version: 66.04
glider: 101
mission: 7
dive: 297
start: 12 28 108 23 29 31
data:
$ID,101
$MISSION,7
$DIVE,297
$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,-751619
$T_RSLEEP,27
$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
$GPS1,232055,6253.373,-1148.840,21,1.4,39,-11.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-61.6
$GPS2,232909,6253.368,-1148.413,14,1.3,14,-11.3
$SPEED_LIMITS,0.104,0.209
$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,315.2,71874,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,24,687,2984
$GC,83,-1.16,-146.6,3.5,-4.1,3,118,11.25,0.00,-17.15,0.000,6,0.226,0.000,2118,696,3514
$GC,430,-1.04,-146.6,32.8,-8.4,20,432,0.15,0.00,0.00,0.000,6,0.189,0.000,2146,698,3514
$GC,738,-0.98,-146.6,56.9,-8.1,35,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2147,698,3514
$GC,1047,-0.92,-146.6,80.8,-7.6,50,1049,0.12,0.00,0.00,0.000,6,0.191,0.000,2172,700,3514
$GC,1356,-0.92,-146.6,103.7,-7.1,65,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3515
$GC,1665,-0.92,-146.6,125.9,-7.0,80,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,1977,-0.92,-146.6,150.3,-7.7,95,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,2284,-0.92,-146.6,175.0,-8.1,110,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,2593,-0.92,-146.6,198.6,-7.2,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,2902,-0.92,-146.6,220.8,-7.2,140,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,3211,-0.92,-146.6,241.7,-6.4,155,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,3520,-0.92,-146.6,261.1,-6.1,170,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,3829,-0.92,-146.6,281.4,-6.7,185,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,4139,-0.92,-146.6,301.5,-6.4,200,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,4448,-0.92,-146.6,322.3,-6.7,215,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3515
$GC,4757,-0.92,-146.6,342.2,-6.4,230,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3514
$GC,5067,-0.92,-146.6,361.0,-6.0,245,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,700,3514
$GC,5376,-0.92,-146.6,383.4,-8.1,260,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,700,3515
$GC,5686,-0.96,-146.6,406.3,-7.1,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,701,3514
$GC,5994,-0.96,-146.6,427.7,-6.7,290,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,701,3514
$GC,6304,-1.00,-146.6,447.9,-6.4,305,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,701,3514
$GC,6613,-1.05,-146.6,468.0,-6.8,320,6615,0.12,0.00,0.00,0.000,6,0.153,0.000,2139,701,3514
$GC,6922,-1.05,-146.6,490.5,-7.2,335,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,701,3513
$GC,7232,-1.05,-146.6,513.0,-7.8,350,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,701,3512
$STATE,7538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7538,begin apogee
$GC,7561,-0.45,0.0,535.3,6.7,365,7694,0.62,0.00,129.32,1.305,6,0.173,0.000,2271,701,2915
$STATE,7694,end apogee,CONTROL_FINISHED_OK
$STATE,7694,begin climb
$GC,7698,1.16,146.6,542.0,0.0,372,7832,1.67,0.00,129.32,1.259,6,0.156,0.000,2628,701,2317
$GC,8138,1.18,163.2,521.9,5.5,394,8157,0.00,0.00,16.58,1.186,6,0.000,0.000,2628,701,2249
$GC,8467,1.18,167.1,501.5,5.9,410,8474,0.00,0.00,5.12,0.963,6,0.000,0.000,2629,701,2233
$GC,8777,1.19,169.9,482.1,5.9,425,8783,0.00,0.00,4.20,0.884,6,0.000,0.000,2628,701,2222
$GC,9086,1.19,170.8,464.0,6.0,440,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,701,2222
$GC,9395,1.22,196.6,445.6,5.2,455,9422,0.00,0.00,25.05,1.256,6,0.000,0.000,2629,700,2113
$GC,9724,1.22,196.6,425.2,6.4,471,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,701,2112
$GC,10034,1.22,196.6,404.7,6.7,486,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,701,2112
$GC,10343,1.22,196.6,381.9,7.8,501,10344,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,701,2111
$GC,10652,1.22,196.6,357.5,7.7,516,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,701,2112
$GC,10962,1.22,196.6,336.3,6.5,531,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,701,2111
$GC,11271,1.22,198.4,317.0,5.9,546,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,701,2111
$GC,11580,1.22,198.4,298.3,6.0,561,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,700,2111
$GC,11889,1.22,198.4,279.3,6.5,576,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,700,2111
$GC,12199,1.22,198.4,259.1,6.8,591,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,701,2111
$GC,12508,1.22,198.4,236.2,7.3,606,12509,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,701,2112
$GC,12817,1.22,198.4,212.6,7.8,621,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,701,2112
$GC,13126,1.22,198.4,187.8,8.3,636,13128,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,700,2111
$GC,13436,1.22,198.4,165.0,7.5,651,13437,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,700,2112
$GC,13745,1.22,198.4,143.4,7.0,666,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,700,2112
$GC,14054,1.22,198.4,123.3,6.4,681,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,701,2113
$GC,14364,1.22,198.4,103.8,6.3,696,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,700,2113
$GC,14674,1.22,198.4,84.9,6.0,711,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,700,2114
$GC,14982,1.23,203.2,67.0,5.9,726,14992,0.00,0.00,8.10,0.884,6,0.000,0.000,2639,700,2086
$GC,15293,1.23,203.2,45.7,7.1,741,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,700,2086
$GC,15601,1.23,203.2,21.0,7.9,756,15602,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,700,2086
$STATE,15844,end climb,SURFACE_DEPTH_REACHED
$STATE,15845,begin surface coast
$FINISH,0.9,1.017662
$STATE,15866,end surface coast,CONTROL_FINISHED_OK
$STATE,15867,begin surface
$SM_CCo,15907,90.07,0.802,10,0,1692,300.00
$SM_GC,1.68,0.00,0.00,90.07,0.000,0.000,0.802,27,693,1692,-10.80,-54.02,300.00
$IRIDIUM_FIX,6230.49,-1202.06,240398,191943
$TT8_MAMPS,0.029146
$HUMID,2016
$INTERNAL_PRESSURE,7.80303
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,500.7,43.5
$24V_AH,22.6,50.416
$10V_AH,10.1,21.741
$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,25.725,28.450,317.700,90.075,0.000,26.152,27.869,264.700,4.250,0.000,0.000,16.127,1273.067,12779.081,591.332,1276.978,621.788,0.000,1167.259,0.000,1267.268,0.000,28.189,0.000
$DEVICE_MAMPS,226.265,1.534,1304.667,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,581.962,526.129,543.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37918,769
$CAP_FILE_SIZE,83798,16
$CFSIZE,260165632,243499008
$ERRORS,0,0,0,0,0,0,0,0,0,2,0,0,62,10,0
$GPS,291208,035807,6252.447,-1141.649,33,1.6,33,-11.2