version: 66.04
glider: 101
mission: 7
dive: 178
start: 12 7 108 6 53 13
data:
$ID,101
$MISSION,7
$DIVE,178
$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,553.88739
$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,-735655.69
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,064037,6414.891,-1227.987,36,1.0,41,-12.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-54.3
$GPS2,065251,6415.080,-1227.704,10,1.5,10,-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,235.4,38307,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.22,0.000,2,0.000,0.000,29,2536,3269
$GC,103,-1.16,-146.6,3.8,-4.1,4,126,10.85,2.60,-6.43,0.000,4,0.126,0.057,2113,1109,3514
$GC,286,-1.06,-146.6,25.5,-10.2,12,291,0.15,2.47,0.00,0.000,6,0.091,0.041,2142,2513,3515
$GC,614,-1.01,-146.6,50.5,-7.0,28,618,0.00,2.10,0.00,0.000,4,0.000,0.060,2142,3689,3515
$GC,693,-0.94,-146.6,56.8,-7.9,31,697,0.12,2.03,0.00,0.000,6,0.087,0.036,2167,2506,3515
$GC,1015,-0.94,-146.6,78.1,-6.3,47,1019,0.00,2.15,0.00,0.000,4,0.000,0.057,2167,3695,3515
$GC,1110,-0.94,-146.6,84.3,-6.5,51,1114,0.00,2.03,0.00,0.000,6,0.000,0.035,2167,2509,3515
$GC,1438,-0.94,-146.6,105.5,-6.5,67,1442,0.00,2.12,0.00,0.000,4,0.000,0.056,2167,3689,3515
$GC,1523,-0.94,-146.6,111.3,-6.9,70,1529,0.00,2.03,0.00,0.000,6,0.000,0.036,2167,2520,3515
$GC,1839,-0.94,-146.6,131.1,-6.3,86,1843,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3699,3515
$GC,1909,-0.94,-146.6,135.9,-7.6,89,1912,0.00,2.03,0.00,0.000,6,0.000,0.037,2166,2511,3515
$GC,2242,-0.94,-146.6,157.7,-7.0,105,2245,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3692,3515
$GC,2315,-0.94,-146.6,163.0,-7.5,108,2318,0.00,2.00,0.00,0.000,6,0.000,0.036,2168,2516,3515
$GC,2642,-0.94,-146.6,185.5,-6.6,124,2646,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3699,3515
$GC,2749,-0.94,-146.6,193.1,-6.8,128,2755,0.00,2.03,0.00,0.000,6,0.000,0.036,2167,2511,3515
$GC,3065,-0.94,-146.6,213.9,-6.5,144,3069,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3689,3515
$GC,3184,-0.94,-146.6,222.2,-7.0,149,3187,0.00,2.00,0.00,0.000,6,0.000,0.036,2167,2517,3515
$GC,3511,-0.94,-146.6,243.5,-6.3,165,3515,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3697,3515
$GC,3619,-0.94,-146.6,250.8,-6.9,169,3625,0.00,2.03,0.00,0.000,6,0.000,0.036,2167,2510,3515
$GC,3936,-0.94,-146.6,270.1,-5.8,185,3940,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3689,3515
$GC,4027,-0.94,-146.6,276.0,-6.5,189,4031,0.00,2.00,0.00,0.000,6,0.000,0.038,2167,2515,3515
$GC,4361,-0.94,-146.6,296.3,-5.8,205,4364,0.00,2.12,0.00,0.000,4,0.000,0.060,2167,3690,3515
$GC,4431,-0.94,-146.6,300.3,-6.2,208,4435,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2516,3514
$GC,4765,-0.94,-146.6,317.6,-4.7,224,4768,0.00,2.12,0.00,0.000,4,0.000,0.061,2167,3688,3515
$GC,4850,-0.94,-146.6,321.3,-4.4,227,4856,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2515,3515
