version: 66.04
glider: 101
mission: 7
dive: 179
start: 12 7 108 11 13 56
data:
$ID,101
$MISSION,7
$DIVE,179
$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,-735681
$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,34
$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
$GPS1,110307,6414.134,-1227.531,41,1.3,47,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-41.0
$GPS2,111334,6414.209,-1227.212,13,1.6,20,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KE
$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,237.5,37431,-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,-146.6,0.0,0.0,0,158,0.00,0.00,-139.77,0.000,6,0.000,0.000,27,2530,3514
$GC,162,-1.16,-146.6,6.1,-5.5,7,178,10.93,2.08,0.00,0.000,4,0.127,0.055,2113,3686,3513
$GC,431,-1.03,-146.6,37.7,-7.5,18,435,0.17,2.03,0.00,0.000,6,0.083,0.036,2147,2505,3512
$GC,753,-1.03,-146.6,61.3,-6.3,34,756,0.00,2.15,0.00,0.000,4,0.000,0.056,2148,3694,3512
$GC,983,-0.98,-146.6,77.9,-4.8,44,987,0.00,2.03,0.00,0.000,6,0.000,0.035,2147,2509,3512
$GC,1311,-0.98,-146.6,97.7,-6.3,60,1315,0.00,2.12,0.00,0.000,4,0.000,0.055,2148,3687,3512
$GC,1396,-0.92,-146.6,103.7,-7.2,63,1403,0.12,2.03,0.00,0.000,6,0.086,0.036,2172,2503,3512
$GC,1715,-0.92,-146.6,121.2,-6.0,79,1718,0.00,2.15,0.00,0.000,4,0.000,0.056,2172,3693,3512
$GC,1771,-0.92,-146.6,124.8,-6.6,81,1775,0.00,2.03,0.00,0.000,6,0.000,0.035,2173,2507,3512
$GC,2094,-0.92,-146.6,142.5,-5.0,97,2097,0.00,2.12,0.00,0.000,4,0.000,0.056,2173,3686,3512
$GC,2173,-0.92,-146.6,146.4,-5.2,100,2176,0.00,2.00,0.00,0.000,6,0.000,0.036,2173,2516,3512
$GC,2495,-0.92,-146.6,171.1,-8.1,116,2499,0.00,2.12,0.00,0.000,4,0.000,0.056,2172,3693,3512
$GC,2580,-0.92,-146.6,177.2,-7.4,119,2586,0.00,2.03,0.00,0.000,6,0.000,0.035,2173,2505,3512
$GC,2896,-0.92,-146.6,198.4,-6.6,135,2900,0.00,2.12,0.00,0.000,4,0.000,0.056,2173,3686,3512
$GC,3034,-0.92,-146.6,207.5,-6.5,141,3037,0.00,2.00,0.00,0.000,6,0.000,0.036,2172,2514,3512
$GC,3367,-0.92,-146.6,226.5,-6.5,157,3371,0.00,2.12,0.00,0.000,4,0.000,0.057,2173,3691,3512
$GC,3458,-0.92,-146.6,232.9,-7.1,161,3462,0.00,2.00,0.00,0.000,6,0.000,0.036,2172,2517,3511
$GC,3792,-0.92,-146.6,254.5,-6.0,177,3795,0.00,2.12,0.00,0.000,4,0.000,0.058,2172,3692,3512
$GC,3854,-0.92,-146.6,258.6,-7.4,179,3860,0.00,2.03,0.00,0.000,6,0.000,0.036,2172,2506,3511
$GC,4170,-0.92,-146.6,279.8,-6.8,195,4174,0.00,2.15,0.00,0.000,4,0.000,0.058,2173,3695,3511
$GC,4307,-0.92,-146.6,289.2,-6.0,201,4310,0.00,2.03,0.00,0.000,6,0.000,0.037,2172,2509,3511
$GC,4640,-0.92,-146.6,307.0,-5.4,217,4644,0.00,2.12,0.00,0.000,4,0.000,0.059,2172,3686,3511
$GC,4736,-0.92,-146.6,312.7,-6.0,221,4739,0.00,2.00,0.00,0.000,6,0.000,0.037,2172,2514,3511
