version: 66.04
glider: 101
mission: 7
dive: 123
start: 11 26 108 4 9 23
data:
$ID,101
$MISSION,7
$DIVE,123
$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,412.5
$T_MISSION,440
$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,-734367.94
$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
$GPS1,040325,6259.701,-1316.561,39,1.7,39,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-52.0
$GPS2,040902,6259.648,-1316.619,11,1.6,16,-12.2
$SPEED_LIMITS,0.139,0.238
$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,38.2,31627,-14.7,-8.000
$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,-1.51,-146.6,0.0,0.0,0,98,0.00,0.00,-80.43,0.000,2,0.000,0.000,25,2533,3279
$GC,102,-1.51,-146.6,4.5,-4.7,4,125,10.48,2.53,-5.60,0.000,4,0.126,0.056,2038,1113,3514
$GC,378,-1.43,-146.6,48.9,-15.4,16,383,0.12,2.47,0.00,0.000,6,0.102,0.041,2061,2521,3514
$GC,702,-1.38,-146.6,84.0,-8.0,32,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2521,3514
$GC,1010,-1.32,-146.6,113.3,-9.0,47,1011,0.12,0.00,0.00,0.000,6,0.093,0.000,2086,2521,3514
$GC,1318,-1.32,-146.6,145.2,-12.9,62,1322,0.00,2.08,0.00,0.000,4,0.000,0.058,2086,3689,3514
$GC,1397,-1.27,-146.6,158.5,-18.1,65,1401,0.00,2.03,0.00,0.000,6,0.000,0.036,2086,2502,3514
$GC,1720,-1.27,-146.6,190.8,-7.0,81,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2502,3514
$GC,2029,-1.27,-146.6,212.0,-6.5,96,2033,0.00,2.15,0.00,0.000,4,0.000,0.058,2086,3696,3514
$GC,2121,-1.27,-146.6,218.6,-7.5,100,2124,0.00,2.03,0.00,0.000,6,0.000,0.036,2086,2506,3514
$GC,2454,-1.27,-146.6,249.0,-11.0,116,2458,0.00,2.12,0.00,0.000,4,0.000,0.058,2086,3689,3514
$GC,2516,-1.27,-146.6,255.2,-9.0,118,2522,0.00,2.00,0.00,0.000,6,0.000,0.036,2086,2512,3514
$GC,2832,-1.27,-146.6,283.3,-8.3,134,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2512,3514
$GC,3141,-1.27,-146.6,312.5,-10.8,149,3145,0.00,2.12,0.00,0.000,4,0.000,0.059,2086,3689,3514
$GC,3248,-1.27,-146.6,323.8,-10.7,153,3254,0.00,2.00,0.00,0.000,6,0.000,0.037,2086,2513,3514
$GC,3564,-1.27,-146.6,356.2,-10.6,169,3568,0.00,2.12,0.00,0.000,4,0.000,0.059,2086,3690,3514
$GC,3638,-1.27,-146.6,363.7,-10.1,172,3641,0.00,2.00,0.00,0.000,6,0.000,0.036,2086,2517,3514
$GC,3965,-1.27,-146.6,397.2,-10.8,188,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2517,3514
$GC,4274,-1.27,-146.6,433.4,-8.7,203,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2517,3514
$GC,4584,-1.27,-146.6,456.5,-7.4,218,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2516,3514
$GC,4893,-1.27,-146.6,478.3,-8.2,233,4897,0.00,2.17,0.00,0.000,4,0.000,0.074,2086,3690,3514
$GC,4999,-1.27,-146.6,488.0,-8.9,237,5005,0.00,2.03,0.00,0.000,6,0.000,0.042,2086,2528,3514
$GC,5315,-1.27,-146.6,513.6,-8.2,253,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2527,3514
$GC,5625,-1.27,-146.6,540.3,-9.3,268,5628,0.00,2.22,0.00,0.000,4,0.000,0.091,2086,3683,3514
$GC,5721,-1.27,-146.6,550.2,-10.0,272,5725,0.00,2.10,0.00,0.000,6,0.000,0.060,2086,2524,3514
