version: 66.04
glider: 101
mission: 7
dive: 176
start: 12 6 108 22 16 32
data:
$ID,101
$MISSION,7
$DIVE,176
$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,-735603.88
$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,24
$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
$GPS1,220732,6411.928,-1231.540,38,1.0,38,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-51.6
$GPS2,221609,6412.095,-1231.235,10,1.3,10,-12.2
$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,238.4,32360,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.65,0.000,2,0.000,0.000,24,2531,3302
$GC,103,-1.16,-146.6,3.9,-3.7,4,125,10.93,2.10,-5.30,0.000,4,0.126,0.072,2116,3698,3511
$GC,230,-1.05,-146.6,22.6,-10.2,9,235,0.15,2.03,0.00,0.000,6,0.084,0.035,2146,2510,3512
$GC,547,-1.05,-146.6,53.0,-8.3,24,550,0.00,2.12,0.00,0.000,4,0.000,0.054,2146,3691,3512
$GC,741,-0.99,-146.6,69.4,-8.2,32,745,0.00,2.00,0.00,0.000,6,0.000,0.035,2146,2516,3512
$GC,1065,-0.99,-146.6,92.6,-7.3,48,1068,0.00,2.12,0.00,0.000,4,0.000,0.054,2146,3699,3512
$GC,1127,-0.93,-146.6,98.5,-10.3,50,1134,0.12,2.03,0.00,0.000,6,0.085,0.035,2172,2508,3512
$GC,1444,-0.93,-146.6,123.9,-8.1,66,1447,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3692,3512
$GC,1528,-0.93,-146.6,131.9,-8.7,69,1535,0.00,2.03,0.00,0.000,6,0.000,0.035,2172,2517,3512
$GC,1844,-0.93,-146.6,154.7,-6.5,85,1848,0.00,2.10,0.00,0.000,4,0.000,0.054,2172,3690,3512
$GC,1935,-0.93,-146.6,161.1,-7.0,89,1939,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2511,3512
$GC,2268,-0.93,-146.6,183.5,-6.9,105,2272,0.00,2.12,0.00,0.000,4,0.000,0.054,2171,3698,3512
$GC,2382,-0.93,-146.6,191.5,-7.7,110,2386,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2517,3512
$GC,2716,-0.93,-146.6,212.4,-6.2,126,2719,0.00,2.10,0.00,0.000,4,0.000,0.055,2172,3691,3512
$GC,2822,-0.93,-146.6,219.5,-6.7,130,2829,0.00,2.03,0.00,0.000,6,0.000,0.035,2172,2518,3512
$GC,3139,-0.93,-146.6,236.2,-5.1,146,3143,0.00,2.10,0.00,0.000,4,0.000,0.055,2172,3690,3512
$GC,3260,-0.93,-146.6,242.6,-5.4,151,3263,0.00,2.00,0.00,0.000,6,0.000,0.035,2172,2511,3512
$GC,3587,-0.93,-146.6,259.4,-5.3,167,3591,0.00,2.12,0.00,0.000,4,0.000,0.057,2172,3693,3512
$GC,3644,-0.93,-146.6,262.5,-6.1,169,3648,0.00,2.00,0.00,0.000,6,0.000,0.036,2172,2518,3512
$GC,3966,-0.93,-146.6,279.9,-5.6,185,3970,0.00,2.12,0.00,0.000,4,0.000,0.058,2172,3695,3512
$GC,4062,-0.93,-146.6,286.2,-6.8,189,4065,0.00,2.03,0.00,0.000,6,0.000,0.037,2172,2509,3512
$GC,4389,-0.93,-146.6,307.3,-6.6,205,4393,0.00,2.15,0.00,0.000,4,0.000,0.059,2171,3698,3512
$GC,4496,-0.93,-146.6,314.6,-6.7,209,4502,0.00,2.03,0.00,0.000,6,0.000,0.037,2172,2510,3512
$GC,4812,-0.93,-146.6,336.2,-6.9,225,4816,0.00,2.15,0.00,0.000,4,0.000,0.060,2172,3695,3511
$GC,4885,-0.93,-146.6,341.4,-6.9,228,4889,0.00,2.03,0.00,0.000,6,0.000,0.037,2172,2508,3512
