version: 66.04
glider: 101
mission: 7
dive: 175
start: 12 6 108 17 50 3
data:
$ID,101
$MISSION,7
$DIVE,175
$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,-735591.12
$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,37
$R_STBD_OVSHOOT,33
$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
$GPS1,174038,6411.264,-1233.329,53,1.4,53,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-52.1
$GPS2,174941,6411.451,-1232.918,8,2.3,27,-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,238.2,30548,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.88,0.000,2,0.000,0.000,25,2531,3425
$GC,103,-1.16,-146.6,4.9,-5.7,4,118,10.98,0.00,-2.00,0.000,6,0.128,0.000,2116,2531,3515
$GC,431,-1.05,-146.6,40.6,-9.1,19,436,0.15,2.08,0.00,0.000,4,0.081,0.056,2147,3692,3516
$GC,488,-0.99,-146.6,45.5,-7.7,21,494,0.00,2.05,0.00,0.000,6,0.000,0.034,2147,2506,3516
$GC,805,-0.94,-146.6,70.6,-6.7,37,806,0.10,0.00,0.00,0.000,6,0.086,0.000,2169,2506,3516
$GC,1114,-0.94,-146.6,86.8,-4.9,52,1117,0.00,2.12,0.00,0.000,4,0.000,0.055,2169,3688,3516
$GC,1221,-0.94,-146.6,93.1,-5.7,56,1227,0.00,2.03,0.00,0.000,6,0.000,0.035,2169,2500,3516
$GC,1538,-0.94,-146.6,118.4,-9.1,72,1541,0.00,2.12,0.00,0.000,4,0.000,0.054,2169,3685,3516
$GC,1639,-0.94,-146.6,125.3,-7.5,76,1642,0.00,2.00,0.00,0.000,6,0.000,0.035,2169,2509,3516
$GC,1963,-0.94,-146.6,143.8,-5.9,92,1966,0.00,2.10,0.00,0.000,4,0.000,0.054,2169,3682,3516
$GC,2047,-0.94,-146.6,149.7,-7.0,95,2057,0.00,2.00,0.00,0.000,6,0.000,0.035,2169,2520,3516
$GC,2364,-0.94,-146.6,170.7,-6.4,111,2368,0.00,2.10,0.00,0.000,4,0.000,0.054,2169,3692,3516
$GC,2478,-0.94,-146.6,178.2,-6.7,116,2482,0.00,2.00,0.00,0.000,6,0.000,0.035,2169,2511,3516
$GC,2811,-0.94,-146.6,196.9,-5.4,132,2815,0.00,2.10,0.00,0.000,4,0.000,0.054,2169,3685,3516
$GC,2879,-0.94,-146.6,200.8,-6.2,135,2883,0.00,1.98,0.00,0.000,6,0.000,0.035,2169,2518,3517
$GC,3214,-0.94,-146.6,218.7,-5.5,151,3217,0.00,2.10,0.00,0.000,4,0.000,0.055,2169,3690,3517
$GC,3332,-0.94,-146.6,226.0,-6.0,156,3336,0.00,2.00,0.00,0.000,6,0.000,0.035,2169,2510,3516
$GC,3660,-0.94,-146.6,245.2,-6.1,172,3663,0.00,2.10,0.00,0.000,4,0.000,0.056,2169,3680,3517
$GC,3733,-0.94,-146.6,250.2,-7.1,175,3737,0.00,1.98,0.00,0.000,6,0.000,0.036,2169,2519,3517
$GC,4061,-0.94,-146.6,271.6,-6.5,191,4065,0.00,2.10,0.00,0.000,4,0.000,0.058,2169,3684,3517
$GC,4107,-0.94,-146.6,274.7,-6.4,193,4112,0.00,2.00,0.00,0.000,6,0.000,0.037,2169,2508,3517
$GC,4440,-0.94,-146.6,294.1,-5.8,209,4444,0.00,2.12,0.00,0.000,4,0.000,0.059,2169,3685,3516
$GC,4543,-0.94,-146.6,300.0,-5.9,213,4546,0.00,2.00,0.00,0.000,6,0.000,0.037,2169,2512,3516
$GC,4865,-0.94,-146.6,317.5,-5.7,229,4869,0.00,2.12,0.00,0.000,4,0.000,0.060,2170,3688,3516
$GC,4934,-0.94,-146.6,321.8,-6.5,232,4938,0.00,2.00,0.00,0.000,6,0.000,0.038,2169,2517,3516
$GC,5267,-0.94,-146.6,340.9,-6.0,248,5271,0.00,2.12,0.00,0.000,4,0.000,0.061,2169,3688,3515
