version: 66.04
glider: 101
mission: 7
dive: 196
start: 12 10 108 0 57 30
data:
$ID,101
$MISSION,7
$DIVE,196
$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,-736067.44
$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,2600
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,31
$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
$GPS1,005207,6412.807,-1202.531,32,1.2,32,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-58.1
$GPS2,005709,6412.818,-1202.576,13,1.6,13,-12.0
$SPEED_LIMITS,0.104,0.209
$TGT_NAME,JE
$TGT_LATLONG,6345.000,-1255.000
$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,231.8,67068,-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,11,begin dive
$GC,15,-1.16,-146.6,0.0,0.0,0,98,0.00,0.00,-80.53,0.000,2,0.000,0.000,29,2610,3196
$GC,102,-1.16,-146.6,4.1,-4.2,4,127,10.98,2.53,-8.32,0.000,4,0.130,0.053,2117,1203,3515
$GC,171,-1.07,-146.6,13.2,-7.4,7,176,0.12,2.45,0.00,0.000,6,0.092,0.039,2141,2597,3515
$GC,500,-1.00,-146.6,39.4,-9.6,23,504,0.00,1.95,0.00,0.000,4,0.000,0.058,2141,3695,3515
$GC,551,-0.93,-146.6,44.4,-8.6,25,556,0.15,1.85,0.00,0.000,6,0.083,0.035,2171,2603,3515
$GC,880,-0.93,-146.6,69.1,-7.3,41,883,0.00,1.95,0.00,0.000,4,0.000,0.056,2171,3689,3515
$GC,908,-0.93,-146.6,71.2,-7.0,42,911,0.00,1.85,0.00,0.000,6,0.000,0.034,2171,2597,3515
$GC,1236,-0.93,-146.6,91.7,-6.8,58,1239,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3699,3515
$GC,1275,-0.93,-146.6,95.0,-8.0,59,1282,0.00,1.90,0.00,0.000,6,0.000,0.035,2171,2597,3515
$GC,1592,-0.93,-146.6,114.9,-6.3,75,1596,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3701,3515
$GC,1620,-0.93,-146.6,117.2,-7.8,76,1624,0.00,1.88,0.00,0.000,6,0.000,0.034,2171,2590,3515
$GC,1948,-0.93,-146.6,139.0,-6.1,92,1952,0.00,1.98,0.00,0.000,4,0.000,0.054,2171,3693,3515
$GC,2004,-0.93,-146.6,142.7,-6.4,94,2008,0.00,1.88,0.00,0.000,6,0.000,0.034,2171,2602,3515
$GC,2326,-0.93,-146.6,161.5,-6.8,110,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2603,3515
$GC,2635,-0.93,-146.6,181.6,-6.9,125,2639,0.00,1.95,0.00,0.000,4,0.000,0.055,2171,3692,3515
$GC,2686,-0.93,-146.6,185.4,-7.4,127,2690,0.00,1.88,0.00,0.000,6,0.000,0.034,2171,2601,3514
$GC,3014,-0.93,-146.6,211.4,-9.2,143,3017,0.00,1.95,0.00,0.000,4,0.000,0.054,2171,3692,3515
$GC,3042,-0.93,-146.6,213.8,-8.0,144,3045,0.00,1.85,0.00,0.000,6,0.000,0.034,2171,2596,3515
$GC,3370,-0.93,-146.6,234.2,-6.0,160,3374,0.00,1.95,0.00,0.000,4,0.000,0.055,2171,3691,3515
$GC,3416,-0.93,-146.6,237.2,-6.8,162,3420,0.00,1.85,0.00,0.000,6,0.000,0.034,2171,2592,3515
$GC,3749,-0.93,-146.6,259.0,-7.0,178,3753,0.00,1.98,0.00,0.000,4,0.000,0.055,2171,3695,3515
$GC,3818,-0.93,-146.6,264.2,-7.8,181,3822,0.00,1.85,0.00,0.000,6,0.000,0.034,2172,2596,3515
$GC,4151,-0.93,-146.6,289.7,-8.0,197,4155,0.00,1.98,0.00,0.000,4,0.000,0.056,2171,3698,3515
$GC,4202,-0.93,-146.6,294.3,-9.3,199,4206,0.00,1.88,0.00,0.000,6,0.000,0.035,2171,2587,3514
$GC,4532,-0.93,-146.6,325.7,-9.4,215,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,2587,3515
$GC,4839,-0.93,-146.6,356.4,-10.1,230,4842,0.00,2.00,0.00,0.000,4,0.000,0.059,2171,3696,3515
$GC,4878,-0.93,-146.6,360.5,-10.4,231,4884,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2598,3515
$GC,5195,-0.98,-146.6,387.2,-7.1,247,5198,0.00,1.98,0.00,0.000,4,0.000,0.061,2171,3688,3515
$GC,5223,-0.98,-146.6,389.2,-7.1,248,5226,0.00,1.85,0.00,0.000,6,0.000,0.035,2171,2598,3514
$GC,5550,-0.98,-146.6,412.4,-7.7,264,5554,0.00,2.47,0.00,0.000,4,0.000,0.053,2171,1200,3515
$GC,5585,-1.03,-146.6,415.0,-7.7,265,5592,0.00,2.50,0.00,0.000,6,0.000,0.048,2171,2606,3515
$STATE,5610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5610,begin apogee
$GC,5618,-0.45,0.0,417.2,7.9,267,5746,0.47,0.00,125.38,1.092,6,0.065,0.000,2274,2394,2915
