version: 66.04
glider: 101
mission: 7
dive: 137
start: 11 29 108 5 53 26
data:
$ID,101
$MISSION,7
$DIVE,137
$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,-734681.56
$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,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
$GPS1,054638,6321.821,-1305.081,33,1.2,33,-12.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-49.7
$GPS2,055303,6321.820,-1305.320,12,1.3,12,-12.2
$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,36.6,16636,-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,-80.85,0.000,2,0.000,0.000,25,2518,3215
$GC,103,-1.16,-146.6,3.1,-1.5,4,127,11.00,2.10,-8.57,0.000,4,0.127,0.071,2117,3687,3513
$GC,293,-1.02,-146.6,22.2,-6.9,13,298,0.17,2.03,0.00,0.000,6,0.083,0.035,2152,2501,3514
$GC,621,-1.02,-146.6,41.4,-5.9,29,625,0.00,2.12,0.00,0.000,4,0.000,0.055,2152,3685,3513
$GC,723,-0.96,-146.6,47.2,-5.3,33,727,0.00,2.00,0.00,0.000,6,0.000,0.036,2152,2509,3513
$GC,1046,-0.92,-146.6,68.1,-7.3,49,1050,0.10,2.10,0.00,0.000,4,0.084,0.054,2174,3686,3514
$GC,1133,-0.92,-146.6,76.4,-8.0,53,1136,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2512,3513
$GC,1467,-0.92,-146.6,98.8,-6.2,69,1471,0.00,2.10,0.00,0.000,4,0.000,0.055,2174,3685,3513
$GC,1540,-0.92,-146.6,106.0,-10.1,72,1544,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2510,3513
$GC,1870,-0.92,-146.6,127.0,-6.0,88,1874,0.00,2.10,0.00,0.000,4,0.000,0.055,2174,3682,3513
$GC,1943,-0.92,-146.6,133.4,-7.0,91,1947,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2507,3514
$GC,2271,-0.92,-146.6,152.6,-6.2,107,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2507,3513
$GC,2582,-0.92,-146.6,175.6,-10.6,122,2586,0.00,2.10,0.00,0.000,4,0.000,0.055,2174,3682,3514
$GC,2751,-0.92,-146.6,187.9,-7.5,129,2755,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2504,3513
$GC,3073,-0.92,-146.6,213.1,-8.4,145,3077,0.00,2.12,0.00,0.000,4,0.000,0.056,2175,3689,3514
$GC,3152,-0.92,-146.6,219.3,-8.5,148,3156,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2512,3513
$GC,3474,-0.92,-146.6,238.7,-4.9,164,3477,0.00,2.10,0.00,0.000,4,0.000,0.056,2174,3685,3513
$GC,3547,-0.92,-146.6,242.8,-5.2,167,3551,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2506,3513
$GC,3875,-0.92,-146.6,257.7,-3.7,183,3879,0.00,2.12,0.00,0.000,4,0.000,0.056,2174,3692,3513
$GC,3971,-0.92,-146.6,261.4,-4.3,187,3974,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2507,3513
$GC,4298,-0.92,-146.6,272.4,-3.2,203,4302,0.00,2.12,0.00,0.000,4,0.000,0.056,2174,3692,3513
$GC,4428,-0.92,-146.6,276.9,-3.0,208,4434,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2511,3514
$GC,4745,-0.92,-146.6,285.2,-2.6,224,4749,0.00,2.10,0.00,0.000,4,0.000,0.057,2174,3683,3513
$GC,4830,-0.92,-146.6,287.7,-3.6,227,4836,0.00,1.98,0.00,0.000,6,0.000,0.035,2174,2517,3514
$GC,5146,-0.92,-146.6,297.4,-3.4,243,5150,0.00,2.10,0.00,0.000,4,0.000,0.058,2173,3689,3513
$GC,5220,-0.92,-146.6,300.8,-5.2,246,5224,0.00,2.00,0.00,0.000,6,0.000,0.035,2174,2509,3513
$GC,5547,-0.92,-146.6,320.1,-6.6,262,5551,0.00,2.10,0.00,0.000,4,0.000,0.058,2174,3680,3514
$GC,5633,-0.92,-146.6,326.0,-6.9,265,5639,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2519,3513
$GC,5950,-0.92,-146.6,344.6,-5.5,281,5951,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2519,3513
$GC,6259,-0.92,-146.6,358.9,-4.5,296,6263,0.00,2.10,0.00,0.000,4,0.000,0.059,2174,3686,3513
$GC,6412,-0.92,-146.6,365.7,-4.1,302,6418,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2511,3513
