version: 66.04
glider: 101
mission: 7
dive: 209
start: 12 11 108 23 47 23
data:
$ID,101
$MISSION,7
$DIVE,209
$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,-736347.88
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$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
$GPS1,234138,6350.703,-1243.021,38,1.5,38,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.0
$GPS2,234702,6350.620,-1243.125,8,1.7,14,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$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,235.3,14246,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-80.40,0.000,2,0.000,0.000,28,2614,3039
$GC,102,-1.16,-146.6,3.4,-3.2,4,132,10.88,2.50,-14.30,0.000,4,0.126,0.054,2115,1203,3514
$GC,303,-1.06,-146.6,21.7,-7.9,13,308,0.12,2.45,0.00,0.000,6,0.093,0.039,2139,2603,3515
$GC,631,-1.00,-146.6,46.4,-8.8,29,635,0.00,1.92,0.00,0.000,4,0.000,0.058,2139,3692,3515
$GC,665,-0.93,-146.6,49.3,-8.4,30,669,0.15,1.85,0.00,0.000,6,0.083,0.035,2170,2598,3515
$GC,988,-0.93,-146.6,73.2,-7.2,46,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2598,3515
$GC,1299,-0.93,-146.6,89.9,-5.8,61,1302,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3689,3515
$GC,1377,-0.93,-146.6,95.9,-7.7,64,1381,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2596,3515
$GC,1701,-0.93,-146.6,117.6,-7.6,80,1705,0.00,2.42,0.00,0.000,4,0.000,0.041,2170,1193,3515
$GC,1768,-0.93,-146.6,124.3,-9.8,83,1773,0.00,2.45,0.00,0.000,6,0.000,0.038,2170,2601,3515
$GC,2092,-0.93,-146.6,151.2,-7.8,99,2096,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3692,3515
$GC,2120,-0.93,-146.6,153.9,-9.0,100,2124,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2596,3515
$GC,2448,-0.93,-146.6,178.9,-7.3,116,2451,0.00,1.98,0.00,0.000,4,0.000,0.055,2170,3699,3514
$GC,2476,-0.93,-146.6,181.5,-8.4,117,2479,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2590,3515
$GC,2804,-0.93,-146.6,208.4,-8.0,133,2807,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3689,3515
$GC,2856,-0.93,-146.6,212.3,-7.7,135,2859,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2593,3515
$GC,3184,-0.93,-146.6,237.3,-7.3,151,3188,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3689,3515
$GC,3241,-0.93,-146.6,241.8,-7.5,153,3244,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2594,3515
$GC,3563,-0.93,-146.6,261.9,-5.7,169,3566,0.00,1.98,0.00,0.000,4,0.000,0.055,2170,3699,3515
$GC,3603,-0.93,-146.6,264.1,-5.5,170,3609,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2606,3515
$GC,3920,-0.93,-146.6,281.0,-5.5,186,3924,0.00,1.95,0.00,0.000,4,0.000,0.055,2170,3695,3514
$GC,3948,-0.93,-146.6,282.8,-6.0,187,3952,0.00,1.88,0.00,0.000,6,0.000,0.034,2170,2600,3515
$GC,4276,-0.93,-146.6,302.2,-6.2,203,4279,0.00,1.95,0.00,0.000,4,0.000,0.056,2170,3688,3515
$GC,4338,-0.93,-146.6,306.6,-7.2,205,4344,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2597,3515
$GC,4656,-0.93,-146.6,325.0,-5.3,221,4659,0.00,1.98,0.00,0.000,4,0.000,0.056,2170,3699,3515
$GC,4690,-0.93,-146.6,326.9,-5.0,222,4694,0.00,1.88,0.00,0.000,6,0.000,0.034,2170,2587,3515
$GC,5012,-0.93,-146.6,344.2,-5.7,238,5016,0.00,1.98,0.00,0.000,4,0.000,0.058,2170,3694,3514
$GC,5065,-0.93,-146.6,347.4,-6.1,240,5068,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2593,3515
$GC,5393,-0.93,-146.6,366.5,-5.7,256,5397,0.00,1.98,0.00,0.000,4,0.000,0.058,2170,3698,3515