$GC,5358,-0.94,-146.6,347.0,-7.1,252,5362,0.00,2.00,0.00,0.000,6,0.000,0.038,2169,2517,3515
$GC,5691,-0.94,-146.6,369.9,-7.1,268,5695,0.00,2.12,0.00,0.000,4,0.000,0.061,2169,3685,3515
$GC,5793,-0.94,-146.6,377.4,-7.8,272,5796,0.00,2.00,0.00,0.000,6,0.000,0.038,2169,2517,3514
$GC,6117,-0.94,-146.6,400.3,-6.8,288,6120,0.00,2.12,0.00,0.000,4,0.000,0.063,2169,3683,3514
$GC,6240,-0.94,-146.6,409.0,-6.7,293,6244,0.00,2.00,0.00,0.000,6,0.000,0.038,2169,2518,3514
$GC,6562,-0.94,-146.6,428.5,-6.0,309,6566,0.00,2.15,0.00,0.000,4,0.000,0.067,2168,3688,3514
$GC,6676,-0.94,-146.6,435.8,-6.9,314,6680,0.00,2.00,0.00,0.000,6,0.000,0.039,2169,2522,3514
$GC,7009,-0.98,-146.6,457.0,-6.3,330,7013,0.00,2.15,0.00,0.000,4,0.000,0.072,2169,3679,3514
$GC,7072,-0.98,-146.6,461.1,-6.5,332,7079,0.00,2.03,0.00,0.000,6,0.000,0.041,2169,2516,3514
$GC,7389,-1.03,-146.6,480.4,-5.8,348,7393,0.00,2.17,0.00,0.000,4,0.000,0.076,2169,3677,3514
$GC,7459,-1.03,-146.6,484.9,-6.6,351,7463,0.00,2.03,0.00,0.000,6,0.000,0.044,2169,2518,3513
$STATE,7624,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7624,begin apogee
$GC,7632,-0.45,0.0,494.7,6.1,359,7767,0.50,0.00,126.97,1.164,6,0.064,0.000,2277,2312,2915
$STATE,7768,end apogee,CONTROL_FINISHED_OK
$STATE,7768,begin climb
$GC,7771,1.16,146.6,499.3,0.0,366,7905,1.58,2.70,125.97,1.125,4,0.054,0.072,2622,905,2316
$GC,7920,1.18,168.0,495.4,5.4,373,7946,0.00,2.60,20.20,1.047,6,0.000,0.057,2622,2299,2230
$GC,8263,1.19,175.0,474.9,5.8,390,8277,0.00,2.67,7.40,0.930,4,0.000,0.072,2622,3696,2201
$GC,8381,1.19,175.0,467.4,6.6,395,8386,0.00,2.47,0.00,0.000,6,0.000,0.042,2622,2307,2201
$GC,8703,1.19,175.0,446.8,6.5,411,8708,0.00,2.60,0.00,0.000,4,0.000,0.067,2622,3699,2201
$GC,8737,1.19,175.0,444.2,7.4,412,8744,0.00,2.45,0.00,0.000,6,0.000,0.041,2622,2314,2200
$GC,9054,1.19,175.0,423.8,6.7,428,9058,0.00,2.55,0.00,0.000,4,0.000,0.065,2622,3696,2200
$GC,9138,1.19,175.0,417.9,7.2,431,9144,0.00,2.45,0.00,0.000,6,0.000,0.040,2622,2304,2200
$GC,9454,1.19,175.0,396.1,7.3,447,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2304,2200
$GC,9763,1.19,175.0,372.5,7.4,462,9768,0.00,2.58,0.00,0.000,4,0.000,0.061,2622,3703,2199
$GC,9859,1.19,175.0,365.1,7.3,466,9863,0.00,2.45,0.00,0.000,6,0.000,0.039,2622,2300,2198
$GC,10176,1.19,175.0,345.2,6.0,481,10180,0.00,2.55,0.00,0.000,4,0.000,0.060,2622,3696,2198
$GC,10267,1.19,175.0,339.7,6.1,485,10271,0.00,2.40,0.00,0.000,6,0.000,0.038,2622,2315,2199
$GC,10595,1.27,241.9,324.9,4.0,501,10659,0.12,2.65,57.28,1.071,4,0.054,0.058,2657,3696,1928
$GC,10714,1.22,241.9,318.8,6.0,506,10719,0.00,2.42,0.00,0.000,6,0.000,0.037,2657,2311,1927
$GC,11036,1.22,241.9,297.9,6.9,522,11040,0.00,2.55,0.00,0.000,4,0.000,0.058,2657,3706,1927
$GC,11077,1.17,241.9,294.9,8.1,524,11082,0.15,2.42,0.00,0.000,6,0.097,0.038,2628,2312,1927
$GC,11404,1.17,241.9,271.7,7.2,540,11409,0.00,2.53,0.00,0.000,4,0.000,0.058,2628,3696,1927
