version: 66.04
glider: 101
mission: 7
dive: 129
start: 11 27 108 8 7 21
data:
$ID,101
$MISSION,7
$DIVE,129
$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,-734477.69
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,080032,6306.266,-1316.234,38,1.2,38,-12.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.3
$GPS2,080702,6306.223,-1316.223,7,1.3,12,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$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,52.0,21145,-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,-80.53,0.000,2,0.000,0.000,28,2530,3358
$GC,102,-1.16,-146.6,5.2,-6.1,4,125,10.82,2.55,-3.45,0.000,4,0.124,0.058,2113,1101,3515
$GC,333,-1.06,-146.6,33.5,-9.9,14,338,0.15,2.50,0.00,0.000,6,0.094,0.041,2142,2522,3516
$GC,656,-1.02,-146.6,61.7,-7.8,30,659,0.00,2.10,0.00,0.000,4,0.000,0.060,2142,3698,3516
$GC,718,-0.96,-146.6,66.1,-6.3,32,725,0.12,2.03,0.00,0.000,6,0.087,0.036,2167,2512,3516
$GC,1034,-0.96,-146.6,88.0,-7.0,48,1038,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3690,3516
$GC,1113,-0.96,-146.6,94.2,-7.8,51,1117,0.00,2.03,0.00,0.000,6,0.000,0.036,2167,2503,3516
$GC,1436,-0.96,-146.6,117.5,-7.8,67,1439,0.00,2.15,0.00,0.000,4,0.000,0.057,2167,3697,3516
$GC,1531,-0.96,-146.6,125.8,-8.9,71,1535,0.00,2.03,0.00,0.000,6,0.000,0.036,2167,2508,3516
$GC,1859,-0.96,-146.6,148.9,-6.0,87,1863,0.00,2.12,0.00,0.000,4,0.000,0.056,2167,3691,3516
$GC,1955,-0.96,-146.6,156.1,-7.7,91,1958,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2515,3516
$GC,2282,-0.96,-146.6,179.0,-6.4,107,2286,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3695,3516
$GC,2351,-0.96,-146.6,183.4,-6.8,110,2354,0.00,2.03,0.00,0.000,6,0.000,0.037,2167,2507,3517
$GC,2685,-0.96,-146.6,201.2,-5.3,126,2689,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3689,3516
$GC,2770,-0.96,-146.6,207.3,-6.9,129,2775,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2516,3516
$GC,3086,-0.96,-146.6,229.7,-7.6,145,3089,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3697,3516
$GC,3164,-0.96,-146.6,235.6,-6.8,148,3168,0.00,2.03,0.00,0.000,6,0.000,0.036,2167,2505,3516
$GC,3486,-0.96,-146.6,259.1,-7.1,164,3490,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3689,3516
$GC,3555,-0.96,-146.6,264.5,-8.1,167,3559,0.00,2.00,0.00,0.000,6,0.000,0.037,2168,2512,3516
$GC,3888,-0.96,-146.6,288.4,-6.7,183,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2512,3516
$GC,4197,-0.96,-146.6,308.6,-6.7,198,4201,0.00,2.12,0.00,0.000,4,0.000,0.059,2167,3689,3516
$GC,4349,-0.96,-146.6,319.7,-6.9,204,4355,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2512,3516
$GC,4666,-0.96,-146.6,338.3,-5.9,220,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2512,3515
$GC,4975,-0.96,-146.6,359.2,-7.1,235,4978,0.00,2.12,0.00,0.000,4,0.000,0.061,2167,3689,3516
$GC,5126,-0.96,-146.6,371.9,-8.5,241,5132,0.00,2.00,0.00,0.000,6,0.000,0.037,2167,2517,3515
$GC,5443,-0.96,-146.6,393.3,-6.2,257,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2517,3515
$GC,5752,-0.96,-146.6,415.2,-7.0,272,5755,0.00,2.15,0.00,0.000,4,0.000,0.064,2167,3695,3515
$GC,5881,-0.96,-146.6,424.0,-6.4,277,5887,0.00,2.03,0.00,0.000,6,0.000,0.037,2167,2514,3515
$GC,6197,-0.96,-146.6,443.2,-6.0,293,6201,0.00,2.15,0.00,0.000,4,0.000,0.065,2167,3690,3516
$GC,6270,-0.96,-146.6,447.9,-6.3,296,6274,0.00,2.00,0.00,0.000,6,0.000,0.038,2167,2518,3515
$GC,6598,-0.96,-146.6,467.1,-5.7,312,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2517,3515
$GC,6907,-0.96,-146.6,487.2,-6.6,327,6911,0.00,2.17,0.00,0.000,4,0.000,0.074,2167,3691,3515
