version: 66.04
glider: 101
mission: 7
dive: 155
start: 12 3 108 7 11 7
data:
$ID,101
$MISSION,7
$DIVE,155
$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,-735122.12
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,070437,6403.047,-1243.583,43,1.2,54,-12.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-58.8
$GPS2,071044,6403.147,-1243.418,13,1.7,13,-12.3
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-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,258.9,14670,-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,-80.72,0.000,2,0.000,0.000,28,2529,3184
$GC,103,-1.16,-146.6,3.4,-3.0,4,128,10.82,2.10,-9.40,0.000,4,0.123,0.073,2114,3693,3514
$GC,382,-1.03,-146.6,30.0,-6.6,16,386,0.17,2.03,0.00,0.000,6,0.081,0.035,2148,2507,3514
$GC,698,-1.03,-146.6,49.7,-6.9,31,702,0.00,2.12,0.00,0.000,4,0.000,0.055,2149,3688,3514
$GC,957,-0.98,-146.6,68.2,-8.8,42,960,0.00,2.00,0.00,0.000,6,0.000,0.035,2149,2513,3514
$GC,1280,-0.93,-146.6,85.7,-5.2,58,1282,0.10,0.00,0.00,0.000,6,0.084,0.000,2170,2513,3515
$GC,1590,-0.93,-146.6,105.0,-11.0,73,1593,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3691,3515
$GC,1686,-0.93,-146.6,113.0,-4.4,77,1689,0.00,2.00,0.00,0.000,6,0.000,0.036,2170,2517,3515
$GC,2014,-0.93,-146.6,127.6,-5.9,93,2018,0.00,2.10,0.00,0.000,4,0.000,0.057,2170,3687,3515
$GC,2061,-0.93,-146.6,130.3,-5.6,95,2065,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2507,3515
$GC,2394,-0.93,-146.6,152.9,-7.0,111,2398,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3688,3515
$GC,2523,-0.93,-146.6,161.3,-7.4,116,2529,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2518,3514
$GC,2840,-0.93,-146.6,184.2,-7.5,132,2843,0.00,2.12,0.00,0.000,4,0.000,0.059,2170,3695,3514
$GC,2879,-0.93,-146.6,187.1,-6.9,133,2885,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2510,3515
$GC,3196,-0.93,-146.6,205.9,-5.5,149,3199,0.00,2.12,0.00,0.000,4,0.000,0.059,2170,3688,3515
$GC,3247,-0.93,-146.6,208.8,-6.0,151,3250,0.00,2.03,0.00,0.000,6,0.000,0.039,2170,2507,3514
$GC,3574,-0.93,-146.6,229.9,-7.0,167,3578,0.00,2.12,0.00,0.000,4,0.000,0.059,2170,3686,3515
$GC,3643,-0.93,-146.6,234.4,-6.7,170,3646,0.00,2.00,0.00,0.000,6,0.000,0.039,2170,2517,3514
$GC,3977,-0.93,-146.6,254.6,-5.0,186,3980,0.00,2.12,0.00,0.000,4,0.000,0.061,2170,3695,3514
$GC,4072,-0.93,-146.6,261.0,-7.5,190,4076,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2510,3513
$GC,4401,-0.93,-146.6,282.4,-5.9,206,4404,0.00,2.12,0.00,0.000,4,0.000,0.060,2170,3686,3513
$GC,4515,-0.93,-146.6,289.6,-6.5,211,4519,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2511,3513
$GC,4848,-0.93,-146.6,308.2,-5.7,227,4852,0.00,2.12,0.00,0.000,4,0.000,0.060,2170,3689,3513
$GC,4910,-0.93,-146.6,312.2,-6.5,229,4916,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2518,3513
$GC,5227,-0.93,-146.6,328.5,-4.4,245,5230,0.00,2.12,0.00,0.000,4,0.000,0.061,2170,3692,3513
$GC,5328,-0.93,-146.6,333.2,-4.2,249,5332,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2508,3513
$GC,5650,-0.93,-146.6,349.1,-5.6,265,5654,0.00,2.15,0.00,0.000,4,0.000,0.061,2170,3695,3513
$GC,5730,-0.93,-146.6,353.9,-5.9,268,5734,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2510,3513
$GC,6053,-0.97,-146.6,372.9,-5.5,284,6056,0.00,2.12,0.00,0.000,4,0.000,0.060,2170,3685,3512
