version: 66.04
glider: 101
mission: 7
dive: 135
start: 11 28 108 18 46 51
data:
$ID,101
$MISSION,7
$DIVE,135
$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,-734631.56
$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,28
$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
$GPS1,184000,6315.728,-1310.283,40,3.3,59,-12.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-54.8
$GPS2,184629,6315.729,-1310.405,10,3.0,29,-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,111.0,8778,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.17,0.000,2,0.000,0.000,27,2527,2941
$GC,83,-1.16,-146.6,3.6,-4.7,3,118,10.90,2.50,-16.50,0.000,4,0.127,0.054,2114,1108,3513
$GC,374,-1.06,-146.6,30.1,-7.7,16,379,0.15,2.47,0.00,0.000,6,0.090,0.040,2143,2521,3513
$GC,702,-1.01,-146.6,46.6,-4.7,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2521,3513
$GC,1011,-0.97,-146.6,63.6,-3.7,47,1016,0.10,2.08,0.00,0.000,4,0.088,0.058,2163,3686,3513
$GC,1097,-0.97,-146.6,66.2,-3.2,51,1101,0.00,2.00,0.00,0.000,6,0.000,0.037,2164,2512,3513
$GC,1432,-0.97,-146.6,83.6,-8.5,67,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2512,3513
$GC,1740,-0.97,-146.6,115.6,-11.1,82,1744,0.00,2.12,0.00,0.000,4,0.000,0.058,2164,3693,3513
$GC,1824,-0.97,-146.6,123.4,-8.3,85,1831,0.00,2.03,0.00,0.000,6,0.000,0.036,2164,2501,3513
$GC,2143,-0.97,-146.6,149.4,-5.4,101,2148,0.00,2.12,0.00,0.000,4,0.000,0.057,2163,3688,3513
$GC,2211,-0.97,-146.6,154.0,-6.0,104,2215,0.00,2.00,0.00,0.000,6,0.000,0.037,2164,2509,3513
$GC,2544,-0.97,-146.6,175.0,-7.0,120,2549,0.00,2.12,0.00,0.000,4,0.000,0.057,2164,3692,3513
$GC,2600,-0.97,-146.6,179.9,-9.0,122,2604,0.00,2.00,0.00,0.000,6,0.000,0.036,2164,2516,3513
$GC,2922,-0.97,-146.6,198.7,-5.9,138,2926,0.00,2.10,0.00,0.000,4,0.000,0.057,2164,3686,3513
$GC,2991,-0.97,-146.6,203.0,-6.6,141,2995,0.00,2.00,0.00,0.000,6,0.000,0.036,2164,2508,3513
$GC,3327,-0.97,-146.6,225.0,-6.3,157,3330,0.00,2.12,0.00,0.000,4,0.000,0.057,2164,3693,3513
$GC,3400,-0.97,-146.6,230.4,-7.6,160,3403,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2515,3513
$GC,3728,-0.97,-146.6,252.4,-6.2,176,3731,0.00,2.10,0.00,0.000,4,0.000,0.058,2164,3688,3513
$GC,3802,-0.97,-146.6,257.8,-7.1,179,3806,0.00,2.00,0.00,0.000,6,0.000,0.036,2164,2511,3513
$GC,4130,-0.97,-146.6,282.1,-7.1,195,4133,0.00,2.12,0.00,0.000,4,0.000,0.058,2164,3693,3513
$GC,4208,-0.97,-146.6,287.5,-6.7,198,4212,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2516,3513
$GC,4530,-0.97,-146.6,308.0,-6.7,214,4534,0.00,2.10,0.00,0.000,4,0.000,0.058,2164,3689,3513
$GC,4592,-0.97,-146.6,312.7,-7.2,216,4598,0.00,2.00,0.00,0.000,6,0.000,0.036,2164,2510,3513
