version: 66.04
glider: 101
mission: 7
dive: 164
start: 12 4 108 22 20 36
data:
$ID,101
$MISSION,7
$DIVE,164
$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,-735314.06
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,221407,6401.466,-1314.660,32,1.9,32,-12.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-47.5
$GPS2,222015,6401.410,-1314.777,11,1.8,11,-12.6
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,LW
$TGT_LATLONG,6406.000,-1306.000
$TGT_RADIUS,2500.000
$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,52.5,11077,-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,-146.6,0.0,0.0,0,138,0.00,0.00,-120.40,0.000,2,0.000,0.000,24,2528,2972
$GC,142,-1.16,-146.6,3.2,-2.3,6,177,11.00,0.00,-18.20,0.000,6,0.127,0.000,2117,2529,3512
$GC,489,-1.05,-146.6,47.1,-14.3,23,491,0.12,0.00,0.00,0.000,6,0.084,0.000,2143,2529,3510
$GC,797,-0.99,-146.6,90.8,-14.0,38,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2529,3510
$GC,1105,-0.99,-146.6,160.6,-26.9,53,1109,0.00,2.08,0.00,0.000,4,0.000,0.061,2143,3686,3510
$GC,1185,-0.93,-146.6,183.3,-28.9,56,1189,0.12,2.03,0.00,0.000,6,0.087,0.038,2168,2506,3510
$GC,1506,-0.93,-146.6,266.0,-24.5,72,1509,0.00,2.12,0.00,0.000,4,0.000,0.057,2168,3686,3510
$GC,1534,-0.93,-146.6,273.6,-24.3,73,1537,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2506,3510
$GC,1862,-0.93,-146.6,299.0,-5.7,89,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2506,3510
$GC,2171,-0.93,-146.6,300.1,5.0,104,2175,0.00,2.15,0.00,0.000,4,0.000,0.061,2168,3688,3510
$GC,2240,-0.93,-146.6,299.4,-0.8,107,2244,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2506,3509
$GC,2574,-0.93,-146.6,302.2,-1.4,123,2578,0.00,2.15,0.00,0.000,4,0.000,0.061,2168,3687,3510
$GC,2698,-0.93,-146.6,305.6,-4.6,128,2702,0.00,2.03,0.00,0.000,6,0.000,0.038,2168,2507,3509
$STATE,2976,end dive,NO_VERTICAL_VELOCITY
$STATE,2976,begin apogee
$GC,2984,-0.45,0.0,310.3,0.0,142,3110,0.50,0.00,122.95,1.032,6,0.058,0.000,2278,2313,2915
$STATE,3111,end apogee,CONTROL_FINISHED_OK
$STATE,3111,begin climb
$GC,3114,1.16,146.6,310.1,0.0,148,3243,1.58,0.00,123.78,0.986,6,0.053,0.000,2623,2312,2317
$GC,3551,1.16,149.9,285.2,5.9,169,3561,0.00,2.55,4.88,0.709,4,0.000,0.059,2623,3686,2303
$GC,3674,1.16,149.9,277.0,7.1,174,3680,0.00,2.40,0.00,0.000,6,0.000,0.038,2623,2315,2303
$GC,3991,1.20,226.1,256.9,3.7,190,4062,0.00,2.60,64.60,0.972,4,0.000,0.052,2623,917,1993
$GC,4233,1.27,226.1,218.5,6.3,201,4238,0.12,2.47,0.00,0.000,6,0.065,0.041,2651,2314,1993
$GC,4561,1.16,226.1,187.7,23.9,217,4566,0.12,2.47,0.00,0.000,4,0.098,0.058,2628,3692,1994
$GC,4628,1.16,226.1,164.5,38.1,220,4632,0.00,2.40,0.00,0.000,6,0.000,0.038,2628,2314,1993
$GC,4950,1.17,230.8,92.7,5.9,236,4961,0.00,2.55,6.15,0.746,4,0.000,0.058,2628,3696,1972
$GC,5046,1.17,230.8,84.3,8.4,240,5050,0.00,2.40,0.00,0.000,6,0.000,0.038,2628,2321,1971
$GC,5362,1.17,230.8,41.6,11.1,255,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2320,1972
$GC,5672,1.21,230.8,14.3,7.7,270,5676,0.00,2.50,0.00,0.000,4,0.000,0.057,2628,3696,1972
$GC,5773,1.21,230.8,6.3,8.4,274,5779,0.00,2.40,0.00,0.000,6,0.000,0.037,2628,2307,1972
$STATE,5840,end climb,SURFACE_DEPTH_REACHED
$STATE,5840,begin surface coast
$FINISH,1.0,1.027455
$STATE,5860,end surface coast,CONTROL_FINISHED_OK
$STATE,5860,begin surface
$SM_CCo,5885,55.75,0.849,0,0,1691,300.00
$SM_GC,1.56,0.00,0.00,55.75,0.000,0.000,0.849,25,2530,1691,-10.81,0.37,300.00
$IRIDIUM_FIX,6313.04,-2020.24,280298,181816
$TT8_MAMPS,0.029146
$HUMID,2011
$INTERNAL_PRESSURE,7.76397
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,276.7,109.4
$24V_AH,23.2,27.314
$10V_AH,10.1,12.292
$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,25.200,42.075,322.350,55.750,0.000,23.074,28.859,161.854,2.000,0.000,0.000,13.311,559.846,4127.693,504.676,712.244,410.091,0.000,886.494,0.000,699.844,0.000,13.807,0.000
$DEVICE_MAMPS,126.555,61.360,1031.615,849.069,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.121,188.986,243.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12804,279
$CAP_FILE_SIZE,50068,0
$CFSIZE,260165632,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051208,000047,6401.904,-1313.790,6,2.8,26,-12.6