version: 66.02
glider: 103
mission: 7
dive: 73
start: 11 23 107 13 7 32
data:
$ID,103
$MISSION,7
$DIVE,73
$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,-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,-63505.488
$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,25
$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,3
$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
$GPS1,130055,6135.374,-910.272,25,1.4,42,-9.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-50.0
$GPS2,130626,6135.349,-910.269,11,1.4,16,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.029,-0.217
$KALMAN_X,-102538.0,-493.1,-721.1,72153.9,1565.9
$KALMAN_Y,99792.3,950.0,-555.4,-97690.0,-1690.7
$MHEAD_RNG_PITCHd_Wd,181.7,29855,-11.1,-6.000
$D_GRID,769
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-63.22,0.000,6,0.000,0.000,45,2882,3500
$GC,86,-1.10,-146.6,2.1,-4.6,3,106,12.05,1.80,0.00,0.000,4,0.162,0.094,2162,3784,3503
$GC,241,-1.10,-146.6,28.6,-13.0,10,245,0.00,1.58,0.00,0.000,6,0.000,0.053,2162,2903,3504
$GC,573,-1.10,-146.6,54.1,-8.5,26,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2903,3504
$GC,883,-1.10,-146.6,73.6,-5.6,41,887,0.00,2.65,0.00,0.000,4,0.000,0.073,2162,1476,3503
$GC,921,-1.10,-146.6,75.9,-5.9,43,926,0.00,2.72,0.00,0.000,6,0.000,0.079,2162,2900,3503
$GC,1247,-1.10,-146.6,93.6,-5.7,59,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2900,3503
$GC,1556,-1.10,-146.6,109.7,-5.7,74,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2900,3503
$GC,1867,-1.10,-146.6,127.4,-5.5,89,1871,0.00,2.65,0.00,0.000,4,0.000,0.070,2162,1475,3503
$GC,1909,-1.10,-146.6,130.3,-7.0,91,1914,0.00,2.72,0.00,0.000,6,0.000,0.077,2162,2900,3503
$GC,2237,-1.10,-146.6,149.5,-6.8,107,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2900,3504
$GC,2545,-1.10,-146.6,169.4,-6.4,122,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2900,3503
$GC,2855,-1.10,-146.6,192.9,-7.7,137,2859,0.00,2.62,0.00,0.000,4,0.000,0.074,2162,1480,3503
$GC,2909,-1.10,-146.6,196.7,-7.1,139,2916,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2896,3503
$GC,3224,-1.10,-146.6,218.9,-7.3,155,3228,0.00,2.62,0.00,0.000,4,0.000,0.072,2162,1476,3503
$GC,3263,-1.10,-146.6,222.3,-8.7,157,3267,0.00,2.67,0.00,0.000,6,0.000,0.075,2162,2901,3503
$GC,3588,-1.10,-146.6,251.9,-9.1,173,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2901,3503
$GC,3897,-1.10,-146.6,274.6,-7.1,188,3902,0.00,2.62,0.00,0.000,4,0.000,0.073,2163,1480,3504
$GC,3929,-1.10,-146.6,277.1,-7.7,189,3934,0.00,2.67,0.00,0.000,6,0.000,0.074,2162,2893,3504
