version: 66.04
glider: 101
mission: 7
dive: 150
start: 12 2 108 2 47 42
data:
$ID,101
$MISSION,7
$DIVE,150
$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,-734985.62
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,023801,6345.430,-1259.982,36,1.0,41,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-47.4
$GPS2,024721,6345.357,-1300.084,12,1.8,12,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$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,12.4,27119,-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,-81.15,0.000,2,0.000,0.000,28,2528,2929
$GC,103,-1.16,-146.6,3.1,-2.4,4,139,10.88,0.00,-21.45,0.000,6,0.122,0.000,2120,2529,3513
$GC,450,-1.03,-146.6,32.1,-8.0,21,452,0.15,0.00,0.00,0.000,6,0.080,0.000,2152,2529,3514
$GC,757,-1.03,-146.6,60.2,-8.1,36,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2529,3514
$GC,1066,-1.03,-146.6,81.4,-7.8,51,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2529,3514
$GC,1376,-1.03,-146.6,108.6,-5.7,66,1380,0.00,2.08,0.00,0.000,4,0.000,0.058,2151,3693,3513
$GC,1517,-1.03,-146.6,119.0,-7.6,72,1521,0.00,2.03,0.00,0.000,6,0.000,0.036,2152,2505,3513
$GC,1846,-1.03,-146.6,133.1,-5.5,88,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3513
$GC,2154,-1.03,-146.6,159.2,-8.7,103,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2505,3513
$GC,2463,-1.03,-146.6,187.8,-8.0,118,2466,0.00,2.12,0.00,0.000,4,0.000,0.056,2152,3689,3514
$GC,2592,-1.03,-146.6,196.5,-8.4,123,2598,0.00,2.00,0.00,0.000,6,0.000,0.036,2152,2512,3513
$GC,2908,-1.03,-146.6,218.0,-6.7,139,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2512,3513
$GC,3218,-0.98,-146.6,242.0,-6.7,154,3221,0.00,2.12,0.00,0.000,4,0.000,0.056,2152,3698,3513
$GC,3341,-0.92,-146.6,250.8,-6.7,159,3346,0.10,2.03,0.00,0.000,6,0.091,0.035,2172,2505,3513
$GC,3664,-0.92,-146.6,268.2,-4.1,175,3667,0.00,2.12,0.00,0.000,4,0.000,0.054,2172,3693,3513
$GC,3771,-0.92,-146.6,273.7,-6.1,179,3777,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2510,3513
$GC,4087,-0.92,-146.6,289.9,-4.4,195,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2511,3513
$GC,4396,-0.92,-146.6,302.5,-3.2,210,4400,0.00,2.12,0.00,0.000,4,0.000,0.056,2172,3698,3513
$GC,4520,-0.92,-146.6,307.3,-3.6,215,4524,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2517,3513
$GC,4843,-0.92,-146.6,318.7,-3.1,231,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2517,3513
$GC,5153,-0.97,-146.6,329.9,-4.7,246,5157,0.00,2.10,0.00,0.000,4,0.000,0.058,2172,3690,3513
$GC,5249,-0.97,-146.6,336.2,-7.2,250,5253,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2510,3513
$GC,5577,-0.97,-146.6,359.0,-7.2,266,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2508,3513
$GC,5887,-0.97,-146.6,383.1,-7.5,281,5890,0.00,2.12,0.00,0.000,4,0.000,0.059,2172,3689,3513
$GC,6010,-0.97,-146.6,394.4,-8.4,286,6014,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2514,3513
$GC,6332,-0.97,-146.6,419.5,-9.2,302,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2514,3513
$GC,6642,-1.01,-146.6,440.0,-5.9,317,6646,0.00,2.15,0.00,0.000,4,0.000,0.064,2171,3695,3513
