version: 66.04
glider: 101
mission: 7
dive: 152
start: 12 2 108 14 21 21
data:
$ID,101
$MISSION,7
$DIVE,152
$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,-735035.25
$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,42
$R_STBD_OVSHOOT,15
$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
$GPS1,141440,6353.816,-1302.235,42,1.6,50,-12.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-50.6
$GPS2,142059,6353.815,-1302.123,10,2.2,29,-12.4
$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,21.0,11584,-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,-81.10,0.000,2,0.000,0.000,27,2506,2953
$GC,103,-1.16,-146.6,3.2,-2.8,4,138,10.82,2.20,-17.70,0.000,4,0.123,0.070,2114,3698,3514
$GC,218,-0.99,-146.6,15.2,-9.4,9,223,0.22,2.03,0.00,0.000,6,0.076,0.036,2160,2513,3515
$GC,540,-0.99,-146.6,46.0,-9.5,25,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2513,3514
$GC,851,-0.99,-146.6,72.3,-7.9,40,855,0.00,2.12,0.00,0.000,4,0.000,0.056,2160,3699,3514
$GC,952,-0.95,-146.6,81.0,-7.6,44,956,0.00,2.03,0.00,0.000,6,0.000,0.036,2160,2505,3514
$GC,1275,-0.95,-146.6,102.1,-9.5,60,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2505,3513
$GC,1584,-0.95,-146.6,131.1,-7.2,75,1588,0.00,2.15,0.00,0.000,4,0.000,0.054,2160,3705,3513
$GC,1713,-0.95,-146.6,140.9,-8.0,80,1720,0.00,2.03,0.00,0.000,6,0.000,0.036,2160,2505,3513
$GC,2030,-0.95,-146.6,165.9,-11.0,96,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2505,3513
$GC,2339,-0.95,-146.6,197.0,-8.9,111,2343,0.00,2.15,0.00,0.000,4,0.000,0.055,2160,3709,3513
$GC,2457,-0.95,-146.6,208.3,-8.8,116,2461,0.00,2.03,0.00,0.000,6,0.000,0.036,2160,2516,3513
$GC,2785,-0.95,-146.6,230.4,-6.4,132,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2516,3513
$GC,3095,-0.95,-146.6,245.7,-5.5,147,3098,0.00,2.12,0.00,0.000,4,0.000,0.055,2160,3705,3513
$GC,3218,-0.95,-146.6,253.9,-8.6,152,3222,0.00,2.03,0.00,0.000,6,0.000,0.035,2160,2509,3513
$GC,3541,-0.95,-146.6,275.6,-8.4,168,3545,0.00,2.12,0.00,0.000,4,0.000,0.055,2160,3701,3513
$GC,3614,-0.95,-146.6,281.3,-6.9,171,3618,0.00,2.03,0.00,0.000,6,0.000,0.035,2160,2506,3513
$GC,3942,-0.95,-146.6,301.3,-7.0,187,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2506,3513
$GC,4251,-0.95,-146.6,323.5,-6.1,202,4255,0.00,2.15,0.00,0.000,4,0.000,0.057,2160,3706,3513
$GC,4398,-0.95,-146.6,332.1,-5.7,208,4401,0.00,2.03,0.00,0.000,6,0.000,0.036,2160,2513,3513
$GC,4719,-0.95,-146.6,351.8,-6.4,224,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2512,3513
$GC,5029,-0.95,-146.6,370.8,-6.2,239,5033,0.00,2.15,0.00,0.000,4,0.000,0.058,2159,3705,3513
$GC,5119,-0.95,-146.6,376.9,-6.9,243,5123,0.00,2.03,0.00,0.000,6,0.000,0.036,2160,2513,3513
$GC,5453,-0.95,-146.6,394.3,-4.8,259,5457,0.00,2.15,0.00,0.000,4,0.000,0.059,2160,3704,3513
$GC,5544,-0.95,-146.6,399.4,-5.3,263,5548,0.00,2.03,0.00,0.000,6,0.000,0.036,2160,2513,3513
$GC,5878,-0.95,-146.6,413.2,-3.6,279,5881,0.00,2.15,0.00,0.000,4,0.000,0.061,2159,3700,3513
$GC,5957,-0.95,-146.6,417.2,-4.8,282,5961,0.00,2.03,0.00,0.000,6,0.000,0.035,2160,2509,3513
$GC,6278,-0.95,-146.6,437.2,-7.2,298,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2509,3513
$GC,6588,-0.95,-146.6,460.4,-7.8,313,6591,0.00,2.17,0.00,0.000,4,0.000,0.067,2160,3695,3513
$GC,6784,-0.95,-146.6,475.7,-7.4,321,6790,0.00,2.03,0.00,0.000,6,0.000,0.038,2160,2520,3513
$GC,7101,-0.95,-146.6,494.3,-5.3,337,7104,0.00,2.17,0.00,0.000,4,0.000,0.073,2160,3698,3512
$GC,7180,-0.95,-146.6,498.6,-5.3,340,7184,0.00,2.05,0.00,0.000,6,0.000,0.041,2160,2517,3513
