version: 66.04
glider: 101
mission: 7
dive: 136
start: 11 29 108 0 40 55
data:
$ID,101
$MISSION,7
$DIVE,136
$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,-734666.88
$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,32
$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
$GPS1,003308,6317.061,-1301.267,29,1.4,29,-12.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-48.2
$GPS2,004035,6317.089,-1301.176,13,2.6,32,-12.1
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$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,20.3,24159,-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,11,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-80.50,0.000,2,0.000,0.000,27,2541,3284
$GC,102,-1.16,-146.6,4.5,-4.6,4,121,10.98,0.00,-5.80,0.000,6,0.126,0.000,2118,2541,3514
$GC,429,-1.04,-146.6,35.0,-9.3,20,431,0.15,0.00,0.00,0.000,6,0.077,0.000,2150,2541,3514
$GC,736,-1.04,-146.6,55.6,-6.1,35,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2541,3514
$GC,1046,-1.04,-146.6,78.5,-6.1,50,1049,0.00,2.05,0.00,0.000,4,0.000,0.059,2150,3686,3514
$GC,1130,-0.99,-146.6,84.5,-6.9,53,1137,0.00,2.03,0.00,0.000,6,0.000,0.037,2151,2519,3514
$GC,1447,-0.99,-146.6,108.0,-6.9,69,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2519,3514
$GC,1757,-0.99,-146.6,124.1,-4.7,84,1760,0.00,2.10,0.00,0.000,4,0.000,0.057,2150,3686,3514
$GC,1831,-0.93,-146.6,126.8,-4.8,87,1835,0.10,2.00,0.00,0.000,6,0.091,0.036,2170,2513,3514
$GC,2157,-0.93,-146.6,156.9,-6.1,103,2161,0.00,2.10,0.00,0.000,4,0.000,0.057,2170,3681,3514
$GC,2220,-0.93,-146.6,159.8,-4.9,105,2226,0.00,2.03,0.00,0.000,6,0.000,0.037,2169,2494,3514
$GC,2537,-0.93,-146.6,179.9,-6.6,121,2540,0.00,2.15,0.00,0.000,4,0.000,0.057,2170,3690,3514
$GC,2621,-0.93,-146.6,185.8,-7.2,124,2627,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2514,3514
$GC,2938,-0.93,-146.6,204.3,-5.5,140,2941,0.00,2.10,0.00,0.000,4,0.000,0.056,2170,3685,3514
$GC,3033,-0.93,-146.6,210.3,-6.3,144,3037,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2509,3514
$GC,3361,-0.93,-146.6,226.3,-5.0,160,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2509,3514
$GC,3670,-0.93,-146.6,240.0,-5.1,175,3674,0.00,2.12,0.00,0.000,4,0.000,0.057,2170,3693,3514
$GC,3800,-0.93,-146.6,247.2,-5.4,180,3806,0.00,2.03,0.00,0.000,6,0.000,0.036,2170,2499,3514
$GC,4117,-0.93,-146.6,262.3,-5.0,196,4121,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3683,3514
$GC,4208,-0.93,-146.6,267.6,-5.8,200,4212,0.00,1.98,0.00,0.000,6,0.000,0.036,2170,2518,3514
$GC,4542,-0.93,-146.6,287.0,-6.2,216,4546,0.00,2.10,0.00,0.000,4,0.000,0.058,2169,3686,3514
$GC,4649,-0.93,-146.6,294.1,-5.7,220,4656,0.00,2.03,0.00,0.000,6,0.000,0.036,2170,2513,3514
$GC,4966,-0.93,-146.6,311.8,-5.4,236,4970,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3692,3514
$GC,5051,-0.93,-146.6,317.4,-7.2,239,5057,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2515,3514
$GC,5367,-0.93,-146.6,338.2,-7.0,255,5370,0.00,2.12,0.00,0.000,4,0.000,0.060,2170,3691,3514
