version: 66.04
glider: 101
mission: 7
dive: 134
start: 11 28 108 13 26 42
data:
$ID,101
$MISSION,7
$DIVE,134
$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,-734598.69
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,131939,6316.222,-1307.086,40,1.4,41,-12.2
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-49.3
$GPS2,132621,6316.208,-1307.236,11,1.3,11,-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,122.6,6434,-12.1,-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,15,-1.25,-122.3,0.0,0.0,0,98,0.00,0.00,-80.35,0.000,2,0.000,0.000,26,2541,3281
$GC,102,-1.26,-128.4,5.0,-5.8,4,124,10.75,2.55,-3.67,0.000,4,0.125,0.058,2092,1111,3441
$GC,377,-1.15,-128.4,37.4,-7.7,16,382,0.15,2.45,0.00,0.000,6,0.096,0.041,2120,2505,3441
$GC,702,-1.13,-146.6,53.1,-3.4,32,707,0.00,2.45,-0.73,0.000,4,0.000,0.054,2120,1112,3517
$GC,833,-1.08,-146.6,69.1,-10.3,38,837,0.00,2.47,0.00,0.000,6,0.000,0.040,2120,2528,3517
$GC,1160,-1.08,-146.6,120.5,-16.2,54,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2529,3517
$GC,1469,-1.04,-146.6,156.6,-8.5,69,1471,0.12,0.00,0.00,0.000,6,0.087,0.000,2145,2529,3517
$GC,1779,-1.04,-146.6,173.9,-4.0,84,1782,0.00,2.08,0.00,0.000,4,0.000,0.059,2146,3698,3517
$GC,1863,-1.04,-146.6,178.7,-7.0,87,1869,0.00,2.03,0.00,0.000,6,0.000,0.036,2146,2508,3517
$GC,2179,-1.04,-146.6,205.7,-9.7,103,2183,0.00,2.12,0.00,0.000,4,0.000,0.058,2145,3690,3517
$GC,2265,-1.04,-146.6,214.9,-10.1,106,2271,0.00,2.00,0.00,0.000,6,0.000,0.036,2146,2513,3517
$GC,2581,-1.04,-146.6,240.6,-7.0,122,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,2145,2513,3516
$GC,2890,-1.04,-146.6,260.2,-6.9,137,2894,0.00,2.12,0.00,0.000,4,0.000,0.058,2145,3696,3516
$GC,2982,-1.04,-146.6,265.0,-4.9,141,2986,0.00,2.00,0.00,0.000,6,0.000,0.036,2146,2514,3517
$GC,3316,-1.04,-146.6,282.0,-5.0,157,3319,0.00,2.12,0.00,0.000,4,0.000,0.058,2145,3696,3517
$GC,3362,-1.04,-146.6,284.5,-5.3,159,3366,0.00,2.00,0.00,0.000,6,0.000,0.035,2146,2515,3517
$GC,3695,-1.04,-146.6,306.6,-6.8,175,3699,0.00,2.12,0.00,0.000,4,0.000,0.059,2145,3693,3516
$GC,3752,-1.04,-146.6,311.0,-7.7,177,3756,0.00,2.00,0.00,0.000,6,0.000,0.035,2146,2511,3517
$GC,4074,-1.04,-146.6,330.8,-5.8,193,4077,0.00,2.12,0.00,0.000,4,0.000,0.059,2145,3690,3517
$GC,4170,-1.04,-146.6,337.3,-7.0,197,4173,0.00,2.00,0.00,0.000,6,0.000,0.036,2145,2512,3516
$GC,4497,-1.04,-146.6,355.2,-5.2,213,4501,0.00,2.12,0.00,0.000,4,0.000,0.060,2146,3688,3517
$GC,4577,-1.04,-146.6,359.2,-5.3,216,4581,0.00,2.00,0.00,0.000,6,0.000,0.037,2146,2513,3517
$GC,4899,-1.04,-146.6,376.7,-5.8,232,4903,0.00,2.12,0.00,0.000,4,0.000,0.061,2145,3687,3517
$GC,4961,-1.04,-146.6,380.4,-5.6,234,4967,0.00,2.00,0.00,0.000,6,0.000,0.037,2145,2516,3516
$GC,5279,-1.04,-146.6,400.4,-6.5,250,5282,0.00,2.15,0.00,0.000,4,0.000,0.063,2146,3695,3517
$GC,5347,-1.04,-146.6,405.4,-6.9,253,5351,0.00,2.03,0.00,0.000,6,0.000,0.037,2146,2511,3517
$GC,5681,-1.08,-146.6,427.9,-7.5,269,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2510,3516
$GC,5990,-1.08,-146.6,449.9,-6.5,284,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2510,3517
$GC,6299,-1.08,-146.6,470.8,-6.8,299,6302,0.00,2.20,0.00,0.000,4,0.000,0.074,2146,3695,3517
