version: 66.04
glider: 101
mission: 7
dive: 94
start: 11 21 108 0 54 52
data:
$ID,101
$MISSION,7
$DIVE,94
$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,-733726.75
$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,35
$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
$GPS1,004832,6228.067,-1038.127,35,1.3,41,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-51.7
$GPS2,005432,6228.072,-1038.210,12,1.3,29,-10.5
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,DW
$TGT_LATLONG,6237.000,-1100.000
$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,322.2,24858,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.67,0.000,2,0.000,0.000,23,2533,3018
$GC,82,-1.51,-146.6,3.2,-3.5,3,113,10.55,2.08,-15.45,0.000,4,0.128,0.071,2038,3693,3513
$GC,181,-1.34,-146.6,14.6,-14.2,7,189,0.17,2.05,0.00,0.000,6,0.081,0.036,2078,2513,3513
$GC,498,-1.34,-146.6,52.4,-13.7,23,502,0.00,2.12,0.00,0.000,4,0.000,0.057,2078,3691,3513
$GC,571,-1.29,-146.6,60.1,-8.1,26,575,0.00,2.00,0.00,0.000,6,0.000,0.035,2078,2516,3513
$GC,901,-1.24,-146.6,99.3,-11.5,42,903,0.12,0.00,0.00,0.000,6,0.087,0.000,2104,2516,3513
$GC,1208,-1.24,-146.6,127.9,-8.9,57,1212,0.00,2.10,0.00,0.000,4,0.000,0.056,2104,3686,3513
$GC,1271,-1.24,-146.6,132.5,-7.3,59,1277,0.00,2.03,0.00,0.000,6,0.000,0.036,2104,2497,3513
$GC,1587,-1.24,-146.6,157.6,-8.1,75,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2497,3513
$GC,1896,-1.29,-146.6,182.4,-8.1,90,1900,0.00,2.15,0.00,0.000,4,0.000,0.056,2104,3694,3513
$GC,2020,-1.29,-146.6,193.5,-8.9,95,2024,0.00,2.00,0.00,0.000,6,0.000,0.035,2104,2516,3514
$GC,2342,-1.29,-146.6,221.1,-8.4,111,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2516,3514
$GC,2652,-1.29,-146.6,249.9,-9.7,126,2657,0.00,2.10,0.00,0.000,4,0.000,0.056,2104,3695,3513
$GC,2736,-1.29,-146.6,259.5,-11.2,129,2742,0.00,2.00,0.00,0.000,6,0.000,0.035,2104,2513,3513
$GC,3052,-1.29,-146.6,290.1,-9.2,145,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2513,3513
$GC,3362,-1.33,-146.6,317.1,-8.8,160,3365,0.00,2.10,0.00,0.000,4,0.000,0.058,2104,3685,3514
$GC,3463,-1.33,-146.6,326.3,-9.1,164,3467,0.00,1.98,0.00,0.000,6,0.000,0.036,2104,2519,3513
$GC,3786,-1.33,-146.6,350.7,-7.9,180,3790,0.00,2.10,0.00,0.000,4,0.000,0.059,2104,3685,3513
$GC,3849,-1.33,-146.6,356.2,-9.0,182,3855,0.00,2.00,0.00,0.000,6,0.000,0.036,2104,2510,3513
$GC,4166,-1.37,-146.6,383.0,-8.6,198,4170,0.12,2.12,0.00,0.000,4,0.052,0.059,2067,3684,3513
$GC,4251,-1.31,-146.6,391.7,-10.4,202,4255,0.10,2.00,0.00,0.000,6,0.097,0.036,2086,2510,3513
$GC,4584,-1.31,-146.6,421.3,-8.8,218,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2510,3513
$GC,4893,-1.31,-146.6,447.0,-8.1,233,4896,0.00,2.15,0.00,0.000,4,0.000,0.067,2086,3683,3513
$GC,4977,-1.31,-146.6,454.1,-8.2,236,4983,0.00,2.00,0.00,0.000,6,0.000,0.038,2086,2519,3513
$GC,5293,-1.31,-146.6,481.6,-9.0,252,5297,0.00,2.17,0.00,0.000,4,0.000,0.073,2086,3690,3513
$GC,5417,-1.31,-146.6,492.2,-8.2,257,5421,0.00,2.05,0.00,0.000,6,0.000,0.041,2086,2513,3513
$GC,5739,-1.31,-146.6,517.0,-8.3,273,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2513,3513
$GC,6048,-1.31,-146.6,543.7,-9.8,288,6052,0.00,2.28,0.00,0.000,4,0.000,0.094,2086,3686,3513
$GC,6155,-1.31,-146.6,554.3,-9.5,293,6159,0.00,2.12,0.00,0.000,6,0.000,0.063,2086,2520,3513
$GC,6489,-1.31,-146.6,580.3,-7.9,309,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2520,3513
$GC,6798,-1.35,-146.6,609.4,-11.2,324,6802,0.00,2.25,0.00,0.000,4,0.000,0.094,2086,3679,3513
$GC,6867,-1.35,-146.6,615.3,-9.0,327,6871,0.00,2.10,0.00,0.000,6,0.000,0.057,2086,2512,3513
$STATE,7053,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7053,begin apogee
$GC,7061,-0.45,0.0,631.8,6.4,336,7195,0.90,0.00,129.27,1.200,6,0.076,0.000,2276,2316,2915
$STATE,7196,end apogee,CONTROL_FINISHED_OK
