19034,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2313,1523
$GC,19352,1.28,341.4,45.4,10.9,923,19353,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2312,1523
$GC,19662,1.28,341.4,8.8,12.3,938,19663,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2312,1523
$STATE,19740,end climb,SURFACE_DEPTH_REACHED
$STATE,19740,begin surface coast
$FINISH,0.9,1.016761
$STATE,19763,end surface coast,CONTROL_FINISHED_OK
$STATE,19763,begin surface
$SM_CCo,19848,0.00,0.000,0,0,1523,341.46
$SM_GC,1.65,11.68,0.00,0.00,0.040,0.000,0.000,26,2540,1523,-10.75,0.68,341.46
$IRIDIUM_FIX,6244.56,-1313.61,220298,010132
$TT8_MAMPS,0.029146
$HUMID,2009
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.2,76.1
$24V_AH,23.0,22.087
$10V_AH,10.1,9.668
$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,25.700,139.500,431.975,0.000,0.000,22.360,28.293,195.801,5.250,0.000,0.000,22.018,1747.636,15033.732,567.002,2268.270,621.023,0.000,1695.948,0.000,2211.579,0.000,36.373,0.000
$DEVICE_MAMPS,122.720,87.438,1300.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,701.173,644.557,567.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47421,943
$CAP_FILE_SIZE,139944,0
$CFSIZE,260165632,251383808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,281108,131939,6316.222,-1307.086,40,1.4,41,-12.2