version: 66.04
glider: 101
mission: 7
dive: 172
start: 12 6 108 3 1 52
data:
$ID,101
$MISSION,7
$DIVE,172
$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,-735510.94
$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,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
$GPS1,025531,6404.958,-1245.559,38,1.6,38,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.0
$GPS2,030132,6405.081,-1245.323,11,1.6,28,-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,244.0,15183,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.16,-146.6,0.0,0.0,0,81,0.00,0.00,-61.03,0.000,2,0.000,0.000,26,2533,2957
$GC,85,-1.16,-146.6,3.2,-3.8,3,121,10.85,2.50,-19.58,0.000,4,0.123,0.054,2118,1119,3514
$GC,307,-1.05,-146.6,22.4,-8.9,12,312,0.12,2.45,0.00,0.000,6,0.092,0.038,2142,2517,3514
$GC,629,-1.00,-146.6,48.0,-8.4,28,632,0.00,2.08,0.00,0.000,4,0.000,0.057,2142,3688,3514
$GC,714,-0.93,-146.6,56.1,-9.6,31,721,0.12,2.03,0.00,0.000,6,0.087,0.035,2167,2498,3514
$GC,1032,-0.93,-146.6,75.1,-6.3,47,1035,0.00,2.15,0.00,0.000,4,0.000,0.054,2167,3697,3514
$GC,1133,-0.93,-146.6,83.4,-8.7,51,1137,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2517,3514
$GC,1455,-0.93,-146.6,106.5,-6.9,67,1458,0.00,2.10,0.00,0.000,4,0.000,0.054,2167,3693,3514
$GC,1539,-0.93,-146.6,114.1,-8.9,70,1546,0.00,2.03,0.00,0.000,6,0.000,0.035,2168,2517,3514
$GC,1856,-0.93,-146.6,136.2,-6.7,86,1859,0.00,2.10,0.00,0.000,4,0.000,0.054,2167,3692,3514
$GC,1940,-0.93,-146.6,142.1,-6.7,89,1946,0.00,2.03,0.00,0.000,6,0.000,0.035,2167,2500,3514
$GC,2256,-0.93,-146.6,163.6,-7.1,105,2260,0.00,2.12,0.00,0.000,4,0.000,0.054,2167,3688,3514
$GC,2335,-0.93,-146.6,169.6,-7.2,108,2339,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2506,3514
$GC,2657,-0.93,-146.6,190.1,-5.9,124,2661,0.00,2.10,0.00,0.000,4,0.000,0.054,2167,3688,3514
$GC,2742,-0.93,-146.6,195.7,-7.0,127,2748,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2507,3514
$GC,3059,-0.93,-146.6,213.6,-5.2,143,3062,0.00,2.12,0.00,0.000,4,0.000,0.054,2168,3696,3515
$GC,3155,-0.93,-146.6,218.3,-4.4,147,3158,0.00,2.00,0.00,0.000,6,0.000,0.034,2167,2514,3514
$GC,3482,-0.93,-146.6,232.7,-4.5,163,3486,0.00,2.10,0.00,0.000,4,0.000,0.054,2167,3692,3514
$GC,3556,-0.93,-146.6,237.1,-6.0,166,3559,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2510,3514
$GC,3883,-0.93,-146.6,257.0,-6.7,182,3887,0.00,2.12,0.00,0.000,4,0.000,0.055,2167,3696,3514
$GC,3962,-0.93,-146.6,262.6,-7.3,185,3966,0.00,2.00,0.00,0.000,6,0.000,0.034,2167,2510,3514
$GC,4284,-0.93,-146.6,283.0,-6.0,201,4288,0.00,2.12,0.00,0.000,4,0.000,0.056,2167,3695,3514
$GC,4363,-0.93,-146.6,288.4,-6.3,204,4367,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2510,3514
$GC,4685,-0.93,-146.6,307.9,-6.1,220,4689,0.00,2.12,0.00,0.000,4,0.000,0.057,2168,3692,3514
$GC,4776,-0.93,-146.6,313.9,-6.8,224,4780,0.00,1.98,0.00,0.000,6,0.000,0.035,2167,2516,3514
$GC,5109,-0.93,-146.6,334.8,-6.5,240,5112,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3691,3514
$GC,5204,-0.93,-146.6,341.1,-6.4,244,5208,0.00,2.00,0.00,0.000,6,0.000,0.036,2167,2516,3514
$GC,5532,-0.93,-146.6,360.3,-5.9,260,5536,0.00,2.12,0.00,0.000,4,0.000,0.061,2167,3688,3514
$GC,5634,-0.93,-146.6,365.8,-5.4,264,5637,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2518,3514
