version: 66.04
glider: 101
mission: 7
dive: 143
start: 11 30 108 13 31 24
data:
$ID,101
$MISSION,7
$DIVE,143
$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,-734821.5
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,132508,6332.921,-1306.501,41,1.3,41,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-53.9
$GPS2,133103,6332.884,-1306.534,13,1.6,13,-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,35.1,24347,-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,-80.80,0.000,2,0.000,0.000,24,2537,2930
$GC,105,-1.16,-146.6,3.1,-2.3,4,139,10.80,0.00,-20.48,0.000,6,0.121,0.000,2114,2537,3513
$GC,439,-1.05,-146.6,31.5,-6.6,20,440,0.15,0.00,0.00,0.000,6,0.080,0.000,2145,2536,3513
$GC,747,-0.99,-146.6,50.9,-5.5,35,750,0.00,2.08,0.00,0.000,4,0.000,0.058,2145,3699,3513
$GC,907,-0.92,-146.6,59.4,-7.1,42,911,0.15,2.03,0.00,0.000,6,0.083,0.036,2175,2513,3513
$GC,1235,-0.92,-146.6,78.0,-6.5,58,1239,0.00,2.12,0.00,0.000,4,0.000,0.056,2175,3695,3513
$GC,1314,-0.92,-146.6,83.6,-7.3,61,1317,0.00,2.03,0.00,0.000,6,0.000,0.036,2175,2509,3513
$GC,1638,-0.92,-146.6,101.2,-3.8,77,1642,0.00,2.12,0.00,0.000,4,0.000,0.054,2175,3692,3513
$GC,1739,-0.92,-146.6,108.5,-8.4,81,1743,0.00,2.00,0.00,0.000,6,0.000,0.035,2175,2515,3513
$GC,2062,-0.92,-146.6,134.5,-8.9,97,2065,0.00,2.10,0.00,0.000,4,0.000,0.054,2176,3689,3513
$GC,2124,-0.92,-146.6,139.6,-7.8,99,2130,0.00,2.00,0.00,0.000,6,0.000,0.036,2176,2503,3513
$GC,2440,-0.92,-146.6,158.7,-5.6,115,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2504,3512
$GC,2749,-0.92,-146.6,174.5,-5.2,130,2753,0.00,2.12,0.00,0.000,4,0.000,0.055,2175,3692,3513
$GC,2887,-0.92,-146.6,183.4,-6.2,136,2891,0.00,2.00,0.00,0.000,6,0.000,0.035,2175,2512,3512
$GC,3220,-0.92,-146.6,205.9,-7.0,152,3224,0.00,2.10,0.00,0.000,4,0.000,0.055,2175,3692,3512
$GC,3312,-0.92,-146.6,213.3,-8.6,156,3316,0.00,2.00,0.00,0.000,6,0.000,0.036,2176,2511,3512
$GC,3645,-0.92,-146.6,237.5,-7.4,172,3648,0.00,2.12,0.00,0.000,4,0.000,0.055,2175,3698,3512
$GC,3736,-0.92,-146.6,244.7,-10.6,176,3740,0.00,2.00,0.00,0.000,6,0.000,0.035,2175,2516,3512
$GC,4069,-0.92,-146.6,266.8,-7.3,192,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2516,3512
$GC,4379,-0.92,-146.6,287.3,-4.9,207,4382,0.00,2.10,0.00,0.000,4,0.000,0.056,2175,3688,3513
$GC,4498,-0.92,-146.6,294.1,-5.2,212,4501,0.00,2.00,0.00,0.000,6,0.000,0.035,2175,2510,3513
$GC,4825,-0.92,-146.6,311.0,-6.0,228,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2510,3512
$GC,5137,-0.92,-146.6,325.7,-5.0,243,5141,0.00,2.12,0.00,0.000,4,0.000,0.057,2175,3693,3512
$GC,5332,-0.92,-146.6,339.4,-6.9,251,5336,0.00,2.00,0.00,0.000,6,0.000,0.035,2175,2517,3512
$GC,5655,-0.96,-146.6,361.9,-8.0,267,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2175,2516,3512
$GC,5964,-0.96,-146.6,386.3,-8.0,282,5967,0.00,2.12,0.00,0.000,4,0.000,0.059,2176,3692,3512
$GC,6115,-0.96,-146.6,399.7,-9.6,288,6122,0.00,2.00,0.00,0.000,6,0.000,0.035,2175,2519,3512
$GC,6433,-1.00,-146.6,425.2,-8.1,304,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2519,3513
$GC,6741,-1.04,-146.6,448.0,-7.2,319,6746,0.12,2.15,0.00,0.000,4,0.051,0.065,2137,3695,3512
