version: 66.04
glider: 101
mission: 7
dive: 151
start: 12 2 108 8 21 53
data:
$ID,101
$MISSION,7
$DIVE,151
$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,-735003.12
$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,31
$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
$GPS1,081538,6348.127,-1305.733,25,1.5,25,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-53.1
$GPS2,082132,6348.146,-1305.809,10,1.6,15,-12.4
$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,24.5,22455,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.16,-146.6,0.0,0.0,0,101,0.00,0.00,-80.78,0.000,2,0.000,0.000,25,2534,3077
$GC,105,-1.16,-146.6,3.7,-3.4,4,135,10.82,2.10,-13.10,0.000,4,0.123,0.071,2116,3684,3514
$GC,235,-1.06,-146.6,18.9,-11.1,9,241,0.12,2.03,0.00,0.000,6,0.087,0.037,2141,2503,3514
$GC,553,-1.06,-146.6,53.8,-11.3,25,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2503,3514
$GC,861,-1.01,-146.6,81.6,-8.8,40,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2503,3514
$GC,1170,-0.95,-146.6,110.4,-11.1,55,1175,0.12,2.10,0.00,0.000,4,0.078,0.054,2167,3685,3514
$GC,1288,-0.95,-146.6,122.5,-8.7,60,1292,0.00,2.00,0.00,0.000,6,0.000,0.036,2167,2508,3514
$GC,1611,-0.95,-146.6,147.6,-7.2,76,1614,0.00,2.10,0.00,0.000,4,0.000,0.055,2168,3690,3514
$GC,1712,-0.95,-146.6,153.4,-5.9,80,1715,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2512,3514
$GC,2034,-0.95,-146.6,169.5,-4.5,96,2038,0.00,2.10,0.00,0.000,4,0.000,0.055,2167,3685,3514
$GC,2161,-0.95,-146.6,175.3,-5.0,101,2165,0.00,2.00,0.00,0.000,6,0.000,0.036,2168,2509,3513
$GC,2483,-0.95,-146.6,188.8,-3.5,117,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2509,3514
$GC,2793,-0.95,-146.6,202.1,-3.7,132,2796,0.00,2.10,0.00,0.000,4,0.000,0.054,2168,3688,3514
$GC,2917,-0.95,-146.6,207.2,-3.9,137,2920,0.00,2.00,0.00,0.000,6,0.000,0.036,2168,2510,3514
$GC,3239,-0.95,-146.6,217.5,-3.6,153,3242,0.00,2.10,0.00,0.000,4,0.000,0.055,2167,3686,3514
$GC,3346,-0.95,-146.6,220.7,-2.6,157,3352,0.00,2.00,0.00,0.000,6,0.000,0.036,2168,2509,3514
$GC,3663,-0.95,-146.6,231.6,-4.2,173,3666,0.00,2.10,0.00,0.000,4,0.000,0.055,2168,3685,3514
$GC,3805,-0.95,-146.6,237.9,-5.5,179,3809,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2504,3514
$GC,4133,-0.95,-146.6,247.9,-3.1,195,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2504,3514
$GC,4442,-0.95,-146.6,263.1,-5.4,210,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2504,3514
$GC,4752,-0.95,-146.6,277.4,-4.8,225,4755,0.00,2.12,0.00,0.000,4,0.000,0.055,2167,3692,3514
$GC,4946,-0.95,-146.6,285.7,-5.3,233,4950,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2510,3514
$GC,5268,-0.95,-146.6,306.1,-7.7,249,5272,0.00,2.10,0.00,0.000,4,0.000,0.056,2167,3683,3513
$GC,5359,-0.95,-146.6,312.9,-7.2,253,5363,0.00,1.98,0.00,0.000,6,0.000,0.035,2168,2515,3513
$GC,5693,-0.95,-146.6,330.8,-5.0,269,5696,0.00,2.10,0.00,0.000,4,0.000,0.057,2168,3685,3513
$GC,5772,-0.95,-146.6,335.6,-6.0,272,5776,0.00,1.98,0.00,0.000,6,0.000,0.035,2168,2519,3513
$GC,6094,-0.95,-146.6,352.5,-5.3,288,6098,0.00,2.08,0.00,0.000,4,0.000,0.058,2168,3684,3513
$GC,6190,-0.95,-146.6,358.5,-6.2,292,6194,0.00,1.98,0.00,0.000,6,0.000,0.035,2167,2516,3513
$GC,6517,-0.95,-146.6,377.7,-6.5,308,6521,0.00,2.10,0.00,0.000,4,0.000,0.058,2168,3683,3513
$GC,6635,-0.95,-146.6,387.3,-8.1,313,6639,0.00,1.98,0.00,0.000,6,0.000,0.036,2167,2518,3513