$GC,4908,-0.97,-146.6,336.0,-7.4,232,4912,0.00,2.12,0.00,0.000,4,0.000,0.060,2164,3689,3513
$GC,5004,-0.97,-146.6,343.6,-7.6,236,5008,0.00,2.00,0.00,0.000,6,0.000,0.037,2164,2517,3513
$GC,5331,-0.97,-146.6,368.0,-7.5,252,5334,0.00,2.12,0.00,0.000,4,0.000,0.061,2164,3690,3513
$GC,5449,-0.97,-146.6,378.1,-8.6,257,5453,0.00,2.00,0.00,0.000,6,0.000,0.037,2164,2519,3513
$GC,5776,-0.97,-146.6,403.2,-6.9,273,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2519,3513
$GC,6088,-0.97,-146.6,425.8,-7.4,288,6092,0.00,2.15,0.00,0.000,4,0.000,0.066,2164,3692,3513
$GC,6189,-0.97,-146.6,433.6,-7.2,292,6193,0.00,2.03,0.00,0.000,6,0.000,0.038,2164,2514,3513
$GC,6511,-0.97,-146.6,453.7,-5.9,308,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2513,3513
$GC,6821,-0.97,-146.6,471.5,-5.8,323,6825,0.00,2.17,0.00,0.000,4,0.000,0.072,2163,3689,3513
$GC,6889,-0.97,-146.6,475.9,-6.7,326,6893,0.00,2.03,0.00,0.000,6,0.000,0.040,2163,2519,3512
$GC,7223,-0.97,-146.6,494.9,-5.7,342,7226,0.00,2.17,0.00,0.000,4,0.000,0.077,2163,3683,3513
$GC,7296,-0.97,-146.6,499.2,-5.6,345,7300,0.00,2.05,0.00,0.000,6,0.000,0.044,2163,2512,3512
$GC,7625,-0.97,-146.6,514.7,-4.9,361,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2512,3512
$GC,7934,-0.97,-146.6,529.7,-4.8,376,7938,0.00,2.25,0.00,0.000,4,0.000,0.088,2164,3685,3512
$GC,8025,-0.97,-146.6,534.3,-5.5,380,8029,0.00,2.10,0.00,0.000,6,0.000,0.055,2164,2516,3512
$GC,8353,-0.97,-146.6,549.7,-5.0,396,8357,0.00,2.28,0.00,0.000,4,0.000,0.097,2164,3681,3512
$GC,8421,-0.97,-146.6,553.4,-5.6,399,8425,0.00,2.12,0.00,0.000,6,0.000,0.060,2163,2508,3512
$GC,8749,-0.97,-146.6,571.3,-5.6,415,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2506,3511
$GC,9059,-0.97,-146.6,588.9,-5.6,430,9063,0.00,2.25,0.00,0.000,4,0.000,0.087,2164,3683,3512
$GC,9177,-0.97,-146.6,595.7,-5.6,435,9181,0.00,2.10,0.00,0.000,6,0.000,0.051,2163,2505,3511
$GC,9500,-1.01,-146.6,610.7,-4.6,451,9504,0.00,2.25,0.00,0.000,4,0.000,0.087,2164,3681,3511
$GC,9590,-1.01,-146.6,615.0,-4.8,455,9594,0.00,2.08,0.00,0.000,6,0.000,0.051,2164,2516,3511
$GC,9918,-1.01,-146.6,630.8,-5.1,471,9922,0.00,2.25,0.00,0.000,4,0.000,0.088,2164,3690,3511
$GC,9975,-1.01,-146.6,634.2,-5.7,473,9979,0.00,2.10,0.00,0.000,6,0.000,0.051,2164,2509,3510
$GC,10297,-1.06,-146.6,654.5,-6.3,489,10301,0.00,2.25,0.00,0.000,4,0.000,0.087,2164,3685,3510
$GC,10377,-1.06,-146.6,659.6,-7.3,492,10381,0.00,2.10,0.00,0.000,6,0.000,0.051,2164,2508,3510
$GC,10700,-1.12,-146.6,678.2,-5.6,508,10705,0.15,2.25,0.00,0.000,4,0.052,0.086,2123,3683,3509
