version: 66.04
glider: 101
mission: 7
dive: 149
start: 12 1 108 21 32 57
data:
$ID,101
$MISSION,7
$DIVE,149
$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,-734970.62
$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,34
$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
$GPS1,212607,6344.984,-1303.670,30,1.8,30,-12.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-41.6
$GPS2,213235,6345.010,-1303.767,9,2.1,28,-12.4
$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,102.5,7181,-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,-146.6,0.0,0.0,0,139,0.00,0.00,-120.90,0.000,2,0.000,0.000,22,2534,3282
$GC,143,-1.16,-146.6,4.0,-3.0,6,166,10.85,2.58,-6.03,0.000,4,0.123,0.054,2115,1112,3514
$GC,393,-1.07,-146.6,28.1,-6.7,17,398,0.12,2.45,0.00,0.000,6,0.096,0.039,2139,2514,3514
$GC,721,-1.00,-146.6,60.0,-10.3,33,724,0.00,2.08,0.00,0.000,4,0.000,0.057,2138,3686,3513
$GC,768,-0.94,-146.6,63.4,-7.0,35,772,0.15,2.00,0.00,0.000,6,0.082,0.036,2169,2508,3512
$GC,1101,-0.94,-146.6,76.3,-3.6,51,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2508,3513
$GC,1410,-0.94,-146.6,92.3,-4.3,66,1414,0.00,2.12,0.00,0.000,4,0.000,0.055,2169,3693,3512
$GC,1547,-0.94,-146.6,97.7,-3.7,72,1551,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2510,3513
$GC,1882,-0.94,-146.6,115.3,-5.2,88,1886,0.00,2.12,0.00,0.000,4,0.000,0.054,2170,3699,3513
$GC,2019,-0.94,-146.6,124.3,-7.1,94,2023,0.00,2.00,0.00,0.000,6,0.000,0.035,2169,2518,3513
$GC,2352,-0.94,-146.6,148.8,-7.9,110,2356,0.00,2.10,0.00,0.000,4,0.000,0.055,2170,3692,3513
$GC,2437,-0.94,-146.6,155.7,-7.5,113,2443,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2511,3512
$GC,2753,-0.94,-146.6,186.0,-11.4,129,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2511,3512
$GC,3062,-0.94,-146.6,212.0,-6.6,144,3066,0.00,2.10,0.00,0.000,4,0.000,0.054,2169,3688,3513
$GC,3124,-0.94,-146.6,218.0,-10.6,146,3130,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2508,3512
$GC,3441,-0.94,-146.6,250.3,-11.3,162,3445,0.00,2.12,0.00,0.000,4,0.000,0.055,2170,3696,3512
$GC,3510,-0.94,-146.6,258.1,-10.9,165,3514,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2514,3512
$GC,3844,-0.94,-146.6,287.3,-8.9,181,3848,0.00,2.10,0.00,0.000,4,0.000,0.056,2170,3688,3512
$GC,3958,-0.94,-146.6,298.0,-8.7,186,3962,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2505,3512
$GC,4291,-0.94,-146.6,323.3,-7.3,202,4295,0.00,2.12,0.00,0.000,4,0.000,0.056,2170,3692,3512
$GC,4383,-0.94,-146.6,329.8,-7.0,206,4386,0.00,2.00,0.00,0.000,6,0.000,0.035,2169,2509,3512
$GC,4716,-0.94,-146.6,346.2,-4.7,222,4720,0.00,2.12,0.00,0.000,4,0.000,0.057,2170,3692,3512
$GC,4812,-0.94,-146.6,352.6,-5.7,226,4816,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2510,3512
$GC,5142,-0.94,-146.6,375.1,-7.8,242,5146,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3691,3512
$GC,5215,-0.94,-146.6,380.8,-7.1,245,5219,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2514,3512
$GC,5543,-0.94,-146.6,407.4,-8.8,261,5547,0.00,2.12,0.00,0.000,4,0.000,0.061,2170,3688,3512
$GC,5672,-0.94,-146.6,418.9,-9.1,266,5678,0.00,2.00,0.00,0.000,6,0.000,0.036,2169,2518,3512
