version: 66.04
glider: 101
mission: 7
dive: 13
start: 11 9 108 12 19 37
data:
$ID,101
$MISSION,7
$DIVE,13
$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,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,-731977.94
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,29
$PITCH_MAX,3302
$C_PITCH,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,2317
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,25
$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
$GPS1,121338,6131.285,-830.945,59,1.2,59,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.4
$GPS2,121917,6131.314,-830.954,10,2.7,29,-9.0
$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,123.8,5797,-17.9,-10.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.81,-146.6,0.0,0.0,0,101,0.00,0.00,-80.60,0.000,2,0.000,0.000,26,2477,3338
$GC,105,-1.81,-146.6,3.5,-3.8,4,125,10.65,2.20,-4.28,0.000,4,0.133,0.071,2008,3692,3512
$GC,210,-1.72,-146.6,21.3,-12.8,9,215,0.12,2.12,0.00,0.000,6,0.103,0.035,2031,2455,3512
$GC,531,-1.72,-146.6,61.8,-12.4,25,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2455,3512
$GC,842,-1.72,-146.6,106.8,-12.2,40,846,0.00,2.25,0.00,0.000,4,0.000,0.058,2031,3698,3512
$GC,972,-1.72,-146.6,122.1,-11.7,46,976,0.00,2.10,0.00,0.000,6,0.000,0.035,2031,2468,3512
$GC,1305,-1.72,-146.6,160.3,-11.5,62,1309,0.00,2.22,0.00,0.000,4,0.000,0.058,2031,3699,3513
$GC,1397,-1.72,-146.6,171.6,-11.8,66,1401,0.00,2.10,0.00,0.000,6,0.000,0.035,2032,2467,3513
$GC,1730,-1.77,-146.6,208.1,-11.6,82,1734,0.00,2.20,0.00,0.000,4,0.000,0.058,2031,3688,3513
$GC,1792,-1.77,-146.6,215.7,-12.0,84,1798,0.00,2.10,0.00,0.000,6,0.000,0.036,2031,2457,3513
$GC,2111,-1.77,-146.6,252.2,-11.8,100,2114,0.00,2.22,0.00,0.000,4,0.000,0.058,2031,3688,3513
$GC,2179,-1.77,-146.6,260.8,-11.6,103,2183,0.00,2.10,0.00,0.000,6,0.000,0.035,2031,2460,3513
$GC,2512,-1.77,-146.6,298.0,-10.6,119,2516,0.00,2.22,0.00,0.000,4,0.000,0.059,2031,3687,3513
$GC,2608,-1.77,-146.6,308.5,-10.7,123,2611,0.00,2.10,0.00,0.000,6,0.000,0.036,2031,2458,3513
$GC,2935,-1.77,-146.6,342.5,-11.1,139,2939,0.00,2.25,0.00,0.000,4,0.000,0.061,2031,3693,3513
$GC,2979,-1.77,-146.6,348.1,-12.8,141,2983,0.00,2.10,0.00,0.000,6,0.000,0.036,2031,2469,3513
$GC,3307,-1.77,-146.6,384.3,-10.4,157,3310,0.00,2.22,0.00,0.000,4,0.000,0.062,2031,3687,3513
$GC,3375,-1.77,-146.6,391.7,-11.0,160,3379,0.00,2.10,0.00,0.000,6,0.000,0.037,2031,2468,3513
$GC,3710,-1.81,-146.6,424.7,-9.9,176,3714,0.00,2.22,0.00,0.000,4,0.000,0.067,2032,3689,3512
$GC,3806,-1.81,-146.6,435.3,-11.0,180,3810,0.00,2.12,0.00,0.000,6,0.000,0.037,2031,2459,3512
$GC,4134,-1.85,-146.6,469.2,-10.2,196,4136,0.12,0.00,0.00,0.000,6,0.054,0.000,1995,2460,3513
$GC,4443,-1.85,-146.6,505.7,-11.9,211,4447,0.00,2.35,0.00,0.000,4,0.000,0.084,1995,3691,3513
$GC,4533,-1.80,-146.6,517.2,-13.0,215,4538,0.12,2.17,0.00,0.000,6,0.099,0.051,2018,2471,3513
$GC,4856,-1.80,-146.6,551.9,-10.3,231,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2471,3513
$GC,5164,-1.80,-146.6,585.8,-11.1,246,5168,0.00,2.35,0.00,0.000,4,0.000,0.091,2018,3686,3513
$GC,5254,-1.80,-146.6,596.6,-12.1,250,5257,0.00,2.17,0.00,0.000,6,0.000,0.050,2018,2467,3512
$GC,5581,-1.80,-146.6,632.8,-11.0,266,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2466,3513
$GC,5891,-1.80,-146.6,670.8,-11.6,281,5895,0.00,2.35,0.00,0.000,4,0.000,0.087,2018,3692,3513
$GC,6149,-1.80,-146.6,701.7,-13.8,292,6155,0.00,2.20,0.00,0.000,6,0.000,0.050,2018,2457,3512
$GC,6465,-1.80,-146.6,738.0,-10.6,308,6470,0.00,2.60,0.00,0.000,4,0.000,0.077,2018,1060,3513
$GC,6724,-1.80,-146.6,770.3,-14.3,319,6730,0.00,2.65,0.00,0.000,6,0.000,0.077,2018,2457,3512
$GC,7041,-1.84,-146.6,801.0,-8.0,335,7045,0.00,2.67,0.00,0.000,4,0.000,0.078,2018,1051,3512