$GC,11432,1.17,241.9,269.6,7.7,541,11437,0.00,2.40,0.00,0.000,6,0.000,0.036,2628,2312,1927
$GC,11749,1.17,241.9,248.8,6.4,556,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2313,1927
$GC,12059,1.21,241.9,229.1,6.4,571,12063,0.00,2.53,0.00,0.000,4,0.000,0.058,2628,3699,1928
$GC,12092,1.21,241.9,226.8,6.9,572,12098,0.00,2.40,0.00,0.000,6,0.000,0.037,2628,2315,1927
$GC,12408,1.21,241.9,204.5,7.5,588,12412,0.00,2.53,0.00,0.000,4,0.000,0.058,2628,3706,1927
$GC,12481,1.21,241.9,198.8,7.1,591,12486,0.00,2.40,0.00,0.000,6,0.000,0.036,2628,2317,1927
$GC,12803,1.21,241.9,175.9,7.1,607,12808,0.00,2.50,0.00,0.000,4,0.000,0.055,2628,3707,1927
$GC,12844,1.21,241.9,172.9,7.1,609,12848,0.00,2.40,0.00,0.000,6,0.000,0.036,2628,2314,1927
$GC,13171,1.21,241.9,151.6,6.5,625,13175,0.00,2.50,0.00,0.000,4,0.000,0.054,2628,3699,1927
$GC,13221,1.21,241.9,148.2,6.9,627,13225,0.00,2.38,0.00,0.000,6,0.000,0.035,2628,2308,1927
$GC,13543,1.21,241.9,129.4,6.1,643,13548,0.00,2.53,0.00,0.000,4,0.000,0.054,2628,3709,1928
$GC,13584,1.21,241.9,126.4,7.5,645,13588,0.00,2.38,0.00,0.000,6,0.000,0.035,2628,2315,1927
$GC,13918,1.21,241.9,103.7,6.8,661,13922,0.00,2.50,0.00,0.000,4,0.000,0.054,2628,3702,1927
$GC,13968,1.21,241.9,99.8,7.6,663,13972,0.00,2.38,0.00,0.000,6,0.000,0.035,2628,2318,1927
$GC,14285,1.22,248.6,81.7,5.8,678,14299,0.00,2.55,7.43,0.793,4,0.000,0.054,2628,3696,1901
$GC,14345,1.22,248.6,76.5,9.0,680,14351,0.00,2.38,0.00,0.000,6,0.000,0.035,2628,2317,1901
$GC,14662,1.26,248.6,52.9,7.3,696,14666,0.00,2.50,0.00,0.000,4,0.000,0.054,2628,3709,1901
$GC,14701,1.34,314.2,51.2,4.0,697,14764,0.17,2.40,55.03,0.867,6,0.048,0.035,2673,2308,1634
$GC,15081,1.34,314.2,21.2,8.1,716,15085,0.00,2.53,0.00,0.000,4,0.000,0.054,2673,3703,1633
$GC,15137,1.29,314.2,14.7,10.7,718,15143,0.00,2.40,0.00,0.000,6,0.000,0.034,2672,2308,1633
$STATE,15264,end climb,SURFACE_DEPTH_REACHED
$STATE,15264,begin surface coast
$FINISH,0.8,1.014507
$STATE,15286,end surface coast,CONTROL_FINISHED_OK
$STATE,15286,begin surface
$SM_CCo,15371,0.00,0.000,0,0,1632,314.72
$SM_GC,1.52,11.80,0.00,0.00,0.039,0.000,0.000,24,2530,1632,-10.76,0.37,314.72
$IRIDIUM_FIX,6342.00,-1234.93,020398,131330
$TT8_MAMPS,0.028379
$HUMID,2020
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,426.1,77.3
$24V_AH,23.1,28.849
$10V_AH,10.1,13.115
$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,25.550,160.475,400.275,0.000,0.000,45.810,120.597,161.454,3.750,0.000,0.000,29.801,1411.836,11439.344,510.745,1879.427,670.862,0.000,1478.856,0.000,1822.534,0.000,23.446,0.000
$DEVICE_MAMPS,128.089,75.933,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.698,495.336,515.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37976,726
$CAP_FILE_SIZE,123401,0
$CFSIZE,260165632,248836096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061208,220732,6411.928,-1231.540,38,1.0,38,-12.2