$GC,5432,-0.93,-146.6,369.0,-6.1,257,5438,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2597,3515
$GC,5748,-0.93,-146.6,387.2,-5.7,273,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2597,3514
$GC,6058,-0.93,-146.6,404.5,-5.5,288,6062,0.00,1.98,0.00,0.000,4,0.000,0.061,2170,3691,3515
$GC,6142,-0.93,-146.6,409.7,-6.1,291,6148,0.00,1.85,0.00,0.000,6,0.000,0.035,2170,2596,3514
$GC,6459,-0.93,-146.6,427.7,-5.9,307,6463,0.00,1.98,0.00,0.000,4,0.000,0.061,2170,3692,3515
$GC,6493,-0.93,-146.6,430.1,-7.3,308,6496,0.00,1.85,0.00,0.000,6,0.000,0.034,2170,2601,3514
$GC,6816,-0.93,-146.6,450.7,-6.0,324,6819,0.00,2.00,0.00,0.000,4,0.000,0.064,2170,3696,3514
$GC,6872,-0.93,-146.6,454.3,-6.3,326,6876,0.00,1.88,0.00,0.000,6,0.000,0.035,2170,2598,3514
$GC,7194,-0.93,-146.6,470.4,-5.2,342,7198,0.00,2.00,0.00,0.000,4,0.000,0.067,2170,3686,3514
$GC,7223,-0.93,-146.6,472.0,-5.6,343,7227,0.00,1.90,0.00,0.000,6,0.000,0.035,2170,2597,3514
$GC,7550,-0.93,-146.6,491.5,-6.5,359,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2597,3514
$GC,7861,-0.97,-146.6,508.1,-4.7,374,7864,0.00,2.05,0.00,0.000,4,0.000,0.080,2170,3685,3514
$GC,7923,-0.97,-146.6,511.0,-4.5,376,7929,0.00,1.90,0.00,0.000,6,0.000,0.045,2170,2605,3514
$GC,8240,-1.01,-146.6,527.3,-5.1,392,8244,0.00,2.08,0.00,0.000,4,0.000,0.087,2170,3689,3514
$GC,8297,-1.01,-146.6,530.5,-5.1,394,8301,0.00,1.95,0.00,0.000,6,0.000,0.051,2170,2592,3514
$GC,8619,-1.06,-146.6,548.4,-6.1,410,8624,0.12,2.10,0.00,0.000,4,0.056,0.085,2134,3692,3514
$GC,8727,-1.01,-146.6,556.4,-8.1,415,8731,0.10,1.95,0.00,0.000,6,0.093,0.049,2152,2590,3514
$GC,9061,-1.01,-146.6,577.7,-6.1,431,9064,0.00,2.10,0.00,0.000,4,0.000,0.085,2152,3692,3514
$GC,9117,-1.01,-146.6,581.4,-6.5,433,9121,0.00,1.92,0.00,0.000,6,0.000,0.048,2152,2601,3514
$STATE,9188,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9188,begin apogee
$GC,9197,-0.45,0.0,586.2,6.4,437,9331,0.57,0.00,126.80,1.213,6,0.065,0.000,2276,2395,2915
$STATE,9331,end apogee,CONTROL_FINISHED_OK
$STATE,9332,begin climb
$GC,9335,1.16,146.6,590.5,0.0,444,9466,1.58,0.00,125.62,1.168,6,0.054,0.000,2622,2395,2318
$GC,9770,1.20,180.0,570.5,5.0,465,9805,0.00,2.53,29.92,1.134,4,0.000,0.075,2622,3683,2181
$GC,9864,1.20,180.0,564.8,6.7,469,9868,0.00,2.30,0.00,0.000,6,0.000,0.043,2622,2392,2181
$GC,10186,1.20,180.5,546.1,6.0,485,10190,0.00,2.45,0.00,0.000,4,0.000,0.073,2622,3692,2181
$GC,10208,1.24,211.5,544.9,5.1,486,10245,0.00,2.28,28.62,1.142,6,0.000,0.041,2622,2399,2051
$GC,10555,1.24,211.5,524.1,7.2,503,10559,0.00,2.42,0.00,0.000,4,0.000,0.071,2622,3687,2051
$GC,10633,1.24,211.5,518.0,8.2,506,10637,0.00,2.28,0.00,0.000,6,0.000,0.041,2622,2396,2050
$GC,10950,1.24,211.5,495.1,6.4,521,10954,0.00,2.55,0.00,0.000,4,0.000,0.059,2622,989,2051
$GC,11002,1.26,230.3,492.2,5.4,523,11027,0.12,2.55,17.17,1.113,6,0.067,0.049,2651,2402,1976
$GC,11352,1.26,230.3,466.4,8.5,540,11356,0.00,2.38,0.00,0.000,4,0.000,0.065,2651,3703,1975
$GC,11403,1.20,230.3,461.1,10.3,542,11408,0.00,2.28,0.00,0.000,6,0.000,0.037,2651,2394,1975
$GC,11719,1.20,230.3,431.8,9.1,557,11723,0.00,2.47,0.00,0.000,4,0.000,0.051,2651,996,1975
$GC,11753,1.20,230.3,428.8,8.3,558,11758,0.00,2.50,0.00,0.000,6,0.000,0.043,2650,2404,1975
$GC,12070,1.20,230.3,402.1,8.8,573,12074,0.00,2.30,0.00,0.000,4,0.000,0.059,2651,3691,1975
$GC,12122,1.13,230.3,397.4,8.4,575,12127,0.15,2.22,0.00,0.000,6,0.101,0.035,2623,2394,1974
