version: 66.04
glider: 101
mission: 7
dive: 170
start: 12 5 108 16 38 54
data:
$ID,101
$MISSION,7
$DIVE,170
$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,-735463.88
$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,26
$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
$GPS1,163225,6401.273,-1252.437,39,2.0,39,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.5
$GPS2,163835,6401.333,-1252.238,10,3.1,29,-12.4
$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,261.0,6768,-11.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.18,-139.8,0.0,0.0,0,82,0.00,0.00,-61.05,0.000,2,0.000,0.000,26,2529,2958
$GC,86,-1.19,-146.6,3.0,-3.5,3,121,10.88,2.12,-19.02,0.000,4,0.126,0.072,2109,3688,3514
$GC,377,-1.05,-146.6,29.4,-7.7,16,381,0.17,2.00,0.00,0.000,6,0.087,0.035,2144,2510,3515
$GC,704,-1.05,-146.6,54.0,-7.8,32,707,0.00,2.12,0.00,0.000,4,0.000,0.054,2144,3694,3514
$GC,930,-1.01,-146.6,70.2,-6.8,42,933,0.00,2.00,0.00,0.000,6,0.000,0.035,2144,2513,3514
$GC,1264,-1.01,-146.6,90.8,-7.1,58,1267,0.00,2.10,0.00,0.000,4,0.000,0.054,2144,3688,3515
$GC,1298,-0.97,-146.6,93.4,-7.1,59,1302,0.00,2.00,0.00,0.000,6,0.000,0.035,2144,2509,3514
$GC,1620,-0.97,-146.6,114.4,-6.7,75,1623,0.00,2.12,0.00,0.000,4,0.000,0.054,2144,3698,3514
$GC,1689,-0.92,-146.6,119.9,-7.8,78,1693,0.15,2.00,0.00,0.000,6,0.081,0.035,2175,2516,3514
$GC,2023,-0.97,-146.6,142.4,-7.0,94,2026,0.00,2.10,0.00,0.000,4,0.000,0.054,2175,3689,3514
$GC,2101,-0.97,-146.6,147.4,-6.1,97,2105,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2508,3514
$GC,2424,-1.02,-146.6,163.9,-4.3,113,2428,0.00,2.12,0.00,0.000,4,0.000,0.054,2175,3697,3514
$GC,2503,-1.02,-146.6,167.7,-5.8,116,2506,0.00,2.00,0.00,0.000,6,0.000,0.034,2174,2515,3514
$GC,2825,-1.07,-146.6,183.7,-5.6,132,2830,0.15,2.10,0.00,0.000,4,0.047,0.054,2131,3689,3514
$GC,2904,-1.00,-146.6,189.6,-7.7,135,2911,0.12,2.03,0.00,0.000,6,0.086,0.035,2155,2494,3515
$GC,3221,-1.00,-146.6,210.4,-6.8,151,3224,0.00,2.15,0.00,0.000,4,0.000,0.054,2155,3698,3514
$GC,3312,-1.00,-146.6,216.9,-7.5,155,3315,0.00,2.00,0.00,0.000,6,0.000,0.035,2155,2513,3514
$GC,3645,-1.00,-146.6,239.2,-6.9,171,3649,0.00,2.10,0.00,0.000,4,0.000,0.054,2155,3689,3514
$GC,3714,-1.00,-146.6,244.6,-8.3,174,3718,0.00,2.00,0.00,0.000,6,0.000,0.035,2155,2505,3515
$GC,4047,-1.00,-146.6,268.1,-6.8,190,4051,0.00,2.12,0.00,0.000,4,0.000,0.054,2155,3693,3514
$GC,4120,-1.00,-146.6,273.5,-6.9,193,4124,0.00,2.00,0.00,0.000,6,0.000,0.034,2155,2508,3514
$GC,4448,-1.00,-146.6,295.4,-6.2,209,4451,0.00,2.12,0.00,0.000,4,0.000,0.055,2155,3693,3514
$GC,4517,-1.00,-146.6,300.0,-6.7,212,4521,0.00,2.00,0.00,0.000,6,0.000,0.034,2155,2510,3515