$GC,6963,-0.95,-146.6,417.6,-10.7,329,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2518,3513
$GC,7272,-0.95,-146.6,447.3,-9.7,344,7276,0.00,2.10,0.00,0.000,4,0.000,0.065,2168,3680,3513
$GC,7424,-0.95,-146.6,460.3,-7.7,350,7430,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2504,3513
$GC,7740,-0.95,-146.6,485.2,-8.5,366,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2503,3513
$GC,8050,-0.95,-146.6,507.6,-7.0,381,8054,0.00,2.20,0.00,0.000,4,0.000,0.077,2167,3681,3513
$GC,8309,-0.95,-146.6,525.7,-6.8,392,8313,0.00,2.05,0.00,0.000,6,0.000,0.050,2168,2525,3513
$GC,8631,-0.95,-146.6,544.4,-5.9,408,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2525,3513
$GC,8940,-0.95,-146.6,561.8,-5.7,423,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2525,3513
$GC,9249,-0.95,-146.6,578.6,-5.6,438,9253,0.00,2.28,0.00,0.000,4,0.000,0.104,2168,3674,3513
$GC,9345,-0.95,-146.6,584.6,-6.5,442,9348,0.00,2.10,0.00,0.000,6,0.000,0.058,2167,2506,3513
$GC,9667,-0.95,-146.6,607.1,-7.6,458,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2506,3513
$GC,9976,-0.95,-146.6,626.7,-5.6,473,9980,0.00,2.25,0.00,0.000,4,0.000,0.087,2168,3685,3512
$GC,10196,-0.95,-146.6,640.9,-7.3,483,10200,0.00,2.08,0.00,0.000,6,0.000,0.052,2168,2516,3513
$GC,10529,-0.99,-146.6,664.6,-6.7,499,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2516,3513
$GC,10839,-1.03,-146.6,683.4,-6.0,514,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2515,3513
$GC,11147,-1.03,-146.6,702.0,-6.1,529,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2514,3512
$GC,11457,-1.07,-146.6,721.4,-7.0,544,11459,0.12,0.00,0.00,0.000,6,0.054,0.000,2131,2514,3512
$STATE,11577,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11577,begin apogee
$GC,11586,-0.45,0.0,731.4,8.2,550,11720,0.68,0.00,129.27,1.286,6,0.064,0.000,2276,2314,2915
$STATE,11721,end apogee,CONTROL_FINISHED_OK
$STATE,11721,begin climb
$GC,11724,1.16,146.6,735.0,0.0,557,11865,1.60,2.78,127.82,1.251,4,0.055,0.075,2624,902,2317
$GC,12008,1.10,146.6,719.4,6.4,570,12012,0.00,2.60,0.00,0.000,6,0.000,0.058,2624,2307,2317
$GC,12335,1.12,164.6,697.4,5.5,586,12358,0.00,2.72,17.25,1.170,4,0.000,0.076,2624,3699,2243
$GC,12491,1.08,194.9,687.1,5.1,592,12526,0.00,2.47,28.27,1.206,6,0.000,0.045,2624,2315,2119
$GC,12852,1.14,242.7,668.3,4.6,610,12902,0.00,2.72,42.92,1.227,4,0.000,0.068,2624,908,1925
$GC,12954,1.18,277.5,663.2,5.0,614,12991,0.00,2.60,31.85,1.202,6,0.000,0.054,2624,2320,1783
$GC,13311,1.19,286.9,645.2,5.7,632,13326,0.00,0.00,9.77,1.082,6,0.000,0.000,2624,2319,1745
$GC,13637,1.19,286.9,623.0,7.0,648,13641,0.00,2.58,0.00,0.000,4,0.000,0.073,2624,3705,1744
$GC,13700,1.19,286.9,618.4,7.0,651,13704,0.00,2.47,0.00,0.000,6,0.000,0.043,2624,2309,1744
$GC,14027,1.19,286.9,593.4,7.6,667,14028,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2309,1743
$GC,14336,1.19,286.9,566.2,10.1,682,14340,0.00,2.58,0.00,0.000,4,0.000,0.068,2624,3699,1743
$GC,14448,1.19,286.9,553.8,10.8,687,14452,0.00,2.45,0.00,0.000,6,0.000,0.041,2624,2305,1743
$GC,14769,1.19,286.9,525.5,8.0,703,14773,0.00,2.58,0.00,0.000,4,0.000,0.066,2624,3696,1744
$GC,14820,1.19,286.9,521.5,7.8,705,14824,0.00,2.42,0.00,0.000,6,0.000,0.038,2624,2309,1743
$GC,15136,1.19,286.9,499.5,6.7,720,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2308,1743
