version: 66.04
glider: 101
mission: 7
dive: 153
start: 12 2 108 20 33 3
data:
$ID,101
$MISSION,7
$DIVE,153
$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,-735070.88
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,202438,6356.120,-1259.109,32,1.1,32,-12.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-58.9
$GPS2,203244,6356.154,-1258.959,16,1.2,33,-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,5.6,7172,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.88,0.000,2,0.000,0.000,23,2530,2975
$GC,86,-1.16,-146.6,3.1,-3.5,3,121,10.82,2.12,-18.95,0.000,4,0.122,0.071,2115,3689,3514
$GC,274,-1.01,-146.6,20.4,-10.5,11,279,0.17,2.00,0.00,0.000,6,0.082,0.035,2150,2509,3514
$GC,596,-1.01,-146.6,44.7,-4.8,27,600,0.00,2.12,0.00,0.000,4,0.000,0.054,2150,3690,3514
$GC,698,-0.97,-146.6,53.4,-8.7,31,701,0.00,2.00,0.00,0.000,6,0.000,0.035,2150,2516,3514
$GC,1020,-0.97,-146.6,80.6,-8.3,47,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2516,3514
$GC,1331,-0.97,-146.6,107.1,-8.8,62,1334,0.00,2.10,0.00,0.000,4,0.000,0.054,2150,3688,3514
$GC,1494,-0.97,-146.6,124.0,-11.1,69,1497,0.00,2.00,0.00,0.000,6,0.000,0.035,2150,2513,3514
$GC,1821,-0.97,-146.6,152.7,-7.6,85,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2513,3514
$GC,2130,-0.97,-146.6,172.1,-6.1,100,2134,0.00,2.10,0.00,0.000,4,0.000,0.054,2151,3696,3514
$GC,2296,-0.92,-146.6,182.7,-6.4,107,2301,0.10,2.00,0.00,0.000,6,0.090,0.035,2171,2518,3514
$GC,2624,-0.92,-146.6,202.6,-6.3,123,2628,0.00,2.10,0.00,0.000,4,0.000,0.055,2171,3693,3514
$GC,2720,-0.92,-146.6,209.3,-7.2,127,2724,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2516,3515
$GC,3048,-0.92,-146.6,233.1,-8.3,143,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2516,3514
$GC,3357,-0.92,-146.6,254.6,-7.2,158,3360,0.00,2.10,0.00,0.000,4,0.000,0.055,2171,3688,3514
$GC,3493,-0.92,-146.6,265.0,-6.8,164,3496,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2506,3514
$GC,3826,-0.92,-146.6,282.8,-5.7,180,3830,0.00,2.12,0.00,0.000,4,0.000,0.056,2171,3692,3514
$GC,3905,-0.92,-146.6,288.2,-6.8,183,3909,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2504,3514
$GC,4226,-0.92,-146.6,310.9,-7.3,199,4230,0.00,2.12,0.00,0.000,4,0.000,0.056,2171,3689,3514
$GC,4317,-0.92,-146.6,317.9,-8.1,203,4321,0.00,2.00,0.00,0.000,6,0.000,0.036,2171,2509,3514
$GC,4651,-0.92,-146.6,339.0,-5.3,219,4654,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3693,3514
$GC,4775,-0.92,-146.6,346.5,-5.8,224,4779,0.00,1.98,0.00,0.000,6,0.000,0.035,2171,2519,3515
$GC,5097,-0.92,-146.6,363.8,-5.7,240,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2518,3515
$GC,5406,-0.92,-146.6,382.4,-6.2,255,5409,0.00,2.12,0.00,0.000,4,0.000,0.060,2171,3695,3514
$GC,5524,-0.92,-146.6,390.9,-7.2,260,5528,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2519,3514
$GC,5852,-0.92,-146.6,410.2,-6.3,276,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2519,3514
$GC,6162,-0.92,-146.6,428.1,-5.7,291,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2519,3513
$GC,6471,-0.97,-146.6,448.1,-6.4,306,6475,0.00,2.15,0.00,0.000,4,0.000,0.071,2171,3685,3514
