version: 66.02
glider: 103
mission: 7
dive: 15
start: 11 15 107 13 56 55
data:
$ID,103
$MISSION,7
$DIVE,15
$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,-3
$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,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,-62357.926
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2410
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$C_ROLL_DIVE,2900
$C_ROLL_CLIMB,1825
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2901
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-14.98249
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,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,2
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043712188
$SEABIRD_T_H,0.00064056052
$SEABIRD_T_I,2.37435e-05
$SEABIRD_T_J,2.3296527e-06
$SEABIRD_C_G,-9.8560104
$SEABIRD_C_H,1.1097485
$SEABIRD_C_I,-0.0009817977
$SEABIRD_C_J,0.00017126031
$GPS1,134707,6135.148,-826.201,35,0.8,35,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-59.9
$GPS2,135515,6135.115,-826.133,14,1.4,14,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.105,-0.240
$KALMAN_X,-35783.0,372.6,174.3,42535.3,-4959.9
$KALMAN_Y,24163.8,-1068.4,-157.3,-20848.9,4199.3
$MHEAD_RNG_PITCHd_Wd,165.4,9526,-18.2,-10.000
$D_GRID,748
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.70,-146.6,0.0,0.0,0,81,0.00,0.00,-62.42,0.000,2,0.000,0.000,35,2889,3452
$GC,83,-1.70,-146.6,4.1,-10.7,3,104,11.55,1.77,-0.85,0.000,4,0.167,0.111,2033,3787,3502
$GC,356,-1.70,-146.6,48.0,-12.9,15,361,0.00,1.58,0.00,0.000,6,0.000,0.048,2034,2904,3503
$GC,683,-1.70,-146.6,87.9,-12.4,31,687,0.00,2.58,0.00,0.000,4,0.000,0.064,2033,1489,3503
$GC,725,-1.70,-146.6,93.2,-12.2,33,730,0.00,2.67,0.00,0.000,6,0.000,0.072,2034,2899,3503
$GC,1052,-1.70,-146.6,134.7,-12.8,49,1056,0.00,1.75,0.00,0.000,4,0.000,0.104,2033,3791,3503
$GC,1084,-1.70,-146.6,139.1,-13.3,50,1089,0.00,1.60,0.00,0.000,6,0.000,0.046,2033,2900,3503
$GC,1405,-1.70,-146.6,180.1,-12.5,66,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3503
$GC,1714,-1.70,-146.6,219.1,-12.7,81,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3504
$GC,2024,-1.70,-146.6,256.6,-11.7,96,2028,0.00,2.55,0.00,0.000,4,0.000,0.064,2034,1486,3504
$GC,2072,-1.70,-146.6,262.4,-11.6,98,2077,0.00,2.65,0.00,0.000,6,0.000,0.071,2034,2894,3504
$GC,2393,-1.70,-146.6,299.8,-11.4,114,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2894,3504
$GC,2702,-1.70,-146.6,337.5,-12.6,129,2706,0.00,1.77,0.00,0.000,4,0.000,0.104,2034,3789,3505
$GC,2846,-1.70,-146.6,356.9,-13.6,135,2852,0.00,1.60,0.00,0.000,6,0.000,0.048,2033,2897,3505
$GC,3168,-1.70,-146.6,397.7,-13.2,151,3173,0.00,2.55,0.00,0.000,4,0.000,0.062,2034,1487,3505
$GC,3251,-1.70,-146.6,408.5,-12.9,155,3256,0.00,2.62,0.00,0.000,6,0.000,0.070,2033,2900,3505
$GC,3584,-1.70,-146.6,453.4,-14.2,171,3587,0.00,1.75,0.00,0.000,4,0.000,0.109,2034,3790,3505