$GC,6859,-0.98,-146.6,457.9,-8.8,324,6864,0.12,2.03,0.00,0.000,6,0.086,0.038,2161,2519,3512
$GC,7187,-0.98,-146.6,481.8,-7.1,340,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2519,3512
$GC,7496,-0.98,-146.6,505.0,-7.8,355,7500,0.00,2.20,0.00,0.000,4,0.000,0.077,2161,3693,3512
$GC,7648,-0.98,-146.6,517.3,-8.4,361,7654,0.00,2.08,0.00,0.000,6,0.000,0.048,2161,2520,3512
$GC,7964,-0.98,-146.6,542.4,-7.3,377,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2520,3512
$GC,8274,-0.98,-146.6,560.9,-5.6,392,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2519,3512
$GC,8583,-0.98,-146.6,580.0,-6.4,407,8587,0.00,2.22,0.00,0.000,4,0.000,0.085,2161,3688,3512
$GC,8717,-0.98,-146.6,588.5,-6.8,413,8721,0.00,2.08,0.00,0.000,6,0.000,0.052,2161,2519,3512
$GC,9045,-0.98,-146.6,607.1,-5.5,429,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2518,3512
$GC,9354,-0.98,-146.6,625.7,-5.9,444,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2517,3512
$GC,9664,-0.98,-146.6,642.8,-5.5,459,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2517,3511
$GC,9972,-0.98,-146.6,662.3,-6.4,474,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2517,3511
$GC,10282,-1.04,-146.6,683.7,-7.5,489,10286,0.00,2.22,0.00,0.000,4,0.000,0.087,2161,3685,3510
$STATE,10370,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10371,begin apogee
$GC,10381,-0.45,0.0,689.1,5.8,493,10514,0.52,0.00,128.50,1.279,6,0.068,0.000,2273,2312,2915
$STATE,10514,end apogee,CONTROL_FINISHED_OK
$STATE,10514,begin climb
$GC,10518,1.16,146.6,694.0,0.0,500,10651,1.60,0.00,128.95,1.241,6,0.055,0.000,2622,2312,2316
$GC,10953,1.21,188.1,675.4,4.8,521,10993,0.00,0.00,37.65,1.215,6,0.000,0.000,2622,2312,2147
$GC,11300,1.21,191.9,655.9,5.9,538,11306,0.00,0.00,5.00,0.890,6,0.000,0.000,2622,2312,2132
$GC,11609,1.21,191.9,633.7,8.5,553,11613,0.00,2.60,0.00,0.000,4,0.000,0.076,2622,3686,2132
$GC,11745,1.21,191.9,620.2,9.8,559,11749,0.00,2.45,0.00,0.000,6,0.000,0.046,2622,2314,2131
$GC,12072,1.21,191.9,593.0,7.2,575,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2314,2131
$GC,12381,1.22,198.4,574.5,5.8,590,12390,0.00,0.00,6.72,1.021,6,0.000,0.000,2622,2314,2107
$GC,12690,1.34,296.5,561.1,3.1,605,12782,0.20,2.62,85.50,1.215,4,0.042,0.070,2679,3685,1706
$GC,12861,1.25,296.5,552.5,6.4,613,12866,0.17,2.45,0.00,0.000,6,0.093,0.042,2646,2310,1705
$GC,13183,1.25,296.5,532.5,6.8,629,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2310,1705
$GC,13492,1.25,296.5,511.3,7.0,644,13496,0.00,2.55,0.00,0.000,4,0.000,0.065,2646,3686,1705
$GC,13560,1.25,296.5,506.3,7.6,647,13565,0.00,2.42,0.00,0.000,6,0.000,0.040,2645,2306,1705
$GC,13882,1.25,296.5,482.7,8.6,663,13887,0.00,2.55,0.00,0.000,4,0.000,0.062,2646,3690,1705
$GC,13927,1.25,296.5,477.8,10.7,665,13932,0.00,2.40,0.00,0.000,6,0.000,0.038,2645,2316,1705
$GC,14250,1.25,296.5,445.2,10.2,681,14251,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2316,1705
$GC,14559,1.25,296.5,416.6,8.8,696,14563,0.00,2.50,0.00,0.000,4,0.000,0.058,2646,3696,1705
$GC,14638,1.25,296.5,409.3,8.9,699,14644,0.00,2.40,0.00,0.000,6,0.000,0.036,2646,2312,1705