$STATE,10725,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10725,begin apogee
$GC,10735,-0.45,0.0,680.2,6.8,509,10868,0.68,0.00,128.20,1.292,6,0.067,0.000,2272,2317,2915
$STATE,10869,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10872,1.16,146.6,682.9,0.0,516,11010,1.62,2.75,127.97,1.249,4,0.054,0.073,2626,907,2317
$GC,11166,1.10,151.2,665.0,5.9,529,11177,0.00,2.60,5.97,0.950,6,0.000,0.058,2626,2314,2298
$GC,11487,1.06,151.2,645.6,6.4,545,11492,0.00,2.60,0.00,0.000,4,0.000,0.081,2626,3698,2297
$GC,11566,0.97,151.2,640.1,7.5,548,11573,0.20,2.47,0.00,0.000,6,0.088,0.047,2587,2314,2297
$GC,11883,1.05,182.7,622.6,5.1,564,11918,0.00,2.70,28.35,1.224,4,0.000,0.077,2587,3690,2171
$GC,12016,1.09,213.2,616.0,5.1,570,12051,0.12,2.47,28.50,1.216,6,0.055,0.047,2618,2309,2045
$GC,12371,1.09,213.2,594.5,6.5,587,12375,0.00,2.62,0.00,0.000,4,0.000,0.075,2618,3692,2044
$GC,12433,1.09,213.2,589.7,6.9,590,12437,0.00,2.45,0.00,0.000,6,0.000,0.046,2618,2317,2044
$GC,12761,1.09,213.2,566.1,7.3,606,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2317,2044
$GC,13071,1.09,213.2,542.2,7.7,621,13075,0.00,2.60,0.00,0.000,4,0.000,0.072,2618,3702,2043
$GC,13133,1.09,213.2,536.7,8.9,624,13138,0.00,2.47,0.00,0.000,6,0.000,0.044,2619,2307,2043
$GC,13466,1.09,213.2,510.8,7.3,640,13471,0.00,2.60,0.00,0.000,4,0.000,0.070,2618,3700,2043
$GC,13512,1.09,213.2,507.2,8.0,642,13516,0.00,2.45,0.00,0.000,6,0.000,0.043,2618,2314,2043
$GC,13833,1.09,213.2,486.1,6.1,658,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2314,2043
$GC,14143,1.09,213.2,466.3,6.4,673,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2314,2043
$GC,14452,1.09,213.2,443.1,7.8,688,14456,0.00,2.55,0.00,0.000,4,0.000,0.064,2619,3702,2043
$GC,14530,1.09,213.2,436.3,8.2,691,14536,0.00,2.42,0.00,0.000,6,0.000,0.041,2618,2314,2043
$GC,14846,1.09,213.2,412.1,7.8,707,14847,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2314,2043
$GC,15156,1.09,213.2,389.8,7.1,722,15159,0.00,2.53,0.00,0.000,4,0.000,0.061,2619,3696,2043
$GC,15202,1.09,213.2,386.2,7.6,724,15206,0.00,2.40,0.00,0.000,6,0.000,0.038,2618,2308,2043
$GC,15535,1.09,213.2,363.0,6.5,740,15539,0.00,2.53,0.00,0.000,4,0.000,0.060,2619,3695,2043
$GC,15590,1.09,213.2,359.0,7.3,742,15597,0.00,2.40,0.00,0.000,6,0.000,0.038,2618,2308,2043
$GC,15907,1.09,213.2,339.3,6.4,758,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2308,2043
$GC,16216,1.13,244.0,322.0,5.1,773,16250,0.00,2.65,27.33,1.042,4,0.000,0.058,2619,3695,1920
$GC,16320,1.13,245.7,316.2,6.0,777,16327,0.00,2.40,0.00,0.000,6,0.000,0.037,2618,2318,1919
$GC,16637,1.21,266.0,298.4,5.4,793,16659,0.00,0.00,20.58,1.006,6,0.000,0.000,2618,2318,1829
