version: 66.04
glider: 101
mission: 7
dive: 159
start: 12 4 108 2 14 6
data:
$ID,101
$MISSION,7
$DIVE,159
$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,-735199
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,020427,6405.933,-1252.210,35,2.2,54,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-54.1
$GPS2,021345,6405.937,-1252.220,10,1.3,10,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6406.000,-1306.000
$TGT_RADIUS,2500.000
$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,283.0,11148,-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,-146.6,0.0,0.0,0,117,0.00,0.00,-99.38,0.000,6,0.000,0.000,28,2526,3513
$GC,121,-1.16,-146.6,5.8,-5.1,5,137,10.88,2.10,0.00,0.000,4,0.124,0.059,2116,3685,3515
$GC,390,-1.03,-146.6,43.5,-8.6,16,395,0.15,2.03,0.00,0.000,6,0.087,0.038,2146,2509,3515
$GC,713,-1.03,-146.6,65.6,-5.9,32,717,0.00,2.12,0.00,0.000,4,0.000,0.058,2146,3684,3515
$GC,972,-0.98,-146.6,83.4,-7.8,43,976,0.00,2.00,0.00,0.000,6,0.000,0.038,2147,2517,3515
$GC,1295,-0.94,-146.6,102.6,-6.6,59,1300,0.12,2.12,0.00,0.000,4,0.079,0.057,2173,3692,3515
$GC,1436,-0.94,-146.6,112.2,-6.3,65,1440,0.00,2.03,0.00,0.000,6,0.000,0.037,2173,2510,3515
$GC,1759,-0.94,-146.6,134.9,-7.6,81,1762,0.00,2.12,0.00,0.000,4,0.000,0.057,2174,3688,3515
$GC,1832,-0.94,-146.6,140.7,-8.5,84,1835,0.00,2.03,0.00,0.000,6,0.000,0.038,2173,2508,3515
$GC,2159,-0.94,-146.6,162.6,-6.4,100,2163,0.00,2.12,0.00,0.000,4,0.000,0.058,2173,3686,3515
$GC,2238,-0.94,-146.6,168.7,-8.0,103,2242,0.00,2.00,0.00,0.000,6,0.000,0.038,2174,2518,3515
$GC,2560,-0.94,-146.6,191.1,-6.8,119,2564,0.00,2.10,0.00,0.000,4,0.000,0.058,2174,3683,3515
$GC,2656,-0.94,-146.6,198.3,-7.4,123,2659,0.00,2.00,0.00,0.000,6,0.000,0.038,2174,2517,3515
$GC,2983,-0.94,-146.6,219.5,-6.4,139,2987,0.00,2.10,0.00,0.000,4,0.000,0.059,2174,3683,3515
$GC,3074,-0.94,-146.6,225.9,-7.0,143,3078,0.00,2.00,0.00,0.000,6,0.000,0.038,2174,2516,3515
$GC,3408,-0.94,-146.6,244.8,-5.2,159,3412,0.00,2.12,0.00,0.000,4,0.000,0.059,2173,3690,3516
$GC,3489,-0.94,-146.6,249.2,-5.8,162,3492,0.00,2.03,0.00,0.000,6,0.000,0.038,2174,2509,3515
$GC,3811,-0.94,-146.6,263.8,-4.5,178,3815,0.00,2.12,0.00,0.000,4,0.000,0.059,2174,3689,3515
$GC,3912,-0.94,-146.6,269.2,-5.6,182,3916,0.00,2.03,0.00,0.000,6,0.000,0.038,2173,2509,3515
$GC,4234,-0.94,-146.6,288.2,-6.4,198,4238,0.00,2.12,0.00,0.000,4,0.000,0.059,2174,3685,3515
$GC,4304,-0.94,-146.6,293.1,-6.8,201,4307,0.00,2.00,0.00,0.000,6,0.000,0.038,2174,2513,3515
$GC,4637,-0.94,-146.6,314.9,-6.7,217,4641,0.00,2.10,0.00,0.000,4,0.000,0.060,2174,3683,3515
$GC,4778,-0.94,-146.6,325.6,-7.5,223,4781,0.00,2.00,0.00,0.000,6,0.000,0.038,2173,2510,3515
$GC,5105,-0.94,-146.6,346.1,-5.5,239,5109,0.00,2.12,0.00,0.000,4,0.000,0.060,2174,3683,3514
$GC,5197,-0.94,-146.6,351.4,-5.9,243,5201,0.00,2.00,0.00,0.000,6,0.000,0.038,2174,2514,3514