$GC,5213,-0.93,-146.6,359.8,-5.0,244,5217,0.00,2.15,0.00,0.000,4,0.000,0.060,2171,3694,3511
$GC,5321,-0.93,-146.6,365.5,-4.9,248,5327,0.00,2.03,0.00,0.000,6,0.000,0.037,2171,2510,3511
$GC,5637,-0.93,-146.6,382.9,-5.3,264,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2510,3511
$GC,5946,-0.93,-146.6,397.1,-4.7,279,5950,0.00,2.15,0.00,0.000,4,0.000,0.064,2171,3688,3511
$GC,6020,-0.93,-146.6,401.5,-6.3,282,6023,0.00,2.03,0.00,0.000,6,0.000,0.038,2172,2511,3511
$GC,6347,-0.98,-146.6,419.7,-6.3,298,6351,0.00,2.17,0.00,0.000,4,0.000,0.066,2172,3697,3510
$GC,6426,-0.98,-146.6,424.9,-6.2,301,6436,0.00,2.05,0.00,0.000,6,0.000,0.039,2172,2511,3510
$GC,6753,-1.03,-146.6,442.7,-5.6,317,6757,0.00,2.17,0.00,0.000,4,0.000,0.069,2171,3688,3510
$GC,6782,-1.03,-146.6,444.2,-4.9,318,6786,0.00,2.03,0.00,0.000,6,0.000,0.040,2172,2520,3510
$GC,7110,-1.08,-146.6,461.9,-5.6,334,7115,0.15,2.17,0.00,0.000,4,0.051,0.073,2129,3686,3509
$GC,7151,-0.99,-146.6,464.6,-7.4,336,7156,0.15,2.05,0.00,0.000,6,0.083,0.041,2159,2510,3509
$STATE,7392,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7393,begin apogee
$GC,7401,-0.45,0.0,481.8,7.1,348,7530,0.55,0.00,126.00,1.165,6,0.067,0.000,2277,2320,2915
$STATE,7531,end apogee,CONTROL_FINISHED_OK
$STATE,7531,begin climb
$GC,7534,1.16,146.6,487.6,0.0,354,7668,1.60,2.72,125.57,1.125,4,0.054,0.076,2626,913,2317
$GC,7695,1.13,165.4,483.8,5.4,361,7722,0.00,2.62,18.17,1.039,6,0.000,0.061,2626,2314,2240
$GC,8032,1.14,175.6,460.5,5.7,378,8047,0.00,2.62,9.95,0.992,4,0.000,0.075,2626,3692,2199
$GC,8171,1.14,175.6,449.5,8.5,383,8175,0.00,2.47,0.00,0.000,6,0.000,0.044,2626,2307,2198
$GC,8488,1.14,175.6,427.5,7.2,398,8492,0.00,2.60,0.00,0.000,4,0.000,0.067,2626,3700,2198
$GC,8515,1.14,175.6,425.3,7.8,399,8519,0.00,2.47,0.00,0.000,6,0.000,0.042,2626,2302,2197
$GC,8832,1.14,175.6,403.4,7.0,414,8836,0.00,2.60,0.00,0.000,4,0.000,0.064,2626,3703,2197
$GC,8874,1.09,175.6,400.4,7.6,416,8878,0.00,2.45,0.00,0.000,6,0.000,0.041,2626,2310,2196
$GC,9201,1.09,175.6,377.5,7.2,432,9205,0.00,2.55,0.00,0.000,4,0.000,0.062,2626,3696,2196
$GC,9268,1.09,175.6,372.4,7.9,435,9272,0.00,2.42,0.00,0.000,6,0.000,0.039,2626,2310,2196
$GC,9590,1.11,190.7,352.1,5.5,451,9612,0.00,2.58,14.10,1.053,4,0.000,0.054,2626,910,2137
$GC,9646,1.11,190.7,348.4,7.3,453,9650,0.00,2.55,0.00,0.000,6,0.000,0.043,2626,2332,2137
$GC,9962,1.11,190.7,326.5,7.0,468,9966,0.00,2.45,0.00,0.000,4,0.000,0.061,2626,3695,2137
$GC,10018,1.11,190.7,321.9,8.2,470,10023,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2315,2137
$GC,10334,1.11,190.7,296.5,8.3,485,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2315,2137
$GC,10644,1.11,190.7,272.0,8.0,500,10648,0.00,2.50,0.00,0.000,4,0.000,0.058,2626,3689,2137
$GC,10694,1.11,190.7,267.7,8.6,502,10698,0.00,2.38,0.00,0.000,6,0.000,0.037,2626,2316,2137
$GC,11016,1.11,190.7,246.6,6.2,518,11020,0.00,2.50,0.00,0.000,4,0.000,0.058,2626,3692,2137