$GC,5064,-0.96,-146.6,332.7,-6.5,237,5067,0.00,2.12,0.00,0.000,4,0.000,0.061,2173,3686,3511
$GC,5159,-0.96,-146.6,339.6,-7.1,241,5163,0.00,2.00,0.00,0.000,6,0.000,0.037,2173,2515,3511
$GC,5488,-1.00,-146.6,360.2,-5.7,257,5491,0.00,2.15,0.00,0.000,4,0.000,0.061,2172,3694,3511
$GC,5612,-1.00,-146.6,367.2,-5.5,262,5616,0.00,2.03,0.00,0.000,6,0.000,0.037,2173,2513,3511
$GC,5934,-1.05,-146.6,384.6,-5.7,278,5939,0.12,2.15,0.00,0.000,4,0.054,0.062,2136,3689,3510
$GC,5975,-0.97,-146.6,387.2,-7.3,280,5979,0.12,2.03,0.00,0.000,6,0.087,0.038,2160,2508,3510
$GC,6308,-0.97,-146.6,408.5,-6.4,296,6312,0.00,2.15,0.00,0.000,4,0.000,0.064,2160,3685,3510
$GC,6343,-0.97,-146.6,410.7,-6.9,297,6347,0.00,2.03,0.00,0.000,6,0.000,0.038,2160,2510,3510
$GC,6665,-0.97,-146.6,430.0,-6.1,313,6669,0.00,2.17,0.00,0.000,4,0.000,0.067,2161,3689,3510
$GC,6735,-0.97,-146.6,434.5,-6.7,316,6738,0.00,2.03,0.00,0.000,6,0.000,0.040,2161,2518,3510
$GC,7068,-0.97,-146.6,455.8,-6.3,332,7071,0.00,2.17,0.00,0.000,4,0.000,0.071,2160,3689,3510
$GC,7129,-0.97,-146.6,459.7,-6.5,334,7136,0.00,2.05,0.00,0.000,6,0.000,0.041,2160,2510,3510
$STATE,7339,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7339,begin apogee
$GC,7348,-0.45,0.0,471.7,6.4,345,7481,0.52,0.00,126.28,1.157,6,0.066,0.000,2273,2316,2915
$STATE,7482,end apogee,CONTROL_FINISHED_OK
$STATE,7482,begin climb
$GC,7486,1.16,146.6,475.0,0.0,352,7618,1.60,0.00,126.12,1.114,6,0.056,0.000,2623,2316,2316
$GC,7941,1.16,146.6,446.2,6.9,374,7945,0.00,2.58,0.00,0.000,4,0.000,0.069,2622,3690,2315
$GC,8166,1.11,146.6,430.0,7.0,384,8170,0.00,2.42,0.00,0.000,6,0.000,0.041,2622,2310,2314
$GC,8493,1.15,179.4,410.1,5.0,400,8528,0.00,2.65,29.12,1.090,4,0.000,0.064,2622,3684,2182
$GC,8587,1.09,179.4,405.1,6.7,404,8591,0.00,2.42,0.00,0.000,6,0.000,0.040,2622,2316,2183
$GC,8909,1.09,179.4,382.9,6.7,420,8913,0.00,2.55,0.00,0.000,4,0.000,0.057,2622,904,2182
$GC,8972,1.09,179.4,378.7,6.7,423,8977,0.00,2.53,0.00,0.000,6,0.000,0.045,2623,2314,2182
$GC,9299,1.09,179.4,356.2,6.4,439,9303,0.00,2.50,0.00,0.000,4,0.000,0.062,2622,3689,2181
$GC,9384,1.09,179.4,350.3,7.4,443,9388,0.00,2.40,0.00,0.000,6,0.000,0.039,2622,2312,2181
$GC,9711,1.09,179.4,327.8,6.6,459,9715,0.00,2.53,0.00,0.000,4,0.000,0.060,2622,3690,2181
$GC,9738,1.09,179.4,325.7,7.5,460,9742,0.00,2.38,0.00,0.000,6,0.000,0.038,2622,2315,2181
$GC,10061,1.09,179.4,303.1,7.2,476,10065,0.00,2.53,0.00,0.000,4,0.000,0.059,2622,3695,2181
$GC,10139,1.09,179.4,296.8,7.8,479,10145,0.00,2.40,0.00,0.000,6,0.000,0.038,2622,2312,2181
$GC,10456,1.10,187.6,276.4,5.8,495,10470,0.00,2.58,8.27,0.937,4,0.000,0.058,2622,3684,2150
$GC,10527,1.10,187.6,271.6,6.5,498,10531,0.00,2.40,0.00,0.000,6,0.000,0.037,2622,2308,2149
$GC,10849,1.16,235.5,254.5,4.6,514,10896,0.00,2.60,42.47,1.022,4,0.000,0.057,2622,3696,1953