$GC,6049,-1.27,-146.6,579.1,-7.7,288,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2521,3514
$GC,6358,-1.27,-146.6,604.6,-8.0,303,6362,0.00,2.22,0.00,0.000,4,0.000,0.089,2086,3684,3514
$GC,6494,-1.27,-146.6,614.1,-6.2,309,6497,0.00,2.10,0.00,0.000,6,0.000,0.051,2086,2506,3514
$GC,6822,-1.27,-146.6,630.9,-6.2,325,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2506,3514
$GC,7131,-1.27,-146.6,645.8,-4.2,340,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2506,3514
$GC,7440,-1.27,-146.6,658.4,-4.4,355,7444,0.00,2.25,0.00,0.000,4,0.000,0.087,2086,3683,3513
$GC,7541,-1.27,-146.6,664.1,-5.8,359,7547,0.00,2.08,0.00,0.000,6,0.000,0.051,2086,2516,3513
$GC,7858,-1.27,-146.6,682.6,-5.5,375,7861,0.00,2.22,0.00,0.000,4,0.000,0.086,2086,3685,3513
$GC,7953,-1.27,-146.6,686.7,-4.3,379,7957,0.00,2.10,0.00,0.000,6,0.000,0.051,2086,2506,3513
$GC,8281,-1.27,-146.6,709.5,-9.9,395,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2506,3513
$GC,8590,-1.27,-146.6,742.2,-10.2,410,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2505,3512
$GC,8900,-1.27,-146.6,767.4,-7.7,425,8904,0.00,2.58,0.00,0.000,4,0.000,0.074,2086,1109,3512
$GC,9102,-1.32,-146.6,780.0,-7.6,434,9106,0.00,2.60,0.00,0.000,6,0.000,0.069,2086,2512,3512
$GC,9424,-1.32,-146.6,804.3,-6.8,450,9427,0.00,2.22,0.00,0.000,4,0.000,0.091,2086,3693,3512
$GC,9561,-1.32,-146.6,813.3,-7.8,456,9564,0.00,2.10,0.00,0.000,6,0.000,0.054,2086,2516,3512
$STATE,9664,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9664,begin apogee
$GC,9672,-0.45,0.0,821.1,7.2,461,9807,0.90,0.00,130.52,1.362,6,0.074,0.000,2277,2314,2915
$STATE,9808,end apogee,CONTROL_FINISHED_OK
$STATE,9808,begin climb
$GC,9811,1.51,146.6,825.6,0.0,468,9949,1.98,2.70,129.48,1.325,4,0.058,0.073,2711,910,2317
$GC,10111,1.43,146.6,796.1,12.1,481,10118,0.12,2.62,0.00,0.000,6,0.123,0.061,2691,2322,2317
$GC,10427,1.43,146.6,769.7,9.4,497,10431,0.00,2.60,0.00,0.000,4,0.000,0.081,2691,3701,2315
$GC,10483,1.35,146.6,764.6,8.1,499,10490,0.12,2.50,0.00,0.000,6,0.111,0.050,2669,2313,2315
$GC,10799,1.35,146.6,734.5,10.7,515,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2313,2315
$GC,11109,1.35,146.6,706.5,9.0,530,11113,0.00,2.60,0.00,0.000,4,0.000,0.071,2668,908,2314
$GC,11291,1.40,190.5,695.3,6.3,538,11336,0.00,2.60,39.22,1.302,6,0.000,0.058,2668,2326,2138
$GC,11663,1.51,247.6,671.9,5.8,556,11720,0.15,2.62,51.35,1.279,4,0.060,0.076,2704,3693,1904
$GC,11804,1.51,247.6,661.6,8.6,561,11811,0.00,2.47,0.00,0.000,6,0.000,0.045,2704,2313,1903
$GC,12121,1.51,247.6,632.7,10.9,577,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2313,1903
$GC,12430,1.51,247.6,590.7,14.4,592,12434,0.00,2.58,0.00,0.000,4,0.000,0.071,2704,3693,1903
$GC,12503,1.51,247.6,579.6,15.0,595,12507,0.00,2.45,0.00,0.000,6,0.000,0.042,2704,2307,1903
$GC,12819,1.51,247.6,535.3,12.5,610,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2307,1903
$GC,13128,1.51,247.6,501.0,11.6,625,13129,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2306,1903
