version: 66.04
glider: 101
mission: 7
dive: 147
start: 12 1 108 12 3 56
data:
$ID,101
$MISSION,7
$DIVE,147
$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,-734924.44
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,115658,6341.504,-1305.804,30,2.4,49,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-41.9
$GPS2,120337,6341.527,-1305.910,40,1.5,40,-12.4
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$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,66.7,11011,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,142,0.00,0.00,-120.88,0.000,2,0.000,0.000,27,2536,3207
$GC,146,-1.16,-146.6,3.9,-3.1,6,168,10.88,0.00,-8.50,0.000,6,0.127,0.000,2115,2536,3514
$GC,480,-1.05,-146.6,48.4,-15.0,22,481,0.15,0.00,0.00,0.000,6,0.082,0.000,2146,2536,3513
$GC,787,-1.05,-146.6,92.3,-12.2,37,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2536,3513
$GC,1097,-1.00,-146.6,134.1,-14.9,52,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2536,3513
$GC,1406,-0.94,-146.6,173.4,-11.0,67,1410,0.10,2.05,0.00,0.000,4,0.087,0.058,2167,3689,3513
$GC,1423,-0.94,-146.6,173.8,-6.0,67,1429,0.00,2.03,0.00,0.000,6,0.000,0.036,2167,2501,3513
$GC,1739,-0.94,-146.6,184.9,-6.7,83,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2500,3513
$GC,2048,-0.94,-146.6,206.2,-8.8,98,2052,0.00,2.12,0.00,0.000,4,0.000,0.058,2167,3683,3513
$GC,2225,-0.94,-146.6,228.3,-10.8,105,2231,0.00,2.03,0.00,0.000,6,0.000,0.037,2167,2496,3513
$GC,2543,-0.99,-146.6,249.5,-5.1,121,2547,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3683,3513
$GC,2666,-0.99,-146.6,260.0,-6.4,126,2670,0.00,2.00,0.00,0.000,6,0.000,0.036,2167,2505,3512
$GC,2989,-0.99,-146.6,275.7,-5.8,142,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2505,3512
$GC,3297,-0.99,-146.6,298.3,-7.8,157,3301,0.00,2.12,0.00,0.000,4,0.000,0.057,2167,3690,3512
$GC,3404,-0.99,-146.6,310.2,-8.6,161,3410,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2507,3512
$GC,3721,-0.99,-146.6,335.0,-6.6,177,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2508,3512
$GC,4030,-0.99,-146.6,356.4,-7.3,192,4033,0.00,2.12,0.00,0.000,4,0.000,0.058,2166,3692,3512
$GC,4159,-0.99,-146.6,367.1,-7.6,197,4165,0.00,2.00,0.00,0.000,6,0.000,0.035,2167,2516,3512
$GC,4475,-0.99,-146.6,391.3,-9.2,213,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2516,3512
$GC,4784,-0.99,-146.6,413.9,-6.8,228,4788,0.00,2.12,0.00,0.000,4,0.000,0.062,2167,3684,3512
$GC,4920,-0.99,-146.6,423.2,-6.6,234,4924,0.00,1.98,0.00,0.000,6,0.000,0.037,2167,2519,3513
$GC,5254,-0.99,-146.6,439.3,-4.4,250,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2519,3512
$GC,5563,-0.99,-146.6,456.7,-6.4,265,5566,0.00,2.15,0.00,0.000,4,0.000,0.067,2167,3690,3513
$GC,5721,-0.99,-146.6,469.9,-9.3,272,5725,0.00,2.03,0.00,0.000,6,0.000,0.038,2166,2514,3512
$GC,6054,-0.99,-146.6,505.8,-11.1,288,6057,0.00,2.20,0.00,0.000,4,0.000,0.077,2166,3686,3512
$GC,6155,-0.99,-146.6,516.0,-9.6,292,6158,0.00,2.05,0.00,0.000,6,0.000,0.047,2166,2524,3512