$GC,6544,-0.97,-146.6,453.4,-7.2,309,6548,0.00,2.00,0.00,0.000,6,0.000,0.040,2171,2528,3514
$GC,6873,-1.01,-146.6,472.0,-5.5,325,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2529,3514
$GC,7181,-1.01,-146.6,490.1,-6.1,340,7185,0.00,2.15,0.00,0.000,4,0.000,0.077,2171,3683,3513
$GC,7333,-1.01,-146.6,498.6,-5.1,346,7339,0.00,2.05,0.00,0.000,6,0.000,0.047,2171,2519,3513
$GC,7650,-1.06,-146.6,511.3,-4.8,362,7652,0.12,0.00,0.00,0.000,6,0.054,0.000,2134,2519,3513
$GC,7959,-1.02,-146.6,532.7,-7.5,377,7962,0.00,2.25,0.00,0.000,4,0.000,0.091,2133,3684,3512
$GC,8106,-0.97,-146.6,546.6,-8.3,383,8111,0.15,2.10,0.00,0.000,6,0.083,0.059,2163,2520,3512
$GC,8422,-0.97,-146.6,564.3,-4.8,398,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2519,3511
$GC,8732,-0.97,-146.6,586.5,-9.0,413,8736,0.00,2.22,0.00,0.000,4,0.000,0.087,2163,3689,3511
$GC,8905,-0.97,-146.6,603.1,-9.2,420,8908,0.00,2.10,0.00,0.000,6,0.000,0.050,2163,2506,3510
$GC,9227,-0.97,-146.6,620.1,-5.4,436,9231,0.00,2.58,0.00,0.000,4,0.000,0.074,2163,1107,3510
$GC,9295,-1.02,-146.6,625.0,-7.2,439,9299,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2514,3510
$GC,9616,-1.07,-146.6,647.1,-6.6,455,9621,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1101,3510
$GC,9735,-1.07,-146.6,655.4,-7.1,460,9739,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2526,3510
$STATE,9760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9760,begin apogee
$GC,9768,-0.45,0.0,657.3,7.2,461,9902,0.52,0.00,128.25,1.265,6,0.067,0.000,2276,2311,2914
$STATE,9903,end apogee,CONTROL_FINISHED_OK
$STATE,9903,begin climb
$GC,9906,1.16,146.6,662.1,0.0,468,10044,1.62,2.70,128.25,1.223,4,0.057,0.075,2625,912,2317
$GC,10146,1.11,146.6,652.8,6.0,479,10150,0.00,2.62,0.00,0.000,6,0.000,0.061,2625,2324,2317
$GC,10462,1.10,178.5,636.0,5.0,494,10494,0.00,0.00,29.62,1.189,6,0.000,0.000,2625,2324,2187
$GC,10791,1.10,178.5,617.5,6.3,510,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2325,2186
$GC,11100,1.10,178.5,596.7,6.7,525,11105,0.00,2.65,0.00,0.000,4,0.000,0.067,2625,903,2186
$GC,11253,1.10,178.5,585.3,7.5,532,11258,0.00,2.58,0.00,0.000,6,0.000,0.054,2625,2323,2186
$GC,11581,1.10,178.5,560.3,7.9,548,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2323,2185
$GC,11890,1.10,178.5,536.2,7.2,563,11894,0.00,2.53,0.00,0.000,4,0.000,0.071,2625,3702,2184
$GC,11981,1.10,178.5,529.3,8.0,567,11985,0.00,2.45,0.00,0.000,6,0.000,0.042,2625,2304,2184
$GC,12314,1.11,189.4,507.8,5.7,583,12327,0.00,0.00,10.82,1.096,6,0.000,0.000,2625,2304,2142
$GC,12622,1.11,189.4,488.9,6.6,598,12624,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2304,2142
$GC,12932,1.11,189.4,468.0,7.5,613,12936,0.00,2.58,0.00,0.000,4,0.000,0.066,2625,3703,2142
$GC,13000,1.11,189.4,462.7,7.6,616,13005,0.00,2.42,0.00,0.000,6,0.000,0.041,2625,2316,2142
$GC,13328,1.13,199.9,442.1,5.7,632,13341,0.00,0.00,10.98,1.059,6,0.000,0.000,2625,2316,2099
$GC,13637,1.13,199.9,420.5,7.6,647,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2315,2099
$GC,13946,1.15,219.9,401.4,5.4,662,13971,0.00,2.62,18.27,1.083,4,0.000,0.062,2625,3690,2018
