version: 66.04
glider: 101
mission: 7
dive: 154
start: 12 3 108 2 5 27
data:
$ID,101
$MISSION,7
$DIVE,154
$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,-735106.38
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,015838,6401.304,-1247.909,23,2.0,23,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-56.1
$GPS2,020505,6401.389,-1247.563,13,4.5,32,-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,268.0,10420,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.90,0.000,2,0.000,0.000,29,2534,2953
$GC,83,-1.16,-146.6,3.3,-3.9,3,118,10.80,2.10,-18.80,0.000,4,0.123,0.071,2114,3684,3514
$GC,374,-1.03,-146.6,29.7,-7.3,16,378,0.17,2.00,0.00,0.000,6,0.081,0.036,2149,2511,3515
$GC,701,-1.03,-146.6,60.1,-10.4,32,704,0.00,2.12,0.00,0.000,4,0.000,0.055,2149,3693,3514
$GC,960,-0.97,-146.6,82.7,-6.8,43,964,0.00,2.00,0.00,0.000,6,0.000,0.035,2148,2514,3515
$GC,1282,-0.97,-146.6,101.1,-6.2,59,1286,0.00,2.10,0.00,0.000,4,0.000,0.054,2148,3687,3514
$GC,1423,-0.93,-146.6,110.4,-6.5,65,1428,0.10,2.00,0.00,0.000,6,0.087,0.035,2170,2510,3515
$GC,1752,-0.93,-146.6,129.6,-5.5,81,1755,0.00,2.10,0.00,0.000,4,0.000,0.054,2170,3685,3515
$GC,1845,-0.93,-146.6,135.0,-6.0,85,1848,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2508,3515
$GC,2178,-0.93,-146.6,154.0,-6.1,101,2182,0.00,2.12,0.00,0.000,4,0.000,0.055,2170,3695,3515
$GC,2234,-0.93,-146.6,157.6,-6.1,103,2238,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2516,3514
$GC,2556,-0.93,-146.6,177.8,-6.5,119,2560,0.00,2.10,0.00,0.000,4,0.000,0.056,2170,3687,3515
$GC,2618,-0.93,-146.6,182.2,-6.9,121,2624,0.00,2.00,0.00,0.000,6,0.000,0.037,2170,2512,3515
$GC,2936,-0.93,-146.6,201.1,-5.9,137,2939,0.00,2.10,0.00,0.000,4,0.000,0.057,2170,3685,3515
$GC,2969,-0.93,-146.6,203.4,-6.4,138,2973,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2511,3515
$GC,3291,-0.93,-146.6,222.9,-6.3,154,3295,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3693,3515
$GC,3387,-0.93,-146.6,229.0,-6.5,158,3391,0.00,2.00,0.00,0.000,6,0.000,0.037,2170,2513,3515
$GC,3714,-0.93,-146.6,249.3,-6.0,174,3718,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3693,3515
$GC,3815,-0.93,-146.6,256.1,-6.5,178,3819,0.00,2.03,0.00,0.000,6,0.000,0.037,2170,2506,3515
$GC,4137,-0.93,-146.6,276.8,-6.6,194,4141,0.00,2.12,0.00,0.000,4,0.000,0.059,2170,3685,3514
$GC,4261,-0.93,-146.6,286.0,-7.7,199,4265,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2514,3514
$GC,4583,-0.93,-146.6,309.7,-7.5,215,4587,0.00,2.12,0.00,0.000,4,0.000,0.061,2170,3688,3514
$GC,4662,-0.93,-146.6,316.3,-8.8,218,4666,0.00,2.00,0.00,0.000,6,0.000,0.039,2170,2519,3514
$GC,4984,-0.93,-146.6,340.5,-7.3,234,4988,0.00,2.10,0.00,0.000,4,0.000,0.061,2170,3686,3513
$GC,5040,-0.93,-146.6,344.8,-7.9,236,5044,0.00,2.00,0.00,0.000,6,0.000,0.039,2170,2517,3514
$GC,5362,-0.93,-146.6,365.5,-5.6,252,5366,0.00,2.12,0.00,0.000,4,0.000,0.062,2170,3688,3513
$GC,5397,-0.93,-146.6,367.4,-5.0,253,5400,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2510,3513
$GC,5719,-0.93,-146.6,382.1,-4.2,269,5723,0.00,2.15,0.00,0.000,4,0.000,0.062,2170,3690,3513
$GC,5788,-0.93,-146.6,385.5,-5.5,272,5792,0.00,2.03,0.00,0.000,6,0.000,0.039,2170,2510,3513
$GC,6121,-0.93,-146.6,401.3,-5.2,288,6125,0.00,2.15,0.00,0.000,4,0.000,0.064,2170,3689,3512