$GC,15446,1.25,301.3,481.3,5.6,735,15468,0.10,2.65,13.90,1.065,4,0.058,0.063,2654,3697,1686
$GC,15567,1.21,301.3,472.1,8.5,740,15572,0.00,2.42,0.00,0.000,6,0.000,0.038,2654,2312,1685
$GC,15890,1.21,301.3,445.0,8.9,756,15891,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2312,1685
$GC,16199,1.21,301.3,418.3,8.1,771,16200,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2311,1685
$GC,16508,1.21,301.3,392.7,8.3,786,16512,0.00,2.53,0.00,0.000,4,0.000,0.058,2654,3702,1685
$GC,16581,1.16,301.3,386.6,7.5,789,16586,0.12,2.40,0.00,0.000,6,0.096,0.036,2630,2314,1685
$GC,16897,1.16,301.3,366.0,7.2,804,16899,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2314,1686
$GC,17207,1.16,301.3,340.2,8.3,819,17211,0.00,2.50,0.00,0.000,4,0.000,0.057,2630,3706,1685
$GC,17292,1.16,301.3,333.6,8.8,823,17296,0.00,2.40,0.00,0.000,6,0.000,0.035,2630,2313,1685
$GC,17619,1.16,301.3,305.3,10.3,839,17620,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2312,1685
$GC,17928,1.16,301.3,278.1,8.3,854,17932,0.00,2.50,0.00,0.000,4,0.000,0.055,2630,3700,1685
$GC,17995,1.16,301.3,272.1,8.8,857,17999,0.00,2.38,0.00,0.000,6,0.000,0.035,2630,2315,1686
$GC,18323,1.21,301.3,241.3,9.3,873,18327,0.00,2.50,0.00,0.000,4,0.000,0.054,2630,3706,1685
$GC,18373,1.21,301.3,236.5,8.6,875,18377,0.00,2.40,0.00,0.000,6,0.000,0.035,2630,2305,1685
$GC,18690,1.25,301.3,205.9,10.6,890,18691,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2306,1686
$GC,18998,1.25,301.3,180.5,6.7,905,19002,0.00,2.50,0.00,0.000,4,0.000,0.054,2630,3698,1686
$GC,19105,1.25,301.3,170.8,9.5,909,19111,0.00,2.38,0.00,0.000,6,0.000,0.035,2630,2312,1686
$GC,19422,1.43,414.6,155.8,2.6,925,19523,0.25,2.62,94.40,0.902,4,0.041,0.054,2697,3698,1222
$GC,19571,1.36,414.6,141.4,12.3,932,19576,0.15,2.40,0.00,0.000,6,0.095,0.035,2669,2318,1223
$GC,19900,1.36,414.6,100.3,13.4,948,19902,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2317,1222
$GC,20208,1.36,414.6,67.6,6.7,963,20212,0.00,2.47,0.00,0.000,4,0.000,0.053,2668,3703,1222
$GC,20298,1.36,414.6,61.6,8.2,967,20302,0.00,2.40,0.00,0.000,6,0.000,0.035,2668,2306,1222
$GC,20619,1.36,414.6,31.3,6.2,983,20620,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2307,1222
$GC,20929,1.40,414.6,6.6,9.2,998,20933,0.00,2.50,0.00,0.000,4,0.000,0.054,2669,3696,1222
$STATE,20981,end climb,SURFACE_DEPTH_REACHED
$STATE,20981,begin surface coast
$FINISH,0.9,1.027443
$STATE,20990,end surface coast,CONTROL_FINISHED_OK
$STATE,20990,begin surface
$SM_CCo,21077,0.00,0.000,0,0,1222,415.29
$SM_GC,1.56,11.68,0.00,0.00,0.037,0.000,0.000,27,2506,1222,-10.74,-0.31,415.29
$IRIDIUM_FIX,6322.64,-1254.94,260298,020219
$TT8_MAMPS,0.028379
$HUMID,2025
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.1,64.8
$24V_AH,23.1,25.248
$10V_AH,10.1,11.278
$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,25.775,141.550,495.475,0.000,0.000,22.970,33.333,155.086,5.750,0.000,0.000,16.883,1865.364,15912.473,598.174,2441.602,610.044,0.000,1811.788,0.000,2388.704,0.000,39.575,0.000
$DEVICE_MAMPS,122.720,103.545,1286.259,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,744.387,684.556,547.426,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50524,1001
$CAP_FILE_SIZE,149346,0
$CFSIZE,260165632,250179584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021208,141440,6353.816,-1302.235,42,1.6,50,-12.4