version: 66.04
glider: 101
mission: 7
dive: 163
start: 12 4 108 17 58 42
data:
$ID,101
$MISSION,7
$DIVE,163
$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,-735300.12
$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,35
$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
$GPS1,175227,6401.154,-1311.471,38,3.4,57,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-42.6
$GPS2,175823,6401.111,-1311.557,11,3.6,30,-12.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6406.000,-1306.000
$TGT_RADIUS,2500.000
$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,38.9,10108,-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,-120.55,0.000,2,0.000,0.000,28,2545,3020
$GC,143,-1.16,-146.6,3.0,-2.2,6,178,10.82,2.10,-16.90,0.000,4,0.123,0.073,2117,3680,3513
$GC,325,-1.00,-146.6,20.5,-15.0,14,330,0.17,2.03,0.00,0.000,6,0.084,0.038,2152,2503,3512
$GC,653,-1.00,-146.6,40.0,-5.3,30,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2503,3512
$GC,962,-1.00,-146.6,57.7,-4.8,45,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2503,3512
$GC,1272,-1.00,-146.6,79.3,-9.3,60,1276,0.00,2.12,0.00,0.000,4,0.000,0.057,2153,3680,3512
$GC,1373,-1.00,-146.6,89.4,-8.5,64,1377,0.00,2.00,0.00,0.000,6,0.000,0.038,2152,2517,3512
$GC,1696,-1.00,-146.6,113.5,-8.0,80,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2517,3512
$GC,2005,-1.00,-146.6,146.8,-9.0,95,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2517,3512
$GC,2314,-1.00,-146.6,173.3,-8.2,110,2317,0.00,2.10,0.00,0.000,4,0.000,0.058,2152,3683,3512
$GC,2428,-1.00,-146.6,180.4,-5.2,115,2431,0.00,2.00,0.00,0.000,6,0.000,0.038,2153,2514,3512
$GC,2761,-1.00,-146.6,206.6,-9.9,131,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2514,3512
$GC,3070,-1.00,-146.6,248.0,-13.6,146,3074,0.00,2.10,0.00,0.000,4,0.000,0.059,2152,3679,3512
$GC,3328,-1.00,-146.6,283.3,-12.5,157,3332,0.00,2.00,0.00,0.000,6,0.000,0.038,2152,2509,3512
$GC,3650,-1.00,-146.6,318.3,-9.5,173,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2509,3512
$GC,3960,-1.00,-146.6,338.0,-3.6,188,3964,0.00,2.12,0.00,0.000,4,0.000,0.060,2153,3685,3512
$GC,4144,-1.00,-146.6,340.9,-1.5,196,4148,0.00,2.00,0.00,0.000,6,0.000,0.038,2153,2513,3512
$GC,4478,-1.00,-146.6,344.6,-1.3,212,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2512,3512
$GC,4787,-1.00,-146.6,349.8,-2.5,227,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3512
$GC,5096,-1.00,-146.6,359.3,-4.4,242,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2511,3512
$GC,5406,-1.00,-146.6,373.0,-4.5,257,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2511,3512
$GC,5714,-1.00,-146.6,388.7,-6.1,272,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2511,3512
$GC,6024,-1.00,-146.6,415.0,-10.3,287,6027,0.00,2.15,0.00,0.000,4,0.000,0.066,2153,3683,3511
$GC,6212,-1.00,-146.6,437.1,-12.8,295,6216,0.00,2.03,0.00,0.000,6,0.000,0.041,2152,2517,3511
$GC,6540,-1.00,-146.6,474.1,-11.9,311,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2517,3511
$GC,6850,-1.00,-146.6,517.0,-13.8,326,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2517,3511
$GC,7158,-1.00,-146.6,541.5,-6.3,341,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2517,3511
$STATE,7465,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7465,begin apogee
$GC,7473,-0.45,0.0,570.2,11.8,356,7607,0.57,0.00,127.07,1.208,6,0.065,0.000,2275,2317,2914
$STATE,7607,end apogee,CONTROL_FINISHED_OK
$STATE,7608,begin climb
$GC,7611,1.16,146.6,577.2,0.0,363,7748,1.62,2.70,127.32,1.168,4,0.052,0.084,2628,3680,2317
$GC,7843,1.19,240.8,576.9,3.2,374,7931,0.00,2.50,82.50,1.145,6,0.000,0.054,2627,2314,1933
$GC,8254,1.24,282.2,552.5,4.8,394,8297,0.00,2.65,37.15,1.127,4,0.000,0.075,2627,3679,1763
$GC,8337,1.24,282.2,546.4,8.0,397,8343,0.00,2.47,0.00,0.000,6,0.000,0.045,2627,2305,1763