$GC,4850,-1.00,-146.6,323.7,-7.3,228,4854,0.00,2.12,0.00,0.000,4,0.000,0.056,2155,3693,3514
$GC,4901,-1.00,-146.6,327.7,-7.9,230,4905,0.00,2.00,0.00,0.000,6,0.000,0.034,2155,2511,3514
$GC,5230,-1.00,-146.6,351.1,-6.8,246,5233,0.00,2.12,0.00,0.000,4,0.000,0.057,2155,3693,3514
$GC,5321,-1.00,-146.6,357.8,-7.3,250,5324,0.00,2.00,0.00,0.000,6,0.000,0.035,2155,2511,3514
$GC,5654,-1.00,-146.6,379.0,-6.6,266,5658,0.00,2.12,0.00,0.000,4,0.000,0.059,2155,3691,3514
$GC,5740,-1.00,-146.6,385.2,-7.7,269,5746,0.00,2.00,0.00,0.000,6,0.000,0.035,2155,2516,3515
$GC,6056,-1.00,-146.6,408.0,-7.4,285,6060,0.00,2.15,0.00,0.000,4,0.000,0.064,2156,3695,3515
$GC,6186,-1.00,-146.6,418.2,-7.8,290,6192,0.00,2.03,0.00,0.000,6,0.000,0.037,2155,2515,3514
$GC,6502,-1.00,-146.6,440.4,-6.9,306,6506,0.00,2.15,0.00,0.000,4,0.000,0.067,2155,3685,3514
$GC,6571,-1.00,-146.6,445.6,-8.4,309,6575,0.00,2.03,0.00,0.000,6,0.000,0.038,2155,2511,3514
$GC,6904,-1.00,-146.6,467.4,-6.5,325,6908,0.00,2.17,0.00,0.000,4,0.000,0.071,2155,3685,3514
$GC,6943,-1.00,-146.6,470.2,-6.5,326,6950,0.00,2.03,0.00,0.000,6,0.000,0.039,2155,2516,3514
$GC,7260,-1.00,-146.6,489.2,-6.2,342,7263,0.00,2.20,0.00,0.000,4,0.000,0.075,2155,3693,3514
$GC,7351,-1.00,-146.6,494.8,-6.3,346,7355,0.00,2.05,0.00,0.000,6,0.000,0.042,2155,2518,3513
$GC,7684,-1.00,-146.6,515.3,-6.3,362,7688,0.00,2.20,0.00,0.000,4,0.000,0.081,2156,3683,3513
$GC,7814,-1.00,-146.6,523.9,-6.3,367,7820,0.00,2.08,0.00,0.000,6,0.000,0.048,2155,2512,3512
$GC,8130,-1.00,-146.6,541.1,-5.5,383,8134,0.00,2.28,0.00,0.000,4,0.000,0.091,2155,3690,3512
$GC,8181,-1.00,-146.6,544.3,-6.4,385,8185,0.00,2.12,0.00,0.000,6,0.000,0.056,2155,2510,3512
$GC,8510,-1.00,-146.6,561.1,-5.2,401,8514,0.00,2.30,0.00,0.000,4,0.000,0.099,2155,3685,3512
$GC,8633,-1.00,-146.6,568.6,-6.2,406,8637,0.00,2.10,0.00,0.000,6,0.000,0.051,2155,2505,3512
$GC,8955,-1.00,-146.6,587.9,-6.1,422,8959,0.00,2.28,0.00,0.000,4,0.000,0.088,2155,3691,3511
$GC,9006,-1.00,-146.6,591.1,-7.0,424,9009,0.00,2.10,0.00,0.000,6,0.000,0.051,2155,2511,3511
$GC,9333,-1.00,-146.6,610.5,-5.9,440,9337,0.00,2.25,0.00,0.000,4,0.000,0.087,2156,3686,3511
$GC,9418,-1.00,-146.6,616.0,-5.8,443,9424,0.00,2.08,0.00,0.000,6,0.000,0.050,2155,2519,3511
$STATE,9442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9442,begin apogee
$GC,9451,-0.45,0.0,617.6,5.6,445,9585,0.55,0.00,128.35,1.237,6,0.068,0.000,2273,2316,2915
$STATE,9586,end apogee,CONTROL_FINISHED_OK
$STATE,9586,begin climb
$GC,9589,1.19,146.6,622.1,0.0,452,9728,1.67,2.72,127.50,1.197,4,0.056,0.081,2633,3683,2317
