version: 66.04
glider: 101
mission: 7
dive: 140
start: 11 29 108 20 59 30
data:
$ID,101
$MISSION,7
$DIVE,140
$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,-734759.44
$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
$GPS1,204931,6328.666,-1305.117,39,1.4,39,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-41.7
$GPS2,205909,6328.675,-1305.373,13,1.8,13,-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,82.8,7341,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-120.45,0.000,2,0.000,0.000,22,2541,3188
$GC,142,-1.16,-146.6,4.1,-2.9,6,167,10.85,2.58,-8.73,0.000,4,0.123,0.057,2114,1114,3514
$GC,359,-1.04,-146.6,29.0,-11.5,15,366,0.17,2.47,0.00,0.000,6,0.088,0.040,2148,2525,3511
$GC,676,-0.99,-146.6,55.8,-7.0,31,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2525,3511
$GC,985,-0.99,-146.6,80.2,-9.2,46,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2525,3511
$GC,1294,-0.99,-146.6,103.0,-5.2,61,1298,0.00,2.08,0.00,0.000,4,0.000,0.058,2148,3694,3511
$GC,1402,-0.94,-146.6,109.4,-6.2,65,1409,0.10,2.03,0.00,0.000,6,0.090,0.036,2168,2506,3511
$GC,1720,-0.94,-146.6,126.3,-4.9,81,1724,0.00,2.12,0.00,0.000,4,0.000,0.055,2168,3692,3511
$GC,1799,-0.94,-146.6,130.8,-6.0,84,1803,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2515,3511
$GC,2121,-0.94,-146.6,152.7,-7.8,100,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2514,3511
$GC,2431,-0.94,-146.6,169.2,-4.5,115,2434,0.00,2.10,0.00,0.000,4,0.000,0.056,2168,3689,3511
$GC,2528,-0.94,-146.6,173.6,-3.5,119,2532,0.00,2.00,0.00,0.000,6,0.000,0.036,2168,2510,3511
$GC,2856,-0.94,-146.6,190.6,-4.6,135,2860,0.00,2.12,0.00,0.000,4,0.000,0.056,2168,3695,3511
$GC,2935,-0.94,-146.6,194.9,-5.2,138,2939,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2516,3511
$GC,3257,-0.94,-146.6,213.2,-5.7,154,3261,0.00,2.10,0.00,0.000,4,0.000,0.056,2168,3692,3511
$GC,3330,-0.94,-146.6,218.3,-6.6,157,3333,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2514,3511
$GC,3657,-0.94,-146.6,241.5,-6.7,173,3661,0.00,2.12,0.00,0.000,4,0.000,0.056,2168,3699,3511
$GC,3748,-0.94,-146.6,247.8,-6.4,177,3752,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2517,3511
$GC,4082,-0.94,-146.6,266.9,-5.5,193,4085,0.00,2.10,0.00,0.000,4,0.000,0.057,2168,3690,3511
$GC,4155,-0.94,-146.6,271.3,-5.3,196,4159,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2506,3511
$GC,4483,-0.94,-146.6,288.8,-5.1,212,4487,0.00,2.12,0.00,0.000,4,0.000,0.057,2168,3690,3511
$GC,4568,-0.94,-146.6,294.0,-6.2,215,4574,0.00,2.03,0.00,0.000,6,0.000,0.035,2168,2499,3511
$GC,4885,-0.94,-146.6,312.5,-5.9,231,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2499,3511
$GC,5194,-0.94,-146.6,330.7,-5.6,246,5198,0.00,2.15,0.00,0.000,4,0.000,0.058,2168,3693,3511
$GC,5318,-0.94,-146.6,338.1,-6.3,251,5322,0.00,2.00,0.00,0.000,6,0.000,0.035,2168,2518,3511
$GC,5640,-0.94,-146.6,356.4,-5.5,267,5644,0.00,2.12,0.00,0.000,4,0.000,0.059,2168,3698,3511
$GC,5736,-0.94,-146.6,361.7,-5.4,271,5740,0.00,2.03,0.00,0.000,6,0.000,0.036,2168,2510,3511