$GC,14023,1.18,243.1,396.9,5.3,665,14050,0.00,2.42,21.83,1.076,6,0.000,0.039,2625,2306,1923
$GC,14361,1.20,261.0,379.2,5.5,681,14380,0.00,0.00,16.85,1.050,6,0.000,0.000,2625,2306,1851
$GC,14690,1.24,261.0,357.5,7.5,697,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2306,1851
$GC,15000,1.29,261.0,336.6,6.3,712,15005,0.15,2.53,0.00,0.000,4,0.048,0.059,2665,3698,1851
$GC,15090,1.24,261.0,329.4,7.7,716,15094,0.00,2.40,0.00,0.000,6,0.000,0.038,2664,2311,1851
$GC,15417,1.24,261.0,306.5,7.2,732,15418,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2311,1851
$GC,15726,1.19,261.0,282.7,7.6,747,15728,0.15,0.00,0.00,0.000,6,0.094,0.000,2636,2310,1851
$GC,16035,1.19,261.0,260.8,7.4,762,16040,0.00,2.53,0.00,0.000,4,0.000,0.058,2635,3701,1851
$GC,16103,1.19,261.0,255.8,7.5,765,16108,0.00,2.40,0.00,0.000,6,0.000,0.038,2635,2312,1851
$GC,16426,1.19,261.0,235.5,6.5,781,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2312,1851
$GC,16735,1.19,261.0,213.6,7.7,796,16736,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2311,1851
$GC,17044,1.19,261.0,189.2,7.7,811,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2311,1851
$GC,17353,1.19,261.0,165.9,7.9,826,17357,0.00,2.50,0.00,0.000,4,0.000,0.055,2635,3706,1851
$GC,17438,1.19,261.0,158.6,8.6,829,17444,0.00,2.40,0.00,0.000,6,0.000,0.036,2635,2307,1851
$GC,17755,1.19,261.0,132.0,8.5,845,17759,0.00,2.50,0.00,0.000,4,0.000,0.054,2635,3699,1851
$GC,17822,1.19,261.0,126.0,8.1,848,17826,0.00,2.38,0.00,0.000,6,0.000,0.035,2635,2311,1851
$GC,18144,1.19,261.0,102.2,7.4,864,18148,0.00,2.50,0.00,0.000,4,0.000,0.054,2635,3706,1851
$GC,18207,1.19,261.0,96.4,10.1,867,18211,0.00,2.38,0.00,0.000,6,0.000,0.035,2635,2314,1851
$GC,18534,1.19,261.0,71.3,9.1,883,18535,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2313,1852
$GC,18843,1.19,261.0,44.3,7.8,898,18847,0.00,2.47,0.00,0.000,4,0.000,0.054,2636,3696,1852
$GC,18933,1.19,261.0,36.3,8.1,902,18937,0.00,2.35,0.00,0.000,6,0.000,0.035,2635,2318,1852
$GC,19255,1.19,261.0,11.2,9.6,918,19256,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2317,1852
$STATE,19376,end climb,SURFACE_DEPTH_REACHED
$STATE,19377,begin surface coast
$FINISH,0.9,1.027464
$STATE,19397,end surface coast,CONTROL_FINISHED_OK
$STATE,19397,begin surface
$SM_CCo,19422,35.30,0.762,2,0,1692,300.00
$SM_GC,1.57,0.00,0.00,35.30,0.000,0.000,0.762,29,2533,1692,-10.79,0.45,300.00
$IRIDIUM_FIX,6327.46,-1259.31,260298,141439
$TT8_MAMPS,0.029146
$HUMID,2025
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.0,67.3
$24V_AH,23.1,25.544
$10V_AH,10.1,11.469
$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,25.250,124.250,364.875,35.300,0.000,33.046,28.455,260.304,5.000,0.000,0.000,34.988,1726.880,14786.185,537.305,2197.624,700.517,0.000,1591.188,0.000,2140.770,0.000,34.724,0.000
$DEVICE_MAMPS,121.953,91.273,1264.783,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.770,632.748,554.520,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47501,925
$CAP_FILE_SIZE,136764,0
$CFSIZE,260165632,250052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,031208,015838,6401.304,-1247.909,23,2.0,23,-12.3