version: 66.04
glider: 101
mission: 7
dive: 171
start: 12 5 108 21 59 41
data:
$ID,101
$MISSION,7
$DIVE,171
$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,-735479.88
$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,39
$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
$GPS1,215331,6402.125,-1249.820,38,1.1,38,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.6
$GPS2,215920,6402.176,-1249.689,8,1.7,13,-12.3
$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,256.6,9290,-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,14,begin dive
$GC,18,-1.16,-146.6,0.0,0.0,0,78,0.00,0.00,-57.75,0.000,2,0.000,0.000,23,2536,2898
$GC,82,-1.16,-146.6,3.0,-3.5,3,125,10.88,2.12,-22.23,0.000,4,0.123,0.071,2116,3688,3513
$GC,378,-1.04,-146.6,30.9,-9.3,16,382,0.15,2.00,0.00,0.000,6,0.086,0.034,2146,2513,3513
$GC,706,-1.04,-146.6,49.1,-7.2,32,710,0.00,2.12,0.00,0.000,4,0.000,0.054,2146,3693,3514
$GC,965,-0.99,-146.6,72.9,-8.5,43,969,0.00,2.00,0.00,0.000,6,0.000,0.034,2146,2514,3514
$GC,1288,-0.99,-146.6,96.1,-5.6,59,1292,0.00,2.10,0.00,0.000,4,0.000,0.053,2146,3686,3514
$GC,1448,-0.92,-146.6,110.3,-8.5,66,1452,0.12,2.00,0.00,0.000,6,0.087,0.035,2171,2509,3514
$GC,1782,-0.92,-146.6,134.7,-7.5,82,1786,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3683,3514
$GC,1878,-0.92,-146.6,143.8,-9.6,86,1882,0.00,1.98,0.00,0.000,6,0.000,0.035,2172,2515,3514
$GC,2205,-0.92,-146.6,168.1,-7.0,102,2209,0.00,2.10,0.00,0.000,4,0.000,0.054,2171,3690,3514
$GC,2278,-0.92,-146.6,173.1,-7.9,105,2282,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2509,3514
$GC,2606,-0.92,-146.6,197.2,-7.5,121,2610,0.00,2.10,0.00,0.000,4,0.000,0.054,2172,3683,3514
$GC,2725,-0.92,-146.6,203.2,-5.4,126,2729,0.00,1.98,0.00,0.000,6,0.000,0.035,2172,2517,3514
$GC,3053,-0.92,-146.6,221.9,-5.8,142,3057,0.00,2.10,0.00,0.000,4,0.000,0.055,2172,3689,3514
$GC,3126,-0.92,-146.6,226.3,-6.2,145,3130,0.00,2.00,0.00,0.000,6,0.000,0.035,2171,2507,3513
$GC,3454,-0.92,-146.6,246.0,-6.3,161,3458,0.00,2.12,0.00,0.000,4,0.000,0.054,2172,3694,3514
$GC,3555,-0.92,-146.6,253.0,-6.8,165,3559,0.00,2.00,0.00,0.000,6,0.000,0.034,2172,2511,3514
$GC,3878,-0.92,-146.6,273.9,-6.5,181,3881,0.00,2.10,0.00,0.000,4,0.000,0.055,2172,3685,3514
$GC,4007,-0.92,-146.6,282.8,-6.9,186,4013,0.00,1.98,0.00,0.000,6,0.000,0.035,2171,2516,3513
$GC,4324,-0.92,-146.6,301.9,-5.8,202,4327,0.00,2.10,0.00,0.000,4,0.000,0.057,2171,3691,3514
