version: 66.04
glider: 101
mission: 7
dive: 157
start: 12 3 108 16 52 47
data:
$ID,101
$MISSION,7
$DIVE,157
$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,-735170.44
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,164025,6408.410,-1239.777,24,2.0,41,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-56.0
$GPS2,165226,6408.552,-1239.822,9,2.0,14,-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,238.3,22786,-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,-61.15,0.000,2,0.000,0.000,25,2535,2927
$GC,83,-1.16,-146.6,3.4,-4.7,3,118,10.75,2.58,-18.02,0.000,4,0.118,0.057,2117,1116,3513
$GC,373,-1.07,-146.6,31.5,-6.8,16,378,0.12,2.47,0.00,0.000,6,0.094,0.041,2140,2524,3514
$GC,701,-1.02,-146.6,52.8,-6.7,32,705,0.00,2.08,0.00,0.000,4,0.000,0.060,2140,3686,3514
$GC,775,-0.94,-146.6,58.2,-7.0,35,779,0.15,2.03,0.00,0.000,6,0.080,0.038,2171,2505,3513
$GC,1096,-0.94,-146.6,78.7,-6.0,51,1100,0.00,2.15,0.00,0.000,4,0.000,0.058,2171,3695,3514
$GC,1188,-0.94,-146.6,85.3,-6.6,55,1191,0.00,2.03,0.00,0.000,6,0.000,0.038,2171,2512,3514
$GC,1521,-0.94,-146.6,106.9,-6.1,71,1525,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3691,3514
$GC,1617,-0.94,-146.6,113.5,-6.9,75,1621,0.00,2.03,0.00,0.000,6,0.000,0.038,2171,2506,3514
$GC,1945,-0.94,-146.6,135.2,-6.6,91,1949,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3686,3514
$GC,2052,-0.94,-146.6,142.6,-7.0,95,2058,0.00,2.03,0.00,0.000,6,0.000,0.038,2171,2505,3514
$GC,2369,-0.94,-146.6,163.8,-7.2,111,2372,0.00,2.15,0.00,0.000,4,0.000,0.058,2171,3696,3514
$GC,2470,-0.94,-146.6,171.7,-8.0,115,2474,0.00,2.03,0.00,0.000,6,0.000,0.038,2171,2513,3514
$GC,2792,-0.94,-146.6,192.1,-5.8,131,2796,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3691,3514
$GC,2911,-0.94,-146.6,199.7,-6.5,136,2916,0.00,2.03,0.00,0.000,6,0.000,0.038,2171,2508,3514
$GC,3238,-0.94,-146.6,216.3,-4.6,152,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2508,3514
$GC,3547,-0.94,-146.6,230.0,-6.3,167,3551,0.00,2.15,0.00,0.000,4,0.000,0.059,2171,3696,3514
$GC,3582,-0.94,-146.6,232.4,-7.2,168,3586,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2516,3513
$GC,3905,-0.94,-146.6,254.1,-5.8,184,3908,0.00,2.12,0.00,0.000,4,0.000,0.061,2171,3689,3513
$GC,3996,-0.94,-146.6,260.0,-6.8,188,3999,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2506,3513
$GC,4329,-0.94,-146.6,284.5,-8.1,204,4332,0.00,2.15,0.00,0.000,4,0.000,0.061,2171,3696,3513
$GC,4442,-0.94,-146.6,294.8,-8.9,209,4446,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2513,3513
$GC,4775,-0.94,-146.6,324.3,-8.7,225,4779,0.00,2.12,0.00,0.000,4,0.000,0.061,2171,3686,3513
$GC,4844,-0.94,-146.6,330.5,-8.9,228,4848,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2508,3513
$GC,5177,-0.94,-146.6,358.6,-7.8,244,5181,0.00,2.15,0.00,0.000,4,0.000,0.062,2171,3691,3513
$GC,5284,-0.94,-146.6,366.1,-6.6,248,5290,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2512,3513
$GC,5601,-0.98,-146.6,384.5,-5.6,264,5605,0.00,2.15,0.00,0.000,4,0.000,0.063,2171,3694,3512
$GC,5669,-0.98,-146.6,388.3,-5.4,267,5673,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2516,3512
