version: 66.04
glider: 101
mission: 7
dive: 242
start: 12 20 108 22 3 0
data:
$ID,101
$MISSION,7
$DIVE,242
$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,-750453.19
$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
$GPS1,215407,6319.657,-1321.476,24,1.1,24,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-57.4
$GPS2,220239,6319.765,-1321.290,10,1.5,10,-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,128.7,19820,-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,-60.53,0.000,2,0.000,0.000,24,544,2926
$GC,83,-1.81,-146.6,3.0,-3.5,3,118,10.52,0.00,-20.42,0.000,6,0.230,0.000,1976,547,3514
$GC,430,-1.72,-146.6,48.6,-13.3,20,432,0.12,0.00,0.00,0.000,6,0.205,0.000,1998,547,3514
$GC,738,-1.67,-146.6,91.7,-14.1,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,547,3514
$GC,1047,-1.62,-146.6,130.6,-12.6,50,1049,0.12,0.00,0.00,0.000,6,0.196,0.000,2020,547,3514
$GC,1355,-1.62,-146.6,167.7,-12.5,65,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,547,3514
$GC,1665,-1.62,-146.6,204.1,-11.5,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,547,3514
$GC,1974,-1.62,-146.6,240.3,-11.9,95,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,547,3514
$GC,2286,-1.62,-146.6,276.5,-11.5,110,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,549,3514
$GC,2592,-1.62,-146.6,314.4,-11.8,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,549,3514
$GC,2902,-1.62,-146.6,351.2,-11.7,140,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,3211,-1.62,-146.6,387.1,-11.6,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,3520,-1.62,-146.6,422.0,-11.2,170,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,3829,-1.62,-146.6,456.1,-10.6,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,4139,-1.62,-146.6,489.0,-10.7,200,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,4448,-1.62,-146.6,522.5,-11.7,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,4757,-1.62,-146.6,558.3,-11.5,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,5067,-1.62,-146.6,593.9,-11.4,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,549,3514
$GC,5377,-1.62,-146.6,626.4,-10.3,260,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,5685,-1.62,-146.6,655.3,-8.5,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,5995,-1.62,-146.6,679.8,-7.4,290,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3514
$GC,6304,-1.62,-146.6,703.5,-8.7,305,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3513
$GC,6613,-1.62,-146.6,733.1,-11.5,320,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,550,3513
$GC,6923,-1.62,-146.6,772.5,-11.1,335,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,549,3513
$GC,7232,-1.62,-146.6,810.0,-14.3,350,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,549,3512
$STATE,7270,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7270,begin apogee
$GC,7293,-0.45,0.0,814.3,12.3,352,7427,1.23,0.00,130.95,1.460,6,0.180,0.000,2272,548,2915
$STATE,7428,end apogee,CONTROL_FINISHED_OK
$STATE,7428,begin climb
$GC,7432,1.81,146.6,821.1,0.0,359,7567,2.30,0.00,130.30,1.421,6,0.154,0.000,2766,548,2317
$GC,7870,1.70,146.6,807.1,10.7,381,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,549,2316
$GC,8180,1.60,146.6,770.3,14.3,396,8182,0.22,0.00,0.00,0.000,6,0.204,0.000,2724,552,2316
$GC,8489,1.63,165.8,736.8,9.1,411,8509,0.00,0.00,18.67,1.359,6,0.000,0.000,2724,552,2238
$GC,8818,1.74,257.0,711.9,5.7,427,8902,0.12,0.00,80.88,1.408,6,0.163,0.000,2758,551,1867
$GC,9208,1.75,263.3,678.4,9.7,446,9217,0.00,0.00,7.30,1.162,6,0.000,0.000,2757,551,1841
$GC,9516,1.75,263.3,643.1,12.4,461,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,552,1841
$GC,9826,1.75,263.3,599.5,14.1,476,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,551,1841
$GC,10135,1.75,263.3,552.4,15.9,491,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,552,1840
$GC,10444,1.75,263.3,509.3,13.5,506,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,552,1840
$GC,10754,1.79,263.3,470.6,12.6,521,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,552,1840
$GC,11063,1.79,263.3,433.3,12.2,536,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,552,1841
$GC,11372,1.79,263.3,392.6,13.2,551,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,552,1841
$GC,11681,1.79,263.3,348.7,15.1,566,11682,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,552,1840
$GC,11991,1.79,263.3,301.8,15.4,581,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,552,1841
$GC,12300,1.79,263.3,255.9,15.3,596,12301,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,552,1841
$GC,12609,1.79,263.3,207.7,15.1,611,12610,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,552,1841
$GC,12919,1.79,263.3,162.7,15.5,626,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,552,1841
$GC,13228,1.79,263.3,117.9,13.4,641,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,551,1841
$GC,13537,1.79,263.3,71.6,15.7,656,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,552,1841
$GC,13846,1.79,263.3,27.8,14.1,671,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,552,1841
$STATE,14049,end climb,SURFACE_DEPTH_REACHED
$STATE,14049,begin surface coast
$FINISH,0.7,1.027460
$STATE,14071,end surface coast,CONTROL_FINISHED_OK
$STATE,14071,begin surface
$SM_CCo,14111,33.40,0.866,2,0,1692,300.00
$SM_GC,1.14,0.00,0.00,33.40,0.000,0.000,0.866,26,549,1692,-10.81,-58.04,300.00
$IRIDIUM_FIX,6254.00,-1327.32,160398,171725
$TT8_MAMPS,0.029146
$HUMID,2023
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,752.6,70.0
$24V_AH,22.8,41.623
$10V_AH,10.1,18.658
$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,27.025,28.450,368.100,33.400,0.000,23.313,32.884,277.950,7.000,0.000,0.000,12.322,1135.580,11252.100,539.298,1115.876,623.199,0.000,1057.606,0.000,1102.932,0.000,44.432,0.000
$DEVICE_MAMPS,230.100,1.534,1459.601,865.943,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,513.133,466.291,386.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34849,682
$CAP_FILE_SIZE,77361,16
$CFSIZE,260165632,245571584
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,2,0
$GPS,211208,020008,6321.853,-1320.183,37,1.9,37,-12.4