$GC,13437,1.51,247.6,470.8,9.5,640,13439,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2306,1903
$GC,13746,1.51,247.6,441.6,9.0,655,13748,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2305,1903
$GC,14056,1.51,247.6,414.5,8.8,670,14060,0.00,2.53,0.00,0.000,4,0.000,0.060,2705,3702,1904
$GC,14157,1.51,247.6,404.5,10.2,674,14162,0.00,2.42,0.00,0.000,6,0.000,0.038,2704,2304,1904
$GC,14473,1.51,247.6,378.5,8.3,689,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2303,1904
$GC,14783,1.51,247.6,349.9,10.5,704,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2303,1905
$GC,15092,1.57,296.7,329.9,6.1,719,15142,0.00,2.67,42.80,1.017,4,0.000,0.058,2704,3705,1704
$GC,15195,1.57,296.7,320.7,8.0,723,15201,0.00,2.42,0.00,0.000,6,0.000,0.036,2704,2311,1704
$GC,15511,1.57,296.7,286.9,12.7,739,15512,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2311,1704
$GC,15820,1.57,296.7,252.7,9.3,754,15824,0.00,2.53,0.00,0.000,4,0.000,0.056,2704,3706,1704
$GC,15870,1.57,296.7,248.4,8.7,756,15874,0.00,2.40,0.00,0.000,6,0.000,0.036,2704,2307,1704
$GC,16191,1.57,296.7,218.9,10.6,772,16193,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2307,1704
$GC,16501,1.62,296.7,185.5,10.5,787,16506,0.10,2.50,0.00,0.000,4,0.058,0.056,2735,3698,1704
$GC,16557,1.57,296.7,178.2,11.6,789,16563,0.00,2.38,0.00,0.000,6,0.000,0.035,2735,2316,1704
$GC,16874,1.57,296.7,141.2,11.9,805,16875,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2315,1704
$GC,17183,1.57,296.7,108.2,11.2,820,17184,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2315,1705
$GC,17492,1.57,296.7,66.8,13.4,835,17497,0.00,2.50,0.00,0.000,4,0.000,0.054,2735,3706,1705
$GC,17566,1.52,296.7,56.2,14.9,838,17571,0.15,2.40,0.00,0.000,6,0.102,0.035,2707,2307,1705
$GC,17885,1.57,296.7,19.4,11.7,853,17886,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2306,1705
$STATE,18046,end climb,SURFACE_DEPTH_REACHED
$STATE,18046,begin surface coast
$FINISH,0.9,1.005567
$STATE,18066,end surface coast,CONTROL_FINISHED_OK
$STATE,18066,begin surface
$SM_CCo,18091,4.50,0.613,0,0,1692,300.00
$SM_GC,2.50,0.00,0.00,4.50,0.000,0.000,0.613,26,2537,1692,-10.80,0.54,300.00
$IRIDIUM_FIX,6235.17,-1308.20,190298,232318
$TT8_MAMPS,0.028379
$HUMID,2006
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,727.0,103.7
$24V_AH,23.0,20.424
$10V_AH,10.1,8.812
$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,26.050,107.925,393.375,4.500,0.000,23.934,33.244,148.400,6.250,0.000,0.000,17.752,1585.684,13807.264,496.000,2007.393,541.261,0.000,1490.205,0.000,1960.806,0.000,42.914,0.000
$DEVICE_MAMPS,125.788,90.506,1362.192,612.833,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.251,589.565,467.631,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44414,862
$CAP_FILE_SIZE,124330,0
$CFSIZE,260165632,252030976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261108,091225,6301.972,-1317.835,25,1.8,43,-12.2