version: 66.04
glider: 101
mission: 7
dive: 142
start: 11 30 108 7 45 12
data:
$ID,101
$MISSION,7
$DIVE,142
$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,-734805.69
$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,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
$GPS1,073855,6330.119,-1307.851,24,1.6,41,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-50.6
$GPS2,074451,6330.078,-1308.024,11,1.6,11,-12.3
$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,33.4,29623,-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,-80.72,0.000,2,0.000,0.000,28,2542,3045
$GC,105,-1.16,-146.6,3.8,-3.5,4,135,10.90,2.08,-14.18,0.000,4,0.126,0.072,2116,3693,3514
$GC,306,-1.05,-146.6,23.0,-13.4,13,310,0.15,2.03,0.00,0.000,6,0.084,0.036,2146,2508,3514
$GC,633,-1.05,-146.6,49.2,-5.7,29,637,0.00,2.12,0.00,0.000,4,0.000,0.056,2146,3686,3514
$GC,730,-0.99,-146.6,53.8,-4.5,33,734,0.00,2.00,0.00,0.000,6,0.000,0.036,2146,2514,3515
$GC,1058,-0.95,-146.6,68.2,-7.5,49,1060,0.10,0.00,0.00,0.000,6,0.084,0.000,2168,2515,3514
$GC,1367,-0.95,-146.6,87.3,-7.2,64,1371,0.00,2.10,0.00,0.000,4,0.000,0.055,2168,3685,3514
$GC,1536,-0.95,-146.6,102.4,-7.6,71,1540,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2509,3514
$GC,1858,-0.95,-146.6,133.7,-9.6,87,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2509,3514
$GC,2167,-0.95,-146.6,160.3,-6.1,102,2171,0.00,2.10,0.00,0.000,4,0.000,0.054,2168,3683,3514
$GC,2307,-0.95,-146.6,169.1,-4.4,108,2311,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2506,3514
$GC,2635,-0.95,-146.6,182.0,-3.6,124,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2506,3514
$GC,2944,-0.95,-146.6,198.5,-5.9,139,2948,0.00,2.12,0.00,0.000,4,0.000,0.056,2167,3692,3514
$GC,3081,-0.95,-146.6,206.6,-4.8,145,3084,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2512,3514
$GC,3415,-0.95,-146.6,221.0,-5.6,161,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2512,3514
$GC,3724,-0.95,-146.6,251.6,-10.9,176,3728,0.00,2.10,0.00,0.000,4,0.000,0.055,2168,3686,3514
$GC,3877,-0.95,-146.6,264.2,-4.2,182,3883,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2506,3514
$GC,4193,-0.95,-146.6,280.1,-5.8,198,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2506,3514
$GC,4502,-0.95,-146.6,297.0,-5.7,213,4506,0.00,2.12,0.00,0.000,4,0.000,0.057,2168,3690,3514
$GC,4599,-0.95,-146.6,303.0,-5.1,217,4602,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2509,3514
$GC,4926,-0.95,-146.6,317.1,-4.8,233,4930,0.00,2.12,0.00,0.000,4,0.000,0.057,2168,3692,3515
$GC,5044,-0.95,-146.6,325.0,-6.8,238,5052,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2509,3514
$GC,5374,-0.95,-146.6,346.6,-7.1,254,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2509,3514
$GC,5683,-0.95,-146.6,368.6,-7.0,269,5687,0.00,2.12,0.00,0.000,4,0.000,0.059,2168,3687,3514
$GC,5867,-0.95,-146.6,380.2,-5.5,277,5871,0.00,2.00,0.00,0.000,6,0.000,0.036,2167,2513,3514
$GC,6201,-0.95,-146.6,396.3,-4.7,293,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2513,3514
$GC,6510,-0.95,-146.6,410.8,-4.9,308,6514,0.00,2.12,0.00,0.000,4,0.000,0.062,2168,3683,3514
$GC,6651,-0.95,-146.6,419.1,-6.1,314,6655,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2515,3514
$GC,6979,-0.95,-146.6,436.9,-5.2,330,6982,0.00,2.12,0.00,0.000,4,0.000,0.064,2167,3681,3514