$GC,9777,1.13,146.6,613.5,6.1,461,9781,0.00,2.47,0.00,0.000,6,0.000,0.048,2633,2318,2316
$GC,10103,1.13,146.6,593.7,6.2,477,10108,0.00,2.60,0.00,0.000,4,0.000,0.075,2633,3686,2316
$GC,10154,1.06,146.6,590.3,6.6,479,10159,0.12,2.45,0.00,0.000,6,0.097,0.044,2609,2314,2316
$GC,10471,1.08,162.1,572.4,5.5,494,10491,0.00,2.70,14.98,1.126,4,0.000,0.074,2609,3690,2254
$GC,10520,1.10,173.8,569.6,5.6,496,10537,0.00,2.47,11.88,1.086,6,0.000,0.043,2609,2309,2206
$GC,10847,1.11,184.2,550.3,5.7,512,10862,0.00,2.65,10.75,1.080,4,0.000,0.072,2609,3686,2163
$GC,10970,1.11,184.2,542.5,6.8,516,10976,0.00,2.45,0.00,0.000,6,0.000,0.043,2609,2310,2163
$GC,11287,1.15,184.2,521.4,7.3,532,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2311,2162
$GC,11596,1.21,186.4,501.3,5.9,547,11601,0.12,2.55,0.00,0.000,4,0.054,0.067,2642,3689,2162
$GC,11669,1.15,186.4,495.5,8.4,550,11673,0.00,2.42,0.00,0.000,6,0.000,0.041,2642,2312,2162
$GC,11985,1.15,186.4,472.5,7.1,565,11990,0.00,2.55,0.00,0.000,4,0.000,0.064,2642,3690,2162
$GC,12059,1.10,186.4,466.7,8.0,568,12064,0.15,2.42,0.00,0.000,6,0.092,0.039,2613,2307,2162
$GC,12376,1.11,196.8,447.8,5.7,583,12397,0.00,2.60,12.35,1.071,4,0.000,0.062,2613,3680,2112
$GC,12450,1.11,196.8,443.3,6.0,586,12454,0.00,2.40,0.00,0.000,6,0.000,0.038,2613,2317,2112
$GC,12773,1.20,223.1,426.3,5.2,602,12803,0.10,2.60,24.05,1.100,4,0.058,0.062,2642,3687,2005
$GC,12826,1.20,223.1,422.9,6.6,604,12830,0.00,2.42,0.00,0.000,6,0.000,0.038,2642,2317,2004
$GC,13142,1.20,223.1,401.5,7.0,619,13146,0.00,2.53,0.00,0.000,4,0.000,0.056,2642,912,2004
$GC,13175,1.20,223.1,399.0,7.1,620,13182,0.00,2.50,0.00,0.000,6,0.000,0.044,2642,2318,2004
$GC,13492,1.20,223.1,375.5,7.4,636,13496,0.00,2.47,0.00,0.000,4,0.000,0.062,2642,3687,2004
$GC,13548,1.20,223.1,370.9,7.8,638,13552,0.00,2.40,0.00,0.000,6,0.000,0.038,2642,2311,2004
$GC,13864,1.20,223.1,346.5,7.6,653,13868,0.00,2.53,0.00,0.000,4,0.000,0.060,2642,3689,2005
$GC,13920,1.20,223.1,342.1,8.1,655,13927,0.00,2.40,0.00,0.000,6,0.000,0.038,2642,2305,2004
$GC,14237,1.20,223.1,319.6,6.8,671,14241,0.00,2.50,0.00,0.000,4,0.000,0.058,2642,3687,2004
$GC,14287,1.20,223.1,315.8,7.2,673,14291,0.00,2.38,0.00,0.000,6,0.000,0.037,2642,2317,2004
$GC,14603,1.20,223.1,295.2,6.4,688,14607,0.00,2.50,0.00,0.000,4,0.000,0.057,2642,3696,2004
$GC,14671,1.20,223.1,290.2,6.8,691,14676,0.00,2.38,0.00,0.000,6,0.000,0.035,2643,2315,2004
$GC,14999,1.20,223.1,270.0,6.5,707,15003,0.00,2.50,0.00,0.000,4,0.000,0.055,2642,3699,2004
$GC,15033,1.20,223.1,267.6,6.8,708,15039,0.00,2.38,0.00,0.000,6,0.000,0.035,2642,2315,2004
$GC,15349,1.20,223.1,246.0,7.1,724,15353,0.00,2.47,0.00,0.000,4,0.000,0.055,2642,3689,2004
