version: 66.04
glider: 101
mission: 7
dive: 169
start: 12 5 108 10 58 36
data:
$ID,101
$MISSION,7
$DIVE,169
$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,-735431.06
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,104838,6358.841,-1310.113,38,0.9,38,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-54.8
$GPS2,105815,6358.861,-1309.726,13,2.0,13,-12.5
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KE
$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,87.5,8173,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-80.20,0.000,2,0.000,0.000,25,2533,3166
$GC,102,-1.16,-146.6,3.7,-3.8,4,128,10.88,2.53,-9.70,0.000,4,0.125,0.054,2113,1108,3513
$GC,286,-1.06,-146.6,22.5,-7.3,12,291,0.15,2.47,0.00,0.000,6,0.091,0.038,2142,2523,3514
$GC,603,-1.01,-146.6,46.6,-7.7,27,606,0.00,2.08,0.00,0.000,4,0.000,0.058,2142,3689,3514
$GC,710,-0.95,-146.6,56.6,-9.7,31,717,0.12,2.00,0.00,0.000,6,0.088,0.035,2167,2504,3514
$GC,1027,-0.95,-146.6,81.0,-7.2,47,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2504,3514
$GC,1336,-0.95,-146.6,102.4,-6.1,62,1339,0.00,2.12,0.00,0.000,4,0.000,0.056,2167,3687,3514
$GC,1488,-0.95,-146.6,114.0,-7.4,68,1494,0.00,2.03,0.00,0.000,6,0.000,0.035,2167,2496,3514
$GC,1806,-0.95,-146.6,136.7,-7.7,84,1809,0.00,2.15,0.00,0.000,4,0.000,0.054,2167,3699,3514
$GC,1868,-0.95,-146.6,141.9,-8.0,86,1874,0.00,2.03,0.00,0.000,6,0.000,0.035,2167,2507,3514
$GC,2184,-0.95,-146.6,165.3,-7.0,102,2187,0.00,2.12,0.00,0.000,4,0.000,0.054,2167,3693,3514
$GC,2285,-0.95,-146.6,172.7,-7.1,106,2289,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2513,3514
$GC,2607,-0.95,-146.6,193.8,-6.9,122,2611,0.00,2.10,0.00,0.000,4,0.000,0.055,2167,3687,3514
$GC,2676,-0.95,-146.6,198.2,-6.2,125,2679,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2507,3514
$GC,3009,-0.95,-146.6,222.9,-7.8,141,3013,0.00,2.12,0.00,0.000,4,0.000,0.054,2167,3693,3514
$GC,3065,-0.95,-146.6,227.3,-7.5,143,3069,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2514,3514
$GC,3387,-0.95,-146.6,251.6,-7.3,159,3391,0.00,2.12,0.00,0.000,4,0.000,0.056,2167,3698,3514
$GC,3472,-0.95,-146.6,258.2,-8.0,162,3478,0.00,2.03,0.00,0.000,6,0.000,0.035,2167,2503,3514
$GC,3789,-0.95,-146.6,275.3,-5.1,178,3793,0.00,2.12,0.00,0.000,4,0.000,0.056,2167,3689,3514
$GC,3913,-0.95,-146.6,282.8,-6.0,183,3916,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2509,3514
$GC,4235,-0.95,-146.6,302.7,-5.8,199,4239,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3692,3514
$GC,4375,-0.95,-146.6,313.0,-7.4,205,4379,0.00,2.00,0.00,0.000,6,0.000,0.035,2166,2512,3514
$GC,4703,-0.95,-146.6,333.6,-6.9,221,4707,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3690,3514
$GC,4765,-0.95,-146.6,338.4,-7.4,223,4771,0.00,2.00,0.00,0.000,6,0.000,0.036,2167,2511,3514
$GC,5082,-0.95,-146.6,360.9,-6.5,239,5085,0.00,2.12,0.00,0.000,4,0.000,0.059,2167,3688,3514
$GC,5150,-0.95,-146.6,365.5,-6.6,242,5154,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2516,3514
$GC,5483,-0.95,-146.6,387.1,-6.8,258,5487,0.00,2.12,0.00,0.000,4,0.000,0.063,2167,3685,3514
$GC,5568,-0.95,-146.6,393.4,-7.3,261,5574,0.00,2.00,0.00,0.000,6,0.000,0.038,2167,2519,3514
$GC,5884,-0.95,-146.6,413.9,-6.0,277,5888,0.00,2.15,0.00,0.000,4,0.000,0.065,2167,3693,3514
$GC,5968,-0.95,-146.6,419.4,-6.2,280,5975,0.00,2.03,0.00,0.000,6,0.000,0.038,2167,2517,3514
$GC,6285,-0.95,-146.6,436.8,-5.6,296,6289,0.00,2.15,0.00,0.000,4,0.000,0.067,2167,3688,3513