$GC,6064,-0.94,-146.6,382.0,-7.0,287,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2510,3511
$GC,6373,-0.94,-146.6,404.2,-6.7,302,6376,0.00,2.15,0.00,0.000,4,0.000,0.062,2168,3696,3511
$GC,6532,-0.94,-146.6,415.0,-7.0,309,6536,0.00,2.03,0.00,0.000,6,0.000,0.036,2168,2513,3511
$GC,6865,-0.94,-146.6,435.0,-5.8,325,6869,0.00,2.15,0.00,0.000,4,0.000,0.064,2168,3688,3511
$GC,6938,-0.94,-146.6,439.3,-5.9,328,6942,0.00,2.03,0.00,0.000,6,0.000,0.037,2168,2510,3510
$GC,7266,-0.94,-146.6,454.1,-4.3,344,7270,0.00,2.17,0.00,0.000,4,0.000,0.067,2168,3692,3511
$GC,7350,-0.94,-146.6,458.1,-4.5,347,7356,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2518,3511
$GC,7667,-0.94,-146.6,466.3,-2.6,363,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2518,3510
$GC,7976,-0.94,-146.6,474.0,-2.1,378,7980,0.00,2.17,0.00,0.000,4,0.000,0.071,2168,3688,3510
$GC,8083,-0.94,-146.6,476.7,-3.2,382,8089,0.00,2.05,0.00,0.000,6,0.000,0.040,2168,2508,3510
$GC,8400,-0.98,-146.6,489.8,-4.9,398,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2508,3510
$GC,8709,-1.02,-146.6,512.5,-7.3,413,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2508,3510
$GC,9018,-1.02,-146.6,528.2,-4.6,428,9022,0.00,2.28,0.00,0.000,4,0.000,0.090,2168,3688,3510
$GC,9104,-1.02,-146.6,532.6,-6.0,432,9108,0.00,2.10,0.00,0.000,6,0.000,0.058,2168,2526,3510
$GC,9437,-1.07,-146.6,559.6,-7.4,448,9439,0.12,0.00,0.00,0.000,6,0.051,0.000,2130,2524,3510
$GC,9747,-1.07,-146.6,580.6,-5.1,463,9750,0.00,2.22,0.00,0.000,4,0.000,0.088,2130,3685,3510
$GC,9954,-1.02,-146.6,588.4,-4.1,472,9958,0.12,2.10,0.00,0.000,6,0.090,0.052,2153,2508,3509
$GC,10283,-1.02,-146.6,610.1,-8.1,488,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2508,3509
$GC,10590,-1.02,-146.6,637.0,-9.7,503,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,2154,2507,3508
$STATE,10772,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10772,begin apogee
$GC,10781,-0.45,0.0,651.4,6.5,512,10914,0.55,0.00,126.72,1.264,6,0.065,0.000,2274,2318,2915
$STATE,10915,end apogee,CONTROL_FINISHED_OK
$STATE,10915,begin climb
$GC,10919,1.16,146.6,657.0,0.0,519,11051,1.58,0.00,127.47,1.220,6,0.048,0.000,2626,2318,2317
$GC,11353,1.28,249.3,637.9,2.9,540,11446,0.12,0.00,90.22,1.211,6,0.053,0.000,2663,2318,1898
$GC,11747,1.22,249.3,605.8,8.1,559,11749,0.12,0.00,0.00,0.000,6,0.096,0.000,2639,2318,1897
$GC,12053,1.22,249.3,580.1,7.2,574,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2318,1897
$GC,12362,1.22,249.3,557.2,6.7,589,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2319,1896
$GC,12672,1.22,249.3,524.5,13.6,604,12676,0.00,2.58,0.00,0.000,4,0.000,0.071,2639,3692,1896
$GC,12825,1.22,249.3,504.5,11.5,611,12829,0.00,2.45,0.00,0.000,6,0.000,0.042,2640,2303,1895
$GC,13152,1.22,249.3,460.7,13.2,627,13156,0.00,2.53,0.00,0.000,4,0.000,0.058,2639,900,1895
$GC,13219,1.22,249.3,451.2,14.3,630,13223,0.00,2.53,0.00,0.000,6,0.000,0.046,2639,2313,1895
