version: 66.04
glider: 101
mission: 7
dive: 144
start: 11 30 108 19 12 37
data:
$ID,101
$MISSION,7
$DIVE,144
$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,-734835.31
$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,30
$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
$GPS1,190002,6333.690,-1309.456,38,1.5,38,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-63.4
$GPS2,191215,6333.625,-1309.619,11,1.1,11,-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,41.9,24231,-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,-61.03,0.000,2,0.000,0.000,27,2525,2990
$GC,83,-1.16,-146.6,3.4,-3.8,3,118,10.85,2.58,-17.02,0.000,4,0.124,0.056,2114,1107,3514
$GC,373,-1.07,-146.6,31.7,-11.6,16,378,0.12,2.47,0.00,0.000,6,0.095,0.040,2138,2522,3514
$GC,701,-1.00,-146.6,63.0,-11.5,32,705,0.00,2.47,0.00,0.000,4,0.000,0.043,2138,1113,3515
$GC,802,-1.00,-146.6,75.5,-12.1,36,808,0.00,2.45,0.00,0.000,6,0.000,0.039,2138,2518,3514
$GC,1119,-0.93,-146.6,108.2,-10.9,52,1121,0.15,0.00,0.00,0.000,6,0.079,0.000,2171,2518,3514
$GC,1430,-0.93,-146.6,130.5,-4.0,67,1433,0.00,2.08,0.00,0.000,4,0.000,0.058,2171,3692,3514
$GC,1571,-0.93,-146.6,137.1,-5.1,73,1574,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2511,3514
$GC,1898,-0.93,-146.6,154.1,-5.9,89,1902,0.00,2.12,0.00,0.000,4,0.000,0.056,2171,3699,3514
$GC,2012,-0.93,-146.6,161.9,-6.7,94,2016,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2517,3514
$GC,2345,-0.93,-146.6,178.1,-3.9,110,2349,0.00,2.10,0.00,0.000,4,0.000,0.056,2171,3693,3514
$GC,2419,-0.93,-146.6,180.8,-4.5,113,2423,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2511,3514
$GC,2747,-0.93,-146.6,194.8,-4.3,129,2750,0.00,2.10,0.00,0.000,4,0.000,0.055,2171,3687,3514
$GC,2826,-0.93,-146.6,198.8,-5.4,132,2830,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2507,3514
$GC,3148,-0.93,-146.6,212.6,-4.1,148,3152,0.00,2.10,0.00,0.000,4,0.000,0.055,2171,3688,3514
$GC,3239,-0.93,-146.6,217.2,-4.9,152,3243,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2509,3514
$GC,3573,-0.93,-146.6,233.0,-4.5,168,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2509,3514
$GC,3882,-0.93,-146.6,249.1,-5.6,183,3885,0.00,2.12,0.00,0.000,4,0.000,0.056,2171,3696,3514
$GC,4053,-0.93,-146.6,259.9,-6.3,190,4057,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2514,3514
$GC,4376,-0.93,-146.6,279.3,-6.7,206,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2514,3514
$GC,4685,-0.93,-146.6,298.5,-6.9,221,4688,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3698,3514
$GC,4791,-0.93,-146.6,305.7,-7.6,225,4797,0.00,2.03,0.00,0.000,6,0.000,0.036,2171,2503,3514
$GC,5108,-0.93,-146.6,328.2,-6.8,241,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2504,3514
$GC,5418,-0.93,-146.6,350.9,-6.4,256,5422,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3687,3514
$GC,5559,-0.93,-146.6,360.6,-6.6,262,5562,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2512,3514
$GC,5886,-0.93,-146.6,382.4,-6.7,278,5890,0.00,2.12,0.00,0.000,4,0.000,0.059,2171,3690,3514
$GC,5965,-0.93,-146.6,387.8,-7.7,281,5969,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2510,3514
$GC,6286,-0.93,-146.6,411.5,-7.2,297,6290,0.00,2.12,0.00,0.000,4,0.000,0.061,2171,3686,3514
