version: 66.04
glider: 101
mission: 7
dive: 177
start: 12 7 108 2 33 36
data:
$ID,101
$MISSION,7
$DIVE,177
$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,-735640.44
$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,42
$R_STBD_OVSHOOT,23
$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
$GPS1,022715,6413.657,-1230.503,39,2.5,58,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-56.4
$GPS2,023317,6413.776,-1230.288,14,3.3,33,-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,235.6,35111,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,89,0.00,0.00,-70.45,0.000,2,0.000,0.000,25,2506,3112
$GC,93,-1.16,-146.6,3.3,-2.9,4,123,10.82,2.22,-11.98,0.000,4,0.122,0.073,2116,3691,3514
$GC,326,-1.03,-146.6,27.5,-9.5,14,331,0.15,2.03,0.00,0.000,6,0.087,0.036,2145,2509,3514
$GC,643,-0.99,-146.6,54.3,-7.8,29,647,0.00,2.15,0.00,0.000,4,0.000,0.056,2146,3698,3515
$GC,745,-0.93,-146.6,62.8,-9.5,33,749,0.12,2.03,0.00,0.000,6,0.088,0.036,2170,2514,3515
$GC,1067,-0.93,-146.6,90.8,-8.5,49,1071,0.00,2.12,0.00,0.000,4,0.000,0.056,2171,3691,3515
$GC,1124,-0.93,-146.6,95.9,-9.3,51,1127,0.00,2.03,0.00,0.000,6,0.000,0.036,2170,2506,3515
$GC,1446,-0.93,-146.6,117.8,-6.4,67,1450,0.00,2.15,0.00,0.000,4,0.000,0.056,2170,3699,3515
$GC,1553,-0.93,-146.6,125.5,-7.5,71,1559,0.00,2.03,0.00,0.000,6,0.000,0.036,2171,2510,3515
$GC,1871,-0.93,-146.6,145.3,-5.9,87,1875,0.00,2.12,0.00,0.000,4,0.000,0.056,2170,3691,3515
$GC,1967,-0.93,-146.6,151.6,-6.7,91,1971,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2514,3515
$GC,2294,-0.93,-146.6,172.1,-6.6,107,2298,0.00,2.12,0.00,0.000,4,0.000,0.057,2170,3694,3515
$GC,2369,-0.93,-146.6,177.5,-7.4,110,2373,0.00,2.03,0.00,0.000,6,0.000,0.036,2170,2505,3515
$GC,2697,-0.93,-146.6,198.0,-6.1,126,2701,0.00,2.15,0.00,0.000,4,0.000,0.057,2170,3698,3515
$GC,2793,-0.93,-146.6,203.9,-6.5,130,2796,0.00,2.03,0.00,0.000,6,0.000,0.036,2170,2511,3515
$GC,3121,-0.93,-146.6,222.9,-5.6,146,3125,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3689,3515
$GC,3246,-0.93,-146.6,230.3,-6.3,151,3250,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2517,3515
$GC,3568,-0.93,-146.6,249.2,-5.9,167,3572,0.00,2.12,0.00,0.000,4,0.000,0.058,2171,3695,3515
$GC,3597,-0.93,-146.6,251.1,-7.0,168,3600,0.00,2.03,0.00,0.000,6,0.000,0.036,2170,2509,3515
$GC,3924,-0.93,-146.6,270.1,-5.6,184,3928,0.00,2.15,0.00,0.000,4,0.000,0.059,2170,3699,3515
$GC,3958,-0.93,-146.6,272.2,-6.0,185,3962,0.00,2.03,0.00,0.000,6,0.000,0.037,2170,2513,3515
$GC,4281,-0.93,-146.6,290.8,-6.0,201,4285,0.00,2.12,0.00,0.000,4,0.000,0.059,2170,3690,3515
$GC,4382,-0.93,-146.6,297.4,-6.6,205,4386,0.00,2.00,0.00,0.000,6,0.000,0.037,2170,2516,3515
$GC,4705,-0.93,-146.6,318.4,-6.6,221,4708,0.00,2.12,0.00,0.000,4,0.000,0.060,2170,3692,3515
$GC,4744,-0.93,-146.6,321.1,-6.4,222,4750,0.00,2.00,0.00,0.000,6,0.000,0.037,2170,2516,3515
