version: 66.04
glider: 101
mission: 7
dive: 138
start: 11 29 108 11 51 21
data:
$ID,101
$MISSION,7
$DIVE,138
$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,-734729.19
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,114346,6327.301,-1305.968,38,2.5,57,-12.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-51.3
$GPS2,115059,6327.267,-1306.062,22,2.5,41,-12.3
$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,68.2,9039,-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,-81.10,0.000,2,0.000,0.000,25,2518,3356
$GC,103,-1.16,-146.6,4.7,-4.6,4,125,10.88,2.50,-3.85,0.000,4,0.124,0.057,2115,1106,3513
$GC,378,-1.08,-146.6,33.5,-11.0,16,383,0.12,2.47,0.00,0.000,6,0.097,0.039,2139,2516,3514
$GC,702,-1.02,-146.6,53.0,-7.2,32,706,0.00,2.10,0.00,0.000,4,0.000,0.058,2139,3696,3514
$GC,843,-0.97,-146.6,72.2,-13.3,38,848,0.12,2.03,0.00,0.000,6,0.085,0.035,2164,2508,3514
$GC,1165,-0.97,-146.6,83.0,-4.5,54,1169,0.00,2.12,0.00,0.000,4,0.000,0.056,2164,3689,3514
$GC,1250,-0.97,-146.6,87.2,-5.5,57,1256,0.00,2.03,0.00,0.000,6,0.000,0.036,2164,2504,3514
$GC,1568,-0.97,-146.6,109.2,-8.1,73,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2504,3514
$GC,1876,-0.97,-146.6,131.9,-7.1,88,1880,0.00,2.12,0.00,0.000,4,0.000,0.055,2163,3689,3513
$GC,2000,-0.97,-146.6,143.5,-10.4,93,2003,0.00,2.00,0.00,0.000,6,0.000,0.036,2164,2515,3514
$GC,2321,-0.97,-146.6,179.8,-11.6,109,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2515,3514
$GC,2631,-0.97,-146.6,220.4,-13.8,124,2634,0.00,2.10,0.00,0.000,4,0.000,0.057,2164,3689,3514
$GC,2709,-0.97,-146.6,232.2,-15.6,127,2713,0.00,2.00,0.00,0.000,6,0.000,0.035,2164,2513,3514
$GC,3031,-0.97,-146.6,283.9,-16.9,143,3035,0.00,2.12,0.00,0.000,4,0.000,0.058,2164,3694,3514
$GC,3104,-0.97,-146.6,297.0,-17.7,146,3108,0.00,2.00,0.00,0.000,6,0.000,0.035,2164,2516,3514
$GC,3432,-0.97,-146.6,348.3,-14.1,162,3436,0.00,2.12,0.00,0.000,4,0.000,0.059,2164,3693,3514
$GC,3539,-0.97,-146.6,363.0,-13.6,166,3545,0.00,2.00,0.00,0.000,6,0.000,0.035,2164,2519,3514
$GC,3856,-0.97,-146.6,400.5,-11.4,182,3859,0.00,2.12,0.00,0.000,4,0.000,0.061,2164,3686,3514
$GC,3985,-0.97,-146.6,416.1,-11.2,187,3991,0.00,2.00,0.00,0.000,6,0.000,0.037,2164,2520,3514
$GC,4302,-0.97,-146.6,437.2,-5.7,203,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2520,3514
$GC,4611,-0.97,-146.6,456.7,-6.1,218,4614,0.00,2.15,0.00,0.000,4,0.000,0.068,2164,3686,3514
$GC,4706,-0.97,-146.6,462.1,-5.3,222,4710,0.00,2.03,0.00,0.000,6,0.000,0.038,2164,2514,3514
$GC,5034,-0.97,-146.6,476.2,-2.4,238,5038,0.00,2.17,0.00,0.000,4,0.000,0.071,2164,3685,3514
$GC,5193,-0.97,-146.6,476.1,-0.7,245,5197,0.00,2.03,0.00,0.000,6,0.000,0.040,2164,2516,3513
$GC,5527,-0.97,-146.6,486.1,-6.9,261,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2516,3513
$GC,5836,-0.97,-146.6,506.0,-7.5,276,5840,0.00,2.20,0.00,0.000,4,0.000,0.080,2164,3684,3513
$GC,6030,-0.97,-146.6,517.5,-5.4,284,6034,0.00,2.08,0.00,0.000,6,0.000,0.050,2164,2517,3513
$GC,6352,-0.97,-146.6,533.1,0.4,300,6357,0.00,2.62,0.00,0.000,4,0.000,0.077,2164,1106,3513
$GC,6426,-0.97,-146.6,534.7,-3.3,303,6430,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2510,3513
$GC,6746,-0.97,-146.6,550.3,-4.3,318,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2511,3513
$GC,7052,-0.97,-146.6,558.4,-1.8,333,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2511,3513
$GC,7361,-0.97,-146.6,576.7,-8.7,348,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2511,3512
$GC,7670,-1.03,-146.6,604.1,-11.2,363,7675,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1104,3512
$STATE,7708,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7708,begin apogee
$GC,7718,-0.45,0.0,610.6,15.4,365,7851,0.52,0.00,127.12,1.215,6,0.069,0.000,2277,2319,2915
$STATE,7851,end apogee,CONTROL_FINISHED_OK
$STATE,7851,begin climb
$GC,7855,1.16,146.6,622.7,0.0,372,7992,1.62,2.75,127.70,1.181,4,0.056,0.076,2626,902,2317
