version: 66.02
glider: 103
mission: 7
dive: 36
start: 11 18 107 9 46 19
data:
$ID,103
$MISSION,7
$DIVE,36
$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,-62772.691
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,11
$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
$GPS1,094051,6132.695,-818.871,36,2.3,55,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.27
$_SM_ANGLEo,-51.9
$GPS2,094439,6132.674,-818.870,16,1.2,16,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.035,-0.260
$KALMAN_X,-81668.9,940.5,532.7,93893.4,-1934.6
$KALMAN_Y,49744.4,827.2,-48.4,-52960.3,864.1
$MHEAD_RNG_PITCHd_Wd,196.5,4787,-18.2,-10.000
$D_GRID,548
$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,-62.15,0.000,2,0.000,0.000,38,2889,3419
$GC,83,-1.70,-146.6,3.8,-9.9,3,105,11.50,1.83,-1.38,0.000,4,0.166,0.123,2038,3783,3501
$GC,357,-1.70,-146.6,54.9,-11.1,15,361,0.00,1.60,0.00,0.000,6,0.000,0.063,2038,2913,3502
$GC,684,-1.70,-146.6,88.8,-10.1,31,687,0.00,1.75,0.00,0.000,4,0.000,0.104,2038,3790,3502
$GC,940,-1.70,-146.6,118.8,-10.6,42,945,0.00,1.62,0.00,0.000,6,0.000,0.062,2038,2906,3502
$GC,1261,-1.70,-146.6,156.7,-13.1,58,1265,0.00,1.77,0.00,0.000,4,0.000,0.107,2038,3783,3502
$GC,1478,-1.70,-146.6,184.3,-12.1,67,1485,0.00,1.62,0.00,0.000,6,0.000,0.060,2038,2899,3502
$GC,1793,-1.70,-146.6,221.6,-11.8,83,1797,0.00,1.77,0.00,0.000,4,0.000,0.105,2038,3780,3502
$GC,1853,-1.70,-146.6,229.2,-12.5,85,1861,0.00,1.62,0.00,0.000,6,0.000,0.058,2038,2896,3502
$GC,2169,-1.70,-146.6,265.4,-11.6,101,2173,0.00,1.77,0.00,0.000,4,0.000,0.104,2038,3790,3502
$GC,2223,-1.70,-146.6,272.1,-12.3,103,2228,0.00,1.62,0.00,0.000,6,0.000,0.058,2038,2896,3502
$GC,2544,-1.70,-146.6,308.8,-11.6,119,2548,0.00,1.77,0.00,0.000,4,0.000,0.104,2038,3793,3502
$GC,2582,-1.70,-146.6,313.7,-12.7,120,2590,0.00,1.62,0.00,0.000,6,0.000,0.054,2038,2897,3502
$GC,2899,-1.70,-146.6,352.2,-12.5,136,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2897,3502
$GC,3207,-1.70,-146.6,390.2,-12.2,151,3211,0.00,1.75,0.00,0.000,4,0.000,0.100,2038,3784,3502
$GC,3357,-1.70,-146.6,408.1,-11.6,157,3364,0.00,1.60,0.00,0.000,6,0.000,0.050,2038,2889,3502
$GC,3672,-1.70,-146.6,444.7,-14.6,173,3677,0.00,2.58,0.00,0.000,4,0.000,0.068,2038,1487,3502
$GC,3749,-1.70,-146.6,454.6,-11.6,176,3757,0.00,2.70,0.00,0.000,6,0.000,0.079,2038,2899,3502
$GC,4065,-1.70,-146.6,482.2,-8.8,192,4069,0.00,1.70,0.00,0.000,4,0.000,0.097,2038,3789,3502
$GC,4322,-1.70,-146.6,501.3,-5.9,203,4326,0.00,1.58,0.00,0.000,6,0.000,0.045,2038,2898,3502
$GC,4643,-1.70,-146.6,514.7,-3.5,219,4646,0.00,1.75,0.00,0.000,4,0.000,0.097,2038,3793,3502
$GC,4692,-1.70,-146.6,517.1,-4.8,221,4696,0.00,1.58,0.00,0.000,6,0.000,0.044,2038,2899,3502
$GC,5018,-1.70,-146.6,534.7,-7.0,237,5022,0.00,1.75,0.00,0.000,4,0.000,0.097,2038,3783,3502
$GC,5063,-1.70,-146.6,537.7,-5.3,239,5067,0.00,1.55,0.00,0.000,6,0.000,0.044,2038,2900,3502
$STATE,5227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5227,begin apogee
