version: 66.04
glider: 101
mission: 7
dive: 146
start: 12 1 108 6 5 30
data:
$ID,101
$MISSION,7
$DIVE,146
$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,-734881.88
$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,34
$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
$GPS1,055232,6337.614,-1307.675,37,1.7,37,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-52.4
$GPS2,060511,6337.537,-1307.922,14,2.9,33,-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,49.7,17410,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.50,0.000,2,0.000,0.000,25,2539,3193
$GC,103,-1.16,-146.6,3.8,-3.9,4,128,10.85,2.55,-8.82,0.000,4,0.123,0.055,2115,1106,3514
$GC,282,-1.06,-146.6,19.6,-7.7,12,287,0.15,2.47,0.00,0.000,6,0.091,0.039,2144,2521,3515
$GC,610,-1.06,-146.6,45.9,-7.6,28,613,0.00,2.08,0.00,0.000,4,0.000,0.058,2144,3692,3514
$GC,689,-1.00,-146.6,51.7,-8.3,31,693,0.00,2.03,0.00,0.000,6,0.000,0.035,2144,2502,3514
$GC,1011,-0.95,-146.6,74.8,-7.5,47,1016,0.10,2.12,0.00,0.000,4,0.088,0.054,2165,3688,3514
$GC,1097,-0.95,-146.6,80.7,-7.2,51,1101,0.00,2.00,0.00,0.000,6,0.000,0.036,2165,2511,3514
$GC,1430,-0.95,-146.6,101.8,-8.2,67,1434,0.00,2.12,0.00,0.000,4,0.000,0.055,2165,3697,3514
$GC,1509,-0.95,-146.6,107.1,-6.6,70,1513,0.00,2.03,0.00,0.000,6,0.000,0.036,2166,2506,3514
$GC,1832,-0.95,-146.6,127.3,-5.6,86,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2506,3514
$GC,2141,-0.95,-146.6,148.2,-7.4,101,2144,0.00,2.12,0.00,0.000,4,0.000,0.055,2165,3693,3514
$GC,2242,-0.95,-146.6,155.1,-7.0,105,2246,0.00,2.00,0.00,0.000,6,0.000,0.036,2165,2516,3514
$GC,2565,-0.95,-146.6,175.8,-7.3,121,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2516,3514
$GC,2873,-0.95,-146.6,197.7,-7.6,136,2877,0.00,2.10,0.00,0.000,4,0.000,0.056,2166,3688,3514
$GC,3010,-0.95,-146.6,207.7,-6.8,142,3013,0.00,2.00,0.00,0.000,6,0.000,0.036,2165,2509,3514
$GC,3342,-0.95,-146.6,232.9,-7.4,158,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2510,3513
$GC,3652,-0.95,-146.6,254.5,-6.6,173,3655,0.00,2.12,0.00,0.000,4,0.000,0.056,2165,3695,3514
$GC,3826,-0.95,-146.6,267.5,-7.0,180,3833,0.00,2.00,0.00,0.000,6,0.000,0.036,2165,2504,3513
$GC,4143,-0.95,-146.6,290.3,-8.3,196,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2504,3513
$GC,4452,-0.95,-146.6,315.6,-9.2,211,4456,0.00,2.12,0.00,0.000,4,0.000,0.058,2165,3686,3513
$GC,4635,-0.95,-146.6,332.2,-8.0,219,4638,0.00,2.00,0.00,0.000,6,0.000,0.036,2165,2506,3513
$GC,4968,-0.95,-146.6,357.2,-7.4,235,4971,0.00,2.12,0.00,0.000,4,0.000,0.058,2165,3687,3513
$GC,5063,-0.95,-146.6,364.2,-7.1,239,5067,0.00,2.00,0.00,0.000,6,0.000,0.035,2165,2510,3513
$GC,5391,-0.95,-146.6,386.6,-7.3,255,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2510,3513
$GC,5700,-0.95,-146.6,411.3,-8.3,270,5704,0.00,2.12,0.00,0.000,4,0.000,0.061,2165,3686,3513
$GC,5859,-0.95,-146.6,424.6,-8.6,277,5864,0.00,2.00,0.00,0.000,6,0.000,0.036,2165,2514,3513
$GC,6191,-0.95,-146.6,449.5,-7.4,293,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2513,3513
$GC,6500,-0.95,-146.6,474.9,-8.5,308,6505,0.00,2.17,0.00,0.000,4,0.000,0.070,2165,3692,3513
$GC,6624,-0.95,-146.6,485.6,-8.7,313,6628,0.00,2.03,0.00,0.000,6,0.000,0.039,2165,2523,3513