$GC,8087,1.25,284.5,619.2,1.9,383,8214,0.00,2.62,119.28,1.167,6,0.000,0.061,2626,2318,1755
$GC,8542,1.25,284.5,575.0,18.7,405,8547,0.00,2.60,0.00,0.000,4,0.000,0.077,2626,3703,1753
$GC,8605,1.25,284.5,568.6,6.6,408,8610,0.00,2.47,0.00,0.000,6,0.000,0.044,2626,2313,1753
$GC,8933,1.25,284.5,542.2,10.3,424,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2313,1753
$GC,9242,1.25,284.5,512.8,10.1,439,9246,0.00,2.58,0.00,0.000,4,0.000,0.069,2626,3698,1752
$GC,9387,1.25,284.5,494.8,12.9,445,9394,0.00,2.45,0.00,0.000,6,0.000,0.041,2626,2308,1752
$GC,9704,1.25,284.5,459.5,10.0,461,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2308,1752
$GC,10014,1.30,330.1,440.5,4.6,476,10059,0.15,2.60,39.60,1.106,4,0.051,0.061,2665,3696,1569
$GC,10136,1.26,330.1,434.1,6.7,481,10140,0.00,2.42,0.00,0.000,6,0.000,0.038,2665,2315,1568
$GC,10453,1.26,330.1,414.5,6.6,496,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2315,1568
$GC,10762,1.26,330.1,390.2,9.6,511,10766,0.00,2.53,0.00,0.000,4,0.000,0.060,2665,3699,1568
$GC,10841,1.21,330.1,382.0,10.5,514,10846,0.15,2.40,0.00,0.000,6,0.095,0.036,2636,2314,1568
$GC,11157,1.21,330.1,352.2,9.0,529,11162,0.00,2.53,0.00,0.000,4,0.000,0.058,2636,3702,1568
$GC,11215,1.21,330.1,347.1,8.7,531,11221,0.00,2.40,0.00,0.000,6,0.000,0.036,2636,2313,1568
$GC,11532,1.25,330.1,322.1,7.7,547,11536,0.00,2.53,0.00,0.000,4,0.000,0.058,2636,3704,1568
$GC,11582,1.25,330.1,318.0,8.3,549,11586,0.00,2.40,0.00,0.000,6,0.000,0.036,2636,2312,1568
$GC,11898,1.25,330.1,296.6,6.1,564,11902,0.00,2.50,0.00,0.000,4,0.000,0.057,2637,3697,1568
$GC,11954,1.25,330.1,293.1,6.3,566,11959,0.00,2.38,0.00,0.000,6,0.000,0.035,2636,2316,1568
$GC,12271,1.29,330.1,274.8,6.1,581,12276,0.00,2.50,0.00,0.000,4,0.000,0.056,2637,3699,1568
$GC,12328,1.29,330.1,270.7,7.1,583,12334,0.00,2.38,0.00,0.000,6,0.000,0.035,2636,2316,1568
$GC,12644,1.34,330.1,251.6,6.3,599,12649,0.15,2.50,0.00,0.000,4,0.050,0.055,2678,3700,1568
$GC,12713,1.30,330.1,246.0,7.6,602,12717,0.00,2.38,0.00,0.000,6,0.000,0.035,2677,2317,1568
$GC,13036,1.26,330.1,214.0,10.9,618,13038,0.15,0.00,0.00,0.000,6,0.094,0.000,2649,2316,1568
$GC,13344,1.26,330.1,182.7,10.4,633,13349,0.00,2.50,0.00,0.000,4,0.000,0.056,2648,3704,1569
$GC,13452,1.26,330.1,172.7,9.4,638,13456,0.00,2.38,0.00,0.000,6,0.000,0.035,2648,2310,1568
$GC,13787,1.26,330.1,144.3,6.1,654,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2308,1569
$GC,14095,1.26,330.1,116.2,10.3,669,14099,0.00,2.47,0.00,0.000,4,0.000,0.054,2648,3700,1569
$GC,14195,1.26,330.1,108.6,7.6,673,14202,0.00,2.35,0.00,0.000,6,0.000,0.035,2648,2317,1568
$GC,14512,1.35,405.9,80.1,3.7,689,14578,0.00,0.00,63.35,0.865,6,0.000,0.000,2648,2316,1260
$GC,14883,1.40,405.9,50.6,8.8,707,14888,0.12,2.50,0.00,0.000,4,0.051,0.053,2684,3699,1259
$GC,14948,1.36,405.9,42.7,13.4,710,14952,0.00,2.38,0.00,0.000,6,0.000,0.035,2684,2317,1259
$GC,15277,1.30,405.9,8.1,11.3,726,15278,0.12,0.00,0.00,0.000,6,0.108,0.000,2662,2316,1259
$STATE,15355,end climb,SURFACE_DEPTH_REACHED
$STATE,15355,begin surface coast
$FINISH,1.1,1.014019
$STATE,15377,end surface coast,CONTROL_FINISHED_OK
$STATE,15377,begin surface
$SM_CCo,15462,0.00,0.000,0,0,1258,406.46
$SM_GC,1.55,11.65,0.00,0.00,0.036,0.000,0.000,22,2533,1258,-10.75,0.45,406.46
$IRIDIUM_FIX,6254.00,-1302.91,230298,050530
$TT8_MAMPS,0.028379
$HUMID,2000
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.3,70.2
$24V_AH,23.1,22.879
$10V_AH,10.1,10.115
$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,25.775,121.425,477.050,0.000,0.000,24.433,28.049,208.426,4.500,0.000,0.000,47.014,1387.548,11481.881,586.949,1852.414,580.559,0.000,1497.898,0.000,1785.550,0.000,31.493,0.000
$DEVICE_MAMPS,124.254,79.768,1214.928,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.080,498.167,492.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38015,731
$CAP_FILE_SIZE,115384,0
$CFSIZE,260165632,251080704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,291108,161007,6327.916,-1306.347,24,1.1,24,-12.3