$GC,8653,1.28,282.2,521.1,6.8,413,8655,0.12,0.00,0.00,0.000,6,0.055,0.000,2662,2305,1763
$GC,8962,1.28,282.2,491.9,11.2,428,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2305,1762
$GC,9272,1.23,282.2,473.1,6.9,443,9276,0.00,2.55,0.00,0.000,4,0.000,0.064,2662,3680,1762
$GC,9339,1.15,282.2,466.9,11.8,446,9344,0.17,2.42,0.00,0.000,6,0.088,0.040,2627,2297,1762
$GC,9661,1.34,442.0,469.7,1.2,462,9805,0.17,2.70,137.82,1.130,4,0.044,0.069,2674,3680,1113
$GC,9848,1.46,567.6,468.9,2.3,470,9958,0.00,2.42,102.28,1.094,6,0.000,0.041,2674,2315,657
$GC,10268,1.46,567.6,477.8,16.0,491,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2315,657
$GC,10578,1.46,567.6,431.8,13.9,506,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2314,656
$GC,10886,1.46,567.6,392.7,14.1,521,10891,0.00,2.53,0.00,0.000,4,0.000,0.064,2673,3677,656
$GC,10967,1.46,567.6,382.4,12.8,524,10973,0.00,2.40,0.00,0.000,6,0.000,0.039,2674,2308,656
$GC,11283,1.46,567.6,371.1,9.6,540,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2307,656
$GC,11592,1.46,567.6,340.8,11.8,555,11596,0.00,2.53,0.00,0.000,4,0.000,0.061,2674,3685,656
$GC,11681,1.46,567.6,333.5,6.3,559,11686,0.00,2.40,0.00,0.000,6,0.000,0.039,2674,2312,655
$GC,12004,1.50,567.6,282.7,11.6,575,12009,0.12,2.47,0.00,0.000,4,0.050,0.049,2711,914,656
$GC,12054,1.52,579.1,278.5,5.7,577,12059,0.00,2.47,0.00,0.000,6,0.000,0.041,2709,2312,656
$GC,12371,1.54,598.6,244.7,5.4,592,12375,0.00,2.47,0.00,0.000,4,0.000,0.061,2710,3689,656
$GC,12489,1.56,653.4,239.8,4.4,597,12494,0.00,2.40,0.00,0.000,6,0.000,0.038,2710,2309,656
$GC,12812,1.69,792.9,228.0,1.8,613,12817,0.15,2.50,0.00,0.000,4,0.050,0.058,2750,3689,655
$GC,12880,1.70,923.2,226.2,2.1,616,12884,0.00,2.40,0.00,0.000,6,0.000,0.038,2750,2310,655
$GC,13203,1.72,1042.8,226.4,2.4,632,13207,0.00,2.53,0.00,0.000,4,0.000,0.058,2750,3696,655
$GC,13266,1.64,1092.9,224.1,4.5,635,13270,0.00,2.40,0.00,0.000,6,0.000,0.038,2750,2311,655
$GC,13594,1.52,1092.9,215.4,10.6,651,13599,0.17,2.50,0.00,0.000,4,0.099,0.057,2712,3689,655
$GC,13650,1.47,1092.9,210.8,7.3,653,13657,0.00,2.38,0.00,0.000,6,0.000,0.038,2712,2319,655
$GC,13967,1.56,1170.7,182.5,3.7,669,13971,0.00,2.50,0.00,0.000,4,0.000,0.058,2712,3694,655
$GC,14041,1.58,1230.7,178.8,4.2,672,14045,0.00,2.40,0.00,0.000,6,0.000,0.037,2712,2309,655
$GC,14363,1.58,1230.7,126.1,20.9,688,14367,0.00,2.53,0.00,0.000,4,0.000,0.058,2712,3699,655
$GC,14404,1.53,1230.7,117.9,19.7,690,14408,0.00,2.38,0.00,0.000,6,0.000,0.038,2712,2316,655
$GC,14737,1.53,1230.7,59.3,17.3,706,14739,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2315,655
$GC,15047,1.53,1230.7,16.5,11.2,721,15051,0.00,2.50,0.00,0.000,4,0.000,0.057,2712,3694,655
$GC,15114,1.49,1230.7,5.9,17.0,724,15118,0.00,2.38,0.00,0.000,6,0.000,0.036,2712,2315,656
$STATE,15144,end climb,SURFACE_DEPTH_REACHED
$STATE,15144,begin surface coast
$FINISH,0.8,1.027639
$STATE,15167,end surface coast,CONTROL_FINISHED_OK
$STATE,15167,begin surface
$SM_CCo,15253,0.00,0.000,0,0,655,554.38
$SM_GC,1.18,11.82,0.00,0.00,0.034,0.000,0.000,24,2528,655,-10.75,0.31,554.38
$IRIDIUM_FIX,6332.30,-1301.51,280298,151549
$TT8_MAMPS,0.028379
$HUMID,2019
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,16.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,502.3,76.5
$24V_AH,23.1,27.199
$10V_AH,10.1,12.254
$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,25.950,94.975,614.150,0.000,0.000,26.142,41.609,151.823,4.750,0.000,0.000,33.263,1328.885,11326.381,716.305,1725.823,515.345,0.000,1592.488,0.000,1666.672,0.000,31.191,0.000
$DEVICE_MAMPS,123.487,84.370,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.322,494.597,442.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37958,727
$CAP_FILE_SIZE,107065,0
$CFSIZE,260165632,249491456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,041208,221407,6401.466,-1314.660,32,1.9,32,-12.6