$GC,6381,-0.95,-146.6,442.3,-5.3,300,6385,0.00,2.03,0.00,0.000,6,0.000,0.039,2167,2516,3513
$GC,6710,-0.95,-146.6,458.8,-5.2,316,6713,0.00,2.17,0.00,0.000,4,0.000,0.070,2167,3692,3513
$GC,6824,-0.95,-146.6,466.6,-7.3,321,6828,0.00,2.03,0.00,0.000,6,0.000,0.040,2167,2515,3513
$GC,7157,-0.99,-146.6,488.7,-6.1,337,7161,0.00,2.17,0.00,0.000,4,0.000,0.074,2167,3683,3512
$GC,7341,-0.99,-146.6,500.8,-6.6,345,7345,0.00,2.05,0.00,0.000,6,0.000,0.044,2166,2512,3512
$GC,7675,-0.99,-146.6,522.5,-6.0,361,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2512,3512
$GC,7984,-0.99,-146.6,538.7,-5.3,376,7988,0.00,2.25,0.00,0.000,4,0.000,0.089,2166,3684,3512
$GC,8199,-0.99,-146.6,550.9,-6.0,385,8206,0.00,2.12,0.00,0.000,6,0.000,0.061,2167,2514,3512
$GC,8516,-0.99,-146.6,572.7,-8.1,401,8520,0.00,2.33,0.00,0.000,4,0.000,0.104,2167,3689,3512
$GC,8641,-0.99,-146.6,582.4,-7.3,406,8645,0.00,2.10,0.00,0.000,6,0.000,0.048,2167,2503,3512
$GC,8963,-1.04,-146.6,600.7,-5.4,422,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2503,3512
$GC,9273,-1.09,-146.6,617.8,-5.1,437,9277,0.15,2.28,0.00,0.000,4,0.051,0.086,2125,3689,3512
$GC,9358,-1.02,-146.6,622.7,-6.0,441,9363,0.12,2.10,0.00,0.000,6,0.091,0.051,2150,2510,3511
$GC,9685,-1.02,-146.6,640.0,-6.1,457,9689,0.00,2.25,0.00,0.000,4,0.000,0.087,2150,3683,3511
$GC,9770,-1.02,-146.6,645.6,-7.0,460,9776,0.00,2.08,0.00,0.000,6,0.000,0.051,2150,2517,3511
$GC,10086,-1.02,-146.6,665.2,-6.5,476,10090,0.00,2.22,0.00,0.000,4,0.000,0.086,2150,3683,3510
$STATE,10197,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10197,begin apogee
$GC,10208,-0.45,0.0,673.4,7.1,481,10341,0.60,0.00,129.38,1.273,6,0.071,0.000,2277,2315,2915
$STATE,10342,end apogee,CONTROL_FINISHED_OK
$STATE,10342,begin climb
$GC,10345,1.16,146.6,677.5,0.0,488,10482,1.65,2.72,128.85,1.238,4,0.058,0.081,2629,3690,2317
$GC,10538,1.08,146.6,670.1,7.2,497,10542,0.00,2.50,0.00,0.000,6,0.000,0.048,2628,2311,2317
$GC,10859,1.08,146.6,650.4,6.3,513,10863,0.00,2.60,0.00,0.000,4,0.000,0.075,2629,3683,2316
$GC,10900,1.00,146.6,647.8,6.4,515,10904,0.20,2.45,0.00,0.000,6,0.086,0.045,2590,2316,2315
$GC,11228,1.08,180.1,631.4,5.0,531,11264,0.00,2.67,30.62,1.211,4,0.000,0.074,2589,3689,2180
$GC,11349,1.11,206.0,625.3,5.2,535,11380,0.12,2.47,24.12,1.189,6,0.054,0.044,2622,2306,2075
$GC,11711,1.14,229.8,606.1,5.3,553,11740,0.00,2.72,22.25,1.188,4,0.000,0.074,2622,3691,1978
$GC,11781,1.14,229.8,601.8,6.0,556,11785,0.00,2.45,0.00,0.000,6,0.000,0.044,2621,2315,1977
$GC,12109,1.14,229.8,582.7,6.0,572,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2315,1977
$GC,12418,1.14,229.8,561.3,7.5,587,12422,0.00,2.58,0.00,0.000,4,0.000,0.071,2621,3685,1976
$GC,12480,1.14,229.8,556.0,8.8,590,12484,0.00,2.42,0.00,0.000,6,0.000,0.043,2622,2305,1977
$GC,12814,1.14,229.8,527.9,8.0,606,12818,0.00,2.58,0.00,0.000,4,0.000,0.068,2622,3686,1977
$GC,12903,1.14,229.8,520.3,8.3,610,12908,0.00,2.42,0.00,0.000,6,0.000,0.041,2622,2310,1976
$GC,13226,1.14,229.8,498.8,6.5,626,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2311,1976
$GC,13535,1.14,229.8,478.5,6.9,641,13539,0.00,2.55,0.00,0.000,4,0.000,0.065,2622,3689,1976
$GC,13614,1.14,229.8,472.5,7.5,644,13620,0.00,2.40,0.00,0.000,6,0.000,0.039,2622,2318,1976
$GC,13931,1.14,229.8,452.1,6.3,660,13935,0.00,2.53,0.00,0.000,4,0.000,0.063,2622,3690,1976
$GC,14009,1.14,229.8,446.7,6.7,663,14015,0.00,2.40,0.00,0.000,6,0.000,0.038,2622,2315,1976
$GC,14325,1.14,229.8,427.2,6.1,679,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2315,1976
