version: 66.04
glider: 101
mission: 7
dive: 156
start: 12 3 108 12 20 59
data:
$ID,101
$MISSION,7
$DIVE,156
$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,-735153.5
$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,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
$GPS1,121408,6406.606,-1241.157,36,1.4,36,-12.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.5
$GPS2,122037,6406.771,-1240.879,13,1.5,29,-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,243.4,19956,-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,-60.97,0.000,2,0.000,0.000,23,2529,2923
$GC,83,-1.16,-146.6,3.1,-3.9,3,119,10.82,2.10,-20.62,0.000,4,0.121,0.072,2116,3693,3512
$GC,373,-1.03,-146.6,27.9,-8.4,15,377,0.15,2.03,0.00,0.000,6,0.084,0.036,2146,2511,3513
$GC,695,-0.99,-146.6,51.6,-7.4,31,698,0.00,2.12,0.00,0.000,4,0.000,0.056,2146,3689,3513
$GC,953,-0.93,-146.6,73.8,-8.6,42,957,0.12,2.00,0.00,0.000,6,0.084,0.036,2171,2517,3514
$GC,1275,-0.93,-146.6,97.1,-7.1,58,1278,0.00,2.10,0.00,0.000,4,0.000,0.056,2172,3686,3513
$GC,1382,-0.93,-146.6,105.5,-7.6,62,1388,0.00,2.03,0.00,0.000,6,0.000,0.038,2172,2503,3513
$GC,1700,-0.93,-146.6,128.7,-7.8,78,1703,0.00,2.12,0.00,0.000,4,0.000,0.056,2172,3685,3513
$GC,1796,-0.93,-146.6,137.3,-8.4,82,1799,0.00,2.00,0.00,0.000,6,0.000,0.037,2172,2513,3514
$GC,2123,-0.93,-146.6,159.9,-6.4,98,2127,0.00,2.12,0.00,0.000,4,0.000,0.057,2172,3693,3514
$GC,2196,-0.93,-146.6,164.5,-6.4,101,2200,0.00,2.03,0.00,0.000,6,0.000,0.037,2172,2508,3514
$GC,2524,-0.93,-146.6,185.8,-6.8,117,2527,0.00,2.12,0.00,0.000,4,0.000,0.058,2172,3691,3514
$GC,2602,-0.93,-146.6,191.6,-7.7,120,2606,0.00,2.00,0.00,0.000,6,0.000,0.038,2172,2518,3514
$GC,2925,-0.93,-146.6,212.9,-6.4,136,2928,0.00,2.10,0.00,0.000,4,0.000,0.058,2172,3683,3513
$GC,2987,-0.93,-146.6,217.0,-6.2,138,2993,0.00,2.00,0.00,0.000,6,0.000,0.038,2172,2514,3514
$GC,3303,-0.93,-146.6,238.2,-6.7,154,3306,0.00,2.12,0.00,0.000,4,0.000,0.058,2172,3693,3514
$GC,3405,-0.93,-146.6,244.5,-5.8,158,3408,0.00,2.03,0.00,0.000,6,0.000,0.038,2172,2509,3513
$GC,3727,-0.93,-146.6,261.8,-5.3,174,3731,0.00,2.12,0.00,0.000,4,0.000,0.059,2172,3689,3514
$GC,3811,-0.93,-146.6,266.9,-6.1,177,3817,0.00,2.03,0.00,0.000,6,0.000,0.038,2172,2506,3513
$GC,4128,-0.93,-146.6,284.0,-5.2,193,4131,0.00,2.12,0.00,0.000,4,0.000,0.059,2172,3684,3514
$GC,4264,-0.93,-146.6,291.6,-5.3,199,4268,0.00,2.00,0.00,0.000,6,0.000,0.039,2172,2509,3513
$GC,4597,-0.93,-146.6,308.1,-4.8,215,4601,0.00,2.12,0.00,0.000,4,0.000,0.060,2172,3683,3513
$GC,4666,-0.93,-146.6,311.6,-5.6,218,4670,0.00,2.00,0.00,0.000,6,0.000,0.038,2172,2513,3513
$GC,5000,-0.93,-146.6,328.4,-5.4,234,5004,0.00,2.12,0.00,0.000,4,0.000,0.061,2171,3686,3513
$GC,5091,-0.93,-146.6,333.8,-6.2,238,5095,0.00,2.00,0.00,0.000,6,0.000,0.038,2172,2514,3512
$GC,5423,-0.93,-146.6,354.8,-6.8,254,5427,0.00,2.12,0.00,0.000,4,0.000,0.061,2172,3685,3512
