version: 66.02
glider: 103
mission: 7
dive: 16
start: 11 15 107 18 3 48
data:
$ID,103
$MISSION,7
$DIVE,16
$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,-62375.23
$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,23
$R_STBD_OVSHOOT,9
$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
$GPS1,175655,6134.523,-828.296,38,1.2,38,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-59.1
$GPS2,180208,6134.496,-828.288,11,1.4,16,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.232,-0.122
$KALMAN_X,-39081.2,173.4,260.0,44036.4,-4973.2
$KALMAN_Y,26690.4,-729.9,-654.1,-24367.3,5655.8
$MHEAD_RNG_PITCHd_Wd,126.9,8818,-18.2,-10.000
$D_GRID,794
$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,-62.55,0.000,2,0.000,0.000,42,2885,3470
$GC,83,-1.70,-146.6,4.1,-10.9,3,104,11.50,1.80,-0.52,0.000,4,0.166,0.105,2037,3792,3500
$GC,355,-1.70,-146.6,52.9,-16.0,15,360,0.00,1.62,0.00,0.000,6,0.000,0.058,2037,2902,3500
$GC,682,-1.70,-146.6,98.4,-13.9,31,686,0.00,1.75,0.00,0.000,4,0.000,0.106,2037,3786,3500
$GC,742,-1.70,-146.6,107.1,-14.5,33,750,0.00,1.62,0.00,0.000,6,0.000,0.052,2037,2896,3500
$GC,1059,-1.70,-146.6,151.1,-13.9,49,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2896,3501
$GC,1367,-1.70,-146.6,193.1,-13.5,64,1371,0.00,1.80,0.00,0.000,4,0.000,0.112,2037,3777,3501
$GC,1400,-1.70,-146.6,197.6,-13.5,65,1404,0.00,1.58,0.00,0.000,6,0.000,0.054,2037,2900,3501
$GC,1721,-1.70,-146.6,238.1,-12.4,81,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2900,3501
$GC,2030,-1.70,-146.6,275.1,-12.0,96,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2900,3501
$GC,2339,-1.70,-146.6,311.2,-11.2,111,2342,0.00,1.77,0.00,0.000,4,0.000,0.111,2037,3786,3502
$GC,2410,-1.70,-146.6,319.2,-11.2,114,2415,0.00,1.60,0.00,0.000,6,0.000,0.052,2037,2900,3502
$GC,2737,-1.70,-146.6,355.2,-11.7,130,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2900,3502
$GC,3046,-1.70,-146.6,392.3,-12.1,145,3050,0.00,2.58,0.00,0.000,4,0.000,0.066,2037,1488,3502
$GC,3119,-1.70,-146.6,400.7,-12.0,148,3124,0.00,2.65,0.00,0.000,6,0.000,0.072,2037,2899,3502
$GC,3433,-1.70,-146.6,436.3,-11.7,163,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2899,3502
$GC,3743,-1.70,-146.6,471.1,-10.1,178,3747,0.00,2.58,0.00,0.000,4,0.000,0.064,2037,1486,3502
$GC,3853,-1.70,-146.6,482.6,-10.9,183,3858,0.00,2.67,0.00,0.000,6,0.000,0.075,2037,2893,3502
$GC,4179,-1.70,-146.6,522.2,-11.3,199,4183,0.00,1.75,0.00,0.000,4,0.000,0.104,2037,3777,3502
$GC,4436,-1.70,-146.6,553.5,-12.6,210,4441,0.00,1.58,0.00,0.000,6,0.000,0.050,2037,2897,3502
$GC,4758,-1.70,-146.6,585.4,-7.6,226,4762,0.00,2.53,0.00,0.000,4,0.000,0.064,2037,1492,3502
$GC,4925,-1.70,-146.6,599.0,-7.9,233,4931,0.00,2.65,0.00,0.000,6,0.000,0.077,2037,2899,3502
$GC,5240,-1.70,-146.6,631.3,-9.9,249,5244,0.00,2.60,0.00,0.000,4,0.000,0.067,2037,1491,3502
$GC,5439,-1.70,-146.6,651.2,-10.6,258,5444,0.00,2.70,0.00,0.000,6,0.000,0.077,2037,2901,3502
$GC,5766,-1.70,-146.6,685.8,-10.9,274,5771,0.00,2.60,0.00,0.000,4,0.000,0.071,2037,1492,3502
$GC,5866,-1.70,-146.6,697.1,-11.8,278,5873,0.00,2.72,0.00,0.000,6,0.000,0.084,2037,2901,3502
$GC,6182,-1.70,-146.6,729.3,-5.8,294,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2901,3501
$GC,6490,-1.70,-146.6,769.5,-10.9,309,6494,0.00,1.83,0.00,0.000,4,0.000,0.126,2037,3780,3499
$GC,6567,-1.70,-146.6,778.9,-15.1,312,6572,0.00,1.62,0.00,0.000,6,0.000,0.064,2037,2898,3498
$STATE,6702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6702,begin apogee
$GC,6707,-0.42,0.0,797.0,11.3,319,6849,1.38,0.00,133.10,1.370,6,0.088,0.000,2317,1825,2901
$STATE,6850,end apogee,CONTROL_FINISHED_OK
$STATE,6850,begin climb
$GC,6851,1.70,146.6,801.2,0.0,326,6987,2.10,2.72,124.88,1.366,4,0.041,0.064,2785,3245,2303
$GC,7240,1.70,146.6,779.9,11.5,344,7245,0.00,2.58,0.00,0.000,6,0.000,0.049,2785,1820,2301
