version: 66.04
glider: 101
mission: 7
dive: 4
start: 11 8 108 6 16 41
data:
$ID,101
$MISSION,7
$DIVE,4
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$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,-731793.81
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,2410
$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,2467
$C_ROLL_CLIMB,2367
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,061115,6128.564,-817.572,7,1.9,7,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-50.8
$GPS2,061520,6128.574,-817.569,7,1.2,12,-8.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$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,300.7,7078,-17.9,-10.000
$D_GRID,641
$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,-1.81,-146.6,0.0,0.0,0,139,0.00,0.00,-121.18,0.000,2,0.000,0.000,27,2472,3234
$GC,143,-1.81,-146.6,3.2,-2.9,6,166,10.55,2.25,-7.25,0.000,4,0.134,0.074,2008,3685,3514
$GC,419,-1.81,-146.6,41.6,-12.3,18,423,0.00,2.10,0.00,0.000,6,0.000,0.037,2009,2461,3514
$GC,748,-1.81,-146.6,82.5,-12.0,34,752,0.00,2.22,0.00,0.000,4,0.000,0.058,2008,3687,3514
$GC,972,-1.81,-146.6,112.0,-12.7,44,975,0.00,2.10,0.00,0.000,6,0.000,0.038,2008,2459,3514
$GC,1300,-1.81,-146.6,152.3,-12.4,60,1304,0.00,2.22,0.00,0.000,4,0.000,0.058,2009,3693,3514
$GC,1414,-1.81,-146.6,167.2,-13.2,65,1417,0.00,2.10,0.00,0.000,6,0.000,0.038,2009,2468,3514
$GC,1747,-1.81,-146.6,207.8,-12.3,81,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2468,3514
$GC,2056,-1.81,-146.6,242.9,-11.3,96,2060,0.00,2.20,0.00,0.000,4,0.000,0.059,2009,3685,3514
$GC,2158,-1.81,-146.6,254.5,-11.4,100,2161,0.00,2.10,0.00,0.000,6,0.000,0.038,2008,2458,3514
$GC,2480,-1.81,-146.6,289.4,-11.2,116,2483,0.00,2.22,0.00,0.000,4,0.000,0.060,2009,3685,3514
$GC,2530,-1.81,-146.6,295.5,-12.1,118,2534,0.00,2.10,0.00,0.000,6,0.000,0.038,2008,2460,3514
$GC,2858,-1.81,-146.6,330.4,-10.5,134,2861,0.00,2.22,0.00,0.000,4,0.000,0.062,2009,3685,3514
$GC,2931,-1.81,-146.6,338.7,-11.7,137,2935,0.00,2.10,0.00,0.000,6,0.000,0.038,2008,2465,3514
$GC,3260,-1.81,-146.6,376.4,-12.0,153,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2464,3514
$GC,3567,-1.81,-146.6,413.8,-12.0,168,3571,0.00,2.25,0.00,0.000,4,0.000,0.068,2009,3683,3514
$GC,3646,-1.81,-146.6,423.7,-12.3,171,3650,0.00,2.10,0.00,0.000,6,0.000,0.039,2009,2471,3514
$GC,3968,-1.81,-146.6,461.4,-11.7,187,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2471,3514
$GC,4277,-1.81,-146.6,497.4,-10.9,202,4281,0.00,2.33,0.00,0.000,4,0.000,0.086,2008,3684,3514
$GC,4366,-1.81,-146.6,507.3,-12.4,206,4370,0.00,2.17,0.00,0.000,6,0.000,0.053,2009,2470,3514
$GC,4694,-1.81,-146.6,549.7,-13.6,222,4698,0.00,2.42,0.00,0.000,4,0.000,0.105,2009,3685,3514
$GC,4951,-1.81,-146.6,581.6,-12.2,233,4955,0.00,2.20,0.00,0.000,6,0.000,0.056,2009,2459,3514
$GC,5273,-1.81,-146.6,619.4,-10.6,249,5277,0.00,2.40,0.00,0.000,4,0.000,0.097,2009,3686,3514
$GC,5346,-1.81,-146.6,626.4,-10.2,252,5350,0.00,2.22,0.00,0.000,6,0.000,0.060,2009,2461,3513
$STATE,5493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5494,begin apogee
$GC,5502,-0.45,0.0,641.8,10.3,259,5637,1.42,0.00,128.52,1.188,6,0.075,0.000,2310,2360,2915