$GC,7058,-0.95,-146.6,441.4,-6.0,333,7062,0.00,2.00,0.00,0.000,6,0.000,0.037,2168,2515,3514
$GC,7380,-0.95,-146.6,457.1,-5.1,349,7384,0.00,2.15,0.00,0.000,4,0.000,0.067,2167,3685,3514
$GC,7465,-0.95,-146.6,461.6,-5.5,352,7471,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2510,3514
$GC,7781,-0.95,-146.6,477.5,-4.6,368,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2510,3514
$GC,8091,-0.95,-146.6,491.1,-4.2,383,8094,0.00,2.17,0.00,0.000,4,0.000,0.074,2168,3683,3514
$GC,8205,-0.95,-146.6,496.6,-4.8,388,8208,0.00,2.03,0.00,0.000,6,0.000,0.042,2167,2521,3513
$GC,8538,-0.95,-146.6,515.2,-6.2,404,8541,0.00,2.20,0.00,0.000,4,0.000,0.081,2168,3686,3513
$GC,8651,-0.95,-146.6,522.8,-6.8,409,8655,0.00,2.08,0.00,0.000,6,0.000,0.050,2168,2516,3514
$GC,8984,-0.95,-146.6,546.2,-6.2,425,8988,0.00,2.25,0.00,0.000,4,0.000,0.094,2168,3676,3513
$GC,9053,-0.95,-146.6,550.9,-6.8,428,9057,0.00,2.10,0.00,0.000,6,0.000,0.062,2168,2523,3513
$GC,9387,-0.95,-146.6,569.1,-5.4,444,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2520,3513
$GC,9696,-0.99,-146.6,587.0,-5.4,459,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2520,3513
$GC,10005,-1.03,-146.6,605.0,-5.9,474,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2520,3513
$GC,10314,-1.08,-146.6,624.5,-7.0,489,10316,0.12,0.00,0.00,0.000,6,0.052,0.000,2130,2520,3512
$GC,10623,-1.08,-146.6,649.0,-7.5,504,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2520,3512
$GC,10932,-1.08,-146.6,674.5,-8.2,519,10933,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2520,3512
$STATE,11135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11135,begin apogee
$GC,11144,-0.45,0.0,690.8,8.2,529,11279,0.68,0.00,128.95,1.276,6,0.064,0.000,2276,2309,2915
$STATE,11279,end apogee,CONTROL_FINISHED_OK
$STATE,11279,begin climb
$GC,11283,1.16,146.6,695.5,0.0,536,11421,1.60,2.75,127.85,1.243,4,0.054,0.075,2624,907,2317
$GC,11509,1.11,146.6,686.4,6.5,546,11513,0.00,2.60,0.00,0.000,6,0.000,0.061,2624,2300,2316
$GC,11825,1.11,146.6,663.4,8.6,561,11830,0.00,2.60,0.00,0.000,4,0.000,0.077,2624,3695,2316
$GC,11893,1.04,146.6,656.3,10.6,564,11898,0.12,2.47,0.00,0.000,6,0.095,0.046,2601,2313,2316
$GC,12215,1.04,146.6,627.0,8.7,580,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2313,2316
$GC,12525,1.05,157.7,606.5,5.7,595,12545,0.00,2.67,11.15,1.126,4,0.000,0.074,2601,3699,2271
$GC,12642,1.09,189.5,600.0,5.1,600,12679,0.00,2.47,29.27,1.203,6,0.000,0.044,2601,2314,2142
$GC,12989,1.14,189.5,580.3,6.2,617,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2314,2142
$GC,13299,1.22,224.2,564.8,5.0,632,13341,0.17,2.67,31.65,1.198,4,0.047,0.070,2650,3699,1999
$GC,13423,1.16,224.2,554.3,9.0,637,13428,0.12,2.47,0.00,0.000,6,0.097,0.043,2627,2309,1998
$GC,13739,1.16,224.2,526.5,9.1,652,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2309,1999
$GC,14048,1.16,224.2,500.9,7.2,667,14053,0.00,2.58,0.00,0.000,4,0.000,0.065,2627,3703,1998
$GC,14156,1.16,224.2,492.4,7.8,672,14161,0.00,2.45,0.00,0.000,6,0.000,0.041,2627,2307,1998
$GC,14484,1.16,224.2,465.7,8.1,688,14488,0.00,2.55,0.00,0.000,4,0.000,0.063,2627,3702,1998
$GC,14540,1.16,224.2,461.3,8.4,690,14544,0.00,2.42,0.00,0.000,6,0.000,0.039,2627,2315,1998
$GC,14856,1.16,224.2,436.1,8.3,705,14860,0.00,2.55,0.00,0.000,4,0.000,0.061,2627,3706,1998
