version: 66.04
glider: 101
mission: 7
dive: 210
start: 12 12 108 4 47 37
data:
$ID,101
$MISSION,7
$DIVE,210
$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,-736367.5
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,35
$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
$GPS1,043802,6343.867,-1250.589,36,1.4,36,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-56.5
$GPS2,044714,6343.812,-1250.503,14,1.3,14,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IE
$TGT_LATLONG,6330.000,-1257.000
$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,204.1,26136,-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,-80.43,0.000,2,0.000,0.000,25,2614,3369
$GC,102,-1.16,-146.6,5.0,-6.0,4,124,10.82,2.53,-3.25,0.000,4,0.123,0.054,2116,1208,3515
$GC,187,-1.11,-146.6,18.1,-6.4,7,193,0.00,2.42,0.00,0.000,6,0.000,0.039,2115,2597,3516
$GC,506,-1.01,-146.6,38.8,-7.2,23,508,0.20,0.00,0.00,0.000,6,0.083,0.000,2156,2597,3516
$GC,814,-0.96,-146.6,57.7,-4.9,38,818,0.00,2.45,0.00,0.000,4,0.000,0.040,2156,1198,3516
$GC,833,-0.90,-146.6,59.0,-5.9,39,838,0.10,2.45,0.00,0.000,6,0.094,0.039,2176,2600,3516
$GC,1162,-0.90,-146.6,76.7,-5.1,55,1166,0.00,1.92,0.00,0.000,4,0.000,0.056,2176,3689,3516
$GC,1236,-0.90,-146.6,80.8,-5.0,58,1240,0.00,1.85,0.00,0.000,6,0.000,0.035,2176,2597,3516
$GC,1565,-0.90,-146.6,100.7,-6.4,74,1569,0.00,1.95,0.00,0.000,4,0.000,0.054,2176,3689,3515
$GC,1612,-0.90,-146.6,103.6,-6.2,76,1616,0.00,1.85,0.00,0.000,6,0.000,0.035,2176,2596,3516
$GC,1946,-0.90,-146.6,119.1,-4.9,92,1949,0.00,1.95,0.00,0.000,4,0.000,0.053,2176,3691,3516
$GC,1980,-0.90,-146.6,121.1,-6.1,93,1983,0.00,1.85,0.00,0.000,6,0.000,0.035,2176,2598,3516
$GC,2302,-0.90,-146.6,141.0,-6.1,109,2306,0.00,1.95,0.00,0.000,4,0.000,0.054,2176,3691,3516
$GC,2387,-0.90,-146.6,147.2,-7.4,112,2393,0.00,1.88,0.00,0.000,6,0.000,0.034,2176,2599,3516
$GC,2703,-0.90,-146.6,170.0,-7.2,128,2707,0.00,1.95,0.00,0.000,4,0.000,0.054,2176,3692,3516
$GC,2743,-0.90,-146.6,173.3,-8.1,129,2748,0.00,1.85,0.00,0.000,6,0.000,0.035,2176,2597,3516
$GC,3059,-0.90,-146.6,198.9,-8.2,145,3063,0.00,1.95,0.00,0.000,4,0.000,0.054,2176,3693,3516
$GC,3105,-0.90,-146.6,203.1,-9.0,147,3108,0.00,1.85,0.00,0.000,6,0.000,0.034,2176,2596,3516
$GC,3438,-0.90,-146.6,232.2,-9.8,163,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2596,3515
$GC,3747,-0.90,-146.6,260.5,-7.5,178,3751,0.00,1.98,0.00,0.000,4,0.000,0.054,2176,3699,3516
$GC,3826,-0.90,-146.6,266.1,-7.5,181,3830,0.00,1.90,0.00,0.000,6,0.000,0.034,2175,2593,3516