$GC,6131,-0.97,-146.6,378.0,-6.4,287,6135,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2517,3513
$GC,6453,-0.97,-146.6,397.4,-6.2,303,6457,0.00,2.12,0.00,0.000,4,0.000,0.064,2170,3685,3512
$GC,6510,-0.97,-146.6,401.2,-6.5,305,6513,0.00,2.00,0.00,0.000,6,0.000,0.038,2170,2519,3512
$GC,6832,-0.97,-146.6,419.9,-5.5,321,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2519,3512
$GC,7142,-0.97,-146.6,437.3,-5.6,336,7146,0.00,2.15,0.00,0.000,4,0.000,0.067,2170,3689,3512
$GC,7260,-0.97,-146.6,443.9,-5.0,341,7264,0.00,2.03,0.00,0.000,6,0.000,0.038,2170,2516,3512
$GC,7589,-0.97,-146.6,459.5,-4.8,357,7593,0.00,2.17,0.00,0.000,4,0.000,0.071,2170,3692,3512
$GC,7651,-0.97,-146.6,463.1,-5.8,359,7657,0.00,2.03,0.00,0.000,6,0.000,0.040,2170,2519,3512
$GC,7968,-1.02,-146.6,482.0,-6.7,375,7971,0.00,2.17,0.00,0.000,4,0.000,0.076,2170,3683,3512
$GC,8002,-1.02,-146.6,484.5,-7.1,376,8005,0.00,2.05,0.00,0.000,6,0.000,0.043,2170,2509,3512
$GC,8323,-1.02,-146.6,509.2,-7.9,392,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2509,3512
$GC,8633,-1.06,-146.6,531.9,-7.1,407,8638,0.12,2.25,0.00,0.000,4,0.054,0.089,2133,3681,3511
$GC,8696,-1.01,-146.6,537.3,-9.6,410,8700,0.00,2.10,0.00,0.000,6,0.000,0.054,2133,2512,3511
$GC,9029,-1.01,-146.6,562.8,-7.4,426,9033,0.00,2.25,0.00,0.000,4,0.000,0.087,2133,3686,3511
$GC,9080,-0.96,-146.6,567.2,-8.0,428,9085,0.15,2.10,0.00,0.000,6,0.084,0.052,2162,2509,3511
$STATE,9172,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9172,begin apogee
$GC,9180,-0.45,0.0,573.2,6.3,433,9315,0.52,0.00,127.80,1.212,6,0.067,0.000,2275,2308,2915
$STATE,9316,end apogee,CONTROL_FINISHED_OK
$STATE,9316,begin climb
$GC,9319,1.16,146.6,578.1,0.0,440,9459,1.62,2.78,126.88,1.175,4,0.054,0.077,2625,901,2317
$GC,9543,1.16,149.8,570.0,5.9,450,9553,0.00,2.62,4.80,0.803,6,0.000,0.061,2625,2310,2304
$GC,9882,1.18,168.3,551.4,5.4,467,9906,0.00,2.72,17.75,1.108,4,0.000,0.077,2625,3706,2227
$GC,9999,1.15,176.9,544.3,5.7,472,10015,0.00,2.50,8.90,1.012,6,0.000,0.045,2626,2310,2193
$GC,10325,1.17,198.3,526.5,5.4,488,10351,0.00,2.70,20.17,1.131,4,0.000,0.073,2625,3701,2106
$GC,10397,1.17,198.3,521.8,6.9,491,10401,0.00,2.47,0.00,0.000,6,0.000,0.044,2625,2311,2105
$GC,10718,1.17,198.3,501.7,6.2,507,10723,0.00,2.60,0.00,0.000,4,0.000,0.070,2625,3696,2105
$GC,10799,1.17,198.3,496.6,6.1,510,10805,0.00,2.45,0.00,0.000,6,0.000,0.043,2625,2314,2104
$GC,11116,1.19,211.0,478.7,5.6,526,11134,0.00,0.00,12.55,1.088,6,0.000,0.000,2625,2314,2054
$GC,11444,1.19,211.0,458.1,6.5,542,11448,0.00,2.55,0.00,0.000,4,0.000,0.066,2625,3696,2054
$GC,11483,1.19,211.0,455.4,7.0,543,11489,0.00,2.45,0.00,0.000,6,0.000,0.041,2625,2306,2053
$GC,11799,1.19,211.0,436.1,6.0,559,11804,0.00,2.58,0.00,0.000,4,0.000,0.064,2625,3699,2053
$GC,11862,1.19,211.0,431.9,6.6,562,11866,0.00,2.42,0.00,0.000,6,0.000,0.041,2625,2308,2053
$GC,12195,1.19,211.0,409.5,7.0,578,12199,0.00,2.53,0.00,0.000,4,0.000,0.057,2625,905,2053
$GC,12235,1.19,211.0,406.4,8.2,580,12239,0.00,2.53,0.00,0.000,6,0.000,0.044,2625,2325,2053
$GC,12562,1.19,211.0,381.2,7.7,596,12566,0.00,2.47,0.00,0.000,4,0.000,0.063,2625,3691,2053
$GC,12657,1.19,211.0,373.4,7.9,600,12661,0.00,2.40,0.00,0.000,6,0.000,0.039,2625,2314,2053
$GC,12973,1.19,211.0,348.4,7.9,615,12978,0.00,2.53,0.00,0.000,4,0.000,0.060,2625,3696,2053
$GC,13001,1.19,211.0,345.8,8.8,616,13006,0.00,2.40,0.00,0.000,6,0.000,0.038,2625,2312,2053