$GC,3794,-1.70,-146.6,478.2,-11.0,180,3799,0.00,1.60,0.00,0.000,6,0.000,0.049,2034,2899,3505
$GC,4116,-1.70,-146.6,519.5,-14.0,196,4120,0.00,2.58,0.00,0.000,4,0.000,0.064,2034,1485,3505
$GC,4238,-1.70,-146.6,536.3,-12.3,201,4244,0.00,2.65,0.00,0.000,6,0.000,0.072,2034,2903,3505
$GC,4552,-1.70,-146.6,563.7,-10.1,217,4556,0.00,1.75,0.00,0.000,4,0.000,0.108,2034,3781,3505
$GC,4657,-1.70,-146.6,571.7,-12.2,221,4665,0.00,1.60,0.00,0.000,6,0.000,0.054,2033,2900,3505
$GC,4973,-1.70,-146.6,599.1,-8.6,237,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2899,3505
$GC,5282,-1.70,-146.6,621.9,-11.9,252,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3504
$GC,5592,-1.70,-146.6,655.3,-4.6,267,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2897,3503
$GC,5901,-1.70,-146.6,663.5,-2.7,282,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2896,3501
$GC,6210,-1.70,-146.6,668.6,-3.1,297,6215,0.00,2.60,0.00,0.000,4,0.000,0.069,2034,1485,3501
$GC,6260,-1.70,-146.6,671.7,-6.0,299,6264,0.00,2.67,0.00,0.000,6,0.000,0.079,2034,2899,3500
$GC,6580,-1.70,-146.6,688.7,-3.4,315,6585,0.00,2.60,0.00,0.000,4,0.000,0.070,2034,1486,3499
$GC,6642,-1.70,-146.6,689.0,0.4,318,6646,0.00,2.70,0.00,0.000,6,0.000,0.081,2034,2907,3499
$GC,6967,-1.70,-146.6,692.8,-3.7,334,6971,0.00,2.62,0.00,0.000,4,0.000,0.071,2033,1485,3498
$GC,7050,-1.70,-146.6,697.0,-5.7,338,7054,0.00,2.67,0.00,0.000,6,0.000,0.079,2034,2900,3498
$GC,7375,-1.70,-146.6,718.7,-5.7,354,7378,0.00,1.77,0.00,0.000,4,0.000,0.117,2034,3787,3497
$GC,7413,-1.70,-146.6,718.0,2.4,355,7420,0.00,1.60,0.00,0.000,6,0.000,0.057,2034,2909,3497
$GC,7729,-1.70,-146.6,733.8,-7.6,371,7733,0.00,2.62,0.00,0.000,4,0.000,0.073,2034,1484,3496
$GC,7850,-1.70,-146.6,741.1,-7.9,376,7857,0.00,2.72,0.00,0.000,6,0.000,0.082,2033,2897,3496
$STATE,7999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7999,begin apogee
$GC,8004,-0.42,0.0,748.5,6.5,384,8174,1.42,0.00,145.73,1.308,6,0.094,0.000,2320,1825,2901
$STATE,8175,end apogee,CONTROL_FINISHED_OK
$STATE,8175,begin climb
$GC,8176,1.70,146.6,748.4,0.0,392,8307,2.10,2.75,122.53,1.380,4,0.048,0.077,2785,416,2303
$GC,8429,1.70,146.6,709.5,17.2,404,8434,0.00,2.55,0.00,0.000,6,0.000,0.041,2785,1845,2303
$GC,8756,1.70,146.6,661.2,13.8,420,8760,0.00,2.72,0.00,0.000,4,0.000,0.073,2785,411,2303
$GC,9013,1.70,146.6,627.5,14.1,431,9020,0.00,2.53,0.00,0.000,6,0.000,0.043,2785,1822,2302
$GC,9328,1.72,165.6,595.0,9.1,447,9393,0.00,2.72,43.65,0.905,4,0.000,0.073,2785,410,2225
$GC,9478,1.76,199.6,580.6,8.4,454,9549,0.00,2.53,49.58,0.971,6,0.000,0.042,2784,1833,2087
$GC,9870,1.78,213.8,540.7,9.4,473,9919,0.00,2.78,32.10,0.862,4,0.000,0.070,2784,411,2028
$GC,10009,1.83,253.9,527.7,8.2,479,10105,0.10,2.50,64.45,0.885,6,0.051,0.041,2816,1824,1866
$GC,10431,1.83,253.9,480.6,12.7,500,10435,0.00,2.60,0.00,0.000,4,0.000,0.066,2816,3220,1866