$GC,5496,-0.93,-146.6,360.6,-7.8,257,5500,0.00,2.00,0.00,0.000,6,0.000,0.038,2172,2516,3512
$GC,5824,-0.93,-146.6,385.9,-7.3,273,5828,0.00,2.12,0.00,0.000,4,0.000,0.063,2172,3686,3512
$GC,5975,-0.93,-146.6,397.8,-8.3,279,5981,0.00,2.00,0.00,0.000,6,0.000,0.038,2172,2522,3512
$GC,6292,-0.93,-146.6,421.6,-7.7,295,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2522,3512
$GC,6601,-0.97,-146.6,444.2,-7.3,310,6605,0.00,2.15,0.00,0.000,4,0.000,0.070,2172,3685,3512
$GC,6715,-0.97,-146.6,453.1,-7.8,315,6718,0.00,2.03,0.00,0.000,6,0.000,0.041,2172,2517,3512
$GC,7049,-1.01,-146.6,477.7,-7.4,331,7053,0.00,2.17,0.00,0.000,4,0.000,0.077,2172,3679,3512
$GC,7187,-1.01,-146.6,488.7,-7.0,337,7190,0.00,2.05,0.00,0.000,6,0.000,0.046,2172,2516,3512
$GC,7520,-1.06,-146.6,512.8,-6.8,353,7525,0.12,2.22,0.00,0.000,4,0.054,0.087,2135,3686,3511
$GC,7568,-0.99,-146.6,516.2,-8.7,355,7573,0.12,2.10,0.00,0.000,6,0.085,0.054,2160,2515,3511
$STATE,7768,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7768,begin apogee
$GC,7777,-0.45,0.0,529.9,6.2,365,7911,0.52,0.00,127.57,1.183,6,0.066,0.000,2273,2319,2914
$STATE,7911,end apogee,CONTROL_FINISHED_OK
$STATE,7911,begin climb
$GC,7915,1.16,146.6,535.1,0.0,372,8052,1.60,2.78,126.80,1.144,4,0.054,0.084,2625,908,2317
$GC,8118,1.11,146.6,528.7,6.3,381,8122,0.00,2.62,0.00,0.000,6,0.000,0.063,2625,2310,2317
$GC,8435,1.12,187.5,510.8,4.8,396,8478,0.00,2.72,36.67,1.118,4,0.000,0.078,2625,3692,2150
$GC,8551,1.12,187.5,502.8,7.4,401,8556,0.00,2.50,0.00,0.000,6,0.000,0.046,2624,2303,2149
$GC,8872,1.12,187.5,484.1,6.2,417,8877,0.00,2.62,0.00,0.000,4,0.000,0.072,2625,3693,2149
$GC,9013,1.12,187.5,473.7,6.9,423,9017,0.00,2.45,0.00,0.000,6,0.000,0.043,2625,2312,2149
$GC,9334,1.13,195.4,453.9,5.8,439,9348,0.00,2.65,8.15,1.000,4,0.000,0.067,2625,3693,2118
$GC,9424,1.13,195.4,447.4,7.2,443,9429,0.00,2.45,0.00,0.000,6,0.000,0.042,2624,2312,2118
$GC,9752,1.13,196.7,426.0,6.0,459,9756,0.00,2.58,0.00,0.000,4,0.000,0.064,2624,3700,2117
$GC,9837,1.18,241.3,421.3,4.7,463,9883,0.00,2.45,40.50,1.123,6,0.000,0.041,2625,2309,1930
$GC,10208,1.18,241.3,396.6,6.6,481,10212,0.00,2.58,0.00,0.000,4,0.000,0.062,2624,3702,1930
$GC,10249,1.18,241.3,393.7,6.9,483,10253,0.00,2.45,0.00,0.000,6,0.000,0.040,2624,2307,1930
$GC,10576,1.18,241.3,372.6,6.6,499,10580,0.00,2.58,0.00,0.000,4,0.000,0.061,2625,3706,1930
$GC,10631,1.18,241.3,368.7,7.0,501,10638,0.00,2.42,0.00,0.000,6,0.000,0.039,2624,2315,1930
$GC,10948,1.18,241.3,346.1,7.8,517,10952,0.00,2.55,0.00,0.000,4,0.000,0.060,2624,3706,1930
$GC,11004,1.18,241.3,341.7,7.5,519,11009,0.00,2.42,0.00,0.000,6,0.000,0.038,2624,2314,1929
$GC,11321,1.18,241.3,317.2,8.5,534,11325,0.00,2.53,0.00,0.000,4,0.000,0.060,2624,3705,1930
$GC,11348,1.18,241.3,314.7,8.8,535,11353,0.00,2.42,0.00,0.000,6,0.000,0.038,2625,2309,1930
$GC,11665,1.22,241.3,287.3,8.8,550,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2308,1930