$GC,13541,1.22,249.3,415.1,11.1,646,13542,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2313,1895
$GC,13850,1.28,297.3,392.1,4.6,661,13897,0.00,2.58,41.58,1.101,4,0.000,0.061,2639,3699,1701
$GC,13990,1.45,438.8,389.9,1.8,667,14118,0.22,2.45,119.25,1.084,6,0.048,0.038,2695,2303,1125
$GC,14437,1.41,438.8,352.7,10.2,689,14442,0.00,2.55,0.00,0.000,4,0.000,0.059,2695,3692,1125
$GC,14518,1.34,438.8,342.5,12.8,692,14525,0.15,2.40,0.00,0.000,6,0.097,0.038,2666,2315,1126
$GC,14834,1.34,438.8,311.1,9.4,708,14838,0.00,2.53,0.00,0.000,4,0.000,0.058,2666,3700,1125
$GC,14879,1.34,438.8,306.6,10.0,710,14883,0.00,2.42,0.00,0.000,6,0.000,0.037,2666,2306,1125
$GC,15200,1.34,438.8,280.7,7.0,726,15205,0.00,2.53,0.00,0.000,4,0.000,0.057,2666,3693,1125
$GC,15263,1.34,438.8,274.8,9.5,729,15267,0.00,2.40,0.00,0.000,6,0.000,0.036,2666,2307,1125
$GC,15591,1.34,438.8,244.7,10.2,745,15592,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2306,1125
$GC,15900,1.34,438.8,208.5,11.6,760,15904,0.00,2.53,0.00,0.000,4,0.000,0.055,2666,3700,1125
$GC,15978,1.34,438.8,199.4,10.9,763,15984,0.00,2.40,0.00,0.000,6,0.000,0.036,2666,2309,1126
$GC,16294,1.34,438.8,167.5,10.9,779,16296,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2309,1125
$GC,16604,1.34,438.8,137.4,9.8,794,16608,0.00,2.50,0.00,0.000,4,0.000,0.054,2666,3696,1125
$GC,16671,1.34,438.8,129.0,14.1,797,16675,0.00,2.38,0.00,0.000,6,0.000,0.035,2666,2315,1125
$GC,16993,1.34,438.8,95.7,11.2,813,16997,0.00,2.47,0.00,0.000,4,0.000,0.054,2666,3691,1126
$GC,17038,1.34,438.8,90.3,12.3,815,17042,0.00,2.38,0.00,0.000,6,0.000,0.035,2666,2308,1125
$GC,17360,1.40,438.8,50.4,10.1,831,17364,0.00,2.50,0.00,0.000,4,0.000,0.054,2666,3697,1125
$GC,17405,1.40,438.8,45.8,11.6,833,17409,0.00,2.38,0.00,0.000,6,0.000,0.035,2666,2315,1125
$GC,17727,1.44,438.8,16.0,8.3,849,17732,0.10,2.50,0.00,0.000,4,0.061,0.055,2697,3699,1126
$GC,17768,1.36,438.8,12.2,8.3,851,17773,0.12,2.38,0.00,0.000,6,0.097,0.035,2673,2312,1126
$STATE,17844,end climb,SURFACE_DEPTH_REACHED
$STATE,17845,begin surface coast
$FINISH,1.0,1.015062
$STATE,17866,end surface coast,CONTROL_FINISHED_OK
$STATE,17867,begin surface
$SM_CCo,17952,0.00,0.000,0,0,1125,439.09
$SM_GC,1.59,11.68,0.00,0.00,0.037,0.000,0.000,26,2530,1125,-10.74,0.37,439.09
$IRIDIUM_FIX,6303.50,-1306.17,230298,212121
$TT8_MAMPS,0.028379
$HUMID,2014
$INTERNAL_PRESSURE,7.76397
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.8,58.7
$24V_AH,23.1,23.296
$10V_AH,10.1,10.283
$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,26.025,126.800,505.250,0.000,0.000,45.279,57.601,269.335,5.000,0.000,0.000,15.287,1595.966,13512.187,632.100,2056.474,731.450,0.000,1669.137,0.000,2008.257,0.000,34.704,0.000
$DEVICE_MAMPS,123.487,89.739,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.520,583.831,522.196,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44269,856
$CAP_FILE_SIZE,133809,0
$CFSIZE,260165632,250933248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301108,020008,6328.980,-1301.158,46,1.2,46,-12.2