version: 66.04
glider: 101
mission: 7
dive: 139
start: 11 29 108 16 16 38
data:
$ID,101
$MISSION,7
$DIVE,139
$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,-734743.5
$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,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
$GPS1,161007,6327.916,-1306.347,24,1.1,24,-12.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-44.8
$GPS2,161615,6327.849,-1306.625,12,1.5,12,-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,75.7,8896,-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,-80.80,0.000,2,0.000,0.000,22,2534,2996
$GC,103,-1.16,-146.6,3.7,-3.7,4,134,10.88,2.53,-14.82,0.000,4,0.124,0.056,2114,1110,3513
$GC,337,-1.09,-146.6,41.0,-8.2,14,344,0.10,2.47,0.00,0.000,6,0.100,0.040,2133,2522,3514
$GC,656,-1.03,-146.6,60.9,-9.4,30,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2522,3514
$GC,964,-0.95,-146.6,88.7,-8.7,45,966,0.17,0.00,0.00,0.000,6,0.077,0.000,2170,2522,3513
$GC,1273,-1.00,-146.6,97.9,-2.7,60,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2169,2522,3513
$GC,1582,-1.00,-146.6,108.8,-6.8,75,1585,0.00,2.08,0.00,0.000,4,0.000,0.059,2169,3692,3513
$GC,1733,-1.00,-146.6,120.3,-8.0,81,1740,0.00,2.03,0.00,0.000,6,0.000,0.035,2170,2500,3513
$GC,2050,-1.00,-146.6,168.3,-17.3,97,2053,0.00,2.15,0.00,0.000,4,0.000,0.056,2170,3698,3513
$GC,2078,-1.05,-146.6,173.3,-17.0,98,2083,0.12,2.03,0.00,0.000,6,0.055,0.036,2137,2506,3513
$GC,2409,-0.98,-146.6,202.1,-5.6,114,2411,0.12,0.00,0.00,0.000,6,0.080,0.000,2163,2506,3513
$GC,2715,-0.98,-146.6,214.6,-3.7,129,2718,0.00,2.12,0.00,0.000,4,0.000,0.057,2162,3691,3513
$GC,2839,-0.98,-146.6,221.8,-6.4,134,2842,0.00,2.00,0.00,0.000,6,0.000,0.035,2163,2511,3513
$GC,3161,-0.98,-146.6,238.6,-5.0,150,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2510,3513
$GC,3470,-0.98,-146.6,255.7,-6.5,165,3474,0.00,2.12,0.00,0.000,4,0.000,0.057,2163,3696,3513
$GC,3607,-0.98,-146.6,265.9,-6.3,171,3610,0.00,2.00,0.00,0.000,6,0.000,0.035,2163,2514,3513
$GC,3940,-0.98,-146.6,290.2,-6.5,187,3943,0.00,2.10,0.00,0.000,4,0.000,0.058,2163,3689,3513
$GC,4024,-0.98,-146.6,295.3,-4.8,190,4031,0.00,2.03,0.00,0.000,6,0.000,0.035,2163,2494,3513
$GC,4341,-0.98,-146.6,309.7,-6.1,206,4345,0.00,2.15,0.00,0.000,4,0.000,0.058,2163,3692,3513
$GC,4437,-0.98,-146.6,316.4,-6.6,210,4441,0.00,2.00,0.00,0.000,6,0.000,0.035,2163,2512,3513
$GC,4765,-0.98,-146.6,337.8,-6.5,226,4769,0.00,2.12,0.00,0.000,4,0.000,0.058,2163,3696,3513
$GC,4856,-0.98,-146.6,343.4,-6.3,230,4860,0.00,2.00,0.00,0.000,6,0.000,0.035,2163,2517,3513
$GC,5190,-0.98,-146.6,363.1,-6.2,246,5194,0.00,2.12,0.00,0.000,4,0.000,0.060,2163,3695,3513
$GC,5281,-0.98,-146.6,369.7,-7.7,250,5285,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2519,3513
$GC,5614,-0.98,-146.6,393.8,-7.2,266,5618,0.00,2.12,0.00,0.000,4,0.000,0.061,2163,3692,3513
