version: 66.04
glider: 101
mission: 7
dive: 180
start: 12 7 108 15 20 0
data:
$ID,101
$MISSION,7
$DIVE,180
$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,-735694.88
$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,36
$R_STBD_OVSHOOT,22
$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
$GPS1,151356,6414.942,-1223.839,36,1.3,36,-12.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-52.2
$GPS2,151939,6415.013,-1223.520,11,1.7,11,-12.2
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,KE
$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,239.0,40623,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-80.47,0.000,2,0.000,0.000,26,2516,3289
$GC,102,-1.16,-146.6,4.2,-4.9,4,125,10.85,2.15,-5.72,0.000,4,0.124,0.072,2114,3696,3513
$GC,357,-1.02,-146.6,29.6,-8.6,15,361,0.17,2.03,0.00,0.000,6,0.082,0.035,2148,2511,3513
$GC,678,-1.02,-146.6,51.3,-6.8,31,682,0.00,2.12,0.00,0.000,4,0.000,0.055,2148,3691,3513
$GC,752,-0.96,-146.6,58.2,-9.6,34,755,0.00,2.00,0.00,0.000,6,0.000,0.035,2148,2517,3513
$GC,1081,-0.96,-146.6,87.0,-8.2,50,1085,0.00,2.12,0.00,0.000,4,0.000,0.055,2148,3698,3513
$GC,1166,-0.91,-146.6,93.1,-8.0,53,1173,0.12,2.03,0.00,0.000,6,0.084,0.035,2174,2510,3513
$GC,1485,-0.91,-146.6,115.1,-5.9,69,1488,0.00,2.12,0.00,0.000,4,0.000,0.055,2174,3692,3513
$GC,1586,-0.91,-146.6,121.8,-6.8,73,1590,0.00,2.00,0.00,0.000,6,0.000,0.035,2173,2507,3513
$GC,1908,-0.91,-146.6,140.9,-5.8,89,1912,0.00,2.15,0.00,0.000,4,0.000,0.056,2174,3701,3513
$GC,2032,-0.91,-146.6,148.4,-6.0,94,2036,0.00,2.03,0.00,0.000,6,0.000,0.036,2174,2510,3513
$GC,2354,-0.91,-146.6,165.4,-5.3,110,2357,0.00,2.12,0.00,0.000,4,0.000,0.057,2174,3691,3513
$GC,2438,-0.91,-146.6,170.2,-6.2,113,2444,0.00,2.00,0.00,0.000,6,0.000,0.036,2174,2517,3513
$GC,2755,-0.91,-146.6,185.0,-4.5,129,2758,0.00,2.12,0.00,0.000,4,0.000,0.058,2174,3699,3513
$GC,2834,-0.91,-146.6,189.0,-4.6,132,2838,0.00,2.03,0.00,0.000,6,0.000,0.037,2173,2510,3513
$GC,3156,-0.91,-146.6,205.2,-5.1,148,3160,0.00,2.15,0.00,0.000,4,0.000,0.058,2174,3701,3513
$GC,3252,-0.91,-146.6,210.8,-6.0,152,3256,0.00,2.03,0.00,0.000,6,0.000,0.037,2174,2514,3513
$GC,3580,-0.91,-146.6,228.5,-5.5,168,3584,0.00,2.12,0.00,0.000,4,0.000,0.058,2173,3692,3513
$GC,3699,-0.91,-146.6,235.7,-5.9,173,3702,0.00,2.03,0.00,0.000,6,0.000,0.036,2173,2505,3513
$GC,4026,-0.91,-146.6,254.8,-5.8,189,4030,0.00,2.15,0.00,0.000,4,0.000,0.058,2174,3695,3513
$GC,4128,-0.91,-146.6,261.6,-6.9,193,4132,0.00,2.03,0.00,0.000,6,0.000,0.036,2173,2506,3512
$GC,4450,-0.91,-146.6,283.1,-6.9,209,4453,0.00,2.15,0.00,0.000,4,0.000,0.058,2174,3697,3513
$GC,4523,-0.91,-146.6,288.1,-7.1,212,4527,0.00,2.00,0.00,0.000,6,0.000,0.036,2173,2517,3513
$GC,4850,-0.91,-146.6,308.7,-6.6,228,4854,0.00,2.12,0.00,0.000,4,0.000,0.059,2174,3692,3513