$GC,5233,-0.42,0.0,548.5,7.0,247,5361,1.35,0.00,124.22,1.176,6,0.084,0.000,2315,1776,2901
$STATE,5362,end apogee,CONTROL_FINISHED_OK
$STATE,5362,begin climb
$GC,5363,1.70,146.6,549.8,0.0,253,5491,2.12,0.00,122.18,1.140,6,0.051,0.000,2786,1776,2303
$GC,5794,1.74,182.3,513.2,8.4,274,5830,0.00,2.65,30.98,1.093,4,0.000,0.055,2786,3193,2156
$GC,5925,1.83,259.1,504.2,6.5,279,5996,0.08,2.55,63.53,1.105,6,0.042,0.041,2814,1777,1844
$GC,6311,1.83,259.1,465.1,10.2,298,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1777,1843
$GC,6620,1.83,259.1,425.1,12.3,313,6624,0.00,2.62,0.00,0.000,4,0.000,0.071,2813,372,1843
$GC,6758,1.83,259.1,405.0,14.1,319,6763,0.00,2.50,0.00,0.000,6,0.000,0.033,2813,1795,1842
$GC,7079,1.83,259.1,364.4,12.5,335,7083,0.00,2.50,0.00,0.000,4,0.000,0.061,2813,3167,1843
$GC,7100,1.83,259.1,361.6,13.8,336,7105,0.00,2.47,0.00,0.000,6,0.000,0.040,2814,1774,1843
$GC,7427,1.83,259.1,320.3,13.2,352,7431,0.00,2.55,0.00,0.000,4,0.000,0.061,2814,372,1843
$GC,7446,1.83,259.1,317.4,13.5,353,7452,0.00,2.45,0.00,0.000,6,0.000,0.033,2814,1770,1843
$GC,7773,1.83,259.1,274.5,13.6,369,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1771,1843
$GC,8083,1.83,259.1,233.1,13.8,384,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1771,1843
$GC,8392,1.83,259.1,193.4,13.4,399,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1771,1843
$GC,8701,1.83,259.1,149.8,14.7,414,8705,0.00,2.55,0.00,0.000,4,0.000,0.058,2814,368,1843
$GC,8727,1.83,259.1,145.9,15.5,415,8732,0.00,2.47,0.00,0.000,6,0.000,0.035,2814,1773,1843
$GC,9049,1.83,259.1,96.0,16.3,431,9054,0.00,2.55,0.00,0.000,4,0.000,0.058,2814,371,1843
$GC,9098,1.83,259.1,86.9,18.6,433,9103,0.00,2.47,0.00,0.000,6,0.000,0.035,2814,1776,1843
$GC,9419,1.83,259.1,35.3,15.5,449,9424,0.00,2.55,0.00,0.000,4,0.000,0.058,2814,370,1844
$GC,9445,1.83,259.1,30.8,17.4,450,9450,0.00,2.47,0.00,0.000,6,0.000,0.036,2814,1771,1844
$STATE,9704,end climb,SURFACE_DEPTH_REACHED
$STATE,9704,begin surface coast
$FINISH,-0.6,1.027256
$STATE,9726,end surface coast,CONTROL_FINISHED_OK
$STATE,9726,begin surface
$SM_CCo,9747,35.17,0.752,2,0,1678,300.00
$SM_GC,-0.09,0.00,0.00,35.17,0.000,0.000,0.752,47,2897,1678,-10.87,-0.08,300.00
$IRIDIUM_FIX,6112.75,-827.60,181107,101029
$TT8_MAMPS,0.029146
$HUMID,2074
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,476.7,100.6
$24V_AH,23.5,12.721
$10V_AH,10.1,4.751
$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,27.350,78.575,340.900,35.175,0.000,37.538,27.662,90.551,4.500,0.000,0.000,16.254,927.351,7166.954,473.646,1245.919,267.621,33.344,1113.618,0.000,1216.340,0.000,32.323
$DEVICE_MAMPS,165.672,123.487,1175.811,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.285,315.526,301.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22288,464
$CFSIZE,260165632,256421888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$GPS,181107,123038,6132.105,-819.477,34,1.5,34,-8.9