$GC,13318,1.19,211.0,323.1,6.7,631,13322,0.00,2.50,0.00,0.000,4,0.000,0.059,2625,3689,2053
$GC,13370,1.19,211.0,319.3,7.0,633,13374,0.00,2.38,0.00,0.000,6,0.000,0.038,2625,2318,2053
$GC,13691,1.19,211.0,297.7,6.5,649,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2318,2053
$GC,14001,1.19,211.0,276.7,6.1,664,14005,0.00,2.50,0.00,0.000,4,0.000,0.058,2625,3695,2053
$GC,14045,1.19,211.0,273.4,7.5,666,14049,0.00,2.38,0.00,0.000,6,0.000,0.038,2625,2312,2053
$GC,14373,1.19,211.0,248.5,7.7,682,14377,0.00,2.50,0.00,0.000,4,0.000,0.057,2625,3692,2053
$GC,14459,1.19,211.0,242.6,6.5,686,14463,0.00,2.38,0.00,0.000,6,0.000,0.037,2625,2314,2053
$GC,14786,1.19,211.0,220.0,6.4,702,14790,0.00,2.50,0.00,0.000,4,0.000,0.058,2625,3693,2053
$GC,14830,1.19,211.0,217.1,6.8,704,14835,0.00,2.38,0.00,0.000,6,0.000,0.037,2625,2316,2053
$GC,15152,1.19,211.0,198.0,6.2,720,15157,0.00,2.50,0.00,0.000,4,0.000,0.058,2625,3696,2053
$GC,15186,1.19,211.0,195.7,6.8,721,15192,0.00,2.40,0.00,0.000,6,0.000,0.038,2625,2306,2053
$GC,15502,1.19,211.0,177.2,6.8,737,15507,0.00,2.53,0.00,0.000,4,0.000,0.058,2625,3699,2054
$GC,15576,1.19,211.0,172.8,6.7,740,15580,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2310,2054
$GC,15892,1.20,222.5,155.5,5.7,755,15913,0.00,2.53,11.48,0.897,4,0.000,0.057,2625,3689,2006
$GC,15930,1.20,222.5,153.1,6.2,756,15936,0.00,2.40,0.00,0.000,6,0.000,0.038,2626,2316,2006
$GC,16248,1.23,245.2,137.8,5.3,772,16273,0.00,2.58,20.52,0.921,4,0.000,0.057,2625,3696,1915
$GC,16308,1.26,266.1,134.3,5.4,774,16337,0.10,2.42,19.15,0.901,6,0.058,0.037,2654,2308,1829
$GC,16648,1.26,266.1,110.6,7.3,791,16652,0.00,2.53,0.00,0.000,4,0.000,0.057,2654,3695,1829
$GC,16688,1.26,266.1,107.3,8.3,793,16693,0.00,2.40,0.00,0.000,6,0.000,0.038,2654,2313,1829
$GC,17016,1.26,266.1,83.1,7.5,809,17020,0.00,2.53,0.00,0.000,4,0.000,0.057,2654,3700,1829
$GC,17062,1.26,266.1,79.1,8.4,811,17066,0.00,2.40,0.00,0.000,6,0.000,0.037,2654,2314,1829
$GC,17384,1.26,266.1,53.3,8.0,827,17388,0.00,2.50,0.00,0.000,4,0.000,0.055,2654,3697,1829
$GC,17428,1.26,266.1,49.4,8.7,829,17433,0.00,2.40,0.00,0.000,6,0.000,0.036,2654,2306,1829
$GC,17751,1.26,266.1,22.4,8.8,845,17755,0.00,2.50,0.00,0.000,4,0.000,0.055,2654,3691,1829
$GC,17796,1.21,266.1,18.3,8.7,847,17800,0.00,2.38,0.00,0.000,6,0.000,0.036,2654,2311,1829
$STATE,18011,end climb,SURFACE_DEPTH_REACHED
$STATE,18011,begin surface coast
$FINISH,0.8,1.027139
$STATE,18035,end surface coast,CONTROL_FINISHED_OK
$STATE,18035,begin surface
$SM_CCo,18060,30.67,0.771,2,0,1691,300.00
$SM_GC,1.49,0.00,0.00,30.67,0.000,0.000,0.771,23,2528,1691,-10.82,0.31,300.00
$IRIDIUM_FIX,6337.14,-1242.38,270298,020234
$TT8_MAMPS,0.029146
$HUMID,2041
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,500.9,82.0
$24V_AH,23.1,25.833
$10V_AH,10.1,11.648
$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,25.325,188.625,370.000,30.675,0.000,25.402,28.113,171.749,4.250,0.000,0.000,15.110,1667.930,13440.285,564.464,2181.922,614.667,0.000,1672.209,0.000,2132.092,0.000,28.286,0.000
$DEVICE_MAMPS,122.720,88.972,1211.860,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.068,585.850,579.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44321,859
$CAP_FILE_SIZE,144318,0
$CFSIZE,260165632,249913344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,031208,121408,6406.606,-1241.157,36,1.4,36,-12.3