version: 66.04
glider: 101
mission: 7
dive: 183
start: 12 8 108 3 29 28
data:
$ID,101
$MISSION,7
$DIVE,183
$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,-735779.88
$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,42
$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
$GPS1,032331,6416.223,-1208.203,35,1.5,35,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-51.7
$GPS2,032908,6416.303,-1207.870,13,1.4,30,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$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,225.7,69651,-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,12,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-80.43,0.000,2,0.000,0.000,26,2508,3155
$GC,102,-1.16,-146.6,3.5,-3.5,4,128,10.90,2.15,-9.82,0.000,4,0.126,0.070,2118,3693,3513
$GC,360,-1.05,-146.6,31.8,-6.9,15,367,0.12,2.03,0.00,0.000,6,0.091,0.034,2143,2502,3513
$GC,677,-0.99,-146.6,52.2,-5.4,31,681,0.00,2.15,0.00,0.000,4,0.000,0.053,2144,3701,3514
$GC,757,-0.93,-146.6,57.7,-6.8,34,761,0.12,2.03,0.00,0.000,6,0.086,0.034,2169,2506,3513
$GC,1079,-0.93,-146.6,78.3,-6.7,50,1082,0.00,2.12,0.00,0.000,4,0.000,0.053,2169,3693,3513
$GC,1170,-0.93,-146.6,87.7,-11.4,54,1174,0.00,2.00,0.00,0.000,6,0.000,0.034,2169,2509,3514
$GC,1504,-0.93,-146.6,123.9,-10.3,70,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2509,3514
$GC,1813,-0.93,-146.6,152.3,-8.7,85,1816,0.00,2.12,0.00,0.000,4,0.000,0.054,2169,3698,3513
$GC,1959,-0.93,-146.6,165.7,-7.5,91,1963,0.00,2.00,0.00,0.000,6,0.000,0.033,2170,2514,3513
$GC,2281,-0.93,-146.6,183.2,-6.1,107,2284,0.00,2.12,0.00,0.000,4,0.000,0.054,2170,3702,3514
$GC,2422,-0.93,-146.6,189.4,-3.4,113,2425,0.00,2.03,0.00,0.000,6,0.000,0.033,2170,2503,3514
$GC,2749,-0.93,-146.6,206.9,-6.8,129,2753,0.00,2.12,0.00,0.000,4,0.000,0.054,2170,3696,3514
$GC,2867,-0.93,-146.6,215.1,-7.3,134,2871,0.00,2.00,0.00,0.000,6,0.000,0.033,2170,2510,3513
$GC,3195,-0.93,-146.6,237.4,-7.7,150,3199,0.00,2.12,0.00,0.000,4,0.000,0.054,2169,3699,3513
$GC,3257,-0.93,-146.6,242.7,-8.2,152,3263,0.00,2.00,0.00,0.000,6,0.000,0.033,2169,2513,3513
$GC,3573,-0.93,-146.6,264.7,-7.0,168,3577,0.00,2.12,0.00,0.000,4,0.000,0.054,2170,3700,3514
$GC,3687,-0.93,-146.6,272.9,-7.0,173,3691,0.00,2.00,0.00,0.000,6,0.000,0.033,2170,2513,3514
$GC,4020,-0.93,-146.6,296.1,-6.2,189,4024,0.00,2.12,0.00,0.000,4,0.000,0.055,2169,3699,3514
$GC,4150,-0.93,-146.6,303.6,-5.1,194,4155,0.00,2.00,0.00,0.000,6,0.000,0.034,2170,2513,3514
$GC,4466,-0.93,-146.6,316.3,-3.5,210,4470,0.00,2.12,0.00,0.000,4,0.000,0.057,2170,3698,3514