$GC,6003,-0.98,-146.6,408.5,-5.8,283,6007,0.00,2.15,0.00,0.000,4,0.000,0.065,2171,3692,3512
$GC,6094,-0.98,-146.6,413.9,-5.9,287,6098,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2516,3512
$GC,6428,-1.02,-146.6,430.6,-4.2,303,6432,0.00,2.15,0.00,0.000,4,0.000,0.067,2171,3685,3512
$GC,6513,-1.02,-146.6,434.3,-4.1,306,6519,0.00,2.03,0.00,0.000,6,0.000,0.040,2171,2514,3512
$GC,6830,-1.07,-146.6,446.9,-4.4,322,6835,0.12,2.53,0.00,0.000,4,0.054,0.061,2133,1113,3512
$GC,6849,-1.07,-146.6,448.0,-5.1,323,6853,0.00,2.53,0.00,0.000,6,0.000,0.053,2133,2521,3512
$GC,7175,-1.07,-146.6,468.5,-6.3,339,7179,0.00,2.15,0.00,0.000,4,0.000,0.077,2133,3698,3512
$GC,7232,-1.01,-146.6,472.3,-7.0,341,7236,0.10,2.05,0.00,0.000,6,0.093,0.044,2152,2523,3512
$GC,7553,-1.01,-146.6,489.9,-6.1,357,7557,0.00,2.20,0.00,0.000,4,0.000,0.081,2152,3689,3511
$GC,7610,-1.01,-146.6,493.6,-6.1,359,7614,0.00,2.05,0.00,0.000,6,0.000,0.048,2152,2519,3511
$GC,7932,-1.01,-146.6,512.6,-6.0,375,7936,0.00,2.25,0.00,0.000,4,0.000,0.087,2152,3692,3511
$GC,7976,-1.01,-146.6,515.4,-6.7,377,7980,0.00,2.10,0.00,0.000,6,0.000,0.052,2152,2516,3511
$STATE,8177,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8177,begin apogee
$GC,8185,-0.45,0.0,528.1,6.3,387,8320,0.57,0.00,127.57,1.193,6,0.065,0.000,2276,2319,2914
$STATE,8320,end apogee,CONTROL_FINISHED_OK
$STATE,8320,begin climb
$GC,8324,1.16,146.6,533.8,0.0,394,8461,1.60,2.83,127.00,1.155,4,0.052,0.084,2626,907,2316
$GC,8482,1.22,202.2,529.3,4.3,401,8537,0.00,2.67,49.45,1.114,6,0.000,0.068,2626,2311,2090
$GC,8869,1.22,202.2,503.5,7.4,420,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2311,2089
$GC,9175,1.22,202.2,482.4,6.7,435,9179,0.00,2.60,0.00,0.000,4,0.000,0.077,2626,3699,2088
$GC,9232,1.22,202.2,478.2,7.7,437,9238,0.00,2.47,0.00,0.000,6,0.000,0.046,2626,2310,2088
$GC,9548,1.22,202.2,456.6,6.8,453,9553,0.00,2.58,0.00,0.000,4,0.000,0.065,2627,906,2088
$GC,9576,1.22,202.2,454.2,7.8,454,9581,0.00,2.58,0.00,0.000,6,0.000,0.051,2626,2327,2088
$GC,9893,1.22,202.2,432.3,6.9,469,9897,0.00,2.62,0.00,0.000,4,0.000,0.061,2626,903,2088
$GC,9955,1.22,202.2,427.5,8.1,472,9960,0.00,2.55,0.00,0.000,6,0.000,0.048,2626,2321,2088
$GC,10282,1.22,202.2,404.0,6.7,488,10286,0.00,2.50,0.00,0.000,4,0.000,0.066,2626,3690,2088
$GC,10338,1.22,202.2,400.2,7.1,490,10344,0.00,2.42,0.00,0.000,6,0.000,0.042,2626,2310,2087
$GC,10654,1.22,202.2,376.9,8.5,506,10659,0.00,2.55,0.00,0.000,4,0.000,0.064,2626,3696,2087
$GC,10710,1.22,202.2,371.8,8.9,508,10717,0.00,2.42,0.00,0.000,6,0.000,0.041,2626,2310,2087
$GC,11027,1.22,202.2,349.0,6.4,524,11031,0.00,2.50,0.00,0.000,4,0.000,0.055,2626,915,2087
$GC,11066,1.22,202.2,346.3,6.8,525,11073,0.00,2.50,0.00,0.000,6,0.000,0.044,2626,2324,2087
$GC,11383,1.23,206.8,328.5,5.9,541,11393,0.00,2.50,4.88,0.818,4,0.000,0.062,2626,3690,2072
$GC,11467,1.23,210.2,323.3,5.9,545,11477,0.00,2.40,4.70,0.796,6,0.000,0.039,2626,2314,2058
$GC,11794,1.23,210.2,303.0,6.7,561,11799,0.00,2.53,0.00,0.000,4,0.000,0.061,2626,3692,2058
$GC,11822,1.23,210.2,300.7,7.9,562,11827,0.00,2.40,0.00,0.000,6,0.000,0.039,2626,2313,2058
$GC,12139,1.23,210.2,279.7,7.1,577,12143,0.00,2.53,0.00,0.000,4,0.000,0.060,2626,3698,2058