$GC,7566,1.73,176.8,745.8,8.6,360,7611,0.00,2.72,33.38,1.177,4,0.000,0.064,2785,3236,2180
$GC,7853,1.76,201.0,721.3,8.9,373,7895,0.00,2.55,28.98,1.141,6,0.000,0.048,2785,1821,2081
$GC,8202,1.76,201.0,676.2,14.6,390,8207,0.00,2.65,0.00,0.000,4,0.000,0.069,2786,3243,2080
$GC,8313,1.76,201.0,664.2,11.3,395,8318,0.00,2.58,0.00,0.000,6,0.000,0.048,2785,1831,2080
$GC,8640,1.76,201.0,620.2,15.5,411,8645,0.00,2.67,0.00,0.000,4,0.000,0.081,2786,423,2079
$GC,8695,1.76,201.0,610.1,19.6,413,8702,0.00,2.55,0.00,0.000,6,0.000,0.044,2786,1844,2079
$GC,9010,1.77,206.1,576.0,9.8,429,9034,0.00,2.75,13.35,0.818,4,0.000,0.074,2786,427,2060
$GC,9287,1.80,229.1,547.9,9.0,441,9349,0.00,2.50,41.85,0.943,6,0.000,0.042,2785,1831,1967
$GC,9664,1.80,229.1,509.7,10.8,460,9668,0.00,2.58,0.00,0.000,4,0.000,0.065,2786,3223,1967
$GC,9690,1.80,229.1,506.3,13.0,461,9695,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,1827,1967
$GC,10010,1.80,229.1,468.5,13.5,477,10015,0.00,2.60,0.00,0.000,4,0.000,0.067,2786,424,1968
$GC,10139,1.80,229.1,453.0,11.4,483,10144,0.00,2.42,0.00,0.000,6,0.000,0.036,2785,1832,1968
$GC,10465,1.80,229.1,415.0,11.2,499,10469,0.00,2.60,0.00,0.000,4,0.000,0.062,2786,425,1968
$GC,10520,1.80,229.1,408.6,11.8,501,10526,0.00,2.42,0.00,0.000,6,0.000,0.038,2786,1827,1968
$GC,10834,1.80,229.1,372.4,11.9,517,10838,0.00,2.60,0.00,0.000,4,0.000,0.062,2786,423,1969
$GC,10866,1.80,229.1,368.3,12.3,518,10873,0.00,2.45,0.00,0.000,6,0.000,0.038,2786,1819,1969
$GC,11182,1.80,232.6,335.9,9.8,534,11204,0.00,2.60,11.02,0.813,4,0.000,0.061,2786,423,1951
$GC,11309,1.80,232.6,322.7,10.9,539,11316,0.00,2.45,0.00,0.000,6,0.000,0.036,2786,1818,1950
$GC,11624,1.80,232.6,288.8,11.4,555,11628,0.00,2.58,0.00,0.000,4,0.000,0.062,2786,3226,1951
$GC,11696,1.80,232.6,280.0,12.5,558,11701,0.00,2.47,0.00,0.000,6,0.000,0.039,2786,1823,1951
$GC,12017,1.80,232.6,243.0,11.5,574,12021,0.00,2.55,0.00,0.000,4,0.000,0.062,2786,423,1952
$GC,12043,1.80,232.6,239.9,12.3,575,12047,0.00,2.45,0.00,0.000,6,0.000,0.036,2786,1828,1952
$GC,12364,1.80,232.6,205.2,10.7,591,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1828,1952
$GC,12673,1.80,232.6,173.2,10.3,606,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1828,1953
$GC,12982,1.80,232.6,140.5,10.7,621,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1828,1954
$GC,13292,1.80,232.6,108.0,10.4,636,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1828,1955
$GC,13601,1.80,232.6,75.6,10.8,651,13602,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1828,1955
$GC,13910,1.80,232.6,41.9,11.2,666,13914,0.00,2.55,0.00,0.000,4,0.000,0.064,2785,3225,1956
$GC,13930,1.80,232.6,39.6,11.0,667,13935,0.00,2.47,0.00,0.000,6,0.000,0.041,2786,1824,1956
$GC,14258,1.80,232.6,3.4,10.8,683,14259,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1824,1956
$STATE,14276,end climb,SURFACE_DEPTH_REACHED
$STATE,14276,begin surface coast
$FINISH,-1.1,1.027246
$STATE,14298,end surface coast,CONTROL_FINISHED_OK
$STATE,14298,begin surface
$SM_CCo,14319,56.35,0.795,2,0,1678,300.00
$SM_GC,-0.17,0.00,0.00,56.35,0.000,0.000,0.795,50,2883,1678,-10.86,-0.48,300.00
$IRIDIUM_FIX,6112.75,-828.27,151107,171756
$TT8_MAMPS,0.029146
$HUMID,2084
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,725.7,81.8
$24V_AH,23.3,9.809
$10V_AH,10.1,3.630
$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,26.925,117.275,386.550,56.350,0.000,37.153,41.637,147.919,9.250,0.000,0.000,16.677,1329.332,10640.589,590.835,1817.721,375.076,33.354,1501.706,0.000,1774.829,0.000,45.782
$DEVICE_MAMPS,166.439,125.788,1369.862,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.043,470.421,394.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34873,685
$CFSIZE,260165632,257249280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,10,0
$GPS,151107,220437,6135.314,-828.486,30,1.4,30,-9.0