$GC,5956,-0.93,-146.6,382.6,-5.4,280,5960,0.00,2.12,0.00,0.000,4,0.000,0.062,2168,3688,3514
$GC,6029,-0.93,-146.6,386.7,-6.4,283,6033,0.00,2.00,0.00,0.000,6,0.000,0.038,2167,2517,3514
$GC,6357,-0.93,-146.6,403.1,-4.6,299,6360,0.00,2.15,0.00,0.000,4,0.000,0.064,2167,3695,3513
$GC,6458,-0.93,-146.6,408.8,-5.9,303,6462,0.00,2.03,0.00,0.000,6,0.000,0.038,2167,2517,3513
$GC,6781,-0.93,-146.6,426.2,-6.2,319,6782,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2517,3513
$GC,7089,-0.93,-146.6,445.6,-6.5,334,7093,0.00,2.15,0.00,0.000,4,0.000,0.067,2167,3689,3512
$GC,7196,-0.93,-146.6,453.4,-7.2,338,7202,0.00,2.03,0.00,0.000,6,0.000,0.038,2167,2516,3512
$GC,7512,-0.93,-146.6,475.0,-6.6,354,7522,0.00,2.17,0.00,0.000,4,0.000,0.073,2167,3685,3512
$GC,7631,-0.93,-146.6,482.8,-5.8,359,7635,0.00,2.03,0.00,0.000,6,0.000,0.041,2168,2521,3512
$GC,7965,-0.98,-146.6,501.3,-5.3,375,7969,0.00,2.20,0.00,0.000,4,0.000,0.081,2168,3686,3512
$GC,8072,-0.98,-146.6,507.1,-5.1,379,8078,0.00,2.08,0.00,0.000,6,0.000,0.049,2167,2518,3512
$GC,8389,-0.98,-146.6,525.3,-5.8,395,8393,0.00,2.25,0.00,0.000,4,0.000,0.090,2167,3686,3511
$GC,8484,-0.98,-146.6,531.6,-6.4,399,8488,0.00,2.10,0.00,0.000,6,0.000,0.056,2167,2520,3511
$GC,8807,-1.02,-146.6,550.5,-6.0,415,8811,0.00,2.30,0.00,0.000,4,0.000,0.099,2168,3688,3511
$GC,8863,-1.02,-146.6,554.2,-5.8,417,8869,0.00,2.12,0.00,0.000,6,0.000,0.058,2167,2511,3511
$STATE,8908,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8908,begin apogee
$GC,8917,-0.45,0.0,557.1,6.1,420,9051,0.50,0.00,126.90,1.198,6,0.065,0.000,2275,2311,2914
$STATE,9051,end apogee,CONTROL_FINISHED_OK
$STATE,9051,begin climb
$GC,9055,1.16,146.6,560.4,0.0,427,9191,1.60,2.75,126.50,1.159,4,0.056,0.083,2624,3681,2317
$GC,9237,1.10,150.2,553.7,5.9,435,9247,0.00,2.50,5.05,0.813,6,0.000,0.051,2624,2312,2302
$GC,9575,1.10,150.2,532.7,6.6,452,9580,0.00,2.62,0.00,0.000,4,0.000,0.076,2624,3690,2301
$GC,9644,1.05,150.2,527.7,7.3,455,9648,0.00,2.45,0.00,0.000,6,0.000,0.044,2624,2314,2301
$GC,9971,1.05,150.2,505.9,6.5,471,9976,0.00,2.58,0.00,0.000,4,0.000,0.071,2624,3685,2301
$GC,10072,0.99,150.2,498.5,7.0,475,10080,0.17,2.42,0.00,0.000,6,0.090,0.042,2590,2314,2301
$GC,10390,1.10,199.8,483.2,4.5,491,10440,0.10,2.65,43.72,1.150,4,0.056,0.067,2619,3684,2100
$GC,10517,1.10,199.8,475.9,6.2,496,10523,0.00,2.42,0.00,0.000,6,0.000,0.041,2620,2317,2099
$GC,10833,1.10,199.8,455.0,6.8,512,10837,0.00,2.55,0.00,0.000,4,0.000,0.065,2620,3693,2099
$GC,10911,1.10,199.8,449.7,6.8,515,10916,0.00,2.42,0.00,0.000,6,0.000,0.040,2620,2314,2099
$GC,11228,1.11,207.6,432.6,5.8,530,11242,0.00,2.60,8.12,0.994,4,0.000,0.062,2620,3684,2068
$GC,11289,1.11,207.6,428.7,6.7,532,11295,0.00,2.42,0.00,0.000,6,0.000,0.040,2620,2308,2068
$GC,11605,1.11,207.6,408.1,7.2,548,11609,0.00,2.53,0.00,0.000,4,0.000,0.061,2619,3691,2068
$GC,11645,1.11,207.6,405.1,7.4,550,11649,0.00,2.40,0.00,0.000,6,0.000,0.038,2619,2315,2068
$GC,11973,1.11,207.6,378.7,8.3,566,11977,0.00,2.53,0.00,0.000,4,0.000,0.060,2620,3691,2068
$GC,12081,1.11,207.6,369.9,7.8,571,12085,0.00,2.40,0.00,0.000,6,0.000,0.038,2620,2312,2068
$GC,12408,1.11,207.6,346.7,6.5,587,12409,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2312,2068
$GC,12717,1.11,211.6,328.1,5.9,602,12726,0.00,0.00,5.38,0.844,6,0.000,0.000,2620,2312,2051