$GC,4963,-0.91,-146.6,317.0,-7.5,233,4967,0.00,2.00,0.00,0.000,6,0.000,0.037,2173,2507,3513
$GC,5297,-0.91,-146.6,340.6,-6.6,249,5300,0.00,2.15,0.00,0.000,4,0.000,0.059,2174,3695,3512
$GC,5388,-0.91,-146.6,346.6,-6.3,253,5392,0.00,2.00,0.00,0.000,6,0.000,0.036,2173,2520,3513
$GC,5721,-0.91,-146.6,368.0,-6.2,269,5725,0.00,2.12,0.00,0.000,4,0.000,0.061,2174,3689,3512
$GC,5839,-0.91,-146.6,375.2,-6.5,274,5842,0.00,2.00,0.00,0.000,6,0.000,0.038,2173,2518,3512
$GC,6173,-0.96,-146.6,395.0,-5.4,290,6176,0.00,2.15,0.00,0.000,4,0.000,0.064,2173,3695,3512
$GC,6269,-0.96,-146.6,400.7,-5.7,294,6273,0.00,2.03,0.00,0.000,6,0.000,0.038,2174,2518,3513
$GC,6597,-1.01,-146.6,419.3,-5.6,310,6600,0.00,2.15,0.00,0.000,4,0.000,0.066,2174,3688,3512
$GC,6676,-1.01,-146.6,424.0,-6.1,313,6679,0.00,2.03,0.00,0.000,6,0.000,0.038,2173,2514,3512
$GC,6998,-1.05,-146.6,441.5,-5.6,329,7003,0.12,2.17,0.00,0.000,4,0.054,0.068,2137,3693,3512
$GC,7094,-1.00,-146.6,449.1,-7.8,333,7098,0.00,2.03,0.00,0.000,6,0.000,0.040,2137,2522,3512
$STATE,7336,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7336,begin apogee
$GC,7345,-0.45,0.0,466.3,7.3,345,7478,0.65,0.00,126.57,1.149,6,0.067,0.000,2275,2311,2915
$STATE,7479,end apogee,CONTROL_FINISHED_OK
$STATE,7479,begin climb
$GC,7483,1.16,146.6,471.6,0.0,352,7617,1.58,2.65,125.95,1.108,4,0.051,0.069,2622,3686,2316
$GC,7846,1.19,169.8,455.6,5.3,368,7873,0.00,2.42,21.30,1.053,6,0.000,0.041,2622,2322,2221
$GC,8183,1.19,169.8,434.3,6.1,385,8186,0.00,2.53,0.00,0.000,4,0.000,0.065,2622,3690,2221
$GC,8312,1.20,178.3,426.2,5.7,390,8327,0.00,2.42,8.57,0.966,6,0.000,0.041,2622,2314,2188
$GC,8650,1.20,178.3,404.2,7.3,407,8654,0.00,2.55,0.00,0.000,4,0.000,0.063,2622,3691,2188
$GC,8740,1.20,178.3,396.5,9.1,411,8744,0.00,2.42,0.00,0.000,6,0.000,0.040,2622,2310,2188
$GC,9061,1.20,178.3,373.2,6.6,427,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2310,2188
$GC,9371,1.20,178.3,354.1,6.6,442,9375,0.00,2.55,0.00,0.000,4,0.000,0.061,2623,3699,2187
$GC,9511,1.20,178.3,343.1,8.4,448,9516,0.00,2.42,0.00,0.000,6,0.000,0.038,2623,2308,2187
$GC,9833,1.20,178.3,321.5,6.6,464,9837,0.00,2.53,0.00,0.000,4,0.000,0.058,2622,3691,2187
$GC,9956,1.20,178.3,313.4,6.3,469,9962,0.00,2.40,0.00,0.000,6,0.000,0.037,2623,2307,2187
$GC,10273,1.20,181.8,295.5,5.9,485,10283,0.00,2.55,4.70,0.790,4,0.000,0.058,2622,3692,2173
$GC,10317,1.20,181.8,292.4,7.3,487,10321,0.00,2.40,0.00,0.000,6,0.000,0.036,2622,2310,2173
$GC,10638,1.21,190.2,272.9,5.8,503,10653,0.00,2.55,9.12,0.945,4,0.000,0.057,2622,3690,2139
$GC,10683,1.21,193.3,270.3,5.9,505,10692,0.00,2.40,4.40,0.733,6,0.000,0.036,2622,2311,2126
$GC,11016,1.25,226.7,253.6,5.0,521,11052,0.10,2.60,29.90,1.009,4,0.058,0.057,2653,3697,1990