$GC,16966,1.26,266.0,276.4,6.7,809,16971,0.12,2.53,0.00,0.000,4,0.052,0.057,2654,3706,1829
$GC,17045,1.21,266.0,270.2,7.7,812,17051,0.00,2.40,0.00,0.000,6,0.000,0.038,2654,2319,1830
$GC,17361,1.21,266.0,245.8,7.3,828,17362,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2318,1830
$GC,17671,1.21,266.0,223.1,7.5,843,17674,0.00,2.50,0.00,0.000,4,0.000,0.058,2655,3698,1830
$GC,17733,1.16,266.0,217.9,7.4,845,17740,0.12,2.38,0.00,0.000,6,0.096,0.037,2630,2315,1829
$GC,18050,1.20,266.0,195.3,6.8,861,18051,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2314,1829
$GC,18359,1.24,266.0,172.5,7.8,876,18363,0.00,2.50,0.00,0.000,4,0.000,0.056,2630,3700,1829
$GC,18465,1.24,266.0,167.5,6.8,880,18472,0.00,2.38,0.00,0.000,6,0.000,0.036,2630,2316,1829
$GC,18783,1.31,283.9,149.0,5.5,896,18805,0.12,2.58,16.58,0.903,4,0.052,0.056,2665,3706,1757
$GC,18848,1.25,283.9,142.6,10.3,899,18853,0.00,2.42,0.00,0.000,6,0.000,0.036,2666,2310,1757
$GC,19177,1.21,283.9,121.5,7.1,915,19179,0.15,0.00,0.00,0.000,6,0.091,0.000,2636,2309,1756
$GC,19487,1.21,283.9,99.3,8.1,930,19491,0.00,2.50,0.00,0.000,4,0.000,0.055,2636,3696,1756
$GC,19554,1.21,283.9,91.6,11.0,933,19558,0.00,2.38,0.00,0.000,6,0.000,0.035,2636,2315,1757
$GC,19877,1.25,283.9,66.5,6.6,949,19881,0.00,2.50,0.00,0.000,4,0.000,0.055,2636,3703,1756
$GC,19923,1.30,327.1,64.1,4.7,951,19967,0.10,2.40,36.80,0.867,6,0.057,0.036,2664,2304,1581
$GC,20280,1.30,327.1,31.9,8.7,968,20284,0.00,2.53,0.00,0.000,4,0.000,0.055,2664,3700,1581
$GC,20308,1.30,327.1,27.8,11.9,969,20312,0.00,2.40,0.00,0.000,6,0.000,0.035,2664,2307,1580
$STATE,20601,end climb,SURFACE_DEPTH_REACHED
$STATE,20601,begin surface coast
$FINISH,1.1,1.019880
$STATE,20622,end surface coast,CONTROL_FINISHED_OK
$STATE,20623,begin surface
$SM_CCo,20708,0.00,0.000,0,0,1579,327.72
$SM_GC,1.66,11.75,0.00,0.00,0.041,0.000,0.000,28,2539,1579,-10.74,0.62,327.72
$IRIDIUM_FIX,6254.00,-1402.17,220298,131335
$TT8_MAMPS,0.028379
$HUMID,2018
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.5,89.8
$24V_AH,23.1,22.394
$10V_AH,10.1,9.852
$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,26.300,179.175,420.275,0.000,0.000,23.928,29.192,178.352,5.000,0.000,0.000,32.259,1868.473,15646.346,536.757,2409.411,632.641,0.000,1742.613,0.000,2340.300,0.000,34.801,0.000
$DEVICE_MAMPS,126.555,96.642,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,735.829,673.189,601.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50413,984
$CAP_FILE_SIZE,155335,0
$CFSIZE,260165632,251228160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291108,003308,6317.061,-1301.267,29,1.4,29,-12.1