$GC,12172,1.23,210.2,277.2,7.3,578,12179,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2314,2058
$GC,12489,1.23,210.2,256.9,7.1,594,12493,0.00,2.50,0.00,0.000,4,0.000,0.059,2627,3698,2058
$GC,12535,1.23,210.2,253.5,6.9,596,12540,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2311,2058
$GC,12863,1.23,210.2,230.5,6.9,612,12867,0.00,2.50,0.00,0.000,4,0.000,0.058,2626,3688,2058
$GC,12891,1.23,210.2,228.5,7.2,613,12895,0.00,2.38,0.00,0.000,6,0.000,0.038,2626,2317,2058
$GC,13207,1.23,210.2,208.3,6.1,628,13211,0.00,2.50,0.00,0.000,4,0.000,0.058,2626,3698,2058
$GC,13262,1.23,210.2,204.9,6.4,630,13269,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2308,2058
$GC,13579,1.23,210.2,186.1,6.4,646,13583,0.00,2.50,0.00,0.000,4,0.000,0.058,2626,3689,2058
$GC,13612,1.23,210.2,183.9,6.6,647,13618,0.00,2.38,0.00,0.000,6,0.000,0.037,2626,2311,2058
$GC,13929,1.23,210.2,164.4,6.4,663,13933,0.00,2.50,0.00,0.000,4,0.000,0.057,2626,3692,2058
$GC,13992,1.23,210.2,159.8,7.5,666,13996,0.00,2.38,0.00,0.000,6,0.000,0.038,2626,2314,2058
$GC,14320,1.23,210.2,136.7,6.5,682,14324,0.00,2.50,0.00,0.000,4,0.000,0.057,2626,3696,2058
$GC,14353,1.23,210.2,134.4,6.4,683,14360,0.00,2.38,0.00,0.000,6,0.000,0.038,2626,2318,2058
$GC,14670,1.23,210.2,114.6,6.1,699,14674,0.00,2.47,0.00,0.000,4,0.000,0.057,2626,3690,2059
$GC,14698,1.25,221.6,112.9,5.7,700,14714,0.00,2.38,11.57,0.874,6,0.000,0.037,2626,2312,2011
$GC,15037,1.32,281.2,94.0,4.2,717,15094,0.15,2.58,50.95,0.904,4,0.048,0.056,2669,3687,1767
$GC,15148,1.26,281.2,86.5,8.3,721,15153,0.00,2.40,0.00,0.000,6,0.000,0.037,2669,2316,1767
$GC,15472,1.26,281.2,59.2,9.2,737,15476,0.00,2.50,0.00,0.000,4,0.000,0.055,2669,3693,1767
$GC,15506,1.21,281.2,56.4,7.4,738,15513,0.15,2.40,0.00,0.000,6,0.092,0.037,2639,2307,1767
$GC,15822,1.21,281.2,32.9,6.7,754,15826,0.00,2.50,0.00,0.000,4,0.000,0.055,2639,3689,1767
$GC,15863,1.21,281.2,30.0,7.1,756,15867,0.00,2.38,0.00,0.000,6,0.000,0.037,2639,2314,1767
$GC,16197,1.25,281.2,7.5,6.2,772,16201,0.00,2.50,0.00,0.000,4,0.000,0.057,2639,3692,1767
$GC,16242,1.25,281.2,3.5,8.9,774,16246,0.00,2.38,0.00,0.000,6,0.000,0.036,2639,2317,1767
$STATE,16272,end climb,SURFACE_DEPTH_REACHED
$STATE,16272,begin surface coast
$FINISH,0.7,1.021060
$STATE,16294,end surface coast,CONTROL_FINISHED_OK
$STATE,16294,begin surface
$SM_CCo,16319,17.40,0.762,1,0,1692,300.00
$SM_GC,1.54,0.00,0.00,17.40,0.000,0.000,0.762,27,2533,1692,-10.80,0.45,300.00
$IRIDIUM_FIX,6342.00,-1239.74,270298,161613
$TT8_MAMPS,0.028379
$HUMID,2016
$INTERNAL_PRESSURE,7.76397
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.3,87.3
$24V_AH,23.1,26.116
$10V_AH,10.1,11.813
$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,25.425,186.225,376.125,17.400,0.000,74.529,150.346,239.319,3.500,0.000,0.000,16.309,1512.264,12217.289,525.446,1983.768,826.280,0.000,1550.821,0.000,1932.434,0.000,25.077,0.000
$DEVICE_MAMPS,118.118,87.438,1193.452,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.972,529.745,548.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41018,777
$CAP_FILE_SIZE,137452,0
$CFSIZE,260165632,249790464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031208,212632,6407.299,-1246.858,39,1.8,39,-12.4