$GC,13050,1.12,220.8,309.7,5.7,618,13064,0.00,2.58,9.48,0.965,4,0.000,0.060,2620,3693,2014
$GC,13127,1.12,220.8,304.8,6.7,621,13131,0.00,2.42,0.00,0.000,6,0.000,0.038,2620,2307,2014
$GC,13444,1.12,220.8,285.7,6.1,636,13448,0.00,2.53,0.00,0.000,4,0.000,0.058,2620,3690,2014
$GC,13471,1.12,220.8,283.7,7.3,637,13475,0.00,2.40,0.00,0.000,6,0.000,0.038,2620,2308,2014
$GC,13788,1.14,230.4,265.4,5.7,652,13803,0.00,2.55,10.23,0.953,4,0.000,0.058,2620,3686,1975
$GC,13850,1.14,230.4,261.5,6.1,654,13854,0.00,2.40,0.00,0.000,6,0.000,0.038,2620,2311,1974
$GC,14177,1.14,230.4,241.1,6.7,670,14181,0.00,2.50,0.00,0.000,4,0.000,0.057,2620,3687,1974
$GC,14205,1.14,230.4,239.1,7.6,671,14209,0.00,2.38,0.00,0.000,6,0.000,0.036,2620,2314,1974
$GC,14521,1.14,230.4,217.9,6.6,686,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2314,1974
$GC,14831,1.18,230.4,196.3,7.1,701,14835,0.00,2.50,0.00,0.000,4,0.000,0.055,2620,3696,1974
$GC,14894,1.18,230.4,191.5,7.6,704,14898,0.00,2.38,0.00,0.000,6,0.000,0.035,2620,2309,1975
$GC,15227,1.22,230.4,168.1,7.2,720,15228,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2310,1974
$GC,15537,1.22,230.4,146.4,7.0,735,15541,0.00,2.47,0.00,0.000,4,0.000,0.054,2620,3691,1975
$GC,15628,1.22,230.4,139.6,7.0,739,15632,0.00,2.35,0.00,0.000,6,0.000,0.035,2620,2318,1975
$GC,15956,1.27,230.4,116.7,7.0,755,15961,0.15,2.47,0.00,0.000,4,0.048,0.052,2662,3696,1975
$GC,15990,1.19,230.4,113.7,9.2,756,15997,0.15,2.38,0.00,0.000,6,0.093,0.034,2633,2307,1975
$GC,16308,1.19,230.4,91.7,6.7,772,16312,0.00,2.47,0.00,0.000,4,0.000,0.053,2633,3688,1975
$GC,16353,1.19,230.4,88.4,6.9,774,16357,0.00,2.35,0.00,0.000,6,0.000,0.034,2633,2312,1975
$GC,16675,1.19,230.4,65.2,7.8,790,16680,0.00,2.47,0.00,0.000,4,0.000,0.053,2633,3693,1975
$GC,16716,1.19,230.4,61.7,7.7,792,16720,0.00,2.35,0.00,0.000,6,0.000,0.034,2633,2314,1975
$GC,17045,1.26,282.8,40.8,4.4,808,17096,0.00,2.60,44.67,0.849,4,0.000,0.052,2633,3692,1761
$GC,17115,1.26,282.8,36.6,7.1,811,17119,0.00,2.40,0.00,0.000,6,0.000,0.033,2633,2308,1761
$GC,17432,1.30,282.8,13.5,7.2,826,17437,0.12,2.50,0.00,0.000,4,0.051,0.051,2669,3695,1761
$GC,17500,1.25,282.8,6.8,9.4,829,17505,0.12,2.38,0.00,0.000,6,0.098,0.033,2646,2311,1761
$STATE,17571,end climb,SURFACE_DEPTH_REACHED
$STATE,17571,begin surface coast
$FINISH,0.8,1.026844
$STATE,17593,end surface coast,CONTROL_FINISHED_OK
$STATE,17593,begin surface
$SM_CCo,17618,15.73,0.716,1,0,1692,300.00
$SM_GC,1.36,0.00,0.00,15.73,0.000,0.000,0.716,28,2535,1692,-10.80,0.51,300.00
$IRIDIUM_FIX,6317.84,-1913.95,010398,222241
$TT8_MAMPS,0.028379
$HUMID,2025
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.4,90.8
$24V_AH,23.1,28.441
$10V_AH,10.1,12.865
$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,25.600,183.050,380.050,15.725,0.000,25.324,26.701,153.150,4.250,0.000,0.000,30.424,1626.211,13078.961,538.629,2165.853,588.372,0.000,1638.323,0.000,2104.216,0.000,26.709,0.000
$DEVICE_MAMPS,122.720,98.943,1198.054,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.989,570.033,554.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41067,834
$CAP_FILE_SIZE,142629,0
$CFSIZE,260165632,249008128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,061208,075708,6406.865,-1241.135,33,1.0,33,-12.3