version: 66.04
glider: 101
mission: 7
dive: 70
start: 11 16 108 20 24 41
data:
$ID,101
$MISSION,7
$DIVE,70
$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,-733201.5
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,201907,6159.798,-943.168,33,1.3,33,-9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-53.2
$GPS2,202420,6159.817,-943.164,9,1.3,14,-9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$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,0.9,37838,-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,-60.88,0.000,2,0.000,0.000,25,2540,3037
$GC,83,-1.81,-146.6,3.5,-4.1,3,113,10.18,2.58,-13.62,0.000,4,0.126,0.056,1975,1112,3514
$GC,307,-1.74,-146.6,40.6,-14.9,13,312,0.10,2.47,0.00,0.000,6,0.110,0.040,1992,2523,3514
$GC,635,-1.68,-146.6,83.6,-12.2,29,636,0.00,0.00,0.00,0.000,6,0.000,0.000,1993,2523,3514
$GC,944,-1.62,-146.6,124.8,-11.9,44,946,0.15,0.00,0.00,0.000,6,0.091,0.000,2022,2523,3514
$GC,1252,-1.62,-146.6,163.7,-13.5,59,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2523,3515
$GC,1564,-1.62,-146.6,201.9,-12.1,74,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2523,3515
$GC,1871,-1.62,-146.6,240.5,-11.9,89,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2523,3515
$GC,2180,-1.62,-146.6,274.6,-11.0,104,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2523,3515
$GC,2489,-1.62,-146.6,308.5,-11.4,119,2493,0.00,2.08,0.00,0.000,4,0.000,0.061,2022,3690,3515
$GC,2660,-1.62,-146.6,329.4,-12.5,126,2663,0.00,2.03,0.00,0.000,6,0.000,0.035,2022,2494,3514
$GC,2981,-1.62,-146.6,367.5,-12.3,142,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2492,3515
$GC,3291,-1.62,-146.6,402.6,-11.3,157,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2492,3515
$GC,3600,-1.62,-146.6,435.6,-10.5,172,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2492,3515
$GC,3909,-1.62,-146.6,467.6,-10.1,187,3913,0.00,2.22,0.00,0.000,4,0.000,0.074,2022,3689,3515
$GC,4039,-1.62,-146.6,481.4,-10.7,192,4045,0.00,2.00,0.00,0.000,6,0.000,0.041,2022,2535,3515
$GC,4355,-1.62,-146.6,513.4,-11.6,208,4358,0.00,2.20,0.00,0.000,4,0.000,0.087,2022,3685,3515
$GC,4491,-1.62,-146.6,528.4,-10.2,214,4494,0.00,2.10,0.00,0.000,6,0.000,0.056,2022,2518,3515
$GC,4824,-1.62,-146.6,562.6,-10.7,230,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2518,3515
$GC,5133,-1.62,-146.6,599.2,-13.3,245,5138,0.00,2.22,0.00,0.000,4,0.000,0.084,2022,3686,3515
$GC,5205,-1.62,-146.6,608.9,-13.2,248,5209,0.00,2.10,0.00,0.000,6,0.000,0.052,2022,2510,3515
$GC,5533,-1.62,-146.6,642.8,-8.8,264,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2510,3515
$GC,5842,-1.62,-146.6,676.2,-10.5,279,5846,0.00,2.28,0.00,0.000,4,0.000,0.092,2022,3686,3514
$GC,5982,-1.62,-146.6,691.6,-11.3,285,5986,0.00,2.10,0.00,0.000,6,0.000,0.054,2022,2514,3514
$STATE,6265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6265,begin apogee
$GC,6273,-0.45,0.0,721.1,10.5,299,6409,1.20,0.00,131.48,1.279,6,0.074,0.000,2276,2312,2915
$STATE,6410,end apogee,CONTROL_FINISHED_OK
$STATE,6410,begin climb
$GC,6413,1.81,146.6,725.5,0.0,306,6549,2.22,0.00,130.23,1.233,6,0.051,0.000,2768,2312,2317
$GC,6849,1.81,148.5,691.0,9.9,327,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2312,2315
$GC,7155,1.76,148.7,661.5,10.0,342,7159,0.00,2.62,0.00,0.000,4,0.000,0.071,2768,899,2314