$GC,10470,1.83,253.9,475.7,12.7,502,10474,0.00,2.50,0.00,0.000,6,0.000,0.043,2816,1813,1866
$GC,10795,1.83,253.9,434.2,13.9,518,10799,0.00,2.55,0.00,0.000,4,0.000,0.065,2816,425,1866
$GC,10832,1.83,253.9,428.9,13.9,519,10839,0.00,2.47,0.00,0.000,6,0.000,0.036,2816,1819,1865
$GC,11147,1.83,253.9,389.9,11.3,535,11151,0.00,2.58,0.00,0.000,4,0.000,0.062,2816,424,1866
$GC,11186,1.83,253.9,385.1,12.7,536,11192,0.00,2.42,0.00,0.000,6,0.000,0.037,2816,1824,1866
$GC,11500,1.83,253.9,344.7,12.9,552,11501,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1825,1866
$GC,11810,1.83,253.9,304.9,12.4,567,11814,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,417,1868
$GC,11916,1.83,253.9,290.7,14.2,572,11920,0.00,2.42,0.00,0.000,6,0.000,0.036,2816,1822,1868
$GC,12241,1.83,253.9,251.6,11.9,588,12245,0.00,2.55,0.00,0.000,4,0.000,0.060,2816,423,1869
$GC,12295,1.83,253.9,244.6,12.8,590,12302,0.00,2.45,0.00,0.000,6,0.000,0.036,2816,1823,1869
$GC,12610,1.83,253.9,205.8,12.6,606,12615,0.00,2.55,0.00,0.000,4,0.000,0.059,2816,423,1870
$GC,12636,1.83,253.9,202.0,14.0,607,12641,0.00,2.45,0.00,0.000,6,0.000,0.036,2816,1824,1870
$GC,12958,1.83,253.9,160.6,13.2,623,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1825,1871
$GC,13267,1.83,253.9,121.9,12.5,638,13271,0.00,2.58,0.00,0.000,4,0.000,0.060,2816,419,1872
$GC,13332,1.83,253.9,113.2,12.6,641,13337,0.00,2.47,0.00,0.000,6,0.000,0.035,2816,1825,1872
$GC,13659,1.83,253.9,73.7,12.0,657,13664,0.00,2.58,0.00,0.000,4,0.000,0.059,2816,416,1873
$GC,13702,1.83,253.9,68.3,12.0,659,13707,0.00,2.45,0.00,0.000,6,0.000,0.035,2816,1826,1873
$GC,14029,1.83,253.9,28.5,13.0,675,14034,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,422,1873
$GC,14106,1.83,253.9,18.1,14.3,678,14114,0.00,2.45,0.00,0.000,6,0.000,0.035,2816,1825,1873
$STATE,14237,end climb,SURFACE_DEPTH_REACHED
$STATE,14237,begin surface coast
$FINISH,-1.1,1.004591
$STATE,14257,end surface coast,CONTROL_FINISHED_OK
$STATE,14257,begin surface
$SM_CCo,14278,41.03,0.782,2,0,1678,300.00
$SM_GC,-0.43,0.00,0.00,41.03,0.000,0.000,0.782,42,2884,1678,-10.89,-0.45,300.00
$IRIDIUM_FIX,7413.78,4941.57,151107,171751
$TT8_MAMPS,0.029146
$HUMID,2104
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,675.7,108.4
$24V_AH,23.3,9.646
$10V_AH,10.1,3.559
$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
$DEVICE_SECS,27.250,132.600,458.025,41.025,0.000,71.607,93.273,179.440,7.250,0.000,0.000,14.051,1318.253,10625.081,678.325,1763.532,488.281,33.345,1595.413,0.000,1723.262,0.000,42.360
$DEVICE_MAMPS,167.206,116.584,1379.833,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.097,468.598,389.190,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34862,686
$CFSIZE,260165632,257302528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,19,0
$GPS,151107,175655,6134.523,-828.296,38,1.2,38,-9.0