$GC,11092,1.19,226.7,248.7,7.6,523,11098,0.00,2.42,0.00,0.000,6,0.000,0.036,2653,2309,1990
$GC,11408,1.19,226.7,228.1,6.6,539,11412,0.00,2.50,0.00,0.000,4,0.000,0.057,2652,3690,1990
$GC,11471,1.15,226.7,223.6,7.0,541,11477,0.15,2.38,0.00,0.000,6,0.096,0.036,2624,2317,1990
$GC,11787,1.19,226.7,202.7,7.0,557,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2317,1989
$GC,12097,1.24,226.7,182.1,6.5,572,12101,0.00,2.50,0.00,0.000,4,0.000,0.057,2624,3696,1990
$GC,12125,1.24,226.7,180.2,6.6,573,12129,0.00,2.40,0.00,0.000,6,0.000,0.036,2624,2306,1989
$GC,12447,1.30,241.2,161.3,5.6,589,12469,0.15,2.60,13.52,0.921,4,0.048,0.056,2667,3691,1931
$GC,12498,1.23,241.2,157.7,6.8,591,12503,0.12,2.40,0.00,0.000,6,0.097,0.035,2644,2314,1931
$GC,12820,1.23,241.2,136.4,7.0,607,12824,0.00,2.50,0.00,0.000,4,0.000,0.056,2644,3692,1931
$GC,12860,1.23,241.2,133.5,7.2,609,12864,0.00,2.38,0.00,0.000,6,0.000,0.035,2644,2314,1931
$GC,13188,1.23,241.2,108.1,7.9,625,13192,0.00,2.50,0.00,0.000,4,0.000,0.055,2644,3697,1931
$GC,13251,1.23,241.2,102.8,8.9,628,13255,0.00,2.38,0.00,0.000,6,0.000,0.035,2644,2315,1931
$GC,13579,1.24,251.5,80.9,5.7,644,13594,0.00,2.53,10.43,0.848,4,0.000,0.054,2644,3693,1888
$GC,13663,1.24,251.5,75.0,7.2,647,13668,0.00,2.38,0.00,0.000,6,0.000,0.034,2643,2315,1888
$GC,13991,1.24,251.5,49.6,7.7,663,13996,0.00,2.50,0.00,0.000,4,0.000,0.054,2644,3699,1888
$GC,14059,1.24,251.5,45.8,6.1,666,14063,0.00,2.38,0.00,0.000,6,0.000,0.033,2643,2312,1888
$GC,14381,1.39,370.7,30.6,2.4,682,14487,0.15,2.55,97.82,0.854,4,0.048,0.053,2687,3695,1402
$GC,14527,1.34,370.7,13.9,14.0,688,14533,0.00,2.38,0.00,0.000,6,0.000,0.033,2687,2314,1401
$STATE,14634,end climb,SURFACE_DEPTH_REACHED
$STATE,14634,begin surface coast
$FINISH,0.7,1.027617
$STATE,14656,end surface coast,CONTROL_FINISHED_OK
$STATE,14656,begin surface
$SM_CCo,14741,0.00,0.000,0,0,1400,371.63
$SM_GC,1.30,11.85,0.00,0.00,0.037,0.000,0.000,22,2524,1400,-10.75,0.20,371.63
$IRIDIUM_FIX,6346.88,-1222.61,030398,111137
$TT8_MAMPS,0.029146
$HUMID,2024
$INTERNAL_PRESSURE,7.76397
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.0,75.4
$24V_AH,23.1,29.589
$10V_AH,10.1,13.504
$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,26.025,150.425,452.300,0.000,0.000,24.602,30.544,157.235,3.250,0.000,0.000,13.244,1379.943,10710.655,537.489,1924.534,530.467,0.000,1526.702,0.000,1881.129,0.000,24.740,0.000
$DEVICE_MAMPS,124.254,72.098,1148.966,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.079,473.719,501.930,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34786,695
$CAP_FILE_SIZE,122060,0
$CFSIZE,260165632,248557568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071208,192655,6415.968,-1216.016,34,1.6,34,-12.1