$GC,5166,-0.94,-146.6,341.8,-6.9,243,5169,0.00,2.15,0.00,0.000,4,0.000,0.061,2167,3699,3514
$GC,5261,-0.94,-146.6,348.5,-7.4,247,5265,0.00,2.03,0.00,0.000,6,0.000,0.037,2167,2516,3514
$GC,5590,-0.99,-146.6,367.2,-5.2,263,5594,0.00,2.15,0.00,0.000,4,0.000,0.062,2167,3698,3514
$GC,5624,-0.99,-146.6,369.0,-5.4,264,5628,0.00,2.03,0.00,0.000,6,0.000,0.037,2167,2514,3514
$GC,5947,-1.03,-146.6,383.9,-4.4,280,5950,0.00,2.15,0.00,0.000,4,0.000,0.064,2167,3690,3514
$GC,6054,-1.03,-146.6,389.6,-5.1,284,6060,0.00,2.03,0.00,0.000,6,0.000,0.038,2167,2513,3514
$GC,6370,-1.03,-146.6,407.0,-5.9,300,6374,0.00,2.17,0.00,0.000,4,0.000,0.066,2167,3695,3513
$GC,6427,-1.03,-146.6,410.9,-6.0,302,6431,0.00,2.03,0.00,0.000,6,0.000,0.039,2167,2518,3513
$GC,6749,-1.08,-146.6,430.3,-6.7,318,6754,0.12,2.17,0.00,0.000,4,0.053,0.067,2130,3696,3513
$GC,6839,-1.01,-146.6,437.3,-7.3,322,6844,0.12,2.05,0.00,0.000,6,0.090,0.039,2154,2512,3513
$GC,7167,-1.01,-146.6,458.3,-5.9,338,7171,0.00,2.17,0.00,0.000,4,0.000,0.071,2155,3686,3513
$GC,7219,-1.01,-146.6,461.4,-5.8,340,7223,0.00,2.03,0.00,0.000,6,0.000,0.041,2154,2520,3513
$STATE,7399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7399,begin apogee
$GC,7408,-0.45,0.0,471.6,5.1,349,7542,0.55,0.00,126.93,1.162,6,0.065,0.000,2273,2312,2915
$STATE,7543,end apogee,CONTROL_FINISHED_OK
$STATE,7543,begin climb
$GC,7546,1.16,146.6,474.8,0.0,356,7681,1.60,2.67,126.07,1.119,4,0.057,0.071,2622,914,2316
$GC,7701,1.24,212.7,470.6,4.0,363,7767,0.10,2.60,57.80,1.083,6,0.072,0.055,2644,2314,2047
$GC,8084,1.24,212.7,446.5,6.6,382,8088,0.00,2.58,0.00,0.000,4,0.000,0.071,2645,3702,2046
$GC,8297,1.18,212.7,430.1,7.7,391,8303,0.00,2.47,0.00,0.000,6,0.000,0.042,2645,2305,2046
$GC,8613,1.18,212.7,408.2,7.0,407,8617,0.00,2.58,0.00,0.000,4,0.000,0.064,2645,3695,2046
$GC,8641,1.13,212.7,406.0,8.0,408,8646,0.12,2.45,0.00,0.000,6,0.102,0.040,2622,2303,2045
$GC,8958,1.16,235.5,387.7,5.3,423,8984,0.00,2.65,20.83,1.078,4,0.000,0.062,2621,3700,1953
$GC,9019,1.16,235.5,383.8,6.5,426,9023,0.00,2.45,0.00,0.000,6,0.000,0.040,2621,2316,1953
$GC,9347,1.16,235.5,363.1,7.1,442,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2316,1953
$GC,9656,1.20,235.5,340.6,7.4,457,9661,0.00,2.55,0.00,0.000,4,0.000,0.061,2622,3700,1952
$GC,9690,1.20,235.5,337.8,7.9,458,9696,0.00,2.42,0.00,0.000,6,0.000,0.039,2621,2314,1952
$GC,10006,1.20,235.5,316.7,6.4,474,10011,0.00,2.55,0.00,0.000,4,0.000,0.061,2621,3703,1952
$GC,10051,1.20,235.5,313.5,7.4,476,10055,0.00,2.42,0.00,0.000,6,0.000,0.038,2621,2310,1952
$GC,10378,1.20,235.5,290.6,6.4,492,10382,0.00,2.55,0.00,0.000,4,0.000,0.059,2621,3705,1951
$GC,10418,1.20,235.5,287.9,7.0,494,10422,0.00,2.42,0.00,0.000,6,0.000,0.038,2621,2310,1952
$GC,10746,1.25,235.5,265.9,7.0,510,10751,0.12,2.53,0.00,0.000,4,0.053,0.057,2654,3695,1952