$GC,11974,1.27,241.3,261.3,8.5,565,11979,0.12,2.55,0.00,0.000,4,0.051,0.058,2660,3708,1930
$GC,12003,1.22,241.3,258.7,9.4,566,12007,0.00,2.42,0.00,0.000,6,0.000,0.038,2660,2310,1929
$GC,12319,1.22,241.3,229.3,9.1,581,12323,0.00,2.53,0.00,0.000,4,0.000,0.058,2660,3706,1930
$GC,12366,1.15,241.3,224.7,11.0,583,12371,0.17,2.40,0.00,0.000,6,0.091,0.039,2626,2315,1929
$GC,12694,1.19,241.3,199.8,6.1,599,12698,0.00,2.53,0.00,0.000,4,0.000,0.059,2626,3701,1930
$GC,12727,1.19,241.3,196.1,10.8,600,12733,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2314,1930
$GC,13044,1.19,241.3,175.2,7.9,616,13048,0.00,2.50,0.00,0.000,4,0.000,0.058,2626,3696,1930
$GC,13077,1.19,241.3,172.0,9.6,617,13082,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2309,1930
$GC,13394,1.25,241.3,149.2,7.4,632,13398,0.00,2.53,0.00,0.000,4,0.000,0.058,2626,3701,1930
$GC,13427,1.25,241.3,146.2,8.5,633,13431,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2310,1930
$GC,13749,1.25,241.3,119.2,7.9,649,13753,0.00,2.53,0.00,0.000,4,0.000,0.058,2626,3700,1929
$GC,13822,1.25,241.3,113.4,7.6,652,13826,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2315,1930
$GC,14140,1.30,241.3,91.2,6.7,667,14145,0.15,2.50,0.00,0.000,4,0.049,0.056,2667,3697,1930
$GC,14205,1.21,241.3,85.7,8.9,670,14210,0.15,2.40,0.00,0.000,6,0.095,0.038,2638,2307,1930
$GC,14533,1.21,241.3,62.8,7.1,686,14537,0.00,2.53,0.00,0.000,4,0.000,0.057,2637,3703,1930
$GC,14573,1.21,241.3,59.9,6.9,688,14577,0.00,2.40,0.00,0.000,6,0.000,0.038,2638,2307,1930
$GC,14907,1.21,241.3,35.0,7.3,704,14911,0.00,2.53,0.00,0.000,4,0.000,0.057,2638,3703,1930
$GC,14970,1.24,264.4,30.5,5.3,707,14995,0.00,2.40,20.62,0.858,6,0.000,0.038,2638,2308,1836
$GC,15324,1.24,264.4,6.6,7.7,724,15328,0.00,2.53,0.00,0.000,4,0.000,0.058,2638,3698,1835
$GC,15342,1.30,264.4,5.0,8.1,725,15347,0.00,2.38,0.00,0.000,6,0.000,0.036,2638,2321,1835
$STATE,15399,end climb,SURFACE_DEPTH_REACHED
$STATE,15399,begin surface coast
$FINISH,0.8,1.027485
$STATE,15421,end surface coast,CONTROL_FINISHED_OK
$STATE,15421,begin surface
$SM_CCo,15446,30.02,0.803,1,0,1692,300.00
$SM_GC,1.71,0.00,0.00,30.02,0.000,0.000,0.803,25,2534,1692,-10.81,0.48,300.00
$IRIDIUM_FIX,6337.14,-1238.66,270298,070734
$TT8_MAMPS,0.029146
$HUMID,2034
$INTERNAL_PRESSURE,7.77374
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.4,89.1
$24V_AH,23.1,25.969
$10V_AH,10.1,11.728
$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,25.725,166.275,360.325,30.025,0.000,26.210,30.095,176.000,3.500,0.000,0.000,30.743,1450.856,11342.371,504.673,1990.080,582.635,0.000,1511.168,0.000,1928.279,0.000,27.681,0.000
$DEVICE_MAMPS,121.186,86.671,1183.481,803.049,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.699,497.192,507.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38001,729
$CAP_FILE_SIZE,128685,0
$CFSIZE,260165632,249868288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031208,164025,6408.410,-1239.777,24,2.0,41,-12.3