$GC,4148,-0.90,-146.6,286.7,-6.0,197,4151,0.00,1.98,0.00,0.000,4,0.000,0.055,2176,3698,3515
$GC,4204,-0.90,-146.6,290.5,-6.2,199,4208,0.00,1.85,0.00,0.000,6,0.000,0.034,2176,2599,3515
$GC,4527,-0.90,-146.6,309.6,-5.9,215,4530,0.00,1.95,0.00,0.000,4,0.000,0.056,2176,3689,3516
$GC,4578,-0.90,-146.6,312.4,-5.6,217,4581,0.00,1.85,0.00,0.000,6,0.000,0.035,2176,2590,3515
$GC,4905,-0.90,-146.6,330.5,-5.0,233,4909,0.00,1.98,0.00,0.000,4,0.000,0.056,2176,3693,3516
$GC,4990,-0.90,-146.6,335.5,-5.3,236,4996,0.00,1.85,0.00,0.000,6,0.000,0.035,2176,2594,3516
$GC,5307,-0.90,-146.6,353.7,-6.2,252,5310,0.00,1.98,0.00,0.000,4,0.000,0.057,2175,3694,3516
$GC,5357,-0.90,-146.6,357.2,-7.2,254,5361,0.00,1.85,0.00,0.000,6,0.000,0.034,2175,2595,3515
$GC,5685,-0.94,-146.6,379.9,-7.2,270,5689,0.00,1.98,0.00,0.000,4,0.000,0.058,2175,3692,3516
$GC,5719,-0.94,-146.6,382.9,-8.2,271,5723,0.00,1.85,0.00,0.000,6,0.000,0.034,2175,2596,3515
$GC,6041,-0.94,-146.6,407.2,-7.3,287,6045,0.00,1.98,0.00,0.000,4,0.000,0.061,2176,3694,3516
$GC,6093,-0.94,-146.6,411.0,-7.5,289,6097,0.00,1.85,0.00,0.000,6,0.000,0.034,2176,2600,3515
$GC,6421,-0.94,-146.6,429.7,-4.6,305,6425,0.00,1.98,0.00,0.000,4,0.000,0.062,2176,3688,3515
$GC,6455,-0.94,-146.6,431.5,-5.2,306,6459,0.00,1.85,0.00,0.000,6,0.000,0.034,2176,2598,3515
$GC,6778,-0.98,-146.6,445.8,-4.8,322,6782,0.00,2.00,0.00,0.000,4,0.000,0.064,2176,3696,3515
$GC,6847,-0.98,-146.6,449.6,-5.9,325,6851,0.00,1.88,0.00,0.000,6,0.000,0.035,2176,2594,3515
$GC,7181,-1.03,-146.6,470.5,-6.8,341,7185,0.12,2.03,0.00,0.000,4,0.054,0.067,2138,3692,3515
$GC,7232,-0.96,-146.6,474.9,-9.3,343,7241,0.12,1.88,0.00,0.000,6,0.088,0.036,2162,2600,3515
$GC,7563,-0.96,-146.6,498.8,-7.4,359,7566,0.00,2.03,0.00,0.000,4,0.000,0.075,2162,3688,3515
$GC,7597,-0.96,-146.6,501.4,-7.6,360,7600,0.00,1.90,0.00,0.000,6,0.000,0.041,2162,2597,3515
$GC,7919,-0.96,-146.6,521.4,-6.1,376,7923,0.00,2.08,0.00,0.000,4,0.000,0.082,2162,3691,3515
$GC,8010,-0.96,-146.6,527.0,-6.0,380,8014,0.00,1.92,0.00,0.000,6,0.000,0.049,2162,2604,3515
$GC,8345,-0.96,-146.6,545.7,-5.4,396,8348,0.00,2.10,0.00,0.000,4,0.000,0.092,2162,3686,3515
$GC,8459,-0.96,-146.6,552.6,-6.2,401,8463,0.00,1.92,0.00,0.000,6,0.000,0.054,2162,2600,3515
$GC,8793,-0.96,-146.6,571.2,-5.7,417,8797,0.00,2.60,0.00,0.000,4,0.000,0.071,2162,1183,3515
$GC,8855,-0.96,-146.6,574.8,-5.5,420,8860,0.00,2.60,0.00,0.000,6,0.000,0.065,2162,2592,3515
$STATE,9180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9180,begin apogee