$GC,6728,-0.92,-146.6,378.0,-3.5,318,6732,0.00,2.12,0.00,0.000,4,0.000,0.060,2174,3686,3513
$GC,6847,-0.92,-146.6,382.5,-3.9,323,6850,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2514,3513
$GC,7175,-0.92,-146.6,396.2,-5.3,339,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2514,3513
$GC,7484,-0.92,-146.6,413.7,-5.5,354,7487,0.00,2.12,0.00,0.000,4,0.000,0.063,2174,3684,3513
$GC,7613,-0.92,-146.6,420.6,-5.2,359,7620,0.00,2.00,0.00,0.000,6,0.000,0.037,2174,2514,3514
$GC,7930,-0.96,-146.6,438.3,-5.9,375,7934,0.00,2.12,0.00,0.000,4,0.000,0.065,2174,3679,3513
$GC,8044,-0.96,-146.6,445.7,-7.1,380,8048,0.00,2.00,0.00,0.000,6,0.000,0.038,2174,2513,3513
$GC,8378,-1.01,-146.6,465.8,-6.3,396,8382,0.00,2.15,0.00,0.000,4,0.000,0.070,2174,3679,3513
$GC,8474,-1.01,-146.6,471.8,-6.2,400,8477,0.00,2.00,0.00,0.000,6,0.000,0.039,2174,2521,3513
$GC,8802,-1.06,-146.6,491.0,-6.3,416,8806,0.15,2.17,0.00,0.000,4,0.049,0.074,2130,3685,3513
$GC,8922,-0.99,-146.6,500.7,-7.3,421,8927,0.15,2.05,0.00,0.000,6,0.084,0.045,2159,2517,3513
$GC,9239,-0.99,-146.6,521.0,-6.3,436,9242,0.00,2.20,0.00,0.000,4,0.000,0.084,2160,3676,3513
$GC,9312,-0.99,-146.6,526.0,-6.9,439,9315,0.00,2.08,0.00,0.000,6,0.000,0.051,2160,2512,3513
$GC,9639,-0.99,-146.6,549.5,-7.5,455,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2511,3513
$GC,9948,-0.99,-146.6,571.0,-7.2,470,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2510,3513
$GC,10258,-0.99,-146.6,588.3,-4.4,485,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2510,3512
$GC,10567,-0.99,-146.6,595.2,-1.1,500,10571,0.00,2.25,0.00,0.000,4,0.000,0.087,2160,3685,3512
$GC,10682,-0.99,-146.6,596.9,-2.0,505,10685,0.00,2.10,0.00,0.000,6,0.000,0.052,2159,2510,3511
$GC,11010,-0.99,-146.6,607.1,-3.9,521,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2509,3511
$GC,11319,-0.99,-146.6,621.8,-6.7,536,11323,0.00,2.25,0.00,0.000,4,0.000,0.087,2160,3685,3511
$GC,11482,-0.99,-146.6,635.5,-8.9,543,11485,0.00,2.10,0.00,0.000,6,0.000,0.051,2159,2508,3511
$GC,11810,-0.99,-146.6,656.0,-2.2,559,11813,0.00,2.22,0.00,0.000,4,0.000,0.084,2160,3676,3510
$GC,11890,-0.99,-146.6,661.4,-7.2,562,11894,0.00,2.08,0.00,0.000,6,0.000,0.049,2160,2507,3510
$GC,12212,-1.25,-146.6,676.9,0.4,578,12217,0.25,2.25,0.00,0.000,4,0.054,0.084,2100,3686,3510
$STATE,12310,end dive,NO_VERTICAL_VELOCITY
$STATE,12310,begin apogee
$GC,12321,-0.45,0.0,676.3,0.0,582,12452,0.77,0.00,128.12,1.284,6,0.061,0.000,2272,2307,2915
$STATE,12453,end apogee,CONTROL_FINISHED_OK
$STATE,12453,begin climb
$GC,12457,1.16,146.6,675.7,0.0,589,12590,1.62,0.00,128.10,1.239,6,0.056,0.000,2624,2307,2317
$GC,12889,1.16,146.6,642.1,8.6,610,12894,0.00,2.62,0.00,0.000,4,0.000,0.076,2624,3685,2317
$GC,13045,1.10,176.9,629.9,5.1,617,13080,0.00,2.45,28.00,1.191,6,0.000,0.046,2624,2317,2193
$GC,13397,1.10,176.9,610.1,7.7,634,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2317,2192
$GC,13706,1.10,176.9,592.1,8.0,649,13711,0.00,2.58,0.00,0.000,4,0.000,0.074,2624,3677,2191
$GC,13895,1.05,176.9,578.0,8.1,657,13899,0.00,2.42,0.00,0.000,6,0.000,0.045,2624,2316,2191
$GC,14212,1.00,176.9,548.9,7.5,672,14213,0.15,0.00,0.00,0.000,6,0.093,0.000,2595,2316,2191
$GC,14521,1.05,176.9,512.6,8.3,687,14525,0.00,2.55,0.00,0.000,4,0.000,0.070,2595,3679,2190
$GC,14644,1.05,176.9,503.8,6.1,692,14650,0.00,2.42,0.00,0.000,6,0.000,0.043,2595,2308,2190
$GC,14961,1.26,298.3,493.6,2.4,708,15073,0.20,2.65,104.25,1.180,4,0.042,0.067,2651,3677,1699