$GC,5989,-0.94,-146.6,445.1,-6.9,282,5993,0.00,2.12,0.00,0.000,4,0.000,0.064,2170,3689,3512
$GC,6068,-0.94,-146.6,450.9,-8.1,285,6071,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2518,3512
$GC,6390,-0.94,-146.6,474.5,-8.3,301,6395,0.00,2.15,0.00,0.000,4,0.000,0.068,2169,3685,3512
$GC,6553,-0.94,-146.6,489.8,-11.0,308,6556,0.00,2.03,0.00,0.000,6,0.000,0.040,2170,2519,3512
$GC,6880,-0.94,-146.6,517.1,-8.0,324,6883,0.00,2.20,0.00,0.000,4,0.000,0.081,2170,3684,3512
$GC,7049,-0.94,-146.6,530.3,-8.3,331,7053,0.00,2.08,0.00,0.000,6,0.000,0.052,2170,2513,3512
$GC,7372,-0.98,-146.6,550.6,-5.5,347,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2513,3512
$GC,7680,-0.98,-146.6,564.5,-4.3,362,7684,0.00,2.28,0.00,0.000,4,0.000,0.097,2170,3680,3512
$GC,7753,-0.98,-146.6,568.0,-5.0,365,7757,0.00,2.12,0.00,0.000,6,0.000,0.064,2170,2519,3512
$GC,8077,-1.02,-146.6,584.9,-5.5,381,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2519,3511
$GC,8386,-1.06,-146.6,606.6,-7.4,396,8390,0.12,2.20,0.00,0.000,4,0.054,0.081,2132,3683,3512
$GC,8449,-1.00,-146.6,611.4,-7.4,399,8453,0.12,2.08,0.00,0.000,6,0.084,0.051,2157,2508,3512
$GC,8781,-1.00,-146.6,629.5,-6.7,415,8785,0.00,2.25,0.00,0.000,4,0.000,0.088,2157,3683,3511
$GC,8927,-1.00,-146.6,641.3,-8.2,421,8931,0.00,2.08,0.00,0.000,6,0.000,0.052,2157,2518,3511
$GC,9249,-1.00,-146.6,665.3,-6.6,437,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2518,3512
$GC,9559,-1.00,-146.6,682.6,-5.1,452,9563,0.00,2.22,0.00,0.000,4,0.000,0.087,2157,3682,3511
$STATE,9590,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9590,begin apogee
$GC,9601,-0.45,0.0,684.5,5.4,453,9732,0.50,0.00,128.00,1.251,6,0.066,0.000,2269,2317,2915
$STATE,9733,end apogee,CONTROL_FINISHED_OK
$STATE,9733,begin climb
$GC,9737,1.16,146.6,688.7,0.0,460,9869,1.62,0.00,127.47,1.216,6,0.054,0.000,2625,2317,2317
$GC,10171,1.29,252.4,673.8,2.8,481,10271,0.12,0.00,93.47,1.203,6,0.052,0.000,2661,2317,1885
$GC,10581,1.22,252.4,649.0,6.1,501,10583,0.10,0.00,0.00,0.000,6,0.101,0.000,2642,2317,1884
$GC,10889,1.22,252.4,628.8,8.2,516,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2317,1884
$GC,11199,1.22,252.4,602.6,6.1,531,11203,0.00,2.58,0.00,0.000,4,0.000,0.072,2642,3686,1883
$GC,11272,1.18,260.0,598.3,5.8,534,11287,0.00,2.45,7.82,1.029,6,0.000,0.043,2642,2304,1855
$GC,11616,1.21,285.9,579.6,5.2,551,11645,0.00,2.65,24.00,1.170,4,0.000,0.071,2642,3689,1749
$GC,11704,1.22,294.0,574.5,5.8,555,11718,0.00,2.45,8.62,1.030,6,0.000,0.041,2642,2308,1715
$GC,12036,1.26,320.8,555.4,5.2,571,12065,0.00,2.62,24.30,1.145,4,0.000,0.067,2642,3686,1607
$GC,12118,1.30,358.2,551.5,4.9,574,12158,0.00,2.45,33.50,1.146,6,0.000,0.041,2642,2305,1454
$GC,12479,1.31,367.9,534.4,5.7,592,12494,0.00,2.62,10.18,1.029,4,0.000,0.065,2642,3693,1414
$GC,12529,1.31,367.9,530.8,6.8,593,12533,0.00,2.45,0.00,0.000,6,0.000,0.039,2642,2307,1414
$GC,12845,1.33,384.2,510.7,5.5,608,12864,0.10,0.00,15.75,1.071,6,0.059,0.000,2671,2307,1348
$GC,13174,1.33,384.2,489.2,7.1,624,13178,0.00,2.55,0.00,0.000,4,0.000,0.063,2672,3687,1348
$GC,13236,1.28,384.2,483.8,9.7,626,13242,0.00,2.40,0.00,0.000,6,0.000,0.038,2672,2315,1348