$GC,9188,-0.45,0.0,595.9,5.4,436,9322,0.52,0.00,127.03,1.201,6,0.063,0.000,2277,2401,2915
$STATE,9323,end apogee,CONTROL_FINISHED_OK
$STATE,9323,begin climb
$GC,9326,1.16,146.6,600.1,0.0,443,9463,1.58,2.70,125.50,1.164,4,0.054,0.072,2623,993,2317
$GC,9554,1.16,146.6,589.4,6.1,453,9560,0.00,2.62,0.00,0.000,6,0.000,0.059,2624,2407,2317
$GC,9870,1.16,150.3,570.8,5.9,469,9880,0.00,2.42,5.00,0.830,4,0.000,0.074,2623,3698,2302
$GC,9943,1.12,150.3,565.8,6.7,472,9947,0.00,2.30,0.00,0.000,6,0.000,0.042,2623,2398,2301
$GC,10259,1.12,152.8,547.5,5.9,487,10269,0.00,2.60,4.18,0.762,4,0.000,0.064,2624,989,2291
$GC,10337,1.12,152.8,542.4,6.2,490,10342,0.00,2.58,0.00,0.000,6,0.000,0.053,2623,2402,2290
$GC,10654,1.12,154.5,523.6,6.0,505,10658,0.00,2.40,0.00,0.000,4,0.000,0.071,2623,3705,2290
$GC,10699,1.08,154.5,520.9,6.2,507,10703,0.00,2.30,0.00,0.000,6,0.000,0.040,2624,2389,2290
$GC,11026,1.08,159.8,502.5,5.8,523,11036,0.00,0.00,7.55,0.985,6,0.000,0.000,2623,2389,2262
$GC,11336,1.10,176.4,485.3,5.5,538,11358,0.00,2.47,15.82,1.088,4,0.000,0.064,2623,3696,2195
$GC,11420,1.11,178.9,480.1,5.9,541,11430,0.00,2.28,3.80,0.703,6,0.000,0.038,2623,2397,2185
$GC,11758,1.11,178.9,459.1,6.4,558,11763,0.00,2.53,0.00,0.000,4,0.000,0.055,2623,989,2185
$GC,11809,1.11,178.9,455.7,6.8,560,11814,0.00,2.53,0.00,0.000,6,0.000,0.044,2623,2405,2184
$GC,12125,1.11,178.9,435.2,6.7,575,12130,0.00,2.55,0.00,0.000,4,0.000,0.051,2623,987,2184
$GC,12144,1.11,178.9,434.1,6.3,576,12148,0.00,2.53,0.00,0.000,6,0.000,0.043,2623,2411,2185
$GC,12471,1.11,178.9,412.4,6.6,592,12475,0.00,2.30,0.00,0.000,4,0.000,0.060,2623,3702,2185
$GC,12523,1.11,178.9,408.9,6.7,594,12527,0.00,2.25,0.00,0.000,6,0.000,0.035,2623,2392,2185
$GC,12844,1.11,178.9,388.0,6.9,610,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2392,2185
$GC,13154,1.11,178.9,366.2,7.3,625,13158,0.00,2.38,0.00,0.000,4,0.000,0.057,2623,3703,2185
$GC,13194,1.11,178.9,363.1,8.0,627,13198,0.00,2.22,0.00,0.000,6,0.000,0.034,2623,2396,2184
$GC,13522,1.11,178.9,339.6,7.2,643,13526,0.00,2.35,0.00,0.000,4,0.000,0.055,2623,3699,2185
$GC,13550,1.11,178.9,337.4,7.6,644,13554,0.00,2.22,0.00,0.000,6,0.000,0.034,2624,2394,2185
$GC,13871,1.11,178.9,316.8,6.7,660,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2393,2185
$GC,14180,1.11,178.9,294.5,7.0,675,14185,0.00,2.35,0.00,0.000,4,0.000,0.054,2623,3700,2185
$GC,14237,1.11,178.9,290.1,8.2,677,14243,0.00,2.22,0.00,0.000,6,0.000,0.034,2623,2391,2185
$GC,14553,1.11,178.9,267.5,6.8,693,14557,0.00,2.42,0.00,0.000,4,0.000,0.045,2624,1000,2185