$GC,7502,-0.95,-146.6,516.5,-6.8,356,7506,0.00,2.22,0.00,0.000,4,0.000,0.079,2160,3699,3512
$GC,7593,-0.95,-146.6,523.8,-8.3,360,7597,0.00,2.08,0.00,0.000,6,0.000,0.048,2160,2521,3512
$GC,7927,-0.95,-146.6,551.7,-7.1,376,7931,0.00,2.60,0.00,0.000,4,0.000,0.071,2159,1105,3512
$GC,8000,-0.95,-146.6,556.7,-7.1,379,8004,0.00,2.60,0.00,0.000,6,0.000,0.064,2160,2524,3512
$GC,8317,-0.95,-146.6,575.3,-5.8,394,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2525,3512
$GC,8625,-0.95,-146.6,592.6,-4.9,409,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2524,3512
$GC,8935,-0.95,-146.6,605.7,-4.4,424,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2524,3512
$GC,9244,-0.95,-146.6,616.0,-2.5,439,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2524,3512
$GC,9553,-0.95,-146.6,614.8,0.8,454,9557,0.00,2.17,0.00,0.000,4,0.000,0.085,2160,3693,3511
$GC,9723,-0.95,-146.6,618.4,-3.3,461,9726,0.00,2.08,0.00,0.000,6,0.000,0.048,2160,2516,3511
$GC,10045,-0.95,-146.6,634.3,-6.6,477,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2516,3511
$GC,10354,-0.95,-146.6,652.0,-5.4,492,10358,0.00,2.22,0.00,0.000,4,0.000,0.084,2160,3692,3510
$GC,10554,-0.95,-146.6,661.1,-5.7,500,10560,0.00,2.08,0.00,0.000,6,0.000,0.048,2160,2516,3510
$GC,10871,-0.95,-146.6,681.4,-6.8,516,10872,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2515,3510
$GC,11180,-0.95,-146.6,699.7,-6.5,531,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2514,3509
$STATE,11217,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11218,begin apogee
$GC,11226,-0.45,0.0,702.5,6.5,533,11360,0.52,0.00,128.55,1.286,6,0.066,0.000,2273,2310,2914
$STATE,11361,end apogee,CONTROL_FINISHED_OK
$STATE,11361,begin climb
$GC,11365,1.16,146.6,708.0,0.0,540,11503,1.62,2.72,127.70,1.246,4,0.053,0.074,2627,912,2317
$GC,11650,1.09,146.6,692.6,8.5,553,11654,0.00,2.60,0.00,0.000,6,0.000,0.058,2628,2320,2316
$GC,11966,1.05,146.6,672.8,6.1,568,11971,0.12,2.60,0.00,0.000,4,0.101,0.077,2603,3702,2316
$GC,12079,1.07,163.5,666.7,5.5,573,12100,0.00,2.47,16.05,1.159,6,0.000,0.047,2603,2317,2247
$GC,12422,1.09,179.3,647.1,5.5,590,12445,0.00,2.67,15.80,1.164,4,0.000,0.076,2604,3693,2182
$GC,12541,1.10,187.4,640.9,5.8,595,12558,0.00,2.47,8.52,1.062,6,0.000,0.045,2603,2309,2151
$GC,12868,1.10,188.7,623.7,6.0,611,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2309,2150
$GC,13178,1.12,206.1,607.3,5.5,626,13202,0.00,2.72,17.75,1.176,4,0.000,0.074,2603,3696,2074
$GC,13337,1.12,206.1,597.5,6.6,633,13341,0.00,2.47,0.00,0.000,6,0.000,0.044,2603,2305,2073
$GC,13664,1.16,206.1,577.6,6.1,649,13669,0.10,2.62,0.00,0.000,4,0.058,0.073,2632,3699,2074
$GC,13755,1.12,206.1,571.0,7.9,653,13759,0.00,2.45,0.00,0.000,6,0.000,0.043,2633,2314,2074
$GC,14076,1.12,206.1,548.2,7.2,669,14080,0.00,2.58,0.00,0.000,4,0.000,0.065,2632,905,2074
$GC,14138,1.12,206.1,543.3,7.4,672,14143,0.00,2.58,0.00,0.000,6,0.000,0.052,2633,2329,2073
$GC,14466,1.12,206.1,518.3,7.2,688,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2329,2073
$GC,14775,1.12,206.1,498.0,6.2,703,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2330,2074
$GC,15085,1.14,226.3,479.5,5.4,718,15106,0.00,0.00,18.92,1.108,6,0.000,0.000,2633,2331,1992
$GC,15414,1.14,226.3,460.5,6.0,734,15417,0.00,2.47,0.00,0.000,4,0.000,0.063,2633,3695,1992
$GC,15464,1.14,226.3,456.9,7.1,736,15469,0.00,2.42,0.00,0.000,6,0.000,0.038,2633,2302,1992
$GC,15786,1.14,229.7,437.7,5.9,752,15793,0.00,0.00,4.88,0.818,6,0.000,0.000,2632,2302,1978
$GC,16095,1.14,229.7,418.3,6.0,767,16099,0.00,2.53,0.00,0.000,4,0.000,0.059,2633,3697,1978