$GC,12444,1.13,230.3,375.8,6.5,591,12448,0.00,2.35,0.00,0.000,4,0.000,0.058,2622,3696,1974
$GC,12468,1.23,312.3,374.9,3.6,592,12544,0.00,2.22,69.90,1.076,6,0.000,0.035,2622,2394,1640
$GC,12862,1.29,312.3,347.1,8.8,611,12863,0.15,0.00,0.00,0.000,6,0.051,0.000,2662,2393,1640
$GC,13170,1.29,312.3,317.9,9.1,626,13175,0.00,2.38,0.00,0.000,4,0.000,0.056,2662,3702,1640
$GC,13216,1.24,312.3,313.8,9.8,628,13220,0.00,2.22,0.00,0.000,6,0.000,0.034,2662,2399,1640
$GC,13537,1.24,312.3,287.1,7.6,644,13542,0.00,2.45,0.00,0.000,4,0.000,0.045,2662,1000,1640
$GC,13566,1.24,312.3,285.0,7.8,645,13570,0.00,2.45,0.00,0.000,6,0.000,0.038,2662,2405,1640
$GC,13888,1.24,312.3,263.4,7.3,661,13892,0.00,2.30,0.00,0.000,4,0.000,0.056,2662,3695,1640
$GC,13933,1.20,312.3,259.6,8.4,663,13938,0.12,2.22,0.00,0.000,6,0.100,0.033,2638,2389,1640
$GC,14255,1.20,312.3,237.3,7.5,679,14259,0.00,2.35,0.00,0.000,4,0.000,0.054,2638,3693,1641
$GC,14283,1.20,312.3,234.9,8.2,680,14287,0.00,2.20,0.00,0.000,6,0.000,0.033,2637,2392,1640
$GC,14605,1.20,312.3,211.4,7.6,696,14609,0.00,2.35,0.00,0.000,4,0.000,0.054,2638,3697,1641
$GC,14656,1.20,312.3,207.2,7.7,698,14660,0.00,2.22,0.00,0.000,6,0.000,0.033,2638,2390,1641
$GC,14972,1.20,312.3,184.1,7.4,713,14976,0.00,2.33,0.00,0.000,4,0.000,0.054,2637,3691,1641
$GC,15011,1.20,312.3,181.1,7.2,714,15017,0.00,2.20,0.00,0.000,6,0.000,0.033,2637,2389,1640
$GC,15328,1.24,312.3,157.9,7.3,730,15332,0.00,2.35,0.00,0.000,4,0.000,0.053,2638,3701,1641
$GC,15378,1.24,312.3,154.1,7.9,732,15382,0.00,2.22,0.00,0.000,6,0.000,0.032,2638,2389,1641
$GC,15695,1.24,312.3,132.7,6.6,747,15699,0.00,2.35,0.00,0.000,4,0.000,0.053,2638,3697,1641
$GC,15728,1.24,312.3,130.4,6.6,748,15734,0.00,2.20,0.00,0.000,6,0.000,0.033,2637,2391,1641
$GC,16046,1.24,312.3,108.2,8.7,764,16050,0.00,2.33,0.00,0.000,4,0.000,0.053,2638,3691,1640
$GC,16080,1.24,312.3,104.9,9.1,765,16086,0.00,2.17,0.00,0.000,6,0.000,0.033,2638,2397,1640
$GC,16397,1.29,312.3,77.0,10.2,781,16398,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2396,1641
$GC,16707,1.29,312.3,53.4,8.3,796,16708,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2397,1641
$GC,17015,1.29,312.3,26.4,10.6,811,17019,0.00,2.33,0.00,0.000,4,0.000,0.053,2638,3699,1641
$GC,17059,1.29,312.3,20.6,15.9,813,17064,0.00,2.20,0.00,0.000,6,0.000,0.033,2638,2399,1641
$STATE,17254,end climb,SURFACE_DEPTH_REACHED
$STATE,17255,begin surface coast
$FINISH,0.6,1.013696
$STATE,17276,end surface coast,CONTROL_FINISHED_OK
$STATE,17277,begin surface
$SM_CCo,17362,0.00,0.000,0,0,1640,312.76
$SM_GC,1.38,11.70,0.00,0.00,0.046,0.000,0.000,26,2614,1640,-10.76,0.40,312.76
$IRIDIUM_FIX,6327.46,-1243.92,070398,191925
$TT8_MAMPS,0.028379
$HUMID,2016
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,500.0,95.7
$24V_AH,23.1,33.474
$10V_AH,10.1,15.425
$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,25.775,171.750,398.050,0.000,0.000,24.054,27.051,139.766,5.500,0.000,0.000,16.025,1574.876,13092.660,519.278,1918.846,581.290,0.000,1537.422,0.000,1882.953,0.000,28.328,0.000
$DEVICE_MAMPS,125.788,86.671,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.434,561.836,539.630,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41219,824
$CAP_FILE_SIZE,135526,0
$CFSIZE,260165632,247087104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,121208,043802,6343.867,-1250.589,36,1.4,36,-12.2