$GC,5706,-0.98,-146.6,400.5,-7.1,270,5709,0.00,2.00,0.00,0.000,6,0.000,0.036,2163,2518,3512
$GC,6039,-0.98,-146.6,419.9,-4.1,286,6043,0.00,2.12,0.00,0.000,4,0.000,0.063,2163,3688,3513
$GC,6131,-0.98,-146.6,424.3,-5.7,290,6135,0.00,2.00,0.00,0.000,6,0.000,0.037,2163,2518,3512
$GC,6465,-0.98,-146.6,438.9,-2.9,306,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2518,3512
$GC,6774,-0.98,-146.6,455.6,-7.7,321,6777,0.00,2.15,0.00,0.000,4,0.000,0.068,2163,3686,3512
$GC,6865,-0.98,-146.6,462.2,-5.4,325,6869,0.00,2.00,0.00,0.000,6,0.000,0.038,2163,2524,3512
$GC,7199,-0.98,-146.6,487.0,-7.6,341,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2524,3512
$GC,7508,-0.98,-146.6,510.5,-7.2,356,7512,0.00,2.20,0.00,0.000,4,0.000,0.081,2163,3690,3512
$GC,7593,-0.98,-146.6,515.5,-6.1,359,7599,0.00,2.08,0.00,0.000,6,0.000,0.048,2163,2515,3512
$GC,7909,-0.98,-146.6,537.5,-8.3,375,7913,0.00,2.22,0.00,0.000,4,0.000,0.084,2163,3692,3512
$GC,8022,-0.98,-146.6,548.4,-10.0,380,8026,0.00,2.08,0.00,0.000,6,0.000,0.049,2163,2517,3512
$GC,8356,-1.05,-146.6,590.7,-13.9,396,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2516,3512
$GC,8665,-1.11,-146.6,614.4,-9.6,411,8667,0.15,0.00,0.00,0.000,6,0.050,0.000,2121,2515,3511
$GC,8975,-1.04,-146.6,633.0,-2.1,426,8980,0.12,2.22,0.00,0.000,4,0.081,0.083,2147,3689,3512
$GC,9129,-1.04,-146.6,640.5,2.0,432,9135,0.00,2.08,0.00,0.000,6,0.000,0.049,2147,2517,3511
$GC,9446,-1.04,-146.6,640.1,-1.2,448,9450,0.00,2.60,0.00,0.000,4,0.000,0.072,2147,1103,3511
$GC,9576,-1.04,-146.6,648.4,-1.1,454,9581,0.00,2.58,0.00,0.000,6,0.000,0.061,2147,2516,3511
$GC,9904,-1.04,-146.6,639.9,-5.5,470,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,2516,3511
$GC,10213,-1.04,-146.6,674.7,-11.8,485,10216,0.00,2.20,0.00,0.000,4,0.000,0.084,2147,3699,3510
$STATE,10266,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10266,begin apogee
$GC,10276,-0.45,0.0,682.8,14.0,487,10408,0.55,0.00,128.35,1.279,6,0.070,0.000,2269,2317,2915
$STATE,10409,end apogee,CONTROL_FINISHED_OK
$STATE,10409,begin climb
$GC,10413,1.16,146.6,693.4,0.0,494,10551,1.62,2.72,127.90,1.243,4,0.055,0.073,2623,914,2317
$GC,10629,1.26,267.2,687.6,2.4,504,10741,0.12,2.60,105.53,1.223,6,0.067,0.060,2651,2315,1825
$GC,11064,1.21,267.2,650.3,10.5,525,11068,0.00,2.60,0.00,0.000,4,0.000,0.080,2651,3693,1824
$GC,11176,1.10,267.2,640.2,11.9,530,11181,0.17,2.47,0.00,0.000,6,0.091,0.048,2617,2315,1823
$GC,11498,1.57,650.7,640.0,-5.4,546,11759,0.43,2.72,251.48,1.218,4,0.039,0.076,2723,3697,658
$GC,11882,1.46,650.7,590.0,23.3,564,11887,0.15,2.47,0.00,0.000,6,0.101,0.044,2694,2313,656
$GC,12209,1.46,650.7,525.7,18.4,580,12214,0.00,2.60,0.00,0.000,4,0.000,0.071,2694,3696,656
$GC,12295,1.46,650.7,510.4,15.5,584,12299,0.00,2.45,0.00,0.000,6,0.000,0.043,2694,2311,655