$GC,5060,-0.93,-146.6,341.0,-6.3,238,5064,0.00,2.12,0.00,0.000,4,0.000,0.061,2170,3689,3515
$GC,5117,-0.93,-146.6,345.5,-7.3,240,5120,0.00,2.00,0.00,0.000,6,0.000,0.037,2170,2515,3514
$GC,5439,-0.93,-146.6,367.2,-5.7,256,5443,0.00,2.15,0.00,0.000,4,0.000,0.061,2170,3696,3514
$GC,5524,-0.93,-146.6,373.2,-8.1,259,5530,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2515,3514
$GC,5840,-0.93,-146.6,395.4,-7.7,275,5844,0.00,2.15,0.00,0.000,4,0.000,0.064,2170,3692,3515
$GC,5976,-0.93,-146.6,405.1,-6.8,281,5980,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2511,3514
$GC,6310,-0.97,-146.6,426.1,-6.3,297,6314,0.00,2.15,0.00,0.000,4,0.000,0.067,2170,3688,3514
$GC,6379,-0.97,-146.6,430.7,-6.7,300,6382,0.00,2.03,0.00,0.000,6,0.000,0.039,2170,2516,3514
$GC,6713,-1.02,-146.6,447.1,-3.4,316,6717,0.00,2.17,0.00,0.000,4,0.000,0.069,2170,3692,3513
$GC,6821,-1.02,-146.6,450.6,-3.1,320,6827,0.00,2.05,0.00,0.000,6,0.000,0.041,2170,2511,3514
$GC,7137,-1.02,-146.6,466.9,-6.2,336,7141,0.00,2.22,0.00,0.000,4,0.000,0.079,2170,3690,3514
$STATE,7174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7174,begin apogee
$GC,7184,-0.45,0.0,470.1,7.4,337,7314,0.45,0.00,127.03,1.163,6,0.069,0.000,2271,2326,2915
$STATE,7315,end apogee,CONTROL_FINISHED_OK
$STATE,7315,begin climb
$GC,7319,1.16,146.6,474.2,0.0,344,7453,1.62,2.72,126.18,1.118,4,0.057,0.074,2623,911,2317
$GC,7554,1.20,185.7,467.7,4.8,355,7596,0.00,2.60,35.35,1.085,6,0.000,0.058,2623,2321,2156
$GC,7906,1.20,185.7,446.1,7.1,372,7910,0.00,2.58,0.00,0.000,4,0.000,0.075,2623,3700,2155
$GC,8058,1.20,185.7,435.3,7.1,379,8063,0.00,2.47,0.00,0.000,6,0.000,0.045,2623,2305,2154
$GC,8386,1.20,185.7,412.8,6.4,395,8390,0.00,2.60,0.00,0.000,4,0.000,0.067,2624,3700,2154
$GC,8493,1.20,185.7,405.2,7.1,400,8497,0.00,2.45,0.00,0.000,6,0.000,0.042,2623,2305,2153
$GC,8827,1.20,185.7,381.6,6.8,416,8832,0.00,2.58,0.00,0.000,4,0.000,0.064,2623,3695,2152
$GC,8900,1.20,185.7,376.4,7.3,419,8905,0.00,2.42,0.00,0.000,6,0.000,0.041,2623,2315,2152
$GC,9217,1.20,185.7,354.1,7.6,434,9221,0.00,2.53,0.00,0.000,4,0.000,0.062,2623,3695,2152
$GC,9296,1.20,185.7,347.9,7.2,437,9302,0.00,2.42,0.00,0.000,6,0.000,0.039,2623,2307,2152
$GC,9612,1.20,185.7,327.1,6.4,453,9616,0.00,2.55,0.00,0.000,4,0.000,0.060,2624,3699,2152
$GC,9656,1.20,185.7,323.9,7.3,455,9660,0.00,2.42,0.00,0.000,6,0.000,0.038,2623,2307,2152
$GC,9978,1.20,185.7,302.4,6.5,471,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2307,2152
$GC,10287,1.20,185.7,283.1,6.2,486,10291,0.00,2.55,0.00,0.000,4,0.000,0.058,2624,3705,2151
$GC,10350,1.21,186.9,279.1,6.0,489,10354,0.00,2.40,0.00,0.000,6,0.000,0.038,2623,2316,2152
$GC,10683,1.23,207.5,260.5,5.4,505,10708,0.00,2.60,18.90,1.020,4,0.000,0.058,2623,3690,2069
$GC,10728,1.23,207.5,258.0,6.1,507,10732,0.00,2.42,0.00,0.000,6,0.000,0.037,2623,2308,2069
$GC,11055,1.26,233.9,240.2,5.2,523,11085,0.12,2.62,23.88,1.006,4,0.051,0.058,2661,3690,1960