$GC,6767,-1.01,-146.6,447.5,-5.9,322,6770,0.00,2.03,0.00,0.000,6,0.000,0.036,2172,2512,3513
$GC,7089,-1.01,-146.6,466.5,-5.8,338,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2511,3513
$GC,7398,-1.01,-146.6,491.2,-9.6,353,7401,0.00,2.17,0.00,0.000,4,0.000,0.074,2172,3686,3513
$GC,7499,-1.01,-146.6,501.0,-9.0,357,7503,0.00,2.03,0.00,0.000,6,0.000,0.043,2172,2525,3513
$GC,7821,-1.06,-146.6,526.6,-7.8,373,7826,0.12,2.20,0.00,0.000,4,0.054,0.083,2134,3685,3513
$GC,7965,-0.98,-146.6,539.6,-9.4,379,7970,0.12,2.10,0.00,0.000,6,0.086,0.054,2158,2513,3513
$GC,8281,-0.98,-146.6,559.8,-5.6,394,8285,0.00,2.30,0.00,0.000,4,0.000,0.096,2158,3692,3513
$GC,8378,-0.98,-146.6,564.9,-5.7,398,8381,0.00,2.15,0.00,0.000,6,0.000,0.063,2159,2514,3513
$GC,8700,-0.98,-146.6,581.1,-5.2,414,8703,0.00,2.22,0.00,0.000,4,0.000,0.084,2159,3686,3513
$GC,8784,-0.98,-146.6,586.3,-6.0,417,8790,0.00,2.10,0.00,0.000,6,0.000,0.050,2159,2504,3513
$GC,9100,-0.98,-146.6,608.2,-8.1,433,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2503,3513
$GC,9410,-0.98,-146.6,630.7,-7.0,448,9414,0.00,2.25,0.00,0.000,4,0.000,0.087,2159,3684,3513
$GC,9556,-0.98,-146.6,641.6,-7.8,454,9562,0.00,2.08,0.00,0.000,6,0.000,0.051,2159,2517,3513
$GC,9873,-0.98,-146.6,662.2,-5.0,470,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2517,3512
$GC,10182,-0.98,-146.6,679.6,-4.9,485,10183,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2516,3512
$GC,10491,-0.98,-146.6,697.7,-5.9,500,10495,0.00,2.22,0.00,0.000,4,0.000,0.086,2159,3685,3512
$STATE,10550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10550,begin apogee
$GC,10561,-0.45,0.0,701.6,8.4,502,10692,0.50,0.00,128.25,1.266,6,0.066,0.000,2270,2316,2915
$STATE,10693,end apogee,CONTROL_FINISHED_OK
$STATE,10693,begin climb
$GC,10697,1.16,146.6,706.8,0.0,509,10834,1.60,2.75,127.72,1.229,4,0.052,0.074,2623,911,2317
$GC,10877,1.16,146.6,700.2,7.6,517,10881,0.00,2.60,0.00,0.000,6,0.000,0.060,2623,2312,2316
$GC,11193,1.16,146.6,681.1,7.5,532,11198,0.00,2.60,0.00,0.000,4,0.000,0.077,2623,3699,2315
$GC,11244,1.07,146.6,677.5,6.5,534,11249,0.00,2.47,0.00,0.000,6,0.000,0.045,2623,2313,2315
$GC,11561,1.10,167.2,661.7,5.4,549,11582,0.00,0.00,19.58,1.174,6,0.000,0.000,2623,2313,2233
$GC,11890,1.10,167.2,637.7,8.8,565,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2313,2232
$GC,12199,1.10,167.2,610.0,8.8,580,12203,0.00,2.60,0.00,0.000,4,0.000,0.072,2623,3698,2231
$GC,12355,1.06,173.7,599.9,5.8,587,12369,0.00,2.45,7.00,1.010,6,0.000,0.043,2623,2312,2206
$GC,12686,1.06,173.7,582.0,6.1,603,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2312,2206
$GC,12996,1.06,173.7,563.9,6.6,618,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2312,2205
$GC,13306,1.01,173.7,542.0,7.3,633,13311,0.15,2.58,0.00,0.000,4,0.091,0.067,2594,3698,2205
$GC,13396,1.03,191.5,536.7,5.5,637,13419,0.00,2.42,16.80,1.130,6,0.000,0.039,2594,2312,2134
$GC,13745,1.16,246.9,517.5,4.3,654,13801,0.15,0.00,49.12,1.152,6,0.048,0.000,2634,2312,1908