$GC,4251,-1.10,-146.6,297.3,-6.1,205,4255,0.00,2.62,0.00,0.000,4,0.000,0.073,2163,1479,3503
$GC,4288,-1.10,-146.6,299.7,-6.5,207,4293,0.00,2.67,0.00,0.000,6,0.000,0.076,2162,2900,3503
$GC,4614,-1.10,-146.6,317.5,-5.4,223,4618,0.00,2.62,0.00,0.000,4,0.000,0.070,2162,1480,3503
$GC,4645,-1.10,-146.6,319.3,-5.6,224,4652,0.00,2.65,0.00,0.000,6,0.000,0.074,2162,2902,3503
$GC,4960,-1.10,-146.6,339.1,-7.5,240,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2901,3503
$GC,5270,-1.10,-146.6,367.9,-10.6,255,5274,0.00,2.60,0.00,0.000,4,0.000,0.069,2162,1478,3503
$GC,5301,-1.10,-146.6,371.4,-10.6,256,5308,0.00,2.67,0.00,0.000,6,0.000,0.072,2162,2898,3503
$GC,5617,-1.10,-146.6,405.1,-10.6,272,5621,0.00,2.60,0.00,0.000,4,0.000,0.070,2162,1480,3503
$GC,5665,-1.10,-146.6,410.1,-10.2,274,5670,0.00,2.65,0.00,0.000,6,0.000,0.071,2162,2891,3503
$GC,5986,-1.10,-146.6,440.3,-9.4,290,5991,0.00,2.60,0.00,0.000,4,0.000,0.069,2162,1480,3503
$GC,6052,-1.10,-146.6,446.3,-9.2,293,6057,0.00,2.67,0.00,0.000,6,0.000,0.071,2162,2901,3504
$GC,6379,-1.10,-146.6,475.0,-8.7,309,6384,0.00,2.62,0.00,0.000,4,0.000,0.067,2162,1478,3503
$GC,6405,-1.10,-146.6,477.6,-9.4,310,6410,0.00,2.67,0.00,0.000,6,0.000,0.071,2162,2898,3503
$GC,6727,-1.10,-146.6,504.5,-8.0,326,6731,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1475,3503
$GC,6748,-1.10,-146.6,506.2,-7.7,327,6753,0.00,2.65,0.00,0.000,6,0.000,0.068,2162,2900,3504
$GC,7068,-1.10,-146.6,529.7,-6.6,343,7072,0.00,1.65,0.00,0.000,4,0.000,0.087,2162,3783,3503
$GC,7090,-1.10,-146.6,531.3,-7.3,344,7094,0.00,1.52,0.00,0.000,6,0.000,0.035,2162,2897,3503
$GC,7421,-1.10,-146.6,555.8,-7.4,360,7425,0.00,2.55,0.00,0.000,4,0.000,0.064,2162,1482,3503
$GC,7470,-1.10,-146.6,559.2,-7.1,362,7475,0.00,2.62,0.00,0.000,6,0.000,0.066,2162,2897,3503
$GC,7797,-1.10,-146.6,584.9,-7.5,378,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2897,3503
$GC,8106,-1.10,-146.6,607.8,-7.2,393,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2897,3503
$GC,8416,-1.10,-146.6,627.7,-6.1,408,8420,0.00,2.58,0.00,0.000,4,0.000,0.062,2162,1482,3503
$GC,8464,-1.10,-146.6,630.9,-6.0,410,8468,0.00,2.62,0.00,0.000,6,0.000,0.065,2162,2897,3503
$GC,8786,-1.10,-146.6,650.0,-6.8,426,8791,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1484,3503
$GC,8830,-1.10,-146.6,652.4,-3.9,428,8834,0.00,2.60,0.00,0.000,6,0.000,0.067,2162,2899,3504
$GC,9156,-1.10,-146.6,680.0,-8.1,444,9160,0.00,2.55,0.00,0.000,4,0.000,0.065,2162,1488,3503
$GC,9217,-1.10,-146.6,686.2,-11.3,447,9221,0.00,2.62,0.00,0.000,6,0.000,0.071,2162,2902,3503