$GC,14635,1.14,229.8,407.5,6.4,694,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2315,1976
$GC,14944,1.14,229.8,387.9,6.1,709,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2315,1976
$GC,15253,1.19,271.9,371.8,4.7,724,15296,0.00,2.65,37.28,1.081,4,0.000,0.061,2621,3687,1805
$GC,15370,1.21,285.6,365.5,5.6,729,15390,0.00,2.42,13.30,1.006,6,0.000,0.038,2621,2308,1749
$GC,15722,1.26,285.6,343.5,7.2,746,15727,0.12,2.53,0.00,0.000,4,0.052,0.059,2657,3686,1749
$GC,15778,1.22,285.6,338.0,9.6,748,15784,0.00,2.40,0.00,0.000,6,0.000,0.038,2657,2308,1749
$GC,16094,1.22,285.6,308.5,9.3,764,16099,0.00,2.53,0.00,0.000,4,0.000,0.058,2657,3692,1749
$GC,16151,1.17,285.6,302.9,10.1,766,16158,0.12,2.40,0.00,0.000,6,0.096,0.036,2633,2307,1749
$GC,16467,1.17,285.6,279.8,6.8,782,16472,0.00,2.50,0.00,0.000,4,0.000,0.056,2633,3686,1749
$GC,16512,1.17,285.6,276.6,6.6,784,16517,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2311,1749
$GC,16834,1.17,285.6,252.9,7.7,800,16838,0.00,2.47,0.00,0.000,4,0.000,0.055,2632,3690,1749
$GC,16885,1.17,285.6,248.9,7.9,802,16889,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2307,1749
$GC,17206,1.17,285.6,224.2,8.0,818,17210,0.00,2.50,0.00,0.000,4,0.000,0.054,2633,3692,1749
$GC,17257,1.17,285.6,219.8,8.3,820,17261,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2308,1749
$GC,17573,1.17,285.6,195.6,7.7,835,17577,0.00,2.50,0.00,0.000,4,0.000,0.054,2633,3695,1749
$GC,17641,1.17,285.6,189.6,10.2,838,17645,0.00,2.38,0.00,0.000,6,0.000,0.035,2633,2310,1749
$GC,17962,1.21,285.6,161.5,9.0,854,17967,0.00,2.47,0.00,0.000,4,0.000,0.054,2633,3687,1750
$GC,18020,1.21,285.6,156.1,9.9,856,18026,0.00,2.35,0.00,0.000,6,0.000,0.035,2633,2318,1749
$GC,18339,1.26,285.6,126.1,9.0,872,18340,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2317,1750
$GC,18646,1.26,285.6,101.3,8.7,887,18650,0.00,2.45,0.00,0.000,4,0.000,0.054,2633,3687,1750
$GC,18736,1.26,285.6,94.4,7.5,891,18740,0.00,2.35,0.00,0.000,6,0.000,0.034,2633,2315,1750
$GC,19058,1.30,285.6,69.0,7.9,907,19060,0.12,0.00,0.00,0.000,6,0.052,0.000,2670,2314,1751
$GC,19367,1.30,285.6,39.8,7.7,922,19371,0.00,2.47,0.00,0.000,4,0.000,0.055,2670,3689,1751
$GC,19457,1.26,285.6,32.9,6.9,926,19462,0.12,2.35,0.00,0.000,6,0.097,0.034,2646,2314,1751
$GC,19779,1.26,285.6,9.4,8.5,942,19780,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2313,1751
$STATE,19878,end climb,SURFACE_DEPTH_REACHED
$STATE,19878,begin surface coast
$FINISH,0.7,1.002336
$STATE,19902,end surface coast,CONTROL_FINISHED_OK
$STATE,19902,begin surface
$SM_CCo,19927,14.40,0.710,1,0,1692,300.00
$SM_GC,1.33,0.00,0.00,14.40,0.000,0.000,0.710,26,2528,1692,-10.81,0.31,300.00
$IRIDIUM_FIX,6332.30,-1305.18,010398,111125
$TT8_MAMPS,0.029146
$HUMID,2012
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.1,107.8
$24V_AH,23.1,28.024
$10V_AH,10.1,12.599
$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,26.000,183.225,385.800,14.400,0.000,57.111,76.018,248.709,5.000,0.000,0.000,14.817,1812.927,14967.227,569.626,2389.984,787.246,0.000,1757.061,0.000,2336.260,0.000,33.217,0.000
$DEVICE_MAMPS,125.021,104.312,1273.220,710.242,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,704.248,647.643,569.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47399,948
$CAP_FILE_SIZE,153846,0
$CFSIZE,260165632,249200640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,051208,163225,6401.273,-1252.437,39,2.0,39,-12.4