$GC,7004,-0.96,-146.6,493.2,-6.1,331,7008,0.00,2.05,0.00,0.000,6,0.000,0.041,2167,2512,3515
$GC,7332,-0.96,-146.6,509.9,-5.2,347,7336,0.00,2.22,0.00,0.000,4,0.000,0.080,2167,3692,3515
$GC,7434,-0.96,-146.6,514.7,-5.2,351,7438,0.00,2.08,0.00,0.000,6,0.000,0.047,2167,2516,3515
$GC,7756,-0.96,-146.6,528.6,-4.1,367,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2516,3515
$GC,8066,-1.00,-146.6,541.9,-4.0,382,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2516,3515
$GC,8375,-1.00,-146.6,554.9,-4.5,397,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2516,3515
$GC,8684,-1.00,-146.6,568.9,-5.0,412,8688,0.00,2.33,0.00,0.000,4,0.000,0.104,2168,3690,3515
$GC,8751,-1.00,-146.6,572.9,-6.0,415,8755,0.00,2.08,0.00,0.000,6,0.000,0.051,2167,2516,3515
$GC,9080,-1.04,-146.6,589.8,-5.4,431,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2516,3515
$GC,9389,-1.09,-146.6,608.9,-6.6,446,9391,0.15,0.00,0.00,0.000,6,0.049,0.000,2124,2515,3515
$GC,9698,-1.04,-146.6,633.1,-7.4,461,9703,0.12,2.25,0.00,0.000,4,0.080,0.087,2150,3688,3514
$GC,9811,-1.04,-146.6,641.4,-7.0,466,9815,0.00,2.10,0.00,0.000,6,0.000,0.051,2150,2511,3514
$GC,10139,-1.04,-146.6,659.0,-5.8,482,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2510,3514
$GC,10448,-1.04,-146.6,681.5,-7.8,497,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2150,2510,3514
$GC,10757,-1.04,-146.6,702.3,-6.0,512,10762,0.00,2.60,0.00,0.000,4,0.000,0.075,2150,1103,3513
$GC,10836,-1.04,-146.6,707.4,-6.1,515,10843,0.00,2.60,0.00,0.000,6,0.000,0.068,2150,2513,3513
$GC,11153,-1.04,-146.6,729.9,-8.9,531,11157,0.00,2.20,0.00,0.000,4,0.000,0.089,2150,3693,3512
$STATE,11189,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11189,begin apogee
$GC,11200,-0.45,0.0,732.6,7.3,532,11333,0.55,0.00,129.50,1.318,6,0.067,0.000,2273,2311,2915
$STATE,11333,end apogee,CONTROL_FINISHED_OK
$STATE,11334,begin climb
$GC,11337,1.16,146.6,738.0,0.0,539,11474,1.62,2.75,129.15,1.276,4,0.058,0.083,2624,3699,2317
$GC,11518,1.07,147.7,736.0,6.0,546,11524,0.00,2.53,0.00,0.000,6,0.000,0.050,2624,2309,2316
$GC,11834,1.02,147.7,718.4,6.1,562,11839,0.15,2.65,0.00,0.000,4,0.097,0.078,2595,3693,2315
$GC,11901,1.02,147.7,714.1,6.2,565,11905,0.00,2.47,0.00,0.000,6,0.000,0.048,2595,2315,2315
$GC,12229,1.02,147.7,696.6,6.3,581,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2314,2315
$GC,12539,1.06,184.9,679.0,4.9,596,12581,0.00,2.70,34.50,1.279,4,0.000,0.072,2595,905,2161
$GC,12621,1.10,215.6,675.1,5.1,599,12657,0.00,2.62,28.77,1.253,6,0.000,0.058,2595,2322,2035
$GC,12983,1.17,224.0,655.5,5.7,617,12999,0.15,0.00,8.85,1.127,6,0.055,0.000,2632,2321,2001
$GC,13309,1.17,224.0,628.4,9.3,633,13313,0.00,2.58,0.00,0.000,4,0.000,0.078,2633,3700,2000
$GC,13387,1.12,224.0,620.5,10.3,636,13393,0.00,2.50,0.00,0.000,6,0.000,0.048,2633,2307,2000
$GC,13703,1.12,224.0,587.7,10.5,652,13708,0.00,2.60,0.00,0.000,4,0.000,0.074,2633,3693,2000
$GC,13789,1.07,224.0,579.2,9.6,656,13794,0.12,2.45,0.00,0.000,6,0.098,0.046,2610,2312,2000
$GC,14117,1.07,224.0,554.4,6.9,672,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2312,2000
$GC,14426,1.12,261.7,537.5,4.9,687,14468,0.00,2.65,34.10,1.205,4,0.000,0.071,2609,3693,1846
$GC,14525,1.16,293.6,532.1,5.0,691,14560,0.00,2.45,29.00,1.174,6,0.000,0.042,2609,2315,1717
$GC,14892,1.25,293.6,510.2,7.3,709,14894,0.17,0.00,0.00,0.000,6,0.045,0.000,2655,2315,1717
$GC,15199,1.21,293.6,487.0,7.3,724,15203,0.00,2.58,0.00,0.000,4,0.000,0.067,2655,3699,1717
$GC,15243,1.16,293.6,481.7,11.3,726,15249,0.15,2.45,0.00,0.000,6,0.092,0.041,2626,2304,1716