$GC,15131,1.22,298.3,482.3,8.8,716,15136,0.00,2.42,0.00,0.000,6,0.000,0.042,2651,2317,1698
$GC,15459,1.23,309.4,461.5,5.7,732,15472,0.00,0.00,11.52,1.044,6,0.000,0.000,2651,2317,1653
$GC,15768,1.23,309.4,428.0,11.6,747,15772,0.00,2.53,0.00,0.000,4,0.000,0.063,2651,3686,1653
$GC,15860,1.23,309.4,418.5,9.9,751,15864,0.00,2.40,0.00,0.000,6,0.000,0.039,2651,2313,1653
$GC,16193,1.23,309.4,385.4,10.6,767,16197,0.00,2.50,0.00,0.000,4,0.000,0.060,2651,3679,1653
$GC,16249,1.23,309.4,379.4,10.6,769,16255,0.00,2.38,0.00,0.000,6,0.000,0.037,2651,2314,1653
$GC,16565,1.23,309.4,350.1,8.5,785,16566,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2313,1653
$GC,16874,1.23,309.4,326.2,7.9,800,16878,0.00,2.50,0.00,0.000,4,0.000,0.058,2651,3687,1653
$GC,16943,1.23,309.4,320.6,8.1,803,16947,0.00,2.40,0.00,0.000,6,0.000,0.036,2651,2304,1653
$GC,17269,1.23,309.4,297.3,7.2,819,17271,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2304,1653
$GC,17579,1.23,309.4,269.0,9.6,834,17583,0.00,2.50,0.00,0.000,4,0.000,0.055,2651,3684,1653
$GC,17657,1.23,309.4,261.2,11.1,837,17663,0.00,2.38,0.00,0.000,6,0.000,0.035,2651,2307,1653
$GC,17973,1.23,309.4,232.0,7.8,853,17978,0.00,2.50,0.00,0.000,4,0.000,0.054,2651,3693,1653
$GC,18024,1.23,309.4,227.1,10.0,855,18028,0.00,2.38,0.00,0.000,6,0.000,0.035,2651,2312,1653
$GC,18340,1.23,309.4,201.7,7.4,870,18344,0.00,2.47,0.00,0.000,4,0.000,0.054,2651,3686,1653
$GC,18391,1.23,309.4,198.2,7.4,872,18395,0.00,2.35,0.00,0.000,6,0.000,0.035,2651,2316,1653
$GC,18712,1.23,309.4,175.9,7.9,888,18714,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2315,1653
$GC,19021,1.23,309.4,149.2,7.9,903,19026,0.00,2.47,0.00,0.000,4,0.000,0.054,2651,3690,1654
$GC,19108,1.23,309.4,141.2,8.4,907,19112,0.00,2.35,0.00,0.000,6,0.000,0.035,2651,2318,1654
$GC,19435,1.23,309.4,117.0,8.7,923,19439,0.00,2.45,0.00,0.000,4,0.000,0.054,2651,3683,1654
$GC,19530,1.25,321.0,111.3,5.7,927,19547,0.00,2.35,11.70,0.839,6,0.000,0.035,2651,2312,1606
$GC,19869,1.25,321.0,89.0,9.1,944,19874,0.00,2.47,0.00,0.000,4,0.000,0.055,2651,3683,1606
$GC,19937,1.25,321.0,82.9,6.2,947,19941,0.00,2.35,0.00,0.000,6,0.000,0.035,2651,2318,1606
$GC,20259,1.25,321.0,48.2,10.8,963,20260,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2317,1606
$GC,20568,1.25,321.0,27.7,9.9,978,20572,0.00,2.45,0.00,0.000,4,0.000,0.054,2651,3684,1606
$GC,20613,1.25,321.0,23.2,8.6,980,20617,0.00,2.35,0.00,0.000,6,0.000,0.035,2651,2315,1606
$STATE,20813,end climb,SURFACE_DEPTH_REACHED
$STATE,20813,begin surface coast
$FINISH,0.9,1.027546
$STATE,20837,end surface coast,CONTROL_FINISHED_OK
$STATE,20837,begin surface
$SM_CCo,20922,0.00,0.000,0,0,1605,321.34
$SM_GC,1.64,11.48,0.00,0.00,0.031,0.000,0.000,25,2518,1605,-10.75,0.03,321.34
$IRIDIUM_FIX,6254.00,-1257.17,230298,000009
$TT8_MAMPS,0.028379
$HUMID,2013
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.2,67.2
$24V_AH,23.1,22.710
$10V_AH,10.1,10.037
$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,26.050,169.275,411.700,0.000,0.000,23.226,27.241,193.632,5.250,0.000,0.000,14.043,1900.812,15696.609,541.741,2518.082,648.802,0.000,1780.680,0.000,2460.729,0.000,38.932,0.000
$DEVICE_MAMPS,126.555,87.438,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,736.546,678.204,604.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50532,991
$CAP_FILE_SIZE,155461,0
$CFSIZE,260165632,251097088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291108,114346,6327.301,-1305.968,38,2.5,57,-12.3