$GC,4415,-0.92,-146.6,307.3,-5.9,206,4419,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2505,3514
$GC,4749,-0.92,-146.6,323.1,-5.1,222,4753,0.00,2.12,0.00,0.000,4,0.000,0.056,2171,3689,3513
$GC,4884,-0.92,-146.6,332.0,-7.0,228,4888,0.00,1.98,0.00,0.000,6,0.000,0.035,2171,2519,3513
$GC,5218,-0.92,-146.6,351.8,-5.5,244,5222,0.00,2.10,0.00,0.000,4,0.000,0.058,2172,3684,3514
$GC,5265,-0.92,-146.6,354.3,-5.5,246,5269,0.00,1.98,0.00,0.000,6,0.000,0.036,2172,2520,3514
$GC,5598,-0.92,-146.6,370.6,-5.1,262,5602,0.00,2.10,0.00,0.000,4,0.000,0.060,2172,3680,3514
$GC,5655,-0.92,-146.6,373.7,-5.9,264,5659,0.00,2.00,0.00,0.000,6,0.000,0.036,2172,2509,3514
$GC,5977,-0.92,-146.6,391.2,-5.7,280,5981,0.00,2.15,0.00,0.000,4,0.000,0.062,2171,3690,3513
$GC,6062,-0.92,-146.6,396.5,-6.3,283,6068,0.00,2.03,0.00,0.000,6,0.000,0.038,2172,2510,3513
$GC,6378,-0.92,-146.6,414.8,-6.1,299,6382,0.00,2.15,0.00,0.000,4,0.000,0.064,2171,3685,3513
$GC,6469,-0.92,-146.6,420.7,-7.0,303,6472,0.00,2.00,0.00,0.000,6,0.000,0.038,2171,2512,3513
$GC,6802,-0.92,-146.6,440.4,-5.5,319,6806,0.00,2.15,0.00,0.000,4,0.000,0.067,2171,3683,3513
$GC,6943,-0.92,-146.6,448.3,-5.0,325,6947,0.00,2.03,0.00,0.000,6,0.000,0.039,2171,2511,3513
$GC,7271,-0.92,-146.6,466.0,-5.7,341,7275,0.00,2.17,0.00,0.000,4,0.000,0.071,2171,3687,3512
$GC,7363,-0.92,-146.6,471.9,-6.4,345,7366,0.00,2.03,0.00,0.000,6,0.000,0.040,2172,2518,3512
$GC,7697,-0.92,-146.6,491.6,-5.8,361,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2518,3512
$GC,8006,-0.97,-146.6,509.0,-6.2,376,8009,0.00,2.20,0.00,0.000,4,0.000,0.082,2171,3680,3511
$GC,8085,-0.97,-146.6,514.5,-7.1,379,8088,0.00,2.05,0.00,0.000,6,0.000,0.049,2171,2523,3510
$GC,8407,-1.02,-146.6,532.6,-4.9,395,8411,0.00,2.25,0.00,0.000,4,0.000,0.092,2172,3685,3511
$GC,8442,-1.02,-146.6,534.5,-5.8,396,8445,0.00,2.10,0.00,0.000,6,0.000,0.057,2171,2521,3510
$GC,8764,-1.07,-146.6,553.6,-6.1,412,8768,0.15,2.30,0.00,0.000,4,0.051,0.101,2129,3685,3510
$GC,8797,-1.00,-146.6,555.8,-6.4,413,8802,0.12,2.12,0.00,0.000,6,0.086,0.061,2154,2514,3511
$GC,9119,-1.00,-146.6,575.6,-6.0,429,9123,0.00,2.25,0.00,0.000,4,0.000,0.090,2155,3683,3510
$GC,9169,-1.00,-146.6,578.9,-6.4,431,9173,0.00,2.08,0.00,0.000,6,0.000,0.051,2155,2511,3510
$STATE,9385,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9385,begin apogee
$GC,9393,-0.45,0.0,593.4,6.5,442,9528,0.55,0.00,127.80,1.224,6,0.067,0.000,2273,2310,2914