$GC,6477,-0.99,-146.6,539.5,-7.8,308,6480,0.00,2.22,0.00,0.000,4,0.000,0.089,2167,3681,3512
$GC,6572,-0.99,-146.6,548.4,-9.0,312,6576,0.00,2.10,0.00,0.000,6,0.000,0.057,2166,2516,3512
$GC,6900,-0.99,-146.6,554.2,4.1,328,6904,0.00,2.25,0.00,0.000,4,0.000,0.094,2166,3675,3512
$GC,7019,-0.99,-146.6,546.5,7.7,333,7023,0.00,2.10,0.00,0.000,6,0.000,0.057,2166,2508,3512
$GC,7341,-0.99,-146.6,541.0,-2.7,349,7345,0.00,2.28,0.00,0.000,4,0.000,0.094,2167,3677,3512
$GC,7498,-0.99,-146.6,547.4,-5.8,356,7502,0.00,2.12,0.00,0.000,6,0.000,0.062,2166,2512,3512
$GC,7826,-0.99,-146.6,587.4,-14.2,372,7830,0.00,2.25,0.00,0.000,4,0.000,0.091,2167,3680,3512
$GC,7927,-0.99,-146.6,600.0,-10.3,376,7936,0.00,2.10,0.00,0.000,6,0.000,0.053,2167,2506,3512
$GC,8244,-0.99,-146.6,617.6,-4.8,392,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2505,3512
$GC,8554,-1.04,-146.6,628.0,-5.8,407,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2505,3511
$GC,8863,-1.08,-146.6,649.1,-3.9,422,8867,0.12,2.22,0.00,0.000,4,0.053,0.086,2129,3676,3511
$GC,9019,-1.03,-146.6,656.8,-5.2,428,9025,0.10,2.08,0.00,0.000,6,0.091,0.051,2148,2508,3510
$STATE,9187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9187,begin apogee
$GC,9196,-0.45,0.0,667.8,6.3,437,9330,0.60,0.00,128.20,1.253,6,0.065,0.000,2277,2306,2914
$STATE,9331,end apogee,CONTROL_FINISHED_OK
$STATE,9331,begin climb
$GC,9334,1.16,146.6,670.8,0.0,444,9472,1.60,2.75,127.28,1.211,4,0.054,0.074,2626,907,2317
$GC,9572,1.09,146.6,652.4,11.5,455,9577,0.00,2.58,0.00,0.000,6,0.000,0.058,2626,2308,2317
$GC,9901,1.16,200.1,634.8,4.4,471,9953,0.00,2.70,47.78,1.184,4,0.000,0.067,2626,902,2099
$GC,9988,1.16,200.1,629.5,8.9,474,9992,0.00,2.62,0.00,0.000,6,0.000,0.055,2626,2324,2099
$GC,10304,1.16,200.1,598.9,8.1,489,10308,0.00,2.55,0.00,0.000,4,0.000,0.074,2626,3695,2099
$GC,10377,1.11,200.1,592.9,7.8,492,10381,0.00,2.45,0.00,0.000,6,0.000,0.043,2626,2313,2098
$GC,10699,1.15,231.6,571.9,5.1,508,10729,0.00,0.00,28.62,1.160,6,0.000,0.000,2626,2313,1971
$GC,11028,1.16,243.4,555.9,5.6,524,11046,0.00,0.00,12.07,1.083,6,0.000,0.000,2626,2313,1922
$GC,11357,1.23,296.6,540.6,4.4,540,11409,0.00,2.65,47.33,1.164,4,0.000,0.067,2626,3699,1704
$GC,11478,1.26,318.2,534.2,5.4,545,11506,0.10,2.45,20.10,1.107,6,0.060,0.040,2652,2312,1616
$GC,11815,1.26,318.2,513.8,6.3,562,11819,0.00,2.58,0.00,0.000,4,0.000,0.066,2653,3700,1617
$GC,11876,1.26,318.2,509.3,7.9,564,11882,0.00,2.45,0.00,0.000,6,0.000,0.039,2652,2307,1616
$GC,12193,1.26,318.2,486.9,7.5,580,12197,0.00,2.58,0.00,0.000,4,0.000,0.064,2652,3699,1615
$GC,12255,1.26,318.2,481.6,8.8,583,12259,0.00,2.42,0.00,0.000,6,0.000,0.038,2652,2311,1615
$GC,12582,1.26,318.2,454.9,8.7,599,12586,0.00,2.55,0.00,0.000,4,0.000,0.061,2652,3699,1616
$GC,12639,1.26,318.2,449.7,9.5,601,12646,0.00,2.42,0.00,0.000,6,0.000,0.037,2652,2307,1615
$GC,12955,1.26,318.2,418.2,9.7,617,12960,0.00,2.55,0.00,0.000,4,0.000,0.059,2652,3703,1616