$GC,4529,-0.93,-146.6,319.1,-4.6,212,4535,0.00,2.00,0.00,0.000,6,0.000,0.034,2170,2513,3514
$GC,4846,-0.93,-146.6,333.2,-5.2,228,4849,0.00,2.12,0.00,0.000,4,0.000,0.058,2170,3698,3514
$GC,4964,-0.93,-146.6,340.0,-6.2,233,4967,0.00,2.00,0.00,0.000,6,0.000,0.035,2170,2517,3513
$GC,5291,-0.93,-146.6,356.9,-5.1,249,5295,0.00,2.12,0.00,0.000,4,0.000,0.059,2170,3693,3514
$GC,5365,-0.93,-146.6,360.7,-5.0,252,5369,0.00,2.00,0.00,0.000,6,0.000,0.035,2169,2516,3514
$GC,5693,-0.93,-146.6,376.2,-4.9,268,5697,0.00,2.12,0.00,0.000,4,0.000,0.061,2169,3689,3513
$GC,5739,-0.93,-146.6,378.7,-5.4,270,5743,0.00,2.00,0.00,0.000,6,0.000,0.036,2169,2515,3513
$GC,6073,-0.93,-146.6,398.8,-6.5,286,6077,0.00,2.15,0.00,0.000,4,0.000,0.064,2170,3692,3513
$GC,6187,-0.93,-146.6,408.1,-8.0,291,6191,0.00,2.00,0.00,0.000,6,0.000,0.038,2169,2521,3513
$STATE,6413,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6413,begin apogee
$GC,6422,-0.45,0.0,423.6,6.6,302,6556,0.50,0.00,126.43,1.102,6,0.064,0.000,2277,2320,2915
$STATE,6556,end apogee,CONTROL_FINISHED_OK
$STATE,6556,begin climb
$GC,6560,1.16,146.6,425.4,0.0,309,6693,1.58,2.62,124.53,1.065,4,0.054,0.064,2622,3695,2317
$GC,6871,1.17,160.0,411.2,5.6,323,6890,0.00,2.42,13.40,0.972,6,0.000,0.038,2622,2318,2261
$GC,7219,1.19,175.8,392.7,5.5,340,7241,0.00,2.60,14.73,1.001,4,0.000,0.062,2622,3692,2198
$GC,7320,1.21,193.7,387.5,5.5,344,7344,0.00,2.42,17.10,1.011,6,0.000,0.038,2622,2315,2125
$GC,7663,1.25,222.3,370.0,5.1,361,7694,0.10,2.58,25.62,1.045,4,0.059,0.060,2652,3689,2008
$GC,7782,1.19,222.3,361.6,8.2,366,7787,0.00,2.42,0.00,0.000,6,0.000,0.038,2652,2308,2007
$GC,8099,1.20,228.7,341.1,5.8,381,8113,0.00,2.62,7.10,0.903,4,0.000,0.059,2652,3691,1982
$GC,8149,1.15,228.7,337.8,6.5,383,8154,0.12,2.42,0.00,0.000,6,0.096,0.037,2628,2305,1981
$GC,8471,1.15,231.5,318.8,5.9,399,8480,0.00,2.58,4.18,0.723,4,0.000,0.058,2628,3700,1971
$GC,8539,1.15,231.5,314.6,6.1,402,8543,0.00,2.40,0.00,0.000,6,0.000,0.036,2628,2316,1971
$GC,8866,1.15,231.5,292.9,7.0,418,8870,0.00,2.50,0.00,0.000,4,0.000,0.056,2628,3692,1970
$GC,8894,1.15,231.5,290.6,8.3,419,8899,0.00,2.38,0.00,0.000,6,0.000,0.035,2628,2314,1969
$GC,9210,1.15,231.5,267.6,7.3,434,9215,0.00,2.50,0.00,0.000,4,0.000,0.055,2628,3694,1969
$GC,9268,1.15,231.5,262.9,8.5,436,9274,0.00,2.38,0.00,0.000,6,0.000,0.035,2628,2313,1969
$GC,9585,1.15,231.5,240.8,6.7,452,9589,0.00,2.50,0.00,0.000,4,0.000,0.054,2628,3696,1970
$GC,9625,1.15,231.5,238.0,6.9,454,9629,0.00,2.38,0.00,0.000,6,0.000,0.034,2628,2312,1970