$GC,6365,-0.93,-146.6,417.3,-7.2,300,6369,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2516,3514
$GC,6687,-0.93,-146.6,441.9,-7.6,316,6691,0.00,2.12,0.00,0.000,4,0.000,0.064,2171,3688,3514
$GC,6790,-0.93,-146.6,450.5,-8.4,320,6794,0.00,2.03,0.00,0.000,6,0.000,0.037,2171,2508,3514
$GC,7112,-0.93,-146.6,478.8,-9.2,336,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2508,3514
$GC,7423,-0.97,-146.6,512.2,-10.0,351,7426,0.00,2.22,0.00,0.000,4,0.000,0.078,2171,3692,3514
$GC,7546,-0.97,-146.6,522.7,-8.8,356,7550,0.00,2.05,0.00,0.000,6,0.000,0.048,2171,2524,3514
$GC,7869,-1.01,-146.6,548.8,-7.0,372,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2524,3514
$GC,8178,-1.01,-146.6,560.4,-2.1,387,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2521,3514
$GC,8487,-1.01,-146.6,568.7,-3.3,402,8491,0.00,2.22,0.00,0.000,4,0.000,0.088,2171,3687,3514
$GC,8617,-1.01,-146.6,573.9,-4.2,407,8623,0.00,2.10,0.00,0.000,6,0.000,0.051,2171,2507,3514
$GC,8933,-1.06,-146.6,592.9,-8.4,423,8935,0.12,0.00,0.00,0.000,6,0.053,0.000,2133,2506,3514
$GC,9242,-1.06,-146.6,628.3,-12.0,438,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2505,3514
$GC,9552,-1.06,-146.6,654.8,-7.6,453,9555,0.00,2.25,0.00,0.000,4,0.000,0.087,2133,3684,3514
$GC,9729,-1.00,-146.6,667.6,-6.4,460,9736,0.12,2.08,0.00,0.000,6,0.088,0.051,2157,2517,3513
$GC,10046,-1.00,-146.6,684.3,-4.9,476,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2518,3513
$GC,10355,-1.00,-146.6,702.5,-6.0,491,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2517,3512
$STATE,10434,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10434,begin apogee
$GC,10442,-0.45,0.0,706.8,5.1,495,10577,0.55,0.00,128.57,1.284,6,0.064,0.000,2276,2314,2915
$STATE,10577,end apogee,CONTROL_FINISHED_OK
$STATE,10577,begin climb
$GC,10581,1.16,146.6,711.4,0.0,502,10714,1.58,0.00,128.18,1.246,6,0.045,0.000,2632,2314,2317
$GC,11016,1.12,161.6,689.6,5.6,523,11034,0.00,0.00,14.80,1.149,6,0.000,0.000,2632,2314,2256
$GC,11345,1.07,161.6,666.0,7.5,539,11347,0.12,0.00,0.00,0.000,6,0.090,0.000,2607,2314,2255
$GC,11654,1.10,183.7,646.0,5.3,554,11680,0.00,2.67,20.92,1.200,4,0.000,0.076,2606,3687,2164
$GC,11726,1.14,221.9,642.4,4.9,557,11766,0.00,2.47,34.25,1.220,6,0.000,0.046,2606,2314,2010
$GC,12092,1.19,221.9,620.2,6.2,575,12097,0.12,2.60,0.00,0.000,4,0.052,0.074,2641,3684,2009
$GC,12188,1.13,221.9,613.3,7.4,579,12192,0.00,2.45,0.00,0.000,6,0.000,0.045,2641,2311,2008
$GC,12504,1.13,221.9,589.3,8.3,594,12508,0.00,2.60,0.00,0.000,4,0.000,0.073,2641,3693,2009
$GC,12577,1.07,221.9,582.1,9.5,597,12582,0.17,2.45,0.00,0.000,6,0.091,0.044,2607,2312,2008
$GC,12893,1.12,221.9,560.0,6.6,612,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2312,2008
$GC,13203,1.21,247.4,542.6,5.2,627,13229,0.15,0.00,23.40,1.170,6,0.046,0.000,2649,2312,1905
$GC,13535,1.18,258.3,520.7,5.7,643,13555,0.00,2.60,11.25,1.081,4,0.000,0.067,2649,3684,1860
$GC,13603,1.13,258.3,514.8,9.8,646,13608,0.15,2.40,0.00,0.000,6,0.091,0.040,2620,2314,1860
$GC,13931,1.20,275.6,496.1,5.5,662,13949,0.00,0.00,16.55,1.102,6,0.000,0.000,2620,2313,1791
$GC,14259,1.20,275.6,472.4,8.1,678,14263,0.00,2.53,0.00,0.000,4,0.000,0.063,2620,3686,1791
$GC,14343,1.20,275.6,464.9,9.0,681,14350,0.00,2.40,0.00,0.000,6,0.000,0.038,2620,2313,1791
$GC,14660,1.25,275.6,440.0,7.6,697,14662,0.12,0.00,0.00,0.000,6,0.051,0.000,2657,2313,1791