$GC,7299,-1.89,-146.6,829.4,-8.2,346,7305,0.00,2.67,0.00,0.000,6,0.000,0.073,2018,2474,3511
$STATE,7426,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7426,begin apogee
$GC,7435,-0.45,0.0,842.2,11.1,353,7570,1.38,0.00,130.80,1.367,6,0.076,0.000,2309,2313,2915
$STATE,7570,end apogee,CONTROL_FINISHED_OK
$STATE,7571,begin climb
$GC,7574,1.81,146.6,847.1,0.0,360,7714,2.22,2.75,130.52,1.318,4,0.049,0.087,2806,3702,2317
$GC,7973,1.64,198.8,811.4,7.6,377,8031,0.20,2.55,47.55,1.295,6,0.104,0.057,2769,2317,2104
$GC,8345,1.58,198.8,763.8,15.5,395,8349,0.00,2.70,0.00,0.000,4,0.000,0.087,2769,3705,2102
$GC,8558,1.45,198.8,733.9,11.0,404,8565,0.22,2.55,0.00,0.000,6,0.105,0.056,2727,2312,2101
$GC,8874,1.49,231.0,704.5,8.5,420,8905,0.00,0.00,29.02,1.298,6,0.000,0.000,2727,2312,1973
$GC,9204,1.52,257.4,674.5,8.8,436,9231,0.00,0.00,25.08,1.262,6,0.000,0.000,2726,2311,1865
$GC,9533,1.59,257.4,636.7,11.5,452,9535,0.12,0.00,0.00,0.000,6,0.056,0.000,2762,2312,1864
$GC,9842,1.59,257.4,594.8,12.7,467,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2311,1864
$GC,10151,1.59,257.4,556.7,12.3,482,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2312,1865
$GC,10460,1.59,257.4,518.7,12.1,497,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2312,1865
$GC,10770,1.59,257.4,481.3,12.4,512,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2311,1865
$GC,11079,1.59,257.4,442.9,12.3,527,11083,0.00,2.53,0.00,0.000,4,0.000,0.058,2761,901,1867
$GC,11130,1.59,257.4,436.6,12.8,529,11135,0.00,2.55,0.00,0.000,6,0.000,0.045,2761,2332,1866
$GC,11452,1.59,257.4,397.6,12.0,545,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2332,1867
$GC,11761,1.59,257.4,361.0,11.3,560,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2332,1867
$GC,12071,1.59,257.4,323.7,12.5,575,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2332,1868
$GC,12380,1.59,257.4,282.5,13.4,590,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2332,1868
$GC,12689,1.59,257.4,242.3,13.6,605,12693,0.00,2.55,0.00,0.000,4,0.000,0.048,2761,900,1868
$GC,12750,1.59,257.4,233.4,13.9,607,12757,0.00,2.50,0.00,0.000,6,0.000,0.040,2761,2327,1868
$GC,13067,1.59,257.4,190.3,13.8,623,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2327,1868
$GC,13376,1.59,257.4,153.5,10.9,638,13377,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2327,1869
$GC,13685,1.59,257.4,115.1,15.1,653,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2327,1869
$GC,13995,1.64,291.6,76.1,8.4,668,14028,0.00,0.00,30.83,0.828,6,0.000,0.000,2761,2327,1726
$GC,14326,1.68,291.6,35.1,16.3,684,14330,0.00,2.45,0.00,0.000,4,0.000,0.056,2761,3699,1726
$GC,14353,1.68,291.6,30.2,15.7,685,14358,0.00,2.42,0.00,0.000,6,0.000,0.035,2761,2290,1725
$STATE,14543,end climb,SURFACE_DEPTH_REACHED
$STATE,14543,begin surface coast
$FINISH,0.5,1.027265
$STATE,14565,end surface coast,CONTROL_FINISHED_OK
$STATE,14565,begin surface
$SM_CCo,14590,7.70,0.696,0,0,1692,300.00
$SM_GC,1.67,0.00,0.00,7.70,0.000,0.000,0.696,28,2485,1692,-10.96,0.51,300.00
$IRIDIUM_FIX,6108.28,-826.94,030298,080800
$TT8_MAMPS,0.029146
$HUMID,2000
$INTERNAL_PRESSURE,7.8421
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.2,99.9
$24V_AH,22.9,5.211
$10V_AH,10.0,1.977
$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,27.325,89.375,393.800,7.700,0.000,22.757,30.208,144.295,6.500,0.000,0.000,32.134,1314.210,10931.867,504.307,1710.745,480.375,0.000,1335.761,0.000,1651.870,0.000,44.533,0.000
$DEVICE_MAMPS,132.691,90.506,1366.794,695.669,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.542,475.090,393.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34855,695
$CAP_FILE_SIZE,104803,0
$CFSIZE,260165632,257163264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,091108,162408,6130.816,-831.191,29,1.7,30,-9.0