$GC,6946,-0.95,-146.6,510.0,-7.6,329,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2523,3513
$GC,7255,-0.95,-146.6,533.9,-8.4,344,7259,0.00,2.22,0.00,0.000,4,0.000,0.087,2165,3688,3513
$GC,7379,-0.95,-146.6,544.4,-8.7,349,7385,0.00,2.10,0.00,0.000,6,0.000,0.057,2165,2523,3513
$GC,7695,-0.95,-146.6,567.0,-6.9,365,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2523,3513
$GC,8004,-0.99,-146.6,587.9,-6.9,380,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2521,3513
$GC,8313,-0.99,-146.6,608.1,-6.5,395,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2521,3513
$GC,8623,-0.99,-146.6,618.8,-2.1,410,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2521,3513
$GC,8932,-1.04,-146.6,625.0,-3.2,425,8940,0.00,2.22,0.00,0.000,4,0.000,0.087,2166,3685,3513
$GC,9126,-1.04,-146.6,633.6,-5.3,433,9129,0.00,2.08,0.00,0.000,6,0.000,0.052,2165,2513,3512
$GC,9447,-1.04,-146.6,653.1,-6.9,449,9452,0.00,2.60,0.00,0.000,4,0.000,0.073,2165,1100,3512
$GC,9527,-1.08,-146.6,658.2,-5.8,452,9534,0.12,2.60,0.00,0.000,6,0.067,0.064,2137,2513,3512
$GC,9844,-1.08,-146.6,669.0,-1.4,468,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2137,2513,3512
$GC,10153,-1.08,-146.6,675.7,-3.8,483,10156,0.00,2.22,0.00,0.000,4,0.000,0.087,2137,3698,3511
$GC,10255,-1.04,-146.6,679.6,-4.4,487,10259,0.00,2.12,0.00,0.000,6,0.000,0.051,2136,2505,3511
$GC,10577,-0.99,-146.6,699.0,-7.0,503,10582,0.12,2.28,0.00,0.000,4,0.082,0.087,2162,3700,3511
$GC,10759,-0.99,-146.6,711.7,-8.6,511,10762,0.00,2.12,0.00,0.000,6,0.000,0.051,2162,2506,3510
$STATE,10966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10966,begin apogee
$GC,10974,-0.45,0.0,725.2,6.2,521,11108,0.52,0.00,128.38,1.300,6,0.064,0.000,2276,2317,2915
$STATE,11108,end apogee,CONTROL_FINISHED_OK
$STATE,11108,begin climb
$GC,11112,1.16,146.6,728.5,0.0,528,11245,1.60,0.00,128.15,1.260,6,0.054,0.000,2626,2316,2317
$GC,11547,1.10,146.6,705.8,6.8,549,11551,0.00,2.62,0.00,0.000,4,0.000,0.077,2626,3695,2316
$GC,11659,1.04,156.7,699.3,5.7,554,11677,0.12,2.47,10.38,1.110,6,0.098,0.045,2603,2310,2276
$GC,11986,1.04,159.5,682.5,5.9,570,11995,0.00,2.62,4.45,0.853,4,0.000,0.074,2602,3695,2264
$GC,12064,1.04,159.5,676.8,8.0,573,12070,0.00,2.47,0.00,0.000,6,0.000,0.045,2603,2308,2265
$GC,12380,1.04,159.5,653.6,7.2,589,12384,0.00,2.62,0.00,0.000,4,0.000,0.074,2602,3699,2264
$GC,12480,1.04,159.5,646.3,6.8,593,12486,0.00,2.47,0.00,0.000,6,0.000,0.044,2602,2308,2263
$GC,12797,1.15,251.7,631.9,3.3,609,12881,0.10,0.00,81.57,1.253,6,0.060,0.000,2630,2308,1889
$GC,13186,1.15,251.7,608.8,7.3,628,13190,0.00,2.62,0.00,0.000,4,0.000,0.071,2630,3702,1888
$GC,13316,1.15,251.7,596.1,11.0,634,13320,0.00,2.47,0.00,0.000,6,0.000,0.043,2630,2309,1888
$GC,13643,1.15,251.7,560.9,11.5,650,13644,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2309,1888
$GC,13952,1.15,251.7,528.7,9.3,665,13956,0.00,2.58,0.00,0.000,4,0.000,0.067,2629,3698,1888
$GC,14008,1.15,251.7,523.2,9.6,667,14014,0.00,2.42,0.00,0.000,6,0.000,0.040,2630,2313,1887
$GC,14324,1.16,253.4,501.6,5.9,683,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2313,1888
$GC,14633,1.16,259.0,484.0,5.8,698,14643,0.00,0.00,7.97,0.990,6,0.000,0.000,2630,2312,1859
$GC,14942,1.16,259.0,465.4,6.1,713,14946,0.00,2.55,0.00,0.000,4,0.000,0.062,2630,3702,1859