$GC,5496,-0.93,-146.6,348.8,-8.6,260,5502,0.00,2.03,0.00,0.000,6,0.000,0.036,2170,2506,3514
$GC,5815,-0.93,-146.6,375.2,-8.9,276,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2506,3514
$GC,6122,-0.93,-146.6,399.5,-7.0,291,6126,0.00,2.15,0.00,0.000,4,0.000,0.062,2170,3689,3514
$GC,6251,-0.93,-146.6,408.1,-6.2,296,6257,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2521,3514
$GC,6568,-0.93,-146.6,423.3,-4.6,312,6571,0.00,2.12,0.00,0.000,4,0.000,0.064,2170,3685,3514
$GC,6771,-0.93,-146.6,433.8,-6.2,321,6775,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2516,3514
$GC,7104,-0.93,-146.6,457.3,-8.4,337,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2516,3514
$GC,7413,-0.93,-146.6,483.5,-8.4,352,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2516,3514
$GC,7723,-0.98,-146.6,509.2,-7.7,367,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2516,3513
$GC,8033,-1.02,-146.6,530.4,-6.0,382,8036,0.00,2.25,0.00,0.000,4,0.000,0.091,2170,3685,3513
$GC,8157,-1.02,-146.6,537.2,-5.5,387,8161,0.00,2.10,0.00,0.000,6,0.000,0.059,2170,2525,3513
$GC,8480,-1.07,-146.6,549.0,-3.2,403,8484,0.12,2.25,0.00,0.000,4,0.053,0.097,2133,3675,3512
$GC,8592,-1.02,-146.6,553.9,-4.7,408,8596,0.00,2.10,0.00,0.000,6,0.000,0.059,2133,2511,3513
$GC,8920,-1.02,-146.6,569.6,-5.8,424,8924,0.00,2.25,0.00,0.000,4,0.000,0.089,2133,3682,3513
$GC,8994,-0.97,-146.6,574.2,-6.7,427,8998,0.15,2.10,0.00,0.000,6,0.083,0.053,2162,2508,3513
$GC,9315,-0.97,-146.6,592.3,-6.4,443,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2508,3512
$GC,9625,-1.01,-146.6,609.3,-4.8,458,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2507,3512
$STATE,9930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9931,begin apogee
$GC,9939,-0.45,0.0,625.3,5.3,473,10073,0.52,0.00,128.07,1.249,6,0.067,0.000,2275,2317,2914
$STATE,10074,end apogee,CONTROL_FINISHED_OK
$STATE,10074,begin climb
$GC,10078,1.16,146.6,629.0,0.0,480,10210,1.60,0.00,127.45,1.214,6,0.055,0.000,2624,2317,2317
$GC,10511,1.20,179.4,610.6,5.0,501,10544,0.00,0.00,30.23,1.176,6,0.000,0.000,2624,2317,2183
$GC,10840,1.24,211.1,593.7,5.1,517,10871,0.00,0.00,29.02,1.179,6,0.000,0.000,2624,2317,2054
$GC,11169,1.28,244.3,578.6,5.0,533,11205,0.12,2.65,30.42,1.184,4,0.051,0.074,2661,3685,1917
$GC,11324,1.21,244.3,565.4,10.0,539,11329,0.12,2.47,0.00,0.000,6,0.100,0.046,2638,2306,1917
$GC,11645,1.21,244.3,533.0,10.4,555,11649,0.00,2.60,0.00,0.000,4,0.000,0.071,2638,3687,1916
$GC,11713,1.16,244.3,525.8,10.1,558,11717,0.00,2.45,0.00,0.000,6,0.000,0.044,2637,2312,1916
$GC,12034,1.22,295.8,505.4,4.5,574,12081,0.00,0.00,45.08,1.177,6,0.000,0.000,2637,2312,1709
$GC,12384,1.22,295.8,486.1,7.2,591,12388,0.00,2.55,0.00,0.000,4,0.000,0.067,2638,3687,1709
$GC,12479,1.22,295.8,477.9,8.6,595,12484,0.00,2.42,0.00,0.000,6,0.000,0.041,2637,2314,1708
$GC,12807,1.22,295.8,452.1,7.7,611,12811,0.00,2.53,0.00,0.000,4,0.000,0.064,2638,3679,1708
$GC,12875,1.22,295.8,446.4,8.2,614,12879,0.00,2.40,0.00,0.000,6,0.000,0.041,2638,2315,1708
$GC,13196,1.22,295.8,420.5,7.6,630,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2315,1708