$STATE,9528,end apogee,CONTROL_FINISHED_OK
$STATE,9528,begin climb
$GC,9532,1.16,146.6,598.4,0.0,449,9669,1.62,2.75,127.12,1.184,4,0.057,0.082,2626,3679,2317
$GC,9800,1.15,182.9,585.5,4.9,461,9840,0.00,2.47,33.10,1.141,6,0.000,0.049,2625,2312,2168
$GC,10163,1.15,182.9,564.9,6.1,479,10167,0.00,2.60,0.00,0.000,4,0.000,0.075,2625,3679,2168
$GC,10213,1.15,182.9,561.3,6.2,481,10217,0.00,2.45,0.00,0.000,6,0.000,0.044,2625,2305,2168
$GC,10530,1.15,182.9,541.3,6.2,496,10534,0.00,2.60,0.00,0.000,4,0.000,0.071,2625,3687,2168
$GC,10580,1.15,182.9,537.8,7.0,498,10585,0.00,2.45,0.00,0.000,6,0.000,0.043,2625,2307,2167
$GC,10897,1.17,202.5,519.3,5.4,513,10917,0.00,0.00,18.45,1.131,6,0.000,0.000,2625,2307,2089
$GC,11226,1.22,240.5,503.6,4.9,529,11268,0.00,2.65,33.95,1.159,4,0.000,0.069,2625,3676,1934
$GC,11315,1.22,240.5,497.9,6.8,533,11319,0.00,2.42,0.00,0.000,6,0.000,0.041,2625,2312,1933
$GC,11642,1.22,240.5,472.0,8.4,549,11646,0.00,2.55,0.00,0.000,4,0.000,0.066,2625,3684,1934
$GC,11709,1.22,240.5,465.9,9.7,552,11712,0.00,2.42,0.00,0.000,6,0.000,0.041,2625,2306,1933
$GC,12036,1.26,273.3,445.7,5.0,568,12072,0.10,2.60,29.73,1.124,4,0.059,0.063,2654,3684,1800
$GC,12125,1.26,273.3,439.6,7.3,571,12129,0.00,2.42,0.00,0.000,6,0.000,0.039,2654,2312,1799
$GC,12446,1.26,273.3,417.1,7.4,587,12451,0.00,2.53,0.00,0.000,4,0.000,0.062,2654,3683,1799
$GC,12497,1.26,273.3,412.9,7.7,589,12501,0.00,2.40,0.00,0.000,6,0.000,0.038,2654,2311,1799
$GC,12813,1.26,273.3,388.2,8.4,604,12817,0.00,2.50,0.00,0.000,4,0.000,0.054,2654,916,1799
$GC,12847,1.26,273.3,385.2,8.9,605,12851,0.00,2.47,0.00,0.000,6,0.000,0.042,2654,2310,1799
$GC,13163,1.26,273.3,356.8,8.8,620,13167,0.00,2.47,0.00,0.000,4,0.000,0.061,2654,3691,1799
$GC,13242,1.22,273.3,349.4,9.0,623,13247,0.00,2.40,0.00,0.000,6,0.000,0.038,2654,2310,1799
$GC,13559,1.22,273.3,322.5,8.6,638,13563,0.00,2.53,0.00,0.000,4,0.000,0.060,2654,3693,1799
$GC,13605,1.22,273.3,318.5,8.6,640,13609,0.00,2.40,0.00,0.000,6,0.000,0.038,2654,2309,1799
$GC,13938,1.22,273.3,291.3,8.3,656,13943,0.00,2.53,0.00,0.000,4,0.000,0.058,2654,3698,1799
$GC,13972,1.22,273.3,288.2,8.8,657,13978,0.00,2.40,0.00,0.000,6,0.000,0.036,2654,2309,1799
$GC,14288,1.22,273.3,262.0,8.3,673,14292,0.00,2.50,0.00,0.000,4,0.000,0.056,2654,3690,1799
$GC,14341,1.18,273.3,257.2,9.4,675,14346,0.12,2.38,0.00,0.000,6,0.097,0.035,2630,2311,1799
$GC,14663,1.18,273.3,230.1,8.4,691,14667,0.00,2.50,0.00,0.000,4,0.000,0.055,2630,3694,1799