$STATE,5638,end apogee,CONTROL_FINISHED_OK
$STATE,5638,begin climb
$GC,5641,1.81,146.6,645.1,0.0,266,5779,2.20,2.78,127.25,1.143,4,0.047,0.081,2809,960,2317
$GC,5850,1.65,146.6,621.6,15.0,275,5857,0.20,2.65,0.00,0.000,6,0.129,0.067,2775,2360,2317
$GC,6167,1.56,146.6,590.2,11.7,291,6169,0.12,0.00,0.00,0.000,6,0.113,0.000,2753,2361,2315
$GC,6477,1.51,148.0,559.4,9.9,306,6481,0.00,2.55,0.00,0.000,4,0.000,0.085,2754,3693,2314
$GC,6736,1.46,186.6,535.1,8.2,317,6777,0.12,2.40,35.28,1.130,6,0.122,0.049,2732,2361,2154
$GC,7092,1.51,226.6,500.8,8.1,334,7135,0.00,2.58,35.67,1.104,4,0.000,0.071,2732,3699,1990
$GC,7270,1.51,226.6,480.3,11.8,342,7275,0.00,2.38,0.00,0.000,6,0.000,0.043,2732,2364,1989
$GC,7598,1.57,226.6,445.6,10.4,358,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2364,1989
$GC,7907,1.64,226.6,411.2,11.6,373,7909,0.15,0.00,0.00,0.000,6,0.054,0.000,2770,2364,1989
$GC,8216,1.64,226.6,370.4,13.0,388,8221,0.00,2.53,0.00,0.000,4,0.000,0.054,2770,952,1989
$GC,8261,1.64,226.6,364.2,13.1,390,8266,0.00,2.55,0.00,0.000,6,0.000,0.044,2769,2388,1989
$GC,8584,1.64,226.6,320.6,13.4,406,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2389,1989
$GC,8893,1.64,226.6,279.7,13.2,421,8897,0.00,2.58,0.00,0.000,4,0.000,0.051,2769,957,1989
$GC,8943,1.64,226.6,272.7,13.9,423,8947,0.00,2.50,0.00,0.000,6,0.000,0.041,2770,2374,1990
$GC,9259,1.64,226.6,232.3,12.7,438,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2374,1990
$GC,9568,1.64,226.6,194.4,12.0,453,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2374,1990
$GC,9877,1.64,226.6,156.2,12.4,468,9881,0.00,2.53,0.00,0.000,4,0.000,0.049,2769,957,1990
$GC,9939,1.64,226.6,148.2,12.6,470,9946,0.00,2.47,0.00,0.000,6,0.000,0.041,2769,2372,1990
$GC,10256,1.64,226.6,110.1,11.7,486,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2372,1990
$GC,10566,1.64,226.6,73.8,11.6,501,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2372,1990
$GC,10874,1.64,226.6,38.8,11.6,516,10879,0.00,2.53,0.00,0.000,4,0.000,0.049,2770,955,1990
$GC,10953,1.64,226.6,29.0,11.7,519,10959,0.00,2.47,0.00,0.000,6,0.000,0.041,2770,2373,1991
$STATE,11206,end climb,SURFACE_DEPTH_REACHED
$STATE,11206,begin surface coast
$FINISH,0.4,1.012764
$STATE,11226,end surface coast,CONTROL_FINISHED_OK
$STATE,11226,begin surface
$SM_CCo,11252,45.55,0.732,2,0,1691,300.00
$SM_GC,1.27,0.00,0.00,45.55,0.000,0.000,0.732,26,2475,1691,-10.97,0.23,300.00
$IRIDIUM_FIX,6103.81,-542.64,020298,060640
$TT8_MAMPS,0.029146
$HUMID,1995
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,17.90
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,601.6,96.4
$24V_AH,23.1,4.043
$10V_AH,10.1,1.434
$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,27.225,79.875,326.725,45.550,0.000,0.000,0.000,0.000,13.250,0.000,0.000,14.156,1042.468,8266.234,507.216,1389.021,238.476,0.000,1206.723,0.000,1355.867,0.000,34.819,0.000
$DEVICE_MAMPS,134.225,105.079,1188.083,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.306,363.010,352.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25391,533
$CAP_FILE_SIZE,94808,0
$CFSIZE,260165632,257576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,081108,092631,6129.319,-821.488,34,1.0,39,-8.9