$GC,6412,-1.08,-146.6,479.2,-7.4,304,6416,0.00,2.05,0.00,0.000,6,0.000,0.041,2146,2514,3517
$GC,6746,-1.13,-146.6,500.4,-5.7,320,6750,0.00,2.20,0.00,0.000,4,0.000,0.079,2146,3683,3516
$GC,6893,-1.13,-146.6,510.0,-6.5,326,6896,0.00,2.08,0.00,0.000,6,0.000,0.048,2146,2511,3516
$GC,7215,-1.18,-146.6,533.5,-7.4,342,7217,0.12,0.00,0.00,0.000,6,0.054,0.000,2109,2510,3516
$GC,7524,-1.18,-146.6,560.8,-8.8,357,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2511,3516
$GC,7833,-1.18,-146.6,587.3,-8.9,372,7837,0.00,2.22,0.00,0.000,4,0.000,0.087,2109,3683,3515
$GC,7974,-1.13,-146.6,600.5,-9.7,378,7978,0.00,2.08,0.00,0.000,6,0.000,0.052,2109,2518,3515
$GC,8307,-1.13,-146.6,631.1,-8.9,394,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2516,3515
$GC,8616,-1.13,-146.6,655.4,-7.9,409,8621,0.00,2.60,0.00,0.000,4,0.000,0.074,2108,1107,3514
$GC,8679,-1.13,-146.6,660.3,-7.5,412,8684,0.00,2.60,0.00,0.000,6,0.000,0.067,2108,2515,3514
$GC,9006,-1.13,-146.6,686.2,-8.2,428,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2515,3514
$STATE,9126,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9127,begin apogee
$GC,9135,-0.45,0.0,694.4,6.7,434,9270,0.77,0.00,129.32,1.292,6,0.071,0.000,2273,2316,2915
$STATE,9270,end apogee,CONTROL_FINISHED_OK
$STATE,9271,begin climb
$GC,9274,1.28,146.6,700.1,0.0,441,9412,1.75,2.75,127.80,1.249,4,0.060,0.074,2649,909,2317
$GC,9550,1.20,146.6,689.6,6.2,453,9557,0.00,2.62,0.00,0.000,6,0.000,0.061,2649,2320,2317
$GC,9867,1.16,146.6,668.0,6.2,469,9872,0.12,2.60,0.00,0.000,4,0.104,0.078,2626,3701,2317
$GC,9935,1.16,149.4,663.9,5.9,472,9944,0.00,2.50,4.28,0.824,6,0.000,0.047,2626,2307,2305
$GC,10262,1.16,151.2,645.1,5.9,488,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2307,2304
$GC,10571,1.16,151.2,624.0,7.7,503,10575,0.00,2.58,0.00,0.000,4,0.000,0.068,2627,909,2304
$GC,10621,1.16,151.2,619.7,9.1,505,10625,0.00,2.60,0.00,0.000,6,0.000,0.056,2627,2328,2304
$GC,10937,1.16,151.2,595.6,6.7,520,10941,0.00,2.55,0.00,0.000,4,0.000,0.076,2627,3696,2303
$GC,11077,1.16,151.2,585.7,6.9,526,11081,0.00,2.47,0.00,0.000,6,0.000,0.045,2627,2304,2303
$GC,11404,1.20,180.2,567.9,5.0,542,11434,0.00,0.00,27.73,1.216,6,0.000,0.000,2627,2304,2179
$GC,11733,1.21,192.5,548.9,5.6,558,11755,0.00,2.67,12.40,1.135,4,0.000,0.071,2627,3693,2130
$GC,11795,1.21,192.5,545.1,6.3,560,11802,0.00,2.45,0.00,0.000,6,0.000,0.043,2627,2312,2130
$GC,12112,1.30,223.0,529.0,4.9,576,12142,0.12,0.00,27.88,1.180,6,0.059,0.000,2659,2312,2005
$GC,12440,1.30,223.0,507.7,6.2,592,12445,0.00,2.58,0.00,0.000,4,0.000,0.067,2659,3700,2005
$GC,12481,1.25,223.0,505.0,6.7,594,12485,0.00,2.45,0.00,0.000,6,0.000,0.041,2659,2310,2005
$GC,12815,1.28,242.6,485.8,5.3,610,12840,0.00,2.65,18.80,1.124,4,0.000,0.066,2659,3693,1924
$GC,12905,1.28,242.6,480.6,6.3,614,12909,0.00,2.45,0.00,0.000,6,0.000,0.040,2659,2306,1924
$GC,13232,1.32,275.6,464.0,4.8,630,13267,0.00,2.60,29.70,1.128,4,0.000,0.058,2659,906,1791
$GC,13413,1.32,275.6,452.5,7.2,638,13418,0.00,2.55,0.00,0.000,6,0.000,0.046,2659,2329,1791
$GC,13735,1.32,275.6,426.9,8.2,654,13739,0.00,2.58,0.00,0.000,4,0.000,0.054,2659,912,1791
$GC,13769,1.32,275.6,424.0,7.5,655,13775,0.00,2.50,0.00,0.000,6,0.000,0.044,2659,2320,1791