$GC,14587,1.11,178.9,265.1,7.4,694,14593,0.00,2.45,0.00,0.000,6,0.000,0.038,2624,2405,2185
$GC,14903,1.11,178.9,244.6,6.7,710,14907,0.00,2.28,0.00,0.000,4,0.000,0.054,2623,3693,2185
$GC,14926,1.11,178.9,243.0,6.6,711,14930,0.00,2.20,0.00,0.000,6,0.000,0.034,2623,2396,2185
$GC,15247,1.11,178.9,222.9,6.2,727,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2395,2185
$GC,15557,1.11,178.9,203.5,6.3,742,15558,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2395,2185
$GC,15866,1.25,294.4,195.0,2.6,757,15968,0.10,0.00,96.35,0.940,6,0.060,0.000,2653,2395,1714
$GC,16283,1.25,294.4,165.3,7.9,777,16287,0.00,2.35,0.00,0.000,4,0.000,0.054,2654,3696,1713
$GC,16333,1.25,294.4,160.7,7.8,779,16337,0.00,2.22,0.00,0.000,6,0.000,0.033,2653,2392,1713
$GC,16650,1.25,294.4,135.4,7.5,794,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2391,1713
$GC,16961,1.25,294.4,109.7,8.5,809,16965,0.00,2.35,0.00,0.000,4,0.000,0.053,2654,3699,1714
$GC,17011,1.25,294.4,105.0,8.7,811,17015,0.00,2.22,0.00,0.000,6,0.000,0.034,2653,2392,1714
$GC,17329,1.25,294.4,81.5,7.4,826,17333,0.00,2.35,0.00,0.000,4,0.000,0.053,2653,3700,1713
$GC,17357,1.25,294.4,78.5,9.8,827,17361,0.00,2.22,0.00,0.000,6,0.000,0.033,2654,2391,1713
$GC,17674,1.25,294.4,51.6,6.8,842,17675,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2391,1713
$GC,17983,1.25,294.4,27.8,8.2,857,17987,0.00,2.35,0.00,0.000,4,0.000,0.054,2653,3700,1713
$GC,18050,1.25,294.4,20.1,10.4,860,18054,0.00,2.22,0.00,0.000,6,0.000,0.034,2653,2390,1713
$STATE,18203,end climb,SURFACE_DEPTH_REACHED
$STATE,18203,begin surface coast
$FINISH,0.6,1.010081
$STATE,18227,end surface coast,CONTROL_FINISHED_OK
$STATE,18227,begin surface
$SM_CCo,18252,6.03,0.696,0,0,1692,300.00
$SM_GC,1.77,0.00,0.00,6.03,0.000,0.000,0.696,29,2622,1692,-10.79,0.62,300.00
$IRIDIUM_FIX,6317.84,-1248.04,080398,040457
$TT8_MAMPS,0.029146
$HUMID,2005
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.2,55.1
$24V_AH,23.1,33.615
$10V_AH,10.1,15.513
$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,25.225,169.700,385.225,6.025,0.000,50.269,61.203,227.356,4.750,0.000,0.000,18.976,1644.403,13888.258,525.064,2014.702,740.294,0.000,1560.263,0.000,1968.310,0.000,34.379,0.000
$DEVICE_MAMPS,122.720,92.040,1201.122,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.684,593.737,569.538,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44269,869
$CAP_FILE_SIZE,142214,0
$CFSIZE,260165632,247017472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121208,095307,6340.136,-1244.723,28,1.0,28,-12.1