$GC,16187,1.14,229.7,412.2,6.9,771,16191,0.00,2.40,0.00,0.000,6,0.000,0.037,2632,2311,1977
$GC,16520,1.14,229.7,390.0,7.1,787,16521,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2311,1978
$GC,16829,1.14,229.7,366.5,8.0,802,16833,0.00,2.53,0.00,0.000,4,0.000,0.058,2633,3706,1979
$GC,16907,1.14,229.7,359.9,7.8,805,16914,0.00,2.40,0.00,0.000,6,0.000,0.036,2632,2310,1978
$GC,17224,1.16,241.4,340.4,5.7,821,17245,0.00,2.62,11.82,0.967,4,0.000,0.056,2632,3705,1930
$GC,17319,1.16,241.4,334.2,7.0,825,17323,0.00,2.40,0.00,0.000,6,0.000,0.035,2633,2318,1930
$GC,17641,1.16,241.4,310.9,7.7,841,17645,0.00,2.50,0.00,0.000,4,0.000,0.056,2633,3699,1930
$GC,17697,1.16,241.4,306.0,8.2,843,17702,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2315,1930
$GC,18014,1.16,241.4,280.9,7.3,858,18018,0.00,2.47,0.00,0.000,4,0.000,0.055,2632,3696,1931
$GC,18081,1.16,241.4,275.1,8.9,861,18085,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2311,1930
$GC,18403,1.16,241.4,248.2,8.8,877,18407,0.00,2.50,0.00,0.000,4,0.000,0.055,2632,3699,1931
$GC,18465,1.16,241.4,242.5,9.0,880,18469,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2310,1931
$GC,18799,1.16,241.4,217.0,6.2,896,18803,0.00,2.50,0.00,0.000,4,0.000,0.054,2632,3699,1931
$GC,18855,1.16,241.4,213.0,6.6,898,18861,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2313,1931
$GC,19171,1.16,241.4,191.7,7.0,914,19175,0.00,2.50,0.00,0.000,4,0.000,0.054,2632,3705,1931
$GC,19233,1.16,241.4,187.0,7.0,917,19237,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2317,1931
$GC,19566,1.16,241.4,162.8,7.4,933,19571,0.00,2.50,0.00,0.000,4,0.000,0.054,2632,3706,1931
$GC,19634,1.16,241.4,157.2,7.4,936,19638,0.00,2.40,0.00,0.000,6,0.000,0.035,2632,2306,1932
$GC,19957,1.16,241.4,134.9,7.3,952,19962,0.00,2.50,0.00,0.000,4,0.000,0.054,2632,3699,1932
$GC,20025,1.16,241.4,128.9,10.1,955,20029,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2313,1932
$GC,20347,1.16,241.4,105.4,7.7,971,20351,0.00,2.47,0.00,0.000,4,0.000,0.053,2633,3696,1932
$GC,20432,1.16,241.4,98.8,8.3,975,20437,0.00,2.35,0.00,0.000,6,0.000,0.034,2632,2315,1932
$GC,20760,1.16,241.4,73.1,7.3,991,20764,0.00,2.45,0.00,0.000,4,0.000,0.053,2632,3696,1933
$GC,20824,1.16,241.4,67.9,8.7,994,20828,0.00,2.35,0.00,0.000,6,0.000,0.034,2633,2317,1933
$GC,21151,1.16,241.4,36.2,8.3,1010,21156,0.00,2.47,0.00,0.000,4,0.000,0.054,2632,3697,1933
$GC,21224,1.16,241.4,29.4,10.4,1013,21229,0.00,2.35,0.00,0.000,6,0.000,0.035,2632,2318,1933
$GC,21541,1.19,266.3,9.1,5.3,1028,21568,0.00,0.00,22.42,0.811,6,0.000,0.000,2632,2317,1829
$STATE,21641,end climb,SURFACE_DEPTH_REACHED
$STATE,21641,begin surface coast
$FINISH,1.0,1.026335
$STATE,21663,end surface coast,CONTROL_FINISHED_OK
$STATE,21663,begin surface
$SM_CCo,21688,28.20,0.766,1,0,1692,300.00
$SM_GC,2.01,0.00,0.00,28.20,0.000,0.000,0.766,23,2530,1692,-10.82,0.37,300.00
$IRIDIUM_FIX,6322.64,-1252.36,260298,080831
$TT8_MAMPS,0.029146
$HUMID,2006
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.0,111.6
$24V_AH,23.1,25.394
$10V_AH,10.1,11.378
$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,24.975,168.275,372.425,28.200,0.000,26.713,27.507,166.978,5.000,0.000,0.000,31.501,1933.337,16439.561,564.772,2531.558,630.324,0.000,1798.790,0.000,2457.398,0.000,37.686,0.000
$DEVICE_MAMPS,123.487,85.137,1286.259,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,763.143,707.897,600.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53788,1034
$CAP_FILE_SIZE,155295,0
$CFSIZE,260165632,250101760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,021208,202438,6356.120,-1259.109,32,1.1,32,-12.4