$GC,15033,1.16,259.0,458.9,7.3,717,15038,0.00,2.40,0.00,0.000,6,0.000,0.038,2630,2315,1859
$GC,15366,1.16,259.0,436.2,7.1,733,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2314,1859
$GC,15676,1.16,259.0,411.7,8.2,748,15680,0.00,2.53,0.00,0.000,4,0.000,0.059,2630,3700,1860
$GC,15765,1.16,259.0,404.0,8.3,752,15770,0.00,2.40,0.00,0.000,6,0.000,0.036,2630,2312,1859
$GC,16087,1.16,259.0,380.7,6.7,768,16088,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2312,1859
$GC,16396,1.16,259.0,357.3,8.9,783,16401,0.00,2.50,0.00,0.000,4,0.000,0.058,2630,3700,1860
$GC,16492,1.16,259.0,348.9,8.0,787,16496,0.00,2.40,0.00,0.000,6,0.000,0.035,2630,2307,1860
$GC,16808,1.16,259.0,325.7,7.6,802,16809,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2307,1860
$GC,17118,1.23,311.4,307.4,4.4,817,17169,0.00,2.60,45.88,1.004,4,0.000,0.055,2630,3705,1645
$GC,17251,1.36,378.3,300.7,4.0,823,17315,0.17,2.42,57.22,0.988,6,0.046,0.035,2675,2307,1372
$GC,17637,1.28,378.3,266.1,10.0,842,17638,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2305,1371
$GC,17946,1.28,378.3,234.0,10.3,857,17947,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2305,1371
$GC,18256,1.28,378.3,199.2,11.3,872,18260,0.00,2.53,0.00,0.000,4,0.000,0.055,2675,3700,1371
$GC,18374,1.24,382.9,189.4,5.9,877,18386,0.15,2.40,5.35,0.727,6,0.090,0.035,2645,2308,1354
$GC,18695,1.24,382.9,167.2,10.1,893,18699,0.00,2.53,0.00,0.000,4,0.000,0.054,2645,3710,1354
$GC,18798,1.24,382.9,156.6,8.9,897,18802,0.00,2.40,0.00,0.000,6,0.000,0.035,2644,2315,1353
$GC,19116,1.24,382.9,127.9,7.7,912,19117,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2315,1354
$GC,19425,1.30,395.1,109.7,5.6,927,19443,0.00,0.00,12.02,0.834,6,0.000,0.000,2644,2315,1303
$GC,19755,1.55,564.7,108.1,0.9,943,19896,0.30,0.00,137.05,0.872,6,0.037,0.000,2718,2315,657
$GC,20208,1.48,564.7,68.4,13.9,965,20213,0.00,2.53,0.00,0.000,4,0.000,0.054,2718,3709,656
$GC,20349,1.38,564.7,54.8,10.5,971,20354,0.22,2.40,0.00,0.000,6,0.092,0.035,2674,2317,656
$GC,20667,1.44,564.7,20.6,10.7,986,20671,0.00,2.53,0.00,0.000,4,0.000,0.056,2674,3706,656
$GC,20752,1.44,564.7,12.7,9.3,990,20757,0.00,2.40,0.00,0.000,6,0.000,0.035,2674,2315,655
$STATE,20891,end climb,SURFACE_DEPTH_REACHED
$STATE,20891,begin surface coast
$FINISH,0.8,1.027503
$STATE,20913,end surface coast,CONTROL_FINISHED_OK
$STATE,20913,begin surface
$SM_CCo,20998,0.00,0.000,0,0,655,554.38
$SM_GC,1.50,11.73,0.00,0.00,0.037,0.000,0.000,27,2535,655,-10.75,0.51,554.38
$IRIDIUM_FIX,6313.04,-1306.94,250298,060611
$TT8_MAMPS,0.028379
$HUMID,2001
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.1,59.3
$24V_AH,23.1,24.362
$10V_AH,10.1,10.844
$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,26.275,134.525,618.425,0.000,0.000,74.274,86.733,310.002,6.000,0.000,0.000,35.342,1841.164,15877.771,712.314,2454.857,867.055,0.000,1912.912,0.000,2378.882,0.000,42.501,0.000
$DEVICE_MAMPS,123.487,87.438,1300.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,742.866,681.899,615.860,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50466,998
$CAP_FILE_SIZE,152624,0
$CFSIZE,260165632,250499072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,011208,115658,6341.504,-1305.804,30,2.4,49,-12.4