$GC,10932,1.21,274.7,251.0,4.8,518,10974,0.00,2.42,34.25,0.995,6,0.000,0.037,2622,2309,1795
$GC,11287,1.28,282.0,233.0,5.8,535,11302,0.15,2.60,7.82,0.868,4,0.048,0.056,2663,3692,1765
$GC,11333,1.23,282.0,229.2,8.9,537,11337,0.00,2.40,0.00,0.000,6,0.000,0.036,2663,2317,1765
$GC,11660,1.23,282.0,202.0,8.3,553,11664,0.00,2.50,0.00,0.000,4,0.000,0.057,2663,3690,1765
$GC,11694,1.19,282.0,199.0,9.1,554,11701,0.15,2.38,0.00,0.000,6,0.095,0.035,2635,2314,1765
$GC,12010,1.19,282.0,176.7,7.1,570,12014,0.00,2.50,0.00,0.000,4,0.000,0.055,2635,3690,1765
$GC,12061,1.19,282.0,173.0,7.2,572,12065,0.00,2.38,0.00,0.000,6,0.000,0.035,2634,2307,1765
$GC,12383,1.20,290.6,154.7,5.7,588,12397,0.00,2.55,9.23,0.866,4,0.000,0.055,2635,3692,1730
$GC,12443,1.20,290.6,151.0,6.2,590,12450,0.00,2.40,0.00,0.000,6,0.000,0.035,2634,2307,1729
$GC,12761,1.25,290.6,132.2,6.0,606,12765,0.00,2.50,0.00,0.000,4,0.000,0.055,2635,3696,1729
$GC,12817,1.25,290.6,128.0,7.3,608,12824,0.00,2.38,0.00,0.000,6,0.000,0.035,2635,2318,1729
$GC,13134,1.30,290.6,100.9,9.6,624,13139,0.10,2.50,0.00,0.000,4,0.057,0.054,2664,3697,1729
$GC,13230,1.26,290.6,89.8,10.6,628,13234,0.00,2.40,0.00,0.000,6,0.000,0.035,2664,2308,1729
$GC,13546,1.26,290.6,56.8,9.4,643,13551,0.00,2.50,0.00,0.000,4,0.000,0.054,2664,3692,1729
$GC,13565,1.26,290.6,55.3,8.6,644,13569,0.00,2.38,0.00,0.000,6,0.000,0.035,2664,2311,1729
$GC,13893,1.21,290.6,29.2,8.5,660,13898,0.12,2.50,0.00,0.000,4,0.094,0.054,2640,3694,1729
$GC,13916,1.21,290.6,26.4,11.3,661,13920,0.00,2.38,0.00,0.000,6,0.000,0.035,2640,2312,1729
$GC,14238,1.21,290.6,2.3,8.8,677,14242,0.00,2.22,0.00,0.000,3,0.000,0.051,2640,3555,1729
$STATE,14242,end climb,SURFACE_DEPTH_REACHED
$STATE,14243,begin surface coast
$FINISH,0.7,1.017453
$STATE,14280,end surface coast,CONTROL_FINISHED_OK
$STATE,14280,begin surface
$SM_CCo,14306,8.88,0.781,1,0,1692,300.00
$SM_GC,1.37,0.00,0.00,8.88,0.000,0.000,0.781,26,2515,1692,-10.81,-0.06,300.00
$IRIDIUM_FIX,6346.88,-1228.51,030398,111152
$TT8_MAMPS,0.029146
$HUMID,2023
$INTERNAL_PRESSURE,7.77374
$TCM_TEMP,16.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,375.2,105.5
$24V_AH,23.1,29.445
$10V_AH,10.1,13.427
$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,25.750,154.125,383.575,8.875,0.000,46.773,57.051,317.836,5.250,0.000,0.000,24.676,1345.265,10448.820,556.828,1848.939,751.823,0.000,1502.337,0.000,1800.835,0.000,20.268,0.000
$DEVICE_MAMPS,126.555,71.331,1156.636,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.320,463.264,495.378,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34846,679
$CAP_FILE_SIZE,123854,0
$CFSIZE,260165632,248610816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071208,151356,6414.942,-1223.839,36,1.3,36,-12.2