$GC,14954,1.25,296.5,387.5,6.7,715,14955,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2312,1705
$GC,15264,1.25,296.5,364.8,7.4,730,15268,0.00,2.50,0.00,0.000,4,0.000,0.058,2646,3690,1705
$GC,15353,1.25,296.5,355.1,10.5,734,15358,0.00,2.38,0.00,0.000,6,0.000,0.035,2646,2311,1705
$GC,15675,1.25,296.5,329.2,8.3,750,15676,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2311,1706
$GC,15984,1.25,296.5,306.8,6.8,765,15989,0.00,2.50,0.00,0.000,4,0.000,0.056,2645,3694,1706
$GC,16063,1.25,296.5,300.5,8.0,768,16069,0.00,2.38,0.00,0.000,6,0.000,0.035,2646,2312,1706
$GC,16379,1.25,296.5,278.0,6.9,784,16380,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2311,1707
$GC,16689,1.25,296.5,255.4,7.7,799,16693,0.00,2.50,0.00,0.000,4,0.000,0.055,2645,3699,1707
$GC,16774,1.25,296.5,249.0,7.2,803,16778,0.00,2.38,0.00,0.000,6,0.000,0.035,2646,2314,1707
$GC,17101,1.25,296.5,224.7,8.1,819,17105,0.00,2.47,0.00,0.000,4,0.000,0.055,2645,3689,1707
$GC,17151,1.25,296.5,220.2,8.2,821,17155,0.00,2.35,0.00,0.000,6,0.000,0.035,2646,2317,1707
$GC,17467,1.25,296.5,196.2,8.0,836,17471,0.00,2.47,0.00,0.000,4,0.000,0.054,2645,3699,1707
$GC,17519,1.25,296.5,191.1,10.5,838,17524,0.00,2.38,0.00,0.000,6,0.000,0.035,2646,2311,1708
$GC,17841,1.25,296.5,162.2,8.3,854,17843,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2310,1707
$GC,18151,1.25,296.5,135.4,9.8,869,18155,0.00,2.47,0.00,0.000,4,0.000,0.054,2646,3692,1708
$GC,18229,1.25,296.5,127.4,9.0,872,18235,0.00,2.35,0.00,0.000,6,0.000,0.035,2646,2308,1708
$GC,18546,1.25,296.5,97.6,10.2,888,18550,0.00,2.47,0.00,0.000,4,0.000,0.053,2646,3699,1708
$GC,18609,1.25,296.5,91.0,10.9,891,18613,0.00,2.38,0.00,0.000,6,0.000,0.035,2645,2312,1708
$GC,18937,1.25,296.5,58.2,8.9,907,18941,0.00,2.47,0.00,0.000,4,0.000,0.053,2646,3692,1708
$GC,18982,1.25,296.5,53.3,10.7,909,18986,0.00,2.35,0.00,0.000,6,0.000,0.035,2645,2316,1708
$GC,19304,1.25,296.5,24.4,8.2,925,19308,0.00,2.47,0.00,0.000,4,0.000,0.054,2646,3696,1708
$GC,19348,1.25,296.5,20.3,7.7,927,19352,0.00,2.38,0.00,0.000,6,0.000,0.034,2645,2306,1708
$STATE,19585,end climb,SURFACE_DEPTH_REACHED
$STATE,19585,begin surface coast
$FINISH,1.4,1.014328
$STATE,19606,end surface coast,CONTROL_FINISHED_OK
$STATE,19606,begin surface
$SM_CCo,19631,5.22,0.658,0,0,1692,300.00
$SM_GC,2.60,0.00,0.00,5.22,0.000,0.000,0.658,27,2523,1692,-10.80,0.17,300.00
$IRIDIUM_FIX,6308.26,-1308.35,240298,070752
$TT8_MAMPS,0.029146
$HUMID,2025
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.5,98.2
$24V_AH,23.1,23.803
$10V_AH,10.1,10.562
$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,25.325,127.650,392.325,5.225,0.000,23.837,33.267,155.450,5.000,0.000,0.000,15.202,1733.270,14967.216,548.162,2153.067,587.734,0.000,1596.812,0.000,2118.331,0.000,34.814,0.000
$DEVICE_MAMPS,121.186,86.671,1279.356,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.719,643.194,576.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47386,940
$CAP_FILE_SIZE,134236,0
$CFSIZE,260165632,250720256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,301108,190002,6333.690,-1309.456,38,1.5,38,-12.3