$STATE,5747,end apogee,CONTROL_FINISHED_OK
$STATE,5747,begin climb
$GC,5751,1.16,146.6,423.1,0.0,273,5884,1.60,2.62,122.93,1.057,4,0.055,0.054,2624,1001,2317
$GC,5904,1.18,164.3,419.0,5.5,280,5926,0.00,2.53,16.62,0.969,6,0.000,0.044,2623,2398,2245
$GC,6248,1.18,164.3,397.7,6.3,297,6252,0.00,2.35,0.00,0.000,4,0.000,0.061,2624,3693,2244
$GC,6293,1.18,164.3,394.7,6.9,299,6297,0.00,2.25,0.00,0.000,6,0.000,0.036,2624,2396,2245
$GC,6614,1.18,164.3,374.7,6.6,315,6618,0.00,2.50,0.00,0.000,4,0.000,0.051,2624,994,2243
$GC,6699,1.18,164.3,369.1,6.7,319,6703,0.00,2.50,0.00,0.000,6,0.000,0.042,2624,2404,2244
$GC,7026,1.18,164.3,346.3,7.1,335,7030,0.00,2.33,0.00,0.000,4,0.000,0.059,2624,3696,2243
$GC,7111,1.18,164.3,339.8,8.1,339,7115,0.00,2.25,0.00,0.000,6,0.000,0.036,2624,2385,2243
$GC,7438,1.18,164.3,318.1,6.3,355,7442,0.00,2.45,0.00,0.000,4,0.000,0.048,2624,999,2243
$GC,7488,1.18,164.3,314.9,6.2,357,7492,0.00,2.47,0.00,0.000,6,0.000,0.040,2624,2407,2243
$GC,7810,1.26,228.1,299.2,4.1,373,7870,0.10,0.00,54.35,1.038,6,0.063,0.000,2651,2407,1985
$GC,8180,1.28,244.1,279.8,5.5,391,8202,0.00,2.60,15.23,0.967,4,0.000,0.045,2651,1001,1918
$GC,8215,1.28,244.1,277.6,6.1,392,8221,0.00,2.50,0.00,0.000,6,0.000,0.038,2651,2405,1918
$GC,8531,1.28,244.1,257.9,6.3,408,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2405,1918
$GC,8840,1.28,244.1,237.0,6.9,423,8844,0.00,2.30,0.00,0.000,4,0.000,0.055,2651,3696,1918
$GC,8863,1.28,244.1,235.2,7.6,424,8867,0.00,2.22,0.00,0.000,6,0.000,0.034,2651,2391,1918
$GC,9184,1.28,244.1,213.4,7.2,440,9185,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2390,1918
$GC,9493,1.28,244.1,191.7,6.7,455,9497,0.00,2.35,0.00,0.000,4,0.000,0.054,2651,3701,1918
$GC,9540,1.23,244.1,187.9,8.4,457,9544,0.00,2.22,0.00,0.000,6,0.000,0.033,2651,2389,1918
$GC,9867,1.23,244.1,163.5,7.1,473,9871,0.00,2.42,0.00,0.000,4,0.000,0.045,2651,1001,1918
$GC,9894,1.23,244.1,161.2,8.0,474,9899,0.00,2.45,0.00,0.000,6,0.000,0.037,2651,2406,1918
$GC,10213,1.23,244.1,136.5,7.8,489,10217,0.00,2.28,0.00,0.000,4,0.000,0.054,2651,3693,1918
$GC,10237,1.23,244.1,134.6,7.5,490,10241,0.00,2.20,0.00,0.000,6,0.000,0.033,2651,2392,1918
$GC,10559,1.23,244.1,110.9,7.9,506,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2391,1918
$GC,10870,1.23,244.1,81.7,9.6,521,10874,0.00,2.33,0.00,0.000,4,0.000,0.053,2651,3692,1919
$GC,10893,1.23,244.1,79.1,10.1,522,10897,0.00,2.20,0.00,0.000,6,0.000,0.033,2651,2390,1918
$GC,11215,1.23,244.1,49.9,8.4,538,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2389,1919
$GC,11526,1.23,244.1,22.4,9.5,553,11531,0.00,2.33,0.00,0.000,4,0.000,0.053,2651,3690,1918
$GC,11567,1.23,244.1,18.6,8.6,555,11571,0.00,2.17,0.00,0.000,6,0.000,0.032,2651,2400,1919
$STATE,11768,end climb,SURFACE_DEPTH_REACHED
$STATE,11768,begin surface coast
$FINISH,0.9,1.027476
$STATE,11790,end surface coast,CONTROL_FINISHED_OK
$STATE,11790,begin surface
$SM_CCo,11815,49.22,0.769,3,0,1692,300.00
$SM_GC,1.61,0.00,0.00,49.22,0.000,0.000,0.769,26,2605,1692,-10.80,0.14,300.00
$IRIDIUM_FIX,6346.88,-1202.23,050398,212138
$TT8_MAMPS,0.029146
$HUMID,2007
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,325.7,100.9
$24V_AH,23.2,31.730
$10V_AH,10.1,14.566
$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,24.950,113.450,334.500,49.225,0.000,26.297,25.233,127.955,2.500,0.000,0.000,14.761,1079.153,8853.633,514.212,1288.063,454.152,0.000,1187.786,0.000,1261.214,0.000,17.020,0.000
$DEVICE_MAMPS,129.623,61.360,1092.208,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.062,384.908,449.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28516,566
$CAP_FILE_SIZE,91347,0
$CFSIZE,260165632,247771136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,101208,041638,6412.982,-1205.016,24,1.4,24,-12.0