$GC,13552,1.28,384.2,457.8,8.8,642,13553,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2315,1348
$GC,13861,1.28,384.2,429.9,9.8,657,13865,0.00,2.50,0.00,0.000,4,0.000,0.059,2672,3685,1347
$GC,13922,1.28,384.2,423.9,9.8,659,13929,0.00,2.40,0.00,0.000,6,0.000,0.037,2671,2304,1347
$GC,14239,1.28,384.2,395.4,9.7,675,14243,0.00,2.53,0.00,0.000,4,0.000,0.058,2672,3691,1348
$GC,14296,1.24,384.2,389.2,11.2,677,14303,0.12,2.38,0.00,0.000,6,0.095,0.035,2648,2314,1348
$GC,14613,1.29,384.2,356.4,9.5,693,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2313,1348
$GC,14922,1.33,384.2,324.7,10.3,708,14926,0.00,2.50,0.00,0.000,4,0.000,0.056,2647,3694,1348
$GC,14990,1.33,384.2,316.6,12.1,711,14994,0.00,2.38,0.00,0.000,6,0.000,0.035,2647,2309,1348
$GC,15312,1.39,384.2,288.0,7.5,727,15313,0.12,0.00,0.00,0.000,6,0.051,0.000,2682,2308,1347
$GC,15620,1.39,384.2,265.9,9.8,742,15624,0.00,2.47,0.00,0.000,4,0.000,0.054,2683,3687,1348
$GC,15671,1.34,384.2,259.9,12.1,744,15676,0.00,2.35,0.00,0.000,6,0.000,0.035,2683,2318,1348
$GC,15988,1.34,384.2,217.2,14.6,759,15992,0.00,2.47,0.00,0.000,4,0.000,0.054,2682,3693,1348
$GC,16027,1.28,384.2,211.0,15.3,760,16035,0.15,2.35,0.00,0.000,6,0.095,0.035,2653,2315,1348
$GC,16344,1.28,384.2,179.4,8.0,776,16348,0.00,2.47,0.00,0.000,4,0.000,0.054,2653,3694,1348
$GC,16384,1.28,384.2,174.8,12.4,778,16388,0.00,2.38,0.00,0.000,6,0.000,0.035,2653,2307,1348
$GC,16711,1.28,384.2,137.6,8.0,794,16716,0.00,2.47,0.00,0.000,4,0.000,0.053,2653,3689,1348
$GC,16752,1.28,384.2,134.0,9.4,796,16756,0.00,2.35,0.00,0.000,6,0.000,0.035,2653,2306,1348
$GC,17087,1.37,415.2,109.3,5.1,812,17121,0.00,2.60,27.10,0.867,4,0.000,0.052,2653,3687,1222
$GC,17162,1.41,415.2,103.7,9.0,815,17167,0.12,2.38,0.00,0.000,6,0.054,0.035,2687,2318,1221
$GC,17479,1.41,415.2,70.9,6.5,830,17480,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2317,1221
$GC,17788,1.41,415.2,35.4,13.6,845,17792,0.00,2.47,0.00,0.000,4,0.000,0.054,2687,3697,1221
$GC,17844,1.36,415.2,30.9,9.2,847,17850,0.00,2.35,0.00,0.000,6,0.000,0.035,2687,2318,1221
$STATE,18116,end climb,SURFACE_DEPTH_REACHED
$STATE,18116,begin surface coast
$FINISH,0.9,1.027417
$STATE,18138,end surface coast,CONTROL_FINISHED_OK
$STATE,18138,begin surface
$SM_CCo,18223,0.00,0.000,0,0,1221,415.54
$SM_GC,1.59,11.73,0.00,0.00,0.036,0.000,0.000,28,2528,1221,-10.74,0.31,415.54
$IRIDIUM_FIX,6317.84,-1303.31,250298,171720
$TT8_MAMPS,0.028379
$HUMID,2016
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.5,43.8
$24V_AH,23.1,24.897
$10V_AH,10.1,11.092
$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,26.075,149.975,500.225,0.000,0.000,22.357,27.782,191.189,6.000,0.000,0.000,30.815,1624.218,13599.757,646.895,2141.676,599.115,0.000,1717.587,0.000,2070.625,0.000,43.754,0.000
$DEVICE_MAMPS,123.487,97.409,1250.977,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.189,587.969,547.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44299,862
$CAP_FILE_SIZE,136809,0
$CFSIZE,260165632,250335232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,021208,023801,6345.430,-1259.982,36,1.0,41,-12.3