$GC,9952,1.15,231.5,216.9,7.0,470,9956,0.00,2.50,0.00,0.000,4,0.000,0.054,2628,3699,1970
$GC,10025,1.15,231.5,211.7,6.8,473,10029,0.00,2.38,0.00,0.000,6,0.000,0.033,2628,2308,1970
$GC,10346,1.15,231.5,190.5,6.7,489,10351,0.00,2.50,0.00,0.000,4,0.000,0.053,2628,3698,1970
$GC,10387,1.15,231.5,187.4,7.6,491,10391,0.00,2.38,0.00,0.000,6,0.000,0.033,2628,2307,1970
$GC,10714,1.15,231.5,164.5,6.9,507,10718,0.00,2.50,0.00,0.000,4,0.000,0.052,2628,3700,1970
$GC,10758,1.15,231.5,161.5,6.9,509,10763,0.00,2.38,0.00,0.000,6,0.000,0.032,2628,2308,1970
$GC,11081,1.15,231.5,138.0,7.4,525,11085,0.00,2.50,0.00,0.000,4,0.000,0.052,2628,3701,1970
$GC,11109,1.20,266.9,136.5,4.9,526,11145,0.00,2.38,31.00,0.908,6,0.000,0.032,2628,2307,1826
$GC,11476,1.20,266.9,121.0,7.5,544,11480,0.00,2.50,0.00,0.000,4,0.000,0.052,2628,3696,1826
$GC,11540,1.20,266.9,115.8,8.6,547,11544,0.00,2.38,0.00,0.000,6,0.000,0.032,2628,2308,1826
$GC,11868,1.25,274.4,89.6,5.8,563,11882,0.00,2.55,8.10,0.785,4,0.000,0.051,2628,3690,1796
$GC,11939,1.25,274.4,85.0,6.5,566,11944,0.00,2.38,0.00,0.000,6,0.000,0.032,2628,2306,1796
$GC,12262,1.29,274.4,63.2,8.7,582,12267,0.12,2.50,0.00,0.000,4,0.053,0.051,2663,3698,1796
$GC,12313,1.21,274.4,57.4,11.4,584,12318,0.12,2.35,0.00,0.000,6,0.095,0.032,2640,2314,1796
$GC,12635,1.26,309.2,34.3,5.0,600,12675,0.00,2.60,29.95,0.837,4,0.000,0.051,2639,3695,1653
$GC,12709,1.26,309.2,30.4,6.3,603,12713,0.00,2.38,0.00,0.000,6,0.000,0.031,2639,2318,1653
$GC,13027,1.26,309.2,3.3,8.5,618,13031,0.00,2.47,0.00,0.000,4,0.000,0.054,2639,3692,1653
$STATE,13047,end climb,SURFACE_DEPTH_REACHED
$STATE,13047,begin surface coast
$FINISH,0.8,1.027296
$STATE,13065,end surface coast,CONTROL_FINISHED_OK
$STATE,13065,begin surface
$SM_CCo,13152,0.00,0.000,0,0,1652,309.81
$SM_GC,1.42,11.60,0.00,0.00,0.038,0.000,0.000,22,2511,1652,-10.76,-0.17,309.81
$IRIDIUM_FIX,6346.88,-1237.09,030398,232329
$TT8_MAMPS,0.029146
$HUMID,2016
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,325.1,107.3
$24V_AH,23.2,29.994
$10V_AH,10.1,13.720
$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,25.300,141.600,402.125,0.000,0.000,24.332,32.188,131.883,2.500,0.000,0.000,32.431,1234.244,9543.601,506.411,1712.357,491.869,0.000,1384.586,0.000,1658.073,0.000,17.035,0.000
$DEVICE_MAMPS,125.788,69.797,1102.179,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,464.808,422.927,467.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31786,620
$CAP_FILE_SIZE,109229,0
$CFSIZE,260165632,248397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081208,070955,6417.102,-1201.999,35,1.9,35,-12.0