$GC,14111,1.21,285.6,496.6,4.8,672,14152,0.00,2.67,35.15,1.118,4,0.000,0.064,2634,3700,1750
$GC,14192,1.23,296.8,492.3,5.7,675,14208,0.00,2.42,11.05,1.012,6,0.000,0.038,2634,2317,1705
$GC,14524,1.23,296.8,469.1,8.0,692,14526,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2317,1705
$GC,14833,1.23,296.8,447.5,7.3,707,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2317,1705
$GC,15143,1.23,296.8,423.7,7.7,722,15147,0.00,2.53,0.00,0.000,4,0.000,0.059,2634,3699,1705
$GC,15205,1.23,296.8,418.8,7.8,725,15209,0.00,2.40,0.00,0.000,6,0.000,0.036,2634,2304,1704
$GC,15539,1.23,296.8,391.5,9.4,741,15540,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2304,1705
$GC,15848,1.23,296.8,362.8,8.4,756,15849,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2304,1705
$GC,16157,1.23,296.8,339.4,8.6,771,16161,0.00,2.53,0.00,0.000,4,0.000,0.056,2634,3706,1705
$GC,16203,1.23,296.8,334.7,9.8,773,16208,0.00,2.38,0.00,0.000,6,0.000,0.035,2634,2311,1705
$GC,16537,1.33,381.1,315.5,3.5,789,16616,0.12,0.00,72.25,1.007,6,0.050,0.000,2672,2310,1361
$GC,16926,1.33,381.1,288.5,7.2,808,16930,0.00,2.50,0.00,0.000,4,0.000,0.055,2672,3696,1361
$GC,16995,1.33,381.1,283.4,7.3,811,16999,0.00,2.38,0.00,0.000,6,0.000,0.035,2672,2321,1360
$GC,17322,1.33,381.1,252.4,9.6,827,17323,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2320,1360
$GC,17631,1.33,381.1,216.6,11.9,842,17632,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2320,1360
$GC,17940,1.33,381.1,180.7,12.5,857,17941,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2320,1360
$GC,18252,1.33,381.1,139.6,14.1,872,18253,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2320,1360
$GC,18559,1.33,381.1,102.7,11.5,887,18563,0.00,2.47,0.00,0.000,4,0.000,0.053,2671,3697,1360
$GC,18623,1.33,381.1,94.4,12.9,890,18627,0.00,2.38,0.00,0.000,6,0.000,0.035,2672,2315,1360
$GC,18950,1.33,381.1,51.8,12.3,906,18951,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2314,1360
$GC,19261,1.33,381.1,22.0,8.8,921,19262,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2314,1360
$STATE,19503,end climb,SURFACE_DEPTH_REACHED
$STATE,19503,begin surface coast
$FINISH,1.1,1.005663
$STATE,19525,end surface coast,CONTROL_FINISHED_OK
$STATE,19525,begin surface
$SM_CCo,19611,0.00,0.000,0,0,1360,381.44
$SM_GC,1.85,11.75,0.00,0.00,0.041,0.000,0.000,25,2533,1360,-10.75,0.45,381.44
$IRIDIUM_FIX,6317.84,-1253.85,260298,020205
$TT8_MAMPS,0.028379
$HUMID,2014
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.6,60.9
$24V_AH,23.1,25.071
$10V_AH,10.1,11.182
$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,25.650,104.850,466.925,0.000,0.000,49.786,63.724,236.468,6.250,0.000,0.000,14.356,1689.086,15107.254,597.270,2057.311,716.409,0.000,1602.729,0.000,2016.901,0.000,43.806,0.000
$DEVICE_MAMPS,121.953,95.875,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,697.498,638.689,543.980,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47489,934
$CAP_FILE_SIZE,131868,0
$CFSIZE,260165632,250273792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,021208,081538,6348.127,-1305.733,25,1.5,25,-12.4