$GC,10791,1.18,235.5,262.2,8.5,512,10796,0.12,2.40,0.00,0.000,6,0.098,0.037,2632,2312,1952
$GC,11113,1.18,235.5,239.9,6.8,528,11116,0.00,2.53,0.00,0.000,4,0.000,0.058,2632,3699,1952
$GC,11136,1.18,235.5,238.2,7.2,529,11140,0.00,2.40,0.00,0.000,6,0.000,0.037,2632,2312,1951
$GC,11463,1.18,235.5,216.4,6.8,545,11464,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2312,1952
$GC,11772,1.18,235.5,195.1,7.0,560,11777,0.00,2.53,0.00,0.000,4,0.000,0.057,2632,3703,1952
$GC,11829,1.18,235.5,190.8,7.6,562,11835,0.00,2.40,0.00,0.000,6,0.000,0.036,2631,2312,1952
$GC,12145,1.20,251.9,171.7,5.5,578,12167,0.00,2.58,15.20,0.937,4,0.000,0.055,2632,3702,1887
$GC,12214,1.21,258.6,167.7,5.8,581,12228,0.00,2.42,7.32,0.833,6,0.000,0.036,2632,2310,1860
$GC,12545,1.21,258.6,148.8,6.6,597,12550,0.00,2.53,0.00,0.000,4,0.000,0.056,2631,3702,1860
$GC,12587,1.21,258.6,145.7,7.5,599,12591,0.00,2.40,0.00,0.000,6,0.000,0.035,2632,2310,1860
$GC,12914,1.21,258.6,121.7,7.0,615,12919,0.00,2.53,0.00,0.000,4,0.000,0.055,2632,3706,1860
$GC,12942,1.21,258.6,119.4,8.1,616,12947,0.00,2.40,0.00,0.000,6,0.000,0.035,2631,2311,1860
$GC,13259,1.21,258.6,99.9,6.3,631,13263,0.00,2.50,0.00,0.000,4,0.000,0.054,2632,3696,1860
$GC,13282,1.21,258.6,98.1,7.4,632,13286,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2314,1860
$GC,13605,1.26,258.6,73.6,7.5,648,13609,0.00,2.50,0.00,0.000,4,0.000,0.055,2632,3698,1860
$GC,13645,1.26,258.6,69.7,9.3,650,13650,0.00,2.38,0.00,0.000,6,0.000,0.035,2632,2314,1860
$GC,13974,1.30,258.6,45.3,6.7,666,13979,0.12,2.50,0.00,0.000,4,0.053,0.054,2669,3697,1860
$GC,14060,1.23,258.6,38.2,8.7,670,14065,0.12,2.38,0.00,0.000,6,0.099,0.035,2645,2315,1859
$GC,14388,1.33,337.8,15.5,3.6,686,14456,0.00,0.00,66.22,0.857,6,0.000,0.000,2645,2314,1537
$STATE,14574,end climb,SURFACE_DEPTH_REACHED
$STATE,14574,begin surface coast
$FINISH,0.6,1.013332
$STATE,14594,end surface coast,CONTROL_FINISHED_OK
$STATE,14594,begin surface
$SM_CCo,14619,198.82,0.727,17,0,657,553.89
$SM_GC,1.06,0.00,0.00,198.82,0.000,0.000,0.727,26,2530,657,-10.80,0.34,553.89
$IRIDIUM_FIX,6351.77,-1223.67,030398,060622
$TT8_MAMPS,0.029146
$HUMID,1950
$INTERNAL_PRESSURE,7.66631
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.3,55.0
$24V_AH,23.1,29.300
$10V_AH,10.1,13.349
$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,25.950,156.125,420.375,198.825,0.000,158.380,203.671,0.000,3.250,0.000,0.000,14.604,1359.380,10981.358,809.576,1799.063,692.347,0.000,1743.964,0.000,1760.227,0.000,23.359,0.000
$DEVICE_MAMPS,125.788,71.331,1162.005,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.194,475.078,512.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34894,696
$CAP_FILE_SIZE,120778,0
$CFSIZE,260165632,248647680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,17,0
$GPS,071208,110307,6414.134,-1227.531,41,1.3,47,-12.2