$GC,15565,1.16,293.6,455.9,8.3,742,15569,0.00,2.58,0.00,0.000,4,0.000,0.064,2625,3701,1716
$GC,15655,1.16,293.6,448.3,8.0,746,15659,0.00,2.42,0.00,0.000,6,0.000,0.039,2625,2314,1716
$GC,15976,1.16,293.6,424.9,7.5,762,15977,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2314,1716
$GC,16285,1.16,293.6,402.6,7.9,777,16289,0.00,2.53,0.00,0.000,4,0.000,0.061,2625,3696,1716
$GC,16375,1.16,293.6,394.6,9.3,781,16379,0.00,2.40,0.00,0.000,6,0.000,0.038,2625,2313,1716
$GC,16697,1.20,293.6,367.9,8.0,797,16698,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2312,1717
$GC,17006,1.25,293.6,341.8,8.6,812,17010,0.00,2.53,0.00,0.000,4,0.000,0.059,2626,3700,1717
$GC,17084,1.25,293.6,334.9,8.8,815,17091,0.00,2.40,0.00,0.000,6,0.000,0.037,2625,2307,1717
$GC,17401,1.29,293.6,309.6,7.9,831,17406,0.12,2.53,0.00,0.000,4,0.051,0.057,2661,3699,1717
$GC,17452,1.23,293.6,304.4,10.0,833,17456,0.00,2.40,0.00,0.000,6,0.000,0.037,2661,2309,1717
$GC,17768,1.23,293.6,270.7,11.4,848,17772,0.00,2.50,0.00,0.000,4,0.000,0.057,2662,3700,1717
$GC,17821,1.18,293.6,264.7,11.0,850,17826,0.15,2.40,0.00,0.000,6,0.094,0.036,2632,2307,1717
$GC,18143,1.18,293.6,236.9,7.7,866,18144,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2307,1718
$GC,18452,1.18,293.6,215.1,7.7,881,18456,0.00,2.50,0.00,0.000,4,0.000,0.057,2632,3700,1718
$GC,18553,1.18,293.6,206.7,8.5,885,18557,0.00,2.38,0.00,0.000,6,0.000,0.036,2632,2311,1717
$GC,18875,1.18,293.6,182.8,6.6,901,18879,0.00,2.50,0.00,0.000,4,0.000,0.055,2632,3699,1718
$GC,18925,1.18,293.6,178.9,6.8,903,18929,0.00,2.38,0.00,0.000,6,0.000,0.035,2631,2314,1718
$GC,19241,1.18,293.6,155.4,7.8,918,19245,0.00,2.50,0.00,0.000,4,0.000,0.055,2632,3703,1718
$GC,19320,1.18,293.6,148.8,8.5,921,19324,0.00,2.38,0.00,0.000,6,0.000,0.036,2632,2318,1718
$GC,19638,1.22,293.6,120.7,9.2,936,19640,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2316,1718
$GC,19946,1.22,293.6,91.4,9.6,951,19950,0.00,2.50,0.00,0.000,4,0.000,0.055,2632,3708,1719
$GC,20035,1.22,293.6,82.6,10.1,955,20039,0.00,2.40,0.00,0.000,6,0.000,0.035,2632,2307,1719
$GC,20357,1.22,293.6,65.2,8.9,971,20359,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2306,1719
$GC,20667,1.27,293.6,35.3,9.3,986,20672,0.00,2.50,0.00,0.000,4,0.000,0.054,2632,3699,1720
$GC,20769,1.27,293.6,25.2,9.4,990,20775,0.00,2.38,0.00,0.000,6,0.000,0.035,2631,2312,1719
$GC,21085,1.27,293.6,4.5,6.0,1006,21089,0.00,2.50,0.00,0.000,4,0.000,0.054,2631,3706,1720
$STATE,21109,end climb,SURFACE_DEPTH_REACHED
$STATE,21109,begin surface coast
$FINISH,1.2,1.027409
$STATE,21116,end surface coast,CONTROL_FINISHED_OK
$STATE,21116,begin surface
$SM_CCo,21143,7.45,0.731,0,0,1692,300.00
$SM_GC,2.02,0.00,0.00,7.45,0.000,0.000,0.731,26,2511,1692,-10.80,-0.17,300.00
$IRIDIUM_FIX,6239.86,-1311.44,210298,010137
$TT8_MAMPS,0.028379
$HUMID,2014
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,19.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,650.7,91.8
$24V_AH,23.0,21.345
$10V_AH,10.1,9.283
$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,26.050,171.550,393.875,7.450,0.000,22.894,31.896,183.986,8.250,0.000,0.000,16.375,1882.147,16055.153,555.552,2392.407,649.299,0.000,1739.994,0.000,2339.672,0.000,38.019,0.000
$DEVICE_MAMPS,124.254,103.545,1317.706,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,745.238,689.187,586.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50571,1007
$CAP_FILE_SIZE,154021,0
$CFSIZE,260165632,251641856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,271108,140128,6307.813,-1312.388,32,2.1,51,-12.2