$GC,11144,1.19,233.9,234.3,7.5,527,11149,0.12,2.40,0.00,0.000,6,0.099,0.037,2638,2316,1960
$GC,11471,1.21,245.2,215.8,5.7,543,11491,0.00,2.58,11.25,0.936,4,0.000,0.056,2637,3705,1914
$GC,11520,1.21,245.2,212.4,7.2,545,11524,0.00,2.42,0.00,0.000,6,0.000,0.036,2637,2315,1914
$GC,11842,1.21,245.2,192.0,6.4,561,11846,0.00,2.53,0.00,0.000,4,0.000,0.057,2637,3703,1914
$GC,11870,1.21,245.2,190.1,6.1,562,11874,0.00,2.40,0.00,0.000,6,0.000,0.035,2637,2309,1914
$GC,12192,1.22,254.6,170.9,5.7,578,12207,0.00,2.55,9.80,0.895,4,0.000,0.056,2637,3698,1877
$GC,12258,1.22,254.6,166.6,6.4,580,12262,0.00,2.40,0.00,0.000,6,0.000,0.035,2638,2310,1876
$GC,12586,1.22,255.1,147.5,6.0,596,12590,0.00,2.53,0.00,0.000,4,0.000,0.056,2637,3706,1876
$GC,12627,1.22,255.1,144.9,6.4,597,12633,0.00,2.40,0.00,0.000,6,0.000,0.035,2637,2316,1876
$GC,12943,1.22,255.1,123.4,7.1,613,12948,0.00,2.50,0.00,0.000,4,0.000,0.056,2637,3696,1876
$GC,12972,1.22,255.1,121.3,6.9,614,12976,0.00,2.38,0.00,0.000,6,0.000,0.035,2637,2318,1876
$GC,13290,1.22,255.1,99.2,7.3,629,13294,0.00,2.50,0.00,0.000,4,0.000,0.055,2637,3699,1876
$GC,13330,1.22,255.1,95.9,7.9,631,13334,0.00,2.38,0.00,0.000,6,0.000,0.035,2637,2317,1876
$GC,13658,1.22,255.1,70.7,7.3,647,13662,0.00,2.50,0.00,0.000,4,0.000,0.055,2638,3699,1876
$GC,13699,1.22,255.1,68.0,6.4,649,13703,0.00,2.38,0.00,0.000,6,0.000,0.035,2637,2317,1876
$GC,14027,1.23,259.4,46.7,5.9,665,14038,0.00,2.53,6.07,0.751,4,0.000,0.054,2637,3702,1857
$GC,14068,1.23,259.4,43.7,7.4,667,14072,0.00,2.40,0.00,0.000,6,0.000,0.035,2637,2309,1856
$GC,14401,1.23,259.4,19.6,7.0,683,14406,0.00,2.53,0.00,0.000,4,0.000,0.055,2637,3705,1857
$GC,14447,1.23,259.4,16.0,7.6,685,14451,0.00,2.40,0.00,0.000,6,0.000,0.034,2637,2307,1856
$STATE,14642,end climb,SURFACE_DEPTH_REACHED
$STATE,14642,begin surface coast
$FINISH,0.6,1.027203
$STATE,14664,end surface coast,CONTROL_FINISHED_OK
$STATE,14664,begin surface
$SM_CCo,14689,36.20,0.792,2,0,1691,300.00
$SM_GC,1.42,0.00,0.00,36.20,0.000,0.000,0.792,28,2535,1691,-10.80,0.51,300.00
$IRIDIUM_FIX,6346.88,-1237.09,020398,222235
$TT8_MAMPS,0.029146
$HUMID,2041
$INTERNAL_PRESSURE,7.76397
$TCM_TEMP,15.20
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,376.3,103.6
$24V_AH,23.1,29.118
$10V_AH,10.1,13.269
$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,24.975,165.500,358.450,36.200,0.000,25.429,30.635,150.806,6.250,0.000,0.000,35.955,1372.827,10812.883,514.488,1861.020,537.512,0.000,1464.605,0.000,1799.133,0.000,20.259,0.000
$DEVICE_MAMPS,121.953,79.001,1162.772,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,518.081,475.407,502.237,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34805,696
$CAP_FILE_SIZE,120198,0
$CFSIZE,260165632,248725504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,071208,064037,6414.891,-1227.987,36,1.0,41,-12.2