$GC,13018,1.26,318.2,411.3,10.9,620,13023,0.00,2.40,0.00,0.000,6,0.000,0.036,2652,2314,1616
$GC,13352,1.26,318.2,379.3,9.0,636,13356,0.00,2.53,0.00,0.000,4,0.000,0.058,2652,3703,1615
$GC,13414,1.26,318.2,373.1,10.0,639,13418,0.00,2.40,0.00,0.000,6,0.000,0.036,2652,2311,1616
$GC,13747,1.26,318.2,336.6,11.6,655,13752,0.00,2.53,0.00,0.000,4,0.000,0.058,2653,3703,1616
$GC,13804,1.26,318.2,329.6,11.8,657,13810,0.00,2.40,0.00,0.000,6,0.000,0.035,2652,2309,1616
$GC,14120,1.26,318.2,294.2,10.7,673,14124,0.00,2.53,0.00,0.000,4,0.000,0.056,2652,3706,1616
$GC,14164,1.26,318.2,289.6,10.4,675,14169,0.00,2.40,0.00,0.000,6,0.000,0.035,2653,2312,1616
$GC,14487,1.26,318.2,258.4,10.0,691,14491,0.00,2.50,0.00,0.000,4,0.000,0.055,2652,3698,1616
$GC,14560,1.26,318.2,250.4,11.0,694,14564,0.00,2.38,0.00,0.000,6,0.000,0.035,2652,2317,1616
$GC,14876,1.26,318.2,221.3,8.6,709,14880,0.00,2.47,0.00,0.000,4,0.000,0.054,2652,3698,1616
$GC,14938,1.26,318.2,214.7,12.4,711,14944,0.00,2.38,0.00,0.000,6,0.000,0.035,2652,2313,1616
$GC,15254,1.26,318.2,182.6,10.7,727,15258,0.00,2.50,0.00,0.000,4,0.000,0.054,2652,3702,1616
$GC,15321,1.26,318.2,176.0,10.2,730,15325,0.00,2.38,0.00,0.000,6,0.000,0.035,2652,2318,1616
$GC,15644,1.26,318.2,141.2,10.3,746,15648,0.00,2.47,0.00,0.000,4,0.000,0.054,2652,3699,1616
$GC,15694,1.26,318.2,135.4,11.7,748,15698,0.00,2.38,0.00,0.000,6,0.000,0.035,2652,2311,1617
$GC,16017,1.26,318.2,107.6,7.5,764,16021,0.00,2.50,0.00,0.000,4,0.000,0.054,2652,3703,1617
$GC,16104,1.26,318.2,101.0,6.9,768,16108,0.00,2.38,0.00,0.000,6,0.000,0.035,2652,2315,1617
$GC,16432,1.26,321.5,76.9,5.9,784,16441,0.00,2.50,4.75,0.660,4,0.000,0.054,2653,3699,1604
$GC,16470,1.26,321.5,73.2,9.2,785,16476,0.00,2.38,0.00,0.000,6,0.000,0.035,2652,2308,1604
$GC,16787,1.26,321.5,40.1,10.3,801,16791,0.00,2.50,0.00,0.000,4,0.000,0.054,2652,3701,1604
$GC,16859,1.26,321.5,32.2,10.2,804,16863,0.00,2.38,0.00,0.000,6,0.000,0.035,2652,2314,1604
$STATE,17172,end climb,SURFACE_DEPTH_REACHED
$STATE,17173,begin surface coast
$FINISH,1.0,1.027461
$STATE,17196,end surface coast,CONTROL_FINISHED_OK
$STATE,17196,begin surface
$SM_CCo,17281,0.00,0.000,0,0,1602,321.59
$SM_GC,1.73,11.57,0.00,0.00,0.037,0.000,0.000,25,2533,1602,-10.75,0.45,321.59
$IRIDIUM_FIX,6313.04,-1305.84,250298,060616
$TT8_MAMPS,0.028379
$HUMID,2015
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.5,77.0
$24V_AH,23.1,24.516
$10V_AH,10.1,10.927
$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,25.225,145.150,416.125,0.000,0.000,26.360,30.301,172.123,5.500,0.000,0.000,41.935,1538.138,12948.559,583.684,2026.476,575.095,0.000,1600.543,0.000,1952.387,0.000,37.716,0.000
$DEVICE_MAMPS,126.555,93.574,1252.511,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.906,559.701,465.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41164,820
$CAP_FILE_SIZE,127484,0
$CFSIZE,260165632,250470400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011208,165326,6343.499,-1303.904,49,1.2,49,-12.4