$GC,5531,-0.98,-146.6,370.0,-5.6,259,5535,0.00,2.12,0.00,0.000,4,0.000,0.061,2174,3684,3514
$GC,5571,-0.98,-146.6,372.2,-5.5,260,5578,0.00,2.03,0.00,0.000,6,0.000,0.038,2173,2505,3514
$GC,5888,-1.02,-146.6,388.2,-5.0,276,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2505,3515
$GC,6198,-1.02,-146.6,406.7,-6.5,291,6201,0.00,2.17,0.00,0.000,4,0.000,0.065,2174,3690,3514
$GC,6299,-1.02,-146.6,414.1,-7.3,295,6303,0.00,2.03,0.00,0.000,6,0.000,0.039,2174,2518,3514
$GC,6622,-1.08,-146.6,437.1,-7.1,311,6624,0.15,0.00,0.00,0.000,6,0.049,0.000,2130,2518,3514
$GC,6931,-1.04,-146.6,463.0,-8.2,326,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2517,3514
$GC,7240,-1.04,-146.6,486.7,-7.8,341,7243,0.00,2.20,0.00,0.000,4,0.000,0.081,2130,3679,3514
$GC,7341,-0.97,-146.6,495.2,-8.6,345,7346,0.15,2.05,0.00,0.000,6,0.084,0.048,2160,2523,3514
$GC,7658,-0.97,-146.6,518.0,-7.3,360,7662,0.00,2.22,0.00,0.000,4,0.000,0.087,2160,3687,3514
$GC,7731,-0.97,-146.6,523.9,-8.3,363,7735,0.00,2.10,0.00,0.000,6,0.000,0.055,2161,2519,3514
$GC,8058,-0.97,-146.6,547.6,-6.5,379,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2516,3513
$STATE,8241,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8241,begin apogee
$GC,8249,-0.45,0.0,559.1,6.8,388,8383,0.52,0.00,127.97,1.213,6,0.067,0.000,2272,2316,2914
$STATE,8384,end apogee,CONTROL_FINISHED_OK
$STATE,8384,begin climb
$GC,8388,1.16,146.6,565.2,0.0,395,8525,1.60,2.72,127.10,1.172,4,0.052,0.078,2625,911,2317
$GC,8551,1.27,301.2,563.3,1.4,402,8695,0.12,2.62,134.40,1.147,6,0.068,0.063,2652,2300,1686
$GC,9014,1.27,301.2,527.7,7.7,425,9018,0.00,2.62,0.00,0.000,4,0.000,0.076,2652,3699,1684
$GC,9064,1.23,301.2,523.1,9.3,427,9069,0.00,2.50,0.00,0.000,6,0.000,0.046,2652,2305,1684
$GC,9381,1.23,301.2,492.9,9.8,442,9385,0.00,2.62,0.00,0.000,4,0.000,0.071,2653,3700,1684
$GC,9427,1.19,301.2,488.1,10.8,444,9432,0.00,2.47,0.00,0.000,6,0.000,0.044,2653,2312,1683
$GC,9748,1.19,301.2,459.0,8.4,460,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2312,1683
$GC,10058,1.19,301.2,434.0,8.0,475,10062,0.00,2.58,0.00,0.000,4,0.000,0.066,2652,3697,1683
$GC,10115,1.15,301.2,429.0,9.3,477,10122,0.15,2.45,0.00,0.000,6,0.095,0.043,2624,2311,1683
$GC,10432,1.20,301.2,404.8,7.3,493,10436,0.00,2.55,0.00,0.000,4,0.000,0.064,2623,3699,1683
$GC,10517,1.20,301.2,398.6,7.3,497,10521,0.00,2.45,0.00,0.000,6,0.000,0.041,2623,2305,1682
$GC,10844,1.25,301.2,376.4,7.2,513,10849,0.10,2.58,0.00,0.000,4,0.058,0.061,2652,3704,1682
$GC,10912,1.21,301.2,371.4,7.4,516,10916,0.00,2.42,0.00,0.000,6,0.000,0.040,2652,2310,1682
$GC,11240,1.21,301.2,350.6,6.9,532,11244,0.00,2.55,0.00,0.000,4,0.000,0.061,2653,3700,1682
$GC,11308,1.17,301.2,344.8,9.2,535,11313,0.12,2.42,0.00,0.000,6,0.099,0.038,2629,2310,1682
$GC,11630,1.17,301.2,317.4,9.0,551,11635,0.00,2.55,0.00,0.000,4,0.000,0.060,2629,3705,1682