$GC,13505,1.22,295.8,398.4,7.2,645,13510,0.00,2.50,0.00,0.000,4,0.000,0.061,2637,3678,1708
$GC,13595,1.22,295.8,390.2,9.5,649,13600,0.00,2.40,0.00,0.000,6,0.000,0.038,2637,2303,1708
$GC,13918,1.22,295.8,360.3,9.5,665,13922,0.00,2.53,0.00,0.000,4,0.000,0.059,2638,3687,1708
$GC,13968,1.22,295.8,355.5,9.4,667,13972,0.00,2.40,0.00,0.000,6,0.000,0.038,2638,2305,1708
$GC,14284,1.25,314.1,335.3,5.5,682,14307,0.00,2.62,17.30,1.021,4,0.000,0.058,2637,3683,1634
$GC,14358,1.27,330.9,331.2,5.5,685,14378,0.00,2.38,15.50,1.002,6,0.000,0.037,2637,2318,1566
$GC,14701,1.27,330.9,309.3,7.5,702,14702,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2318,1566
$GC,15010,1.31,330.9,279.8,9.9,717,15015,0.00,2.47,0.00,0.000,4,0.000,0.057,2637,3680,1566
$GC,15097,1.31,330.9,271.3,9.8,721,15101,0.00,2.38,0.00,0.000,6,0.000,0.036,2637,2307,1566
$GC,15425,1.35,330.9,244.8,7.3,737,15426,0.15,0.00,0.00,0.000,6,0.048,0.000,2680,2307,1566
$GC,15734,1.31,330.9,219.5,7.5,752,15738,0.00,2.50,0.00,0.000,4,0.000,0.056,2680,3686,1566
$GC,15829,1.24,330.9,211.5,8.3,756,15834,0.17,2.38,0.00,0.000,6,0.094,0.035,2646,2309,1566
$GC,16146,1.24,330.9,186.2,8.3,771,16147,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2308,1566
$GC,16455,1.24,330.9,161.8,8.6,786,16459,0.00,2.47,0.00,0.000,4,0.000,0.055,2646,3682,1566
$GC,16533,1.24,330.9,154.4,9.1,789,16537,0.00,2.35,0.00,0.000,6,0.000,0.035,2646,2318,1566
$GC,16850,1.24,330.9,124.3,10.5,804,16854,0.00,2.45,0.00,0.000,4,0.000,0.055,2646,3683,1566
$GC,16913,1.24,330.9,118.6,7.4,807,16917,0.00,2.35,0.00,0.000,6,0.000,0.035,2646,2316,1566
$GC,17241,1.28,330.9,90.3,7.3,823,17242,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2314,1566
$GC,17550,1.28,330.9,67.1,9.3,838,17554,0.00,2.45,0.00,0.000,4,0.000,0.054,2646,3682,1566
$GC,17617,1.28,330.9,59.1,10.6,841,17621,0.00,2.35,0.00,0.000,6,0.000,0.035,2646,2311,1566
$GC,17939,1.28,330.9,25.4,10.6,857,17940,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2310,1566
$STATE,18162,end climb,SURFACE_DEPTH_REACHED
$STATE,18162,begin surface coast
$FINISH,0.9,1.013490
$STATE,18186,end surface coast,CONTROL_FINISHED_OK
$STATE,18186,begin surface
$SM_CCo,18270,0.00,0.000,0,0,1566,330.66
$SM_GC,1.71,11.55,0.00,0.00,0.037,0.000,0.000,25,2517,1566,-10.75,0.00,330.66
$IRIDIUM_FIX,6249.28,-1310.06,220298,181853
$TT8_MAMPS,0.029146
$HUMID,2026
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.5,109.5
$24V_AH,23.1,22.553
$10V_AH,10.1,9.938
$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,25.750,122.275,423.075,0.000,0.000,25.241,29.579,219.990,4.250,0.000,0.000,34.675,1616.327,13867.255,553.664,2044.751,626.999,0.000,1545.343,0.000,1983.844,0.000,29.985,0.000
$DEVICE_MAMPS,125.788,96.642,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,644.930,593.680,539.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44276,869
$CAP_FILE_SIZE,129808,0
$CFSIZE,260165632,251199488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291108,054638,6321.821,-1305.081,33,1.2,33,-12.2