$GC,12628,1.46,650.7,465.3,10.9,600,12632,0.00,2.58,0.00,0.000,4,0.000,0.065,2694,3697,655
$GC,12690,1.46,650.7,458.8,10.2,603,12695,0.00,2.45,0.00,0.000,6,0.000,0.041,2694,2305,655
$GC,13018,1.46,650.7,419.0,10.8,619,13022,0.00,2.58,0.00,0.000,4,0.000,0.062,2694,3703,655
$GC,13090,1.46,650.7,410.8,11.9,622,13095,0.00,2.42,0.00,0.000,6,0.000,0.038,2694,2313,655
$GC,13407,1.46,650.7,373.4,11.6,637,13411,0.00,2.55,0.00,0.000,4,0.000,0.060,2694,3707,655
$GC,13463,1.46,650.7,366.1,12.9,639,13469,0.00,2.42,0.00,0.000,6,0.000,0.038,2695,2312,655
$GC,13779,1.46,650.7,324.2,13.3,655,13783,0.00,2.53,0.00,0.000,4,0.000,0.058,2694,3697,655
$GC,13835,1.46,650.7,316.3,14.5,657,13841,0.00,2.40,0.00,0.000,6,0.000,0.036,2695,2310,655
$GC,14151,1.46,650.7,273.2,13.1,673,14155,0.00,2.53,0.00,0.000,4,0.000,0.057,2695,3700,655
$GC,14207,1.46,650.7,265.4,13.8,675,14212,0.00,2.40,0.00,0.000,6,0.000,0.036,2694,2310,655
$GC,14524,1.46,650.7,222.5,15.3,690,14528,0.00,2.53,0.00,0.000,4,0.000,0.056,2695,3705,655
$GC,14579,1.46,650.7,213.8,14.6,692,14585,0.00,2.40,0.00,0.000,6,0.000,0.035,2694,2314,655
$GC,14895,1.46,650.7,171.7,13.1,708,14900,0.00,2.50,0.00,0.000,4,0.000,0.054,2694,3697,655
$GC,14963,1.46,650.7,162.3,14.1,711,14967,0.00,2.38,0.00,0.000,6,0.000,0.035,2694,2310,656
$GC,15290,1.46,650.7,122.9,11.6,727,15294,0.00,2.50,0.00,0.000,4,0.000,0.054,2694,3699,655
$GC,15346,1.46,650.7,115.3,13.2,729,15353,0.00,2.38,0.00,0.000,6,0.000,0.035,2694,2305,655
$GC,15663,1.46,650.7,70.7,14.6,745,15667,0.00,2.53,0.00,0.000,4,0.000,0.054,2694,3709,655
$GC,15713,1.46,650.7,63.0,13.9,747,15718,0.00,2.40,0.00,0.000,6,0.000,0.035,2695,2309,655
$GC,16030,1.46,650.7,19.9,15.6,762,16034,0.00,2.50,0.00,0.000,4,0.000,0.051,2694,3707,656
$GC,16080,1.46,650.7,12.8,11.7,764,16084,0.00,2.40,0.00,0.000,6,0.000,0.035,2694,2309,656
$STATE,16187,end climb,SURFACE_DEPTH_REACHED
$STATE,16188,begin surface coast
$FINISH,1.2,1.027422
$STATE,16209,end surface coast,CONTROL_FINISHED_OK
$STATE,16209,begin surface
$SM_CCo,16294,0.00,0.000,0,0,655,554.38
$SM_GC,1.55,11.73,0.00,0.00,0.034,0.000,0.000,22,2540,655,-10.76,0.62,554.38
$IRIDIUM_FIX,6303.50,-1306.17,230298,111143
$TT8_MAMPS,0.028379
$HUMID,2029
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.5,90.8
$24V_AH,23.1,23.106
$10V_AH,10.1,10.196
$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,26.450,143.600,613.250,0.000,0.000,26.118,26.680,185.852,5.250,0.000,0.000,13.702,1460.052,11947.926,654.265,2027.192,574.410,0.000,1720.881,0.000,1975.718,0.000,34.787,0.000
$DEVICE_MAMPS,124.254,84.370,1279.356,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,568.613,524.423,465.512,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37995,770
$CAP_FILE_SIZE,126146,0
$CFSIZE,260165632,251011072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,291108,204931,6328.666,-1305.117,39,1.4,39,-12.3