$GC,11118,1.11,190.7,238.5,9.1,522,11124,0.00,2.40,0.00,0.000,6,0.000,0.037,2626,2305,2137
$GC,11434,1.11,190.7,217.5,6.3,538,11438,0.00,2.50,0.00,0.000,4,0.000,0.057,2626,3690,2137
$GC,11507,1.11,190.7,213.2,6.8,541,11511,0.00,2.38,0.00,0.000,6,0.000,0.037,2626,2314,2137
$GC,11828,1.11,190.7,192.5,6.8,557,11833,0.00,2.50,0.00,0.000,4,0.000,0.057,2626,3692,2137
$GC,11879,1.11,190.7,189.1,6.6,559,11883,0.00,2.38,0.00,0.000,6,0.000,0.036,2626,2318,2137
$GC,12195,1.11,190.7,168.3,6.8,574,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2317,2137
$GC,12505,1.11,190.7,146.8,7.0,589,12509,0.00,2.47,0.00,0.000,4,0.000,0.056,2626,3690,2137
$GC,12538,1.11,190.7,144.5,7.2,590,12545,0.00,2.38,0.00,0.000,6,0.000,0.037,2626,2313,2137
$GC,12857,1.11,192.2,124.9,6.0,606,12861,0.00,2.50,0.00,0.000,4,0.000,0.056,2626,3697,2138
$GC,12907,1.11,192.2,121.4,7.2,608,12911,0.00,2.38,0.00,0.000,6,0.000,0.035,2626,2314,2137
$GC,13225,1.12,200.9,101.9,5.7,623,13241,0.00,2.53,10.77,0.868,4,0.000,0.054,2626,3690,2095
$GC,13281,1.12,200.9,98.2,6.1,624,13287,0.00,2.40,0.00,0.000,6,0.000,0.035,2626,2307,2094
$GC,13598,1.14,215.5,80.4,5.6,640,13620,0.00,2.58,13.50,0.870,4,0.000,0.054,2626,3686,2036
$GC,13654,1.14,215.5,76.7,6.7,642,13658,0.00,2.38,0.00,0.000,6,0.000,0.035,2626,2318,2035
$GC,13972,1.15,222.5,58.7,5.8,657,13986,0.00,2.55,7.62,0.791,4,0.000,0.054,2626,3689,2007
$GC,14018,1.19,251.3,56.2,5.1,659,14048,0.00,2.38,25.08,0.868,6,0.000,0.035,2626,2312,1890
$GC,14374,1.23,251.3,33.6,7.5,676,14379,0.00,2.50,0.00,0.000,4,0.000,0.054,2625,3693,1890
$GC,14454,1.24,254.0,28.4,5.9,679,14464,0.00,2.38,4.40,0.638,6,0.000,0.035,2626,2312,1878
$GC,14793,1.29,254.0,5.9,7.4,696,14798,0.12,2.50,0.00,0.000,4,0.052,0.054,2661,3692,1878
$STATE,14841,end climb,SURFACE_DEPTH_REACHED
$STATE,14841,begin surface coast
$FINISH,0.6,1.027481
$STATE,14864,end surface coast,CONTROL_FINISHED_OK
$STATE,14864,begin surface
$SM_CCo,14891,39.28,0.791,2,0,1692,300.00
$SM_GC,1.39,0.00,0.00,39.28,0.000,0.000,0.791,25,2505,1692,-10.81,-0.31,300.00
$IRIDIUM_FIX,6346.88,-1227.44,020398,222217
$TT8_MAMPS,0.028379
$HUMID,2038
$INTERNAL_PRESSURE,7.76397
$TCM_TEMP,18.60
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,425.2,66.3
$24V_AH,23.1,28.985
$10V_AH,10.1,13.192
$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,25.475,159.975,355.175,39.275,0.000,47.035,52.471,219.632,4.750,0.000,0.000,12.156,1381.125,11063.836,535.111,1820.009,662.448,0.000,1476.098,0.000,1780.150,0.000,26.185,0.000
$DEVICE_MAMPS,125.788,75.933,1165.073,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.186,477.223,505.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34817,699
$CAP_FILE_SIZE,124659,0
$CFSIZE,260165632,248782848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071208,022715,6413.657,-1230.503,39,2.5,58,-12.2