$GC,14969,1.25,275.6,412.4,8.8,712,14973,0.00,2.50,0.00,0.000,4,0.000,0.059,2658,3692,1791
$GC,15065,1.19,275.6,403.7,8.6,716,15070,0.12,2.38,0.00,0.000,6,0.094,0.036,2634,2312,1791
$GC,15387,1.19,275.6,379.1,7.6,732,15391,0.00,2.50,0.00,0.000,4,0.000,0.058,2634,3690,1791
$GC,15454,1.19,275.6,373.2,8.5,735,15458,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2312,1791
$GC,15776,1.19,275.6,347.9,7.8,751,15777,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2313,1791
$GC,16085,1.19,275.6,325.0,6.7,766,16089,0.00,2.50,0.00,0.000,4,0.000,0.057,2634,3694,1792
$GC,16185,1.19,275.6,317.0,8.6,770,16192,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2314,1792
$GC,16502,1.19,275.6,292.8,6.8,786,16506,0.00,2.47,0.00,0.000,4,0.000,0.056,2633,3690,1792
$GC,16554,1.19,275.6,289.1,7.5,788,16559,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2305,1792
$GC,16876,1.19,275.6,270.7,7.2,804,16877,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2305,1792
$GC,17186,1.19,275.6,246.8,6.2,819,17190,0.00,2.50,0.00,0.000,4,0.000,0.054,2633,3696,1792
$GC,17309,1.23,307.5,241.0,5.0,824,17344,0.00,2.38,28.60,0.956,6,0.000,0.035,2633,2307,1661
$GC,17668,1.23,307.5,219.8,6.7,842,17672,0.00,2.50,0.00,0.000,4,0.000,0.054,2634,3693,1661
$GC,17735,1.23,307.5,214.3,8.2,845,17739,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2310,1661
$GC,18057,1.25,325.2,193.9,5.5,861,18079,0.00,2.53,16.27,0.900,4,0.000,0.053,2633,3687,1589
$GC,18126,1.33,391.0,191.1,4.0,864,18189,0.15,2.38,55.33,0.921,6,0.048,0.035,2675,2315,1321
$GC,18498,1.33,391.0,162.8,10.3,882,18499,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2314,1321
$GC,18808,1.33,391.0,129.9,12.6,897,18812,0.00,2.47,0.00,0.000,4,0.000,0.054,2675,3687,1321
$GC,18887,1.33,391.0,119.8,13.8,900,18893,0.00,2.38,0.00,0.000,6,0.000,0.035,2675,2311,1320
$GC,19205,1.33,391.0,90.4,7.4,916,19206,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2310,1320
$GC,19513,1.33,391.0,59.1,11.1,931,19517,0.00,2.47,0.00,0.000,4,0.000,0.053,2675,3686,1320
$GC,19621,1.33,391.0,46.4,12.0,936,19625,0.00,2.35,0.00,0.000,6,0.000,0.035,2675,2318,1320
$GC,19948,1.33,391.0,16.3,9.0,952,19949,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2317,1320
$STATE,20110,end climb,SURFACE_DEPTH_REACHED
$STATE,20110,begin surface coast
$FINISH,1.1,1.016027
$STATE,20133,end surface coast,CONTROL_FINISHED_OK
$STATE,20133,begin surface
$SM_CCo,20219,0.00,0.000,0,0,1320,391.25
$SM_GC,1.69,11.70,0.00,0.00,0.037,0.000,0.000,26,2523,1320,-10.74,0.17,391.25
$IRIDIUM_FIX,6308.26,-1303.66,240298,191947
$TT8_MAMPS,0.028379
$HUMID,2024
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.1,66.3
$24V_AH,23.1,23.986
$10V_AH,10.1,10.658
$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,26.325,137.900,478.125,0.000,0.000,70.921,90.425,300.995,5.500,0.000,0.000,13.216,1789.702,15412.723,570.210,2311.484,865.005,0.000,1725.884,0.000,2263.402,0.000,37.961,0.000
$DEVICE_MAMPS,124.254,88.205,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.165,657.125,543.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47345,961
$CAP_FILE_SIZE,149268,0
$CFSIZE,260165632,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,005116,6336.518,-1306.365,40,4.4,59,-12.3