$STATE,7196,begin climb
$GC,7200,1.51,146.6,635.8,0.0,343,7335,1.98,0.00,128.80,1.166,6,0.052,0.000,2704,2316,2316
$GC,7645,1.51,146.6,600.1,9.2,365,7650,0.00,2.65,0.00,0.000,4,0.000,0.074,2704,899,2316
$GC,7788,1.45,146.6,586.6,8.7,371,7792,0.00,2.60,0.00,0.000,6,0.000,0.058,2704,2308,2315
$GC,8105,1.40,146.6,564.3,8.2,386,8107,0.12,0.00,0.00,0.000,6,0.111,0.000,2682,2309,2314
$GC,8414,1.42,163.2,540.7,7.4,401,8436,0.00,2.67,15.27,1.121,4,0.000,0.063,2682,898,2248
$GC,8509,1.44,184.9,533.8,7.2,405,8535,0.00,2.60,20.30,1.130,6,0.000,0.051,2681,2328,2161
$GC,8852,1.44,184.9,507.0,9.6,422,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2328,2160
$GC,9161,1.44,184.9,478.3,8.8,437,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2328,2159
$GC,9470,1.44,184.9,451.5,8.3,452,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2329,2159
$GC,9779,1.44,184.9,426.6,8.2,467,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2329,2159
$GC,10088,1.44,184.9,398.8,9.2,482,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2329,2159
$GC,10398,1.44,184.9,370.2,9.5,497,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2329,2159
$GC,10707,1.44,184.9,340.0,9.8,512,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2329,2159
$GC,11017,1.46,202.1,314.3,7.3,527,11039,0.00,2.60,16.40,0.973,4,0.000,0.048,2681,904,2090
$GC,11103,1.47,203.5,307.7,7.9,530,11109,0.00,2.53,0.00,0.000,6,0.000,0.040,2681,2333,2090
$GC,11420,1.51,203.5,282.3,8.4,546,11424,0.00,2.42,0.00,0.000,4,0.000,0.058,2682,3692,2090
$GC,11475,1.51,203.5,276.6,9.7,548,11482,0.00,2.40,0.00,0.000,6,0.000,0.035,2682,2298,2090
$GC,11792,1.53,218.6,248.4,7.4,564,11815,0.10,2.58,15.65,0.924,4,0.061,0.055,2710,3694,2022
$GC,11878,1.48,219.8,241.0,8.0,567,11884,0.00,2.40,0.00,0.000,6,0.000,0.035,2710,2309,2022
$GC,12194,1.48,219.8,204.6,13.7,583,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2309,2022
$GC,12503,1.48,219.8,170.5,10.6,598,12507,0.00,2.50,0.00,0.000,4,0.000,0.055,2710,3694,2022
$GC,12553,1.48,219.8,164.9,11.6,600,12557,0.00,2.38,0.00,0.000,6,0.000,0.035,2710,2310,2022
$GC,12871,1.52,252.4,139.4,6.8,615,12903,0.00,0.00,29.75,0.883,6,0.000,0.000,2710,2309,1886
$GC,13201,1.52,252.4,110.1,11.2,631,13205,0.00,2.50,0.00,0.000,4,0.000,0.054,2710,3696,1885
$GC,13256,1.52,252.4,103.6,10.6,633,13263,0.00,2.38,0.00,0.000,6,0.000,0.035,2710,2307,1885
$GC,13573,1.55,270.6,76.0,7.3,649,13593,0.00,0.00,16.70,0.822,6,0.000,0.000,2710,2306,1812
$GC,13904,1.55,270.6,47.3,10.2,665,13905,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2306,1812
$GC,14212,1.64,347.3,23.8,5.1,680,14284,0.10,2.62,63.90,0.808,4,0.059,0.053,2741,3696,1498
$GC,14345,1.59,347.3,5.4,14.5,686,14349,0.00,2.40,0.00,0.000,6,0.000,0.035,2740,2311,1498
$STATE,14381,end climb,SURFACE_DEPTH_REACHED
$STATE,14381,begin surface coast
$FINISH,1.0,1.013345
$STATE,14403,end surface coast,CONTROL_FINISHED_OK
$STATE,14403,begin surface
$SM_CCo,14489,0.00,0.000,0,0,1497,347.84
$SM_GC,1.64,12.23,0.00,0.00,0.044,0.000,0.000,29,2521,1497,-10.74,0.11,347.84
$IRIDIUM_FIX,6202.67,-1035.75,140298,202037
$TT8_MAMPS,0.028379
$HUMID,1984
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.2,40.3
$24V_AH,23.1,16.142
$10V_AH,10.1,6.758
$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,26.500,91.025,436.050,0.000,0.000,26.159,46.586,143.743,5.750,0.000,0.000,30.790,1270.332,10982.893,543.671,1558.507,493.854,0.000,1319.809,0.000,1510.425,0.000,37.599,0.000
$DEVICE_MAMPS,128.089,94.341,1200.355,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.721,469.558,444.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34899,689
$CAP_FILE_SIZE,102062,0
$CFSIZE,260165632,253583360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211108,045741,6230.156,-1042.767,37,1.2,41,-10.5