$GC,14085,1.32,275.6,396.5,9.4,671,14089,0.00,2.47,0.00,0.000,4,0.000,0.062,2659,3690,1791
$GC,14137,1.32,275.6,391.4,9.2,673,14142,0.00,2.40,0.00,0.000,6,0.000,0.038,2659,2311,1791
$GC,14459,1.32,275.6,363.4,8.7,689,14463,0.00,2.53,0.00,0.000,4,0.000,0.060,2659,3695,1791
$GC,14500,1.32,275.6,359.9,8.7,691,14504,0.00,2.40,0.00,0.000,6,0.000,0.037,2659,2310,1791
$GC,14826,1.32,275.6,330.9,9.4,707,14828,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2310,1791
$GC,15136,1.32,275.6,301.2,9.3,722,15140,0.00,2.50,0.00,0.000,4,0.000,0.058,2659,3696,1791
$GC,15176,1.32,275.6,297.4,10.1,724,15180,0.00,2.40,0.00,0.000,6,0.000,0.036,2659,2305,1791
$GC,15503,1.32,275.6,268.8,8.9,740,15507,0.00,2.53,0.00,0.000,4,0.000,0.057,2659,3699,1791
$GC,15543,1.32,275.6,265.1,8.8,742,15547,0.00,2.40,0.00,0.000,6,0.000,0.036,2659,2307,1791
$GC,15870,1.32,275.6,237.9,7.6,758,15874,0.00,2.53,0.00,0.000,4,0.000,0.057,2659,3700,1791
$GC,15910,1.32,275.6,234.7,9.5,760,15914,0.00,2.40,0.00,0.000,6,0.000,0.036,2659,2310,1791
$GC,16237,1.32,275.6,205.4,9.0,776,16241,0.00,2.50,0.00,0.000,4,0.000,0.056,2659,3693,1791
$GC,16283,1.32,275.6,200.8,10.1,778,16287,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2311,1791
$GC,16616,1.32,275.6,169.2,8.6,794,16620,0.00,2.50,0.00,0.000,4,0.000,0.055,2659,3697,1791
$GC,16660,1.32,275.6,165.1,8.8,796,16665,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2314,1791
$GC,16984,1.32,275.6,137.6,8.4,812,16988,0.00,2.50,0.00,0.000,4,0.000,0.054,2659,3702,1791
$GC,17024,1.32,275.6,134.7,6.5,814,17029,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2318,1791
$GC,17352,1.32,275.6,112.3,8.5,830,17357,0.00,2.47,0.00,0.000,4,0.000,0.055,2659,3692,1792
$GC,17381,1.32,275.6,109.4,9.8,831,17385,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2307,1791
$GC,17698,1.38,275.6,80.1,7.9,846,17699,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2306,1792
$GC,18007,1.38,275.6,57.8,9.9,861,18011,0.00,2.50,0.00,0.000,4,0.000,0.054,2659,3696,1792
$GC,18057,1.38,275.6,53.6,8.3,863,18061,0.00,2.38,0.00,0.000,6,0.000,0.035,2659,2310,1792
$GC,18374,1.38,275.6,20.0,11.6,878,18375,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2309,1792
$STATE,18597,end climb,SURFACE_DEPTH_REACHED
$STATE,18597,begin surface coast
$FINISH,0.9,1.020455
$STATE,18641,end surface coast,CONTROL_FINISHED_OK
$STATE,18641,begin surface
$SM_CCo,18666,22.75,0.772,1,0,1692,300.00
$SM_GC,1.91,0.00,0.00,22.75,0.000,0.000,0.772,27,2527,1692,-10.80,0.28,300.00
$IRIDIUM_FIX,6249.28,-1304.32,220298,070727
$TT8_MAMPS,0.029146
$HUMID,2008
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.7,78.4
$24V_AH,23.1,22.239
$10V_AH,10.1,9.755
$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,25.600,160.925,377.900,22.750,0.000,25.485,31.266,202.809,5.750,0.000,0.000,13.440,1684.493,14110.820,541.269,2130.476,628.186,0.000,1609.404,0.000,2079.461,0.000,39.321,0.000
$DEVICE_MAMPS,125.021,86.671,1291.628,772.369,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.966,609.510,514.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44345,891
$CAP_FILE_SIZE,140123,0
$CFSIZE,260165632,251314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,281108,184000,6315.728,-1310.283,40,3.3,59,-12.2