$GC,6217,-0.93,-146.6,406.8,-5.9,292,6221,0.00,2.03,0.00,0.000,6,0.000,0.039,2170,2513,3512
$GC,6545,-0.93,-146.6,426.9,-6.7,308,6548,0.00,2.15,0.00,0.000,4,0.000,0.066,2170,3686,3512
$GC,6607,-0.93,-146.6,431.1,-6.9,310,6613,0.00,2.03,0.00,0.000,6,0.000,0.040,2170,2513,3511
$GC,6924,-0.93,-146.6,451.8,-6.4,326,6927,0.00,2.15,0.00,0.000,4,0.000,0.068,2170,3681,3511
$GC,7047,-0.93,-146.6,461.0,-7.8,331,7051,0.00,2.03,0.00,0.000,6,0.000,0.040,2170,2511,3511
$GC,7370,-0.97,-146.6,484.9,-7.4,347,7373,0.00,2.20,0.00,0.000,4,0.000,0.075,2170,3690,3511
$GC,7443,-0.97,-146.6,490.4,-7.1,350,7447,0.00,2.05,0.00,0.000,6,0.000,0.043,2170,2516,3510
$GC,7771,-0.97,-146.6,509.4,-5.6,366,7774,0.00,2.20,0.00,0.000,4,0.000,0.081,2170,3689,3510
$GC,7833,-0.97,-146.6,513.2,-7.2,368,7839,0.00,2.08,0.00,0.000,6,0.000,0.048,2170,2514,3510
$GC,8150,-1.01,-146.6,529.0,-4.3,384,8153,0.00,2.25,0.00,0.000,4,0.000,0.088,2170,3687,3510
$GC,8274,-1.01,-146.6,535.1,-4.6,389,8278,0.00,2.10,0.00,0.000,6,0.000,0.055,2170,2518,3510
$GC,8596,-1.06,-146.6,552.0,-5.9,405,8601,0.12,2.28,0.00,0.000,4,0.053,0.097,2133,3682,3510
$GC,8720,-1.01,-146.6,561.2,-7.3,410,8727,0.10,2.08,0.00,0.000,6,0.092,0.051,2152,2516,3510
$GC,9037,-1.01,-146.6,580.7,-6.7,426,9041,0.00,2.22,0.00,0.000,4,0.000,0.088,2152,3680,3510
$GC,9155,-1.01,-146.6,587.3,-5.4,431,9159,0.00,2.08,0.00,0.000,6,0.000,0.052,2151,2516,3510
$STATE,9253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9253,begin apogee
$GC,9262,-0.45,0.0,593.2,6.0,436,9395,0.57,0.00,127.97,1.226,6,0.066,0.000,2275,2315,2914
$STATE,9396,end apogee,CONTROL_FINISHED_OK
$STATE,9396,begin climb
$GC,9400,1.16,146.6,598.0,0.0,443,9536,1.60,2.75,127.22,1.189,4,0.054,0.076,2625,912,2317
$GC,9579,1.17,160.6,591.3,5.6,451,9598,0.00,2.60,14.10,1.074,6,0.000,0.061,2625,2302,2260
$GC,9921,1.17,160.6,569.3,7.3,468,9925,0.00,2.60,0.00,0.000,4,0.000,0.077,2625,3693,2259
$GC,10051,1.11,160.6,561.0,7.4,474,10055,0.00,2.45,0.00,0.000,6,0.000,0.045,2625,2308,2258
$GC,10384,1.15,188.1,541.9,5.2,490,10414,0.00,2.67,25.05,1.154,4,0.000,0.073,2625,3696,2148
$GC,10499,1.15,188.1,533.6,7.9,495,10504,0.00,2.47,0.00,0.000,6,0.000,0.044,2625,2308,2147
$GC,10822,1.15,188.1,508.9,7.3,511,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2308,2147
$GC,11131,1.15,188.1,488.3,6.3,526,11135,0.00,2.60,0.00,0.000,4,0.000,0.068,2625,3705,2147
$GC,11216,1.10,188.1,482.4,7.4,530,11220,0.00,2.45,0.00,0.000,6,0.000,0.043,2625,2313,2147
$GC,11544,1.11,194.1,463.2,5.8,546,11558,0.00,2.65,6.88,0.979,4,0.000,0.066,2625,3696,2123
$GC,11617,1.11,194.1,458.5,7.0,549,11621,0.00,2.45,0.00,0.000,6,0.000,0.041,2625,2307,2123
$GC,11939,1.16,233.6,441.0,4.8,565,11981,0.00,2.62,35.15,1.134,4,0.000,0.064,2625,3700,1962
$GC,12021,1.16,233.6,435.9,7.0,568,12027,0.00,2.45,0.00,0.000,6,0.000,0.040,2625,2313,1961
$GC,12337,1.16,233.6,414.2,6.6,584,12341,0.00,2.53,0.00,0.000,4,0.000,0.062,2625,3696,1962
$GC,12444,1.16,233.6,406.7,7.8,588,12450,0.00,2.42,0.00,0.000,6,0.000,0.039,2625,2307,1962
$GC,12760,1.16,233.6,384.4,7.1,604,12764,0.00,2.55,0.00,0.000,4,0.000,0.060,2624,3701,1961
$GC,12827,1.16,233.6,378.7,8.2,607,12831,0.00,2.42,0.00,0.000,6,0.000,0.038,2625,2307,1961