$GC,14913,1.16,224.2,431.0,8.5,707,14919,0.00,2.42,0.00,0.000,6,0.000,0.038,2627,2314,1998
$GC,15229,1.16,224.2,404.2,8.4,723,15230,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2314,1998
$GC,15538,1.16,224.2,379.8,7.8,738,15542,0.00,2.53,0.00,0.000,4,0.000,0.059,2627,3702,1999
$GC,15639,1.16,224.2,371.3,8.3,742,15645,0.00,2.40,0.00,0.000,6,0.000,0.037,2627,2315,1998
$GC,15955,1.16,224.2,346.2,8.5,758,15956,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2315,1999
$GC,16264,1.16,224.2,321.8,8.1,773,16268,0.00,2.50,0.00,0.000,4,0.000,0.057,2627,3701,1999
$GC,16333,1.16,224.2,316.6,6.2,776,16338,0.00,2.40,0.00,0.000,6,0.000,0.036,2627,2308,2000
$GC,16661,1.28,319.0,300.7,3.2,792,16745,0.12,0.00,81.12,1.013,6,0.052,0.000,2663,2307,1614
$GC,17051,1.28,319.0,276.5,9.4,811,17055,0.00,2.53,0.00,0.000,4,0.000,0.055,2663,3699,1614
$GC,17124,1.28,319.0,268.4,10.2,814,17128,0.00,2.40,0.00,0.000,6,0.000,0.035,2663,2313,1614
$GC,17445,1.28,319.0,239.7,9.0,830,17446,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2311,1613
$GC,17755,1.28,319.0,209.8,9.8,845,17758,0.00,2.53,0.00,0.000,4,0.000,0.055,2663,3708,1613
$GC,17839,1.24,319.0,200.1,12.0,848,17846,0.00,2.40,0.00,0.000,6,0.000,0.035,2663,2315,1613
$GC,18155,1.24,319.0,163.9,10.8,864,18157,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2315,1613
$GC,18465,1.24,319.0,136.8,11.3,879,18470,0.00,2.50,0.00,0.000,4,0.000,0.054,2663,3703,1613
$GC,18552,1.24,319.0,127.9,9.6,883,18556,0.00,2.40,0.00,0.000,6,0.000,0.035,2663,2307,1613
$GC,18880,1.30,372.7,104.6,4.4,899,18931,0.00,2.60,45.35,0.877,4,0.000,0.054,2663,3706,1395
$GC,18983,1.30,372.7,96.9,8.9,903,18989,0.00,2.42,0.00,0.000,6,0.000,0.035,2663,2311,1393
$GC,19299,1.30,372.7,72.1,10.2,919,19301,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2310,1394
$GC,19610,1.30,372.7,44.2,6.8,934,19615,0.00,2.50,0.00,0.000,4,0.000,0.054,2663,3699,1394
$GC,19696,1.30,372.7,38.3,8.9,938,19700,0.00,2.38,0.00,0.000,6,0.000,0.035,2663,2318,1394
$GC,20024,1.36,420.7,18.7,4.6,954,20069,0.00,2.58,40.30,0.822,4,0.000,0.054,2663,3707,1199
$GC,20117,1.36,420.7,9.8,10.1,958,20121,0.00,2.42,0.00,0.000,6,0.000,0.035,2663,2309,1199
$STATE,20208,end climb,SURFACE_DEPTH_REACHED
$STATE,20208,begin surface coast
$FINISH,1.1,1.027372
$STATE,20230,end surface coast,CONTROL_FINISHED_OK
$STATE,20230,begin surface
$SM_CCo,20315,0.00,0.000,0,0,1199,420.93
$SM_GC,1.70,11.62,0.00,0.00,0.032,0.000,0.000,25,2536,1199,-10.75,0.51,420.93
$IRIDIUM_FIX,6303.50,-1307.26,240298,020236
$TT8_MAMPS,0.028379
$HUMID,2001
$INTERNAL_PRESSURE,7.77374
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,626.1,74.2
$24V_AH,23.1,23.652
$10V_AH,10.1,10.472
$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,25.725,138.250,495.650,0.000,0.000,25.487,28.111,162.294,6.000,0.000,0.000,12.832,1785.301,15349.921,601.024,2334.549,595.759,0.000,1763.108,0.000,2282.961,0.000,39.319,0.000
$DEVICE_MAMPS,125.788,94.341,1275.521,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.485,659.002,583.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47430,964
$CAP_FILE_SIZE,143131,0
$CFSIZE,260165632,250781696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301108,132508,6332.921,-1306.501,41,1.3,41,-12.3