version: 66.04
glider: 101
mission: 7
dive: 105
start: 11 22 108 23 47 36
data:
$ID,101
$MISSION,7
$DIVE,105
$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,-733958.94
$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,28
$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
$GPS1,234156,6238.516,-1143.541,37,1.6,37,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-56.1
$GPS2,234715,6238.514,-1143.603,9,1.8,9,-11.1
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$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,5.5,12071,-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,-80.55,0.000,2,0.000,0.000,25,2533,3424
$GC,102,-1.51,-146.6,4.8,-5.2,4,124,10.48,2.58,-1.98,0.000,4,0.124,0.056,2038,1109,3514
$GC,378,-1.42,-146.6,47.5,-10.7,16,383,0.12,2.47,0.00,0.000,6,0.100,0.040,2062,2518,3514
$GC,702,-1.36,-146.6,80.3,-10.8,32,706,0.00,2.50,0.00,0.000,4,0.000,0.044,2062,1105,3514
$GC,775,-1.31,-146.6,88.1,-12.5,35,780,0.12,2.47,0.00,0.000,6,0.101,0.039,2085,2521,3514
$GC,1092,-1.31,-146.6,116.6,-10.2,50,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2521,3514
$GC,1401,-1.31,-146.6,148.9,-11.2,65,1405,0.00,2.08,0.00,0.000,4,0.000,0.058,2085,3691,3514
$GC,1492,-1.31,-146.6,158.7,-10.2,69,1496,0.00,2.03,0.00,0.000,6,0.000,0.036,2085,2499,3514
$GC,1825,-1.31,-146.6,193.2,-10.5,85,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2499,3514
$GC,2135,-1.31,-146.6,225.0,-10.9,100,2139,0.00,2.12,0.00,0.000,4,0.000,0.058,2086,3689,3514
$GC,2253,-1.31,-146.6,238.3,-11.0,105,2257,0.00,2.00,0.00,0.000,6,0.000,0.036,2086,2513,3514
$GC,2581,-1.31,-146.6,270.6,-9.5,121,2585,0.00,2.12,0.00,0.000,4,0.000,0.058,2085,3695,3514
$GC,2650,-1.31,-146.6,277.6,-10.1,124,2654,0.00,2.00,0.00,0.000,6,0.000,0.036,2085,2516,3514
$GC,2983,-1.31,-146.6,308.7,-9.7,140,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2516,3514
$GC,3292,-1.31,-146.6,336.6,-8.9,155,3296,0.00,2.12,0.00,0.000,4,0.000,0.059,2085,3694,3514
$GC,3383,-1.31,-146.6,345.3,-10.6,159,3387,0.00,2.00,0.00,0.000,6,0.000,0.035,2085,2515,3514
$GC,3716,-1.31,-146.6,375.6,-9.0,175,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2513,3514
$GC,4025,-1.31,-146.6,403.5,-9.5,190,4028,0.00,2.15,0.00,0.000,4,0.000,0.061,2086,3698,3514
$GC,4171,-1.31,-146.6,418.6,-10.6,196,4175,0.00,2.03,0.00,0.000,6,0.000,0.035,2085,2513,3514
$GC,4493,-1.31,-146.6,449.0,-9.1,212,4497,0.00,2.15,0.00,0.000,4,0.000,0.066,2085,3687,3514
$GC,4549,-1.31,-146.6,454.6,-8.9,214,4553,0.00,2.03,0.00,0.000,6,0.000,0.037,2085,2510,3514
$GC,4870,-1.31,-146.6,482.9,-8.3,230,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2510,3514
$GC,5180,-1.31,-146.6,506.3,-7.8,245,5184,0.00,2.22,0.00,0.000,4,0.000,0.081,2085,3686,3514
$GC,5366,-1.31,-146.6,523.5,-9.9,253,5370,0.00,2.08,0.00,0.000,6,0.000,0.052,2085,2527,3514
$GC,5693,-1.31,-146.6,553.1,-8.4,269,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2526,3514
$GC,6002,-1.31,-146.6,578.6,-9.2,284,6006,0.00,2.22,0.00,0.000,4,0.000,0.090,2085,3683,3514
$GC,6161,-1.31,-146.6,594.2,-10.0,291,6165,0.00,2.10,0.00,0.000,6,0.000,0.052,2085,2505,3514
$GC,6495,-1.31,-146.6,620.0,-7.6,307,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2505,3514
$GC,6803,-1.31,-146.6,644.2,-8.2,322,6808,0.00,2.28,0.00,0.000,4,0.000,0.088,2085,3688,3514
$GC,6922,-1.31,-146.6,653.6,-7.9,327,6926,0.00,2.10,0.00,0.000,6,0.000,0.052,2085,2511,3514
$GC,7244,-1.36,-146.6,678.0,-8.5,343,7249,0.00,2.60,0.00,0.000,4,0.000,0.075,2085,1103,3513
$GC,7324,-1.41,-146.6,684.6,-7.5,346,7330,0.00,2.62,0.00,0.000,6,0.000,0.069,2085,2515,3513
$STATE,7451,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7451,begin apogee
$GC,7460,-0.45,0.0,696.0,8.8,353,7594,0.90,0.00,130.05,1.262,6,0.069,0.000,2277,2319,2915
$STATE,7595,end apogee,CONTROL_FINISHED_OK
$STATE,7595,begin climb
$GC,7599,1.51,146.6,700.4,0.0,360,7737,1.95,2.80,127.80,1.224,4,0.058,0.075,2707,899,2317
$GC,7842,1.41,146.6,685.9,9.4,371,7847,0.12,2.65,0.00,0.000,6,0.123,0.062,2686,2318,2316