$GC,13149,1.16,233.6,352.8,7.8,623,13153,0.00,2.55,0.00,0.000,4,0.000,0.059,2625,3703,1962
$GC,13199,1.16,233.6,348.2,9.0,625,13203,0.00,2.42,0.00,0.000,6,0.000,0.038,2625,2305,1961
$GC,13515,1.16,233.6,323.1,7.9,640,13519,0.00,2.53,0.00,0.000,4,0.000,0.058,2625,3699,1961
$GC,13561,1.16,233.6,318.9,9.9,642,13565,0.00,2.40,0.00,0.000,6,0.000,0.038,2625,2311,1962
$GC,13888,1.16,233.6,293.5,7.9,658,13892,0.00,2.45,0.00,0.000,4,0.000,0.051,2625,916,1962
$GC,13921,1.16,233.6,290.6,8.6,659,13925,0.00,2.50,0.00,0.000,6,0.000,0.041,2625,2338,1962
$GC,14237,1.16,233.6,266.3,7.5,674,14241,0.00,2.42,0.00,0.000,4,0.000,0.059,2625,3695,1962
$GC,14277,1.16,233.6,262.9,8.6,675,14283,0.00,2.38,0.00,0.000,6,0.000,0.038,2625,2312,1962
$GC,14593,1.16,233.6,237.7,8.1,691,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2312,1962
$GC,14903,1.20,233.6,214.6,7.4,706,14907,0.00,2.50,0.00,0.000,4,0.000,0.058,2625,3693,1962
$GC,14948,1.20,233.6,210.6,8.8,708,14953,0.00,2.38,0.00,0.000,6,0.000,0.038,2625,2315,1963
$GC,15271,1.25,233.6,186.4,6.5,724,15275,0.00,2.50,0.00,0.000,4,0.000,0.058,2625,3695,1963
$GC,15333,1.25,233.6,182.4,6.9,727,15337,0.00,2.38,0.00,0.000,6,0.000,0.038,2625,2318,1962
$GC,15660,1.29,233.6,160.5,6.8,743,15665,0.12,2.50,0.00,0.000,4,0.051,0.057,2662,3698,1962
$GC,15706,1.22,233.6,156.9,7.7,745,15710,0.00,2.40,0.00,0.000,6,0.000,0.038,2662,2307,1962
$GC,16028,1.22,233.6,131.1,8.6,761,16032,0.00,2.50,0.00,0.000,4,0.000,0.058,2662,3690,1962
$GC,16069,1.16,233.6,127.8,7.6,763,16073,0.17,2.38,0.00,0.000,6,0.094,0.038,2628,2308,1963
$GC,16396,1.16,233.6,107.7,8.1,779,16400,0.00,2.50,0.00,0.000,4,0.000,0.058,2627,3692,1963
$GC,16469,1.16,233.6,99.5,10.3,782,16473,0.00,2.38,0.00,0.000,6,0.000,0.038,2628,2312,1962
$GC,16787,1.16,233.6,74.9,8.4,797,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2311,1962
$GC,17095,1.29,341.0,57.9,2.8,812,17190,0.12,2.55,88.78,0.881,4,0.053,0.054,2663,3688,1524
$GC,17266,1.29,341.0,47.4,7.5,820,17270,0.00,2.38,0.00,0.000,6,0.000,0.036,2663,2317,1523
$GC,17594,1.29,341.0,16.7,11.0,836,17598,0.00,2.47,0.00,0.000,4,0.000,0.054,2663,3694,1523
$GC,17621,1.29,341.0,13.7,11.4,837,17625,0.00,2.38,0.00,0.000,6,0.000,0.035,2663,2316,1523
$STATE,17750,end climb,SURFACE_DEPTH_REACHED
$STATE,17750,begin surface coast
$FINISH,0.9,1.027161
$STATE,17771,end surface coast,CONTROL_FINISHED_OK
$STATE,17771,begin surface
$SM_CCo,17856,0.00,0.000,0,0,1523,341.46
$SM_GC,1.53,11.75,0.00,0.00,0.039,0.000,0.000,28,2528,1523,-10.74,0.31,341.46
$IRIDIUM_FIX,6327.46,-1259.31,260298,202044
$TT8_MAMPS,0.028379
$HUMID,2050
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,500.3,102.7
$24V_AH,23.1,25.693
$10V_AH,10.1,11.558
$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,25.650,187.025,425.150,0.000,0.000,25.761,25.889,174.603,4.250,0.000,0.000,34.885,1661.855,13171.082,534.387,2265.415,607.000,0.000,1678.243,0.000,2191.345,0.000,28.345,0.000
$DEVICE_MAMPS,122.720,96.642,1225.666,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.965,575.697,551.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44292,844
$CAP_FILE_SIZE,144165,0
$CFSIZE,260165632,249987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,031208,070437,6403.047,-1243.583,43,1.2,54,-12.3