version: 66.04
glider: 101
mission: 7
dive: 37
start: 11 12 108 16 4 44
data:
$ID,101
$MISSION,7
$DIVE,37
$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,-732580.38
$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,29
$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
$GPS1,160007,6120.517,-856.714,12,1.2,29,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-59.1
$GPS2,160420,6120.530,-856.718,10,1.3,15,-9.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$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,354.2,62215,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.81,-146.6,0.0,0.0,0,79,0.00,0.00,-61.05,0.000,2,0.000,0.000,26,2522,3049
$GC,83,-1.81,-146.6,3.1,-4.1,3,113,10.15,2.12,-14.32,0.000,4,0.126,0.072,1971,3683,3514
$GC,367,-1.65,-146.6,44.2,-14.6,15,374,0.22,2.03,0.00,0.000,6,0.092,0.035,2015,2490,3514
$GC,683,-1.65,-146.6,82.0,-12.1,31,687,0.00,2.15,0.00,0.000,4,0.000,0.055,2014,3685,3514
$GC,907,-1.58,-146.6,110.8,-13.4,40,913,0.00,2.03,0.00,0.000,6,0.000,0.035,2015,2488,3514
$GC,1224,-1.58,-146.6,150.3,-12.2,56,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2488,3514
$GC,1533,-1.58,-146.6,189.3,-12.8,71,1537,0.00,2.15,0.00,0.000,4,0.000,0.054,2015,3688,3514
$GC,1640,-1.53,-146.6,204.0,-12.9,75,1647,0.12,2.03,0.00,0.000,6,0.096,0.035,2039,2489,3514
$GC,1957,-1.53,-146.6,239.3,-10.9,91,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2489,3514
$GC,2266,-1.53,-146.6,272.8,-11.0,106,2270,0.00,2.12,0.00,0.000,4,0.000,0.056,2039,3685,3514
$GC,2367,-1.53,-146.6,285.1,-12.5,110,2371,0.00,1.98,0.00,0.000,6,0.000,0.035,2039,2517,3514
$GC,2690,-1.53,-146.6,320.6,-11.0,126,2693,0.00,2.10,0.00,0.000,4,0.000,0.058,2039,3693,3514
$STATE,2737,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2737,begin apogee
$GC,2747,-0.45,0.0,326.7,11.7,128,2876,1.08,0.00,124.68,0.972,6,0.077,0.000,2270,2328,2915
$STATE,2876,end apogee,CONTROL_FINISHED_OK
$STATE,2877,begin climb
$GC,2880,1.81,146.6,331.7,0.0,134,3013,2.25,2.60,123.85,0.932,4,0.051,0.049,2771,918,2317
$GC,3072,1.79,169.7,323.2,8.9,143,3099,0.00,2.47,21.02,0.876,6,0.000,0.039,2770,2313,2223
$GC,3409,1.79,174.2,289.1,9.8,160,3416,0.00,0.00,5.85,0.713,6,0.000,0.000,2770,2313,2204
$GC,3718,1.79,174.2,258.1,10.2,175,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2313,2204
$GC,4027,1.81,188.1,228.5,9.4,190,4046,0.00,0.00,13.10,0.844,6,0.000,0.000,2770,2313,2147
$GC,4357,1.81,188.1,193.9,10.9,206,4361,0.00,2.50,0.00,0.000,4,0.000,0.046,2770,905,2148
$GC,4425,1.81,188.1,186.3,11.1,209,4430,0.00,2.47,0.00,0.000,6,0.000,0.038,2770,2320,2148
$GC,4753,1.81,188.1,149.9,11.6,225,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2320,2148
$GC,5064,1.81,188.1,114.2,12.0,240,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2320,2148
$GC,5372,1.81,188.1,80.0,10.4,255,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2320,2148
$GC,5681,1.81,188.1,47.9,10.7,270,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2320,2148
$GC,5990,1.81,188.1,12.2,11.4,285,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2320,2148
$STATE,6090,end climb,SURFACE_DEPTH_REACHED
$STATE,6090,begin surface coast
$FINISH,0.7,1.008143
$STATE,6112,end surface coast,CONTROL_FINISHED_OK
$STATE,6112,begin surface
$SM_CCo,6137,81.55,0.749,2,0,1692,300.00
$SM_GC,1.42,0.00,0.00,81.55,0.000,0.000,0.749,27,2526,1692,-10.80,0.28,300.00
$IRIDIUM_FIX,6059.36,-900.46,060298,141450
$TT8_MAMPS,0.029146
$HUMID,1987
$INTERNAL_PRESSURE,7.86163
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,250.4,86.3
$24V_AH,23.3,8.345
$10V_AH,10.1,3.293
$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,26.150,31.475,288.500,81.550,0.000,25.051,27.695,95.191,1.750,0.000,0.000,16.808,570.198,4446.633,448.965,735.543,299.276,0.000,827.028,0.000,720.608,0.000,12.128,0.000
$DEVICE_MAMPS,125.788,72.098,971.789,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,213.596,197.286,266.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12874,291
$CAP_FILE_SIZE,46086,0
$CFSIZE,260165632,256196608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,121108,174955,6121.584,-856.664,22,0.9,40,-9.1