$GC,15382,1.20,223.1,243.3,7.5,725,15388,0.00,2.35,0.00,0.000,6,0.000,0.034,2643,2317,2005
$GC,15699,1.20,223.1,219.4,7.4,741,15703,0.00,2.47,0.00,0.000,4,0.000,0.054,2642,3694,2005
$GC,15738,1.20,223.1,216.0,8.3,742,15744,0.00,2.35,0.00,0.000,6,0.000,0.035,2643,2312,2005
$GC,16054,1.20,223.1,191.0,7.8,758,16059,0.00,2.47,0.00,0.000,4,0.000,0.054,2642,3689,2005
$GC,16095,1.20,223.1,187.5,8.7,760,16099,0.00,2.35,0.00,0.000,6,0.000,0.034,2642,2315,2005
$GC,16423,1.20,223.1,159.7,8.1,776,16427,0.00,2.47,0.00,0.000,4,0.000,0.054,2642,3693,2005
$GC,16468,1.20,223.1,156.0,8.3,778,16472,0.00,2.35,0.00,0.000,6,0.000,0.034,2643,2318,2006
$GC,16790,1.20,223.1,130.7,8.1,794,16794,0.00,2.47,0.00,0.000,4,0.000,0.054,2642,3696,2006
$GC,16830,1.20,223.1,127.1,9.4,796,16834,0.00,2.38,0.00,0.000,6,0.000,0.034,2642,2305,2006
$GC,17158,1.20,223.1,103.9,7.0,812,17162,0.00,2.50,0.00,0.000,4,0.000,0.053,2642,3699,2006
$GC,17231,1.20,223.1,98.1,7.9,815,17235,0.00,2.38,0.00,0.000,6,0.000,0.033,2642,2307,2006
$GC,17549,1.20,223.1,74.9,7.8,830,17553,0.00,2.47,0.00,0.000,4,0.000,0.053,2642,3689,2007
$GC,17589,1.20,223.1,71.8,8.0,832,17594,0.00,2.35,0.00,0.000,6,0.000,0.034,2642,2310,2007
$GC,17918,1.22,243.3,54.1,5.4,848,17943,0.00,2.58,18.85,0.834,4,0.000,0.052,2643,3692,1923
$GC,18008,1.22,243.3,48.5,6.8,852,18012,0.00,2.38,0.00,0.000,6,0.000,0.033,2643,2310,1923
$GC,18335,1.22,243.3,28.2,6.1,868,18340,0.00,2.50,0.00,0.000,4,0.000,0.053,2642,3699,1923
$GC,18370,1.25,263.5,26.1,5.4,869,18397,0.00,2.35,18.15,0.814,6,0.000,0.034,2642,2316,1840
$STATE,18705,end climb,SURFACE_DEPTH_REACHED
$STATE,18706,begin surface coast
$FINISH,0.8,1.002017
$STATE,18728,end surface coast,CONTROL_FINISHED_OK
$STATE,18729,begin surface
$SM_CCo,18753,31.77,0.745,2,0,1691,300.00
$SM_GC,1.45,0.00,0.00,31.77,0.000,0.000,0.745,23,2536,1691,-10.82,0.51,300.00
$IRIDIUM_FIX,6332.30,-1306.29,010398,111158
$TT8_MAMPS,0.028379
$HUMID,2009
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.3,102.2
$24V_AH,23.1,28.164
$10V_AH,10.1,12.691
$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,25.825,210.625,366.850,31.775,0.000,23.997,28.681,156.361,4.250,0.000,0.000,32.157,1735.204,13928.365,573.782,2306.951,616.924,0.000,1736.832,0.000,2231.337,0.000,29.967,0.000
$DEVICE_MAMPS,125.788,98.943,1237.171,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,654.921,605.711,583.502,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44228,887
$CAP_FILE_SIZE,152490,0
$CFSIZE,260165632,249135104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,051208,215331,6402.125,-1249.820,38,1.1,38,-12.3