$GC,14707,1.18,273.3,226.0,8.7,693,14711,0.00,2.38,0.00,0.000,6,0.000,0.035,2630,2312,1799
$GC,15029,1.18,273.3,199.0,8.5,709,15033,0.00,2.50,0.00,0.000,4,0.000,0.054,2630,3698,1799
$GC,15079,1.18,273.3,194.7,8.0,711,15083,0.00,2.38,0.00,0.000,6,0.000,0.034,2630,2313,1799
$GC,15396,1.18,273.3,169.7,7.8,726,15400,0.00,2.47,0.00,0.000,4,0.000,0.054,2631,3691,1799
$GC,15448,1.18,273.3,165.4,8.5,728,15452,0.00,2.35,0.00,0.000,6,0.000,0.034,2630,2318,1799
$GC,15770,1.18,273.3,140.4,7.6,744,15774,0.00,2.45,0.00,0.000,4,0.000,0.054,2630,3693,1799
$GC,15815,1.18,273.3,136.7,7.9,746,15819,0.00,2.35,0.00,0.000,6,0.000,0.034,2630,2318,1799
$GC,16143,1.22,273.3,113.4,7.1,762,16147,0.00,2.47,0.00,0.000,4,0.000,0.053,2630,3696,1800
$GC,16183,1.22,273.3,110.4,7.0,764,16187,0.00,2.35,0.00,0.000,6,0.000,0.034,2630,2309,1800
$GC,16518,1.26,273.3,88.4,6.5,780,16522,0.00,2.47,0.00,0.000,4,0.000,0.052,2630,3691,1801
$GC,16581,1.26,273.3,83.6,8.2,783,16585,0.00,2.35,0.00,0.000,6,0.000,0.033,2630,2312,1801
$GC,16909,1.32,273.3,57.4,7.9,799,16914,0.12,2.47,0.00,0.000,4,0.051,0.051,2668,3695,1801
$GC,16988,1.26,273.3,51.8,8.3,802,16994,0.00,2.38,0.00,0.000,6,0.000,0.033,2669,2302,1801
$GC,17306,1.26,273.3,22.6,7.8,818,17310,0.00,2.50,0.00,0.000,4,0.000,0.054,2669,3697,1801
$GC,17334,1.20,273.3,20.3,8.1,819,17339,0.17,2.35,0.00,0.000,6,0.091,0.032,2635,2316,1801
$STATE,17585,end climb,SURFACE_DEPTH_REACHED
$STATE,17586,begin surface coast
$FINISH,0.9,1.014033
$STATE,17607,end surface coast,CONTROL_FINISHED_OK
$STATE,17608,begin surface
$SM_CCo,17633,25.25,0.726,2,0,1692,300.00
$SM_GC,1.85,0.00,0.00,25.25,0.000,0.000,0.726,26,2533,1692,-10.81,0.45,300.00
$IRIDIUM_FIX,6337.14,-1253.05,010398,161622
$TT8_MAMPS,0.029146
$HUMID,2024
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,526.2,76.7
$24V_AH,23.1,28.306
$10V_AH,10.1,12.778
$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,25.600,186.700,370.150,25.250,0.000,22.948,41.068,140.919,4.500,0.000,0.000,15.382,1645.319,13054.953,527.675,2210.709,576.550,0.000,1646.391,0.000,2154.689,0.000,29.893,0.000
$DEVICE_MAMPS,123.487,101.244,1224.132,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.222,569.040,537.083,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41185,832
$CAP_FILE_SIZE,143082,0
$CFSIZE,260165632,249077760
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,3,2,0
$GPS,061208,025531,6404.958,-1245.559,38,1.6,38,-12.3