version: 66.04
glider: 101
mission: 7
dive: 232
start: 12 18 108 23 17 13
data:
$ID,101
$MISSION,7
$DIVE,232
$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,-750303.19
$T_RSLEEP,7
$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,20
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,5
$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
$GPS1,230901,6319.548,-1318.941,35,1.5,40,-12.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-56.7
$GPS2,231650,6319.633,-1318.998,10,1.8,10,-12.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-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,130.7,18011,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.95,0.000,2,0.000,0.000,25,478,3385
$GC,103,-1.81,-146.6,5.2,-6.3,4,119,10.68,0.00,-2.75,0.000,6,0.241,0.000,1974,484,3515
$GC,430,-1.71,-146.6,77.3,-22.2,20,432,0.15,0.00,0.00,0.000,6,0.203,0.000,2000,487,3515
$GC,738,-1.67,-146.6,126.7,-17.4,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,487,3515
$GC,1046,-1.67,-146.6,183.9,-16.5,50,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,488,3516
$GC,1355,-1.67,-146.6,235.5,-15.8,65,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,488,3515
$GC,1665,-1.67,-146.6,280.1,-15.2,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,489,3515
$GC,1974,-1.67,-146.6,328.8,-14.2,95,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,490,3515
$GC,2283,-1.67,-146.6,371.7,-14.4,110,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,489,3515
$GC,2593,-1.67,-146.6,416.5,-14.6,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,490,3515
$GC,2902,-1.67,-146.6,461.8,-14.4,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,489,3515
$GC,3212,-1.67,-146.6,501.1,-11.9,155,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,490,3515
$GC,3520,-1.67,-146.6,538.1,-11.7,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,490,3516
$GC,3830,-1.67,-146.6,572.3,-10.1,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,489,3516
$GC,4139,-1.67,-146.6,602.2,-9.8,200,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,489,3516
$GC,4448,-1.67,-146.6,632.6,-10.1,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,490,3515
$GC,4757,-1.67,-146.6,670.2,-12.2,230,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,489,3516
$GC,5067,-1.67,-146.6,709.7,-13.4,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,490,3515
$GC,5379,-1.67,-146.6,752.1,-13.2,260,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,489,3515
$GC,5686,-1.67,-146.6,786.3,-9.7,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,490,3515
$STATE,5929,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5930,begin apogee
$GC,5953,-0.45,0.0,810.6,10.0,287,6088,1.35,0.00,131.50,1.456,6,0.191,0.000,2271,489,2915
$STATE,6089,end apogee,CONTROL_FINISHED_OK
$STATE,6089,begin climb
$GC,6093,1.81,146.6,818.0,0.0,294,6227,2.33,0.00,129.62,1.426,6,0.164,0.000,2768,489,2317
$GC,6533,1.71,146.6,778.5,11.1,316,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,492,2317
$GC,6840,1.64,146.6,741.5,11.4,331,6842,0.20,0.00,0.00,0.000,6,0.206,0.000,2731,492,2316
$GC,7148,1.64,146.6,711.0,10.3,346,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,492,2315
$GC,7458,1.65,156.6,679.5,9.5,361,7470,0.00,0.00,10.35,1.276,6,0.000,0.000,2731,492,2275
$GC,7767,1.65,156.6,644.7,11.6,376,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,492,2275
$GC,8076,1.65,156.6,608.8,11.8,391,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,492,2275
$GC,8386,1.68,179.1,577.7,8.9,406,8409,0.00,0.00,21.02,1.315,6,0.000,0.000,2731,492,2184
$GC,8714,1.71,200.7,548.6,9.0,422,8737,0.00,0.00,20.67,1.280,6,0.000,0.000,2731,492,2096
$GC,9044,1.75,200.7,515.7,10.9,438,9046,0.12,0.00,0.00,0.000,6,0.163,0.000,2765,492,2096
$GC,9353,1.75,200.7,478.2,12.1,453,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,492,2096
$GC,9662,1.75,200.7,440.0,12.2,468,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,492,2096
$GC,9971,1.75,200.7,402.0,11.8,483,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,494,2096
$GC,10281,1.75,200.7,365.4,11.0,498,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,493,2096
$GC,10590,1.75,200.7,330.9,11.6,513,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,494,2096
$GC,10899,1.75,200.7,298.0,10.0,528,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,493,2096
$GC,11209,1.75,200.7,261.9,12.4,543,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,494,2097
$GC,11518,1.75,200.7,228.0,10.2,558,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,493,2097
$GC,11827,1.75,200.7,191.0,12.6,573,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,494,2097
$GC,12137,1.76,203.0,159.3,9.9,588,12143,0.00,0.00,4.32,0.773,6,0.000,0.000,2778,494,2087
$GC,12446,1.76,203.0,119.3,13.4,603,12448,0.12,0.00,0.00,0.000,6,0.204,0.000,2756,494,2087
$GC,12755,1.76,203.0,80.2,14.1,618,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,494,2087
$GC,13065,1.76,203.0,41.1,11.2,633,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,494,2087
$STATE,13372,end climb,SURFACE_DEPTH_REACHED
$STATE,13372,begin surface coast
$FINISH,0.6,1.006174
$STATE,13392,end surface coast,CONTROL_FINISHED_OK
$STATE,13392,begin surface
$SM_CCo,13432,80.30,0.922,1,0,1692,300.00
$SM_GC,1.00,0.00,0.00,80.30,0.000,0.000,0.922,25,495,1692,-10.81,-59.51,300.00
$IRIDIUM_FIX,6254.00,-1316.90,140398,191925
$TT8_MAMPS,0.028379
$HUMID,2027
$INTERNAL_PRESSURE,7.8128
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,752.1,68.1
$24V_AH,22.9,39.793
$10V_AH,10.1,17.964
$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,27.275,28.450,317.500,80.300,0.000,23.530,26.044,254.052,6.500,0.000,0.000,12.002,1086.026,10732.360,535.040,1060.880,576.492,0.000,1027.153,0.000,1046.624,0.000,44.430,0.000
$DEVICE_MAMPS,240.838,1.534,1455.766,921.934,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.386,444.062,357.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31777,649
$CAP_FILE_SIZE,73978,16
$CFSIZE,260165632,246030336
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,1,0
$GPS,191208,030338,6321.937,-1321.803,31,1.5,31,-12.4