$GC,11671,1.17,301.2,313.7,8.7,553,11675,0.00,2.42,0.00,0.000,6,0.000,0.038,2629,2309,1682
$GC,11998,1.21,301.2,286.1,7.9,569,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2308,1682
$GC,12307,1.26,301.2,265.4,6.0,584,12312,0.00,2.55,0.00,0.000,4,0.000,0.058,2629,3709,1682
$GC,12376,1.26,301.2,260.8,6.3,587,12381,0.00,2.42,0.00,0.000,6,0.000,0.038,2629,2312,1682
$GC,12699,1.31,303.2,242.6,5.9,603,12704,0.15,2.53,0.00,0.000,4,0.049,0.057,2671,3701,1682
$GC,12772,1.25,303.2,236.5,8.3,606,12777,0.12,2.40,0.00,0.000,6,0.098,0.038,2647,2317,1682
$GC,13089,1.25,303.2,211.2,8.6,621,13093,0.00,2.53,0.00,0.000,4,0.000,0.058,2648,3706,1682
$GC,13145,1.25,303.2,206.7,7.7,623,13151,0.00,2.42,0.00,0.000,6,0.000,0.038,2647,2306,1682
$GC,13461,1.25,303.2,181.8,8.0,639,13465,0.00,2.53,0.00,0.000,4,0.000,0.057,2647,3699,1682
$GC,13511,1.25,303.2,177.5,7.8,641,13515,0.00,2.40,0.00,0.000,6,0.000,0.037,2647,2311,1682
$GC,13828,1.25,303.2,154.6,7.3,656,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2310,1682
$GC,14137,1.25,303.2,133.4,7.5,671,14141,0.00,2.53,0.00,0.000,4,0.000,0.057,2647,3706,1682
$GC,14209,1.25,303.2,126.9,9.2,674,14214,0.00,2.40,0.00,0.000,6,0.000,0.038,2647,2318,1683
$GC,14526,1.25,303.2,100.0,8.9,689,14530,0.00,2.47,0.00,0.000,4,0.000,0.056,2647,3699,1682
$GC,14567,1.25,303.2,95.9,10.6,691,14570,0.00,2.38,0.00,0.000,6,0.000,0.038,2647,2313,1682
$GC,14900,1.34,376.7,68.0,3.8,707,14965,0.00,0.00,62.60,0.880,6,0.000,0.000,2647,2312,1379
$GC,15272,1.39,376.7,46.5,7.1,725,15277,0.12,2.53,0.00,0.000,4,0.051,0.056,2685,3699,1378
$GC,15345,1.34,376.7,40.1,8.3,728,15349,0.00,2.40,0.00,0.000,6,0.000,0.037,2685,2317,1378
$GC,15662,1.34,376.7,14.2,11.8,743,15666,0.00,2.53,0.00,0.000,4,0.000,0.056,2685,3706,1378
$GC,15707,1.30,376.7,8.1,13.1,745,15712,0.15,2.40,0.00,0.000,6,0.100,0.037,2657,2314,1378
$STATE,15778,end climb,SURFACE_DEPTH_REACHED
$STATE,15778,begin surface coast
$FINISH,0.5,1.004076
$STATE,15800,end surface coast,CONTROL_FINISHED_OK
$STATE,15800,begin surface
$SM_CCo,15885,0.00,0.000,0,0,1377,377.27
$SM_GC,1.16,11.73,0.00,0.00,0.040,0.000,0.000,28,2539,1377,-10.75,0.62,377.27
$IRIDIUM_FIX,6342.00,-1254.14,280298,020220
$TT8_MAMPS,0.029146
$HUMID,2022
$INTERNAL_PRESSURE,7.74444
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.6,92.8
$24V_AH,23.1,26.433
$10V_AH,10.1,11.976
$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,26.350,147.175,452.075,0.000,0.000,48.591,55.352,252.329,4.250,0.000,0.000,12.478,1458.461,11793.307,552.182,1932.411,703.888,0.000,1541.564,0.000,1892.368,0.000,26.699,0.000
$DEVICE_MAMPS,124.254,87.438,1212.627,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.920,511.443,503.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37976,750
$CAP_FILE_SIZE,128070,0
$CFSIZE,260165632,249675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,064008,6402.604,-1300.964,37,1.2,37,-12.5