$GC,8164,1.44,167.6,663.3,7.2,387,8189,0.00,2.75,19.40,1.172,4,0.000,0.071,2686,900,2231
$GC,8280,1.44,167.6,653.4,9.2,392,8285,0.00,2.65,0.00,0.000,6,0.000,0.059,2685,2327,2231
$GC,8602,1.46,188.8,628.3,7.2,408,8629,0.00,2.67,19.95,1.189,4,0.000,0.077,2685,3694,2145
$GC,8683,1.46,188.8,622.1,8.3,411,8689,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2303,2145
$GC,8999,1.46,188.8,597.1,8.3,427,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2303,2143
$GC,9309,1.48,202.8,573.0,7.5,442,9330,0.00,2.65,13.70,1.146,4,0.000,0.064,2685,906,2088
$GC,9387,1.48,205.5,566.6,7.9,445,9399,0.00,2.58,4.28,0.815,6,0.000,0.051,2685,2326,2077
$GC,9708,1.48,205.5,537.8,9.5,461,9712,0.00,2.50,0.00,0.000,4,0.000,0.069,2686,3693,2077
$GC,9799,1.48,205.5,528.3,10.4,465,9804,0.00,2.42,0.00,0.000,6,0.000,0.041,2685,2314,2076
$GC,10127,1.48,205.5,499.9,8.5,481,10132,0.00,2.58,0.00,0.000,4,0.000,0.066,2685,3705,2076
$GC,10190,1.48,205.5,494.4,8.4,484,10195,0.00,2.45,0.00,0.000,6,0.000,0.040,2685,2307,2076
$GC,10518,1.49,213.4,468.7,7.7,500,10528,0.00,0.00,8.45,1.002,6,0.000,0.000,2686,2306,2045
$GC,10827,1.49,213.4,443.5,8.6,515,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2306,2045
$GC,11136,1.49,213.4,415.1,9.5,530,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2306,2045
$GC,11445,1.49,213.4,386.1,9.4,545,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2306,2045
$GC,11755,1.50,221.0,361.1,7.7,560,11765,0.00,0.00,8.35,0.928,6,0.000,0.000,2685,2306,2014
$GC,12064,1.50,221.0,336.5,8.2,575,12068,0.00,2.53,0.00,0.000,4,0.000,0.058,2686,3696,2014
$GC,12126,1.50,221.0,331.0,9.3,577,12132,0.00,2.40,0.00,0.000,6,0.000,0.036,2685,2306,2014
$GC,12443,1.55,221.0,304.1,8.5,593,12444,0.12,0.00,0.00,0.000,6,0.054,0.000,2722,2306,2014
$GC,12752,1.55,221.0,273.4,9.9,608,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2306,2014
$GC,13061,1.55,221.0,242.7,10.4,623,13065,0.00,2.50,0.00,0.000,4,0.000,0.055,2722,3699,2014
$GC,13123,1.47,221.0,235.9,11.4,625,13130,0.12,2.38,0.00,0.000,6,0.100,0.035,2698,2312,2014
$GC,13440,1.47,221.0,204.1,10.1,641,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2311,2014
$GC,13749,1.47,221.0,173.1,10.0,656,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2311,2015
$GC,14058,1.47,221.0,144.3,9.5,671,14063,0.00,2.47,0.00,0.000,4,0.000,0.054,2698,3699,2015
$GC,14123,1.47,221.0,137.0,10.5,674,14127,0.00,2.38,0.00,0.000,6,0.000,0.035,2698,2313,2015
$GC,14451,1.48,222.9,105.4,7.9,690,14457,0.00,0.00,3.97,0.602,6,0.000,0.000,2698,2312,2006
$GC,14762,1.48,222.9,79.6,8.1,705,14766,0.00,2.50,0.00,0.000,4,0.000,0.054,2698,3702,2006
$GC,14826,1.48,222.9,73.3,9.9,708,14830,0.00,2.38,0.00,0.000,6,0.000,0.035,2698,2318,2006
$GC,15153,1.48,222.9,41.3,10.7,724,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2316,2006
$GC,15464,1.48,222.9,13.0,10.1,739,15465,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2316,2006
$STATE,15564,end climb,SURFACE_DEPTH_REACHED
$STATE,15564,begin surface coast
$FINISH,1.0,1.027371
$STATE,15584,end surface coast,CONTROL_FINISHED_OK
$STATE,15584,begin surface
$SM_CCo,15609,70.53,0.706,7,0,1692,300.00
$SM_GC,1.37,0.00,0.00,70.53,0.000,0.000,0.706,27,2525,1692,-10.80,0.23,300.00
$IRIDIUM_FIX,6211.90,-1136.00,160298,191907
$TT8_MAMPS,0.029146
$HUMID,1990
$INTERNAL_PRESSURE,7.82257
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.2,103.9
$24V_AH,23.1,17.680
$10V_AH,10.1,7.538
$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,25.800,104.575,335.950,70.525,0.000,25.345,27.779,143.304,5.250,0.000,0.000,10.565,1394.195,11842.452,556.288,1755.028,490.807,0.000,1425.107,0.000,1718.430,0.000,34.829,0.000
$DEVICE_MAMPS,124.254,89.739,1262.482,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.424,509.761,450.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37897,745
$CAP_FILE_SIZE,110240,0
$CFSIZE,260165632,252993536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,231108,041037,6240.591,-1150.382,23,2.0,23,-11.2