$GC,7228,1.70,148.7,653.4,11.3,345,7233,0.12,2.60,0.00,0.000,6,0.128,0.058,2748,2313,2314
$GC,7544,1.70,148.7,621.4,10.1,360,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2314,2313
$GC,7853,1.70,148.7,591.5,10.0,375,7857,0.00,2.62,0.00,0.000,4,0.000,0.067,2748,906,2312
$GC,7926,1.70,148.7,584.0,11.2,378,7930,0.00,2.58,0.00,0.000,6,0.000,0.054,2748,2320,2312
$GC,8242,1.76,201.2,559.2,7.5,393,8297,0.00,2.65,47.95,1.213,4,0.000,0.073,2748,3692,2094
$GC,8477,1.76,201.2,536.6,10.5,403,8483,0.00,2.45,0.00,0.000,6,0.000,0.043,2748,2310,2093
$GC,8793,1.76,201.6,505.9,10.0,419,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2310,2093
$GC,9103,1.76,201.6,472.7,10.9,434,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2310,2093
$GC,9412,1.76,201.6,439.8,11.0,449,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2309,2093
$GC,9721,1.76,201.6,403.7,11.7,464,9725,0.00,2.53,0.00,0.000,4,0.000,0.060,2748,3700,2093
$GC,9789,1.76,201.6,395.5,11.9,467,9793,0.00,2.40,0.00,0.000,6,0.000,0.037,2748,2311,2093
$GC,10116,1.76,201.6,359.9,11.0,483,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2311,2094
$GC,10425,1.76,201.6,324.8,11.6,498,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2311,2094
$GC,10734,1.76,201.6,291.6,10.1,513,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2311,2095
$GC,11045,1.81,203.5,261.7,9.9,528,11054,0.00,2.50,4.12,0.667,4,0.000,0.048,2748,916,2085
$GC,11116,1.81,203.5,254.0,10.5,531,11121,0.00,2.47,0.00,0.000,6,0.000,0.038,2748,2331,2085
$GC,11439,1.84,227.7,222.4,8.9,547,11463,0.12,0.00,21.85,0.927,6,0.059,0.000,2780,2331,1986
$GC,11767,1.84,227.7,181.5,12.7,563,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2331,1985
$GC,12077,1.84,227.7,143.4,12.7,578,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2331,1986
$GC,12387,1.84,227.7,107.3,10.9,593,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2331,1985
$GC,12696,1.87,251.0,79.4,8.9,608,12719,0.00,0.00,21.42,0.837,6,0.000,0.000,2780,2331,1891
$GC,13026,1.87,251.0,40.5,12.3,624,13031,0.00,2.53,0.00,0.000,4,0.000,0.047,2780,911,1891
$GC,13099,1.87,251.0,31.4,10.3,627,13104,0.00,2.45,0.00,0.000,6,0.000,0.038,2780,2319,1891
$STATE,13309,end climb,SURFACE_DEPTH_REACHED
$STATE,13309,begin surface coast
$FINISH,1.2,1.027346
$STATE,13331,end surface coast,CONTROL_FINISHED_OK
$STATE,13332,begin surface
$SM_CCo,13357,44.20,0.725,3,0,1692,300.00
$SM_GC,1.85,0.00,0.00,44.20,0.000,0.000,0.725,28,2521,1692,-10.80,0.11,300.00
$IRIDIUM_FIX,6135.28,-934.51,100298,171736
$TT8_MAMPS,0.028379
$HUMID,2017
$INTERNAL_PRESSURE,7.83233
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.4,105.4
$24V_AH,23.1,12.607
$10V_AH,10.1,5.066
$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,26.500,57.475,357.050,44.200,0.000,25.841,30.186,140.071,5.500,0.000,0.000,15.702,1161.595,10248.242,505.721,1385.640,437.771,0.000,1180.135,0.000,1355.898,0.000,36.463,0.000
$DEVICE_MAMPS,128.089,92.040,1279.356,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.361,435.907,379.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31704,638
$CAP_FILE_SIZE,86233,0
$CFSIZE,260165632,254832640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,171108,000938,6202.898,-945.515,37,1.5,37,-9.8