$GC,9542,-1.10,-146.6,709.7,-6.3,463,9546,0.00,2.60,0.00,0.000,4,0.000,0.065,2162,1484,3503
$GC,9567,-1.10,-146.6,711.5,-6.5,464,9572,0.00,2.65,0.00,0.000,6,0.000,0.068,2162,2903,3503
$GC,9889,-1.10,-146.6,733.4,-6.1,480,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2903,3503
$GC,10198,-1.10,-146.6,753.1,-7.6,495,10201,0.00,1.67,0.00,0.000,4,0.000,0.089,2162,3791,3503
$GC,10275,-1.10,-146.6,758.8,-7.5,498,10280,0.00,1.52,0.00,0.000,6,0.000,0.034,2162,2898,3503
$STATE,10450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10450,begin apogee
$GC,10456,-0.42,0.0,769.3,5.2,507,10585,0.75,0.00,125.12,1.311,6,0.077,0.000,2318,1782,2901
$STATE,10586,end apogee,CONTROL_FINISHED_OK
$STATE,10586,begin climb
$GC,10587,1.10,146.6,772.2,0.0,513,10719,1.52,2.72,122.60,1.266,4,0.052,0.068,2648,374,2303
$GC,10910,1.14,178.3,757.9,5.1,528,10945,0.00,2.50,28.00,1.211,6,0.000,0.038,2648,1802,2174
$GC,11261,1.14,178.3,738.6,7.4,545,11265,0.00,2.62,0.00,0.000,4,0.000,0.083,2648,3174,2174
$GC,11511,1.14,178.3,724.5,6.6,556,11516,0.00,2.58,0.00,0.000,6,0.000,0.055,2648,1770,2173
$GC,11832,1.22,239.8,709.2,4.3,572,11894,0.12,2.72,51.58,1.253,4,0.042,0.071,2689,3174,1923
$GC,11945,1.22,239.8,701.4,7.7,577,11949,0.00,2.58,0.00,0.000,6,0.000,0.057,2689,1774,1923
$GC,12264,1.22,239.8,676.2,8.0,593,12269,0.00,2.62,0.00,0.000,4,0.000,0.071,2689,3171,1922
$GC,12353,1.22,239.8,669.5,8.7,597,12357,0.00,2.55,0.00,0.000,6,0.000,0.056,2689,1779,1922
$GC,12679,1.22,239.8,644.5,8.2,613,12683,0.00,2.55,0.00,0.000,4,0.000,0.064,2689,3171,1922
$GC,12728,1.22,239.8,640.3,7.5,615,12733,0.00,2.55,0.00,0.000,6,0.000,0.059,2689,1772,1922
$GC,13055,1.22,239.8,615.2,8.2,631,13060,0.00,2.62,0.00,0.000,4,0.000,0.070,2689,3172,1922
$GC,13126,1.22,239.8,609.1,8.2,634,13131,0.00,2.55,0.00,0.000,6,0.000,0.055,2689,1779,1922
$GC,13447,1.22,239.8,584.1,7.7,650,13452,0.00,2.60,0.00,0.000,4,0.000,0.071,2689,3176,1922
$GC,13535,1.22,239.8,576.9,7.9,654,13540,0.00,2.55,0.00,0.000,6,0.000,0.055,2689,1777,1922
$GC,13862,1.22,239.8,551.2,7.5,670,13866,0.00,2.60,0.00,0.000,4,0.000,0.070,2689,3177,1922
$GC,13933,1.22,239.8,545.7,7.6,673,13937,0.00,2.55,0.00,0.000,6,0.000,0.055,2689,1778,1922
$GC,14253,1.22,239.8,521.6,7.5,689,14258,0.00,2.60,0.00,0.000,4,0.000,0.071,2689,3176,1922
$GC,14337,1.22,239.8,515.1,7.5,693,14341,0.00,2.53,0.00,0.000,6,0.000,0.056,2689,1774,1922
$GC,14662,1.22,239.8,486.6,9.3,709,14666,0.00,2.62,0.00,0.000,4,0.000,0.071,2689,3175,1922
$GC,14767,1.22,239.8,476.8,8.8,714,14771,0.00,2.53,0.00,0.000,6,0.000,0.055,2689,1768,1922
$GC,15098,1.22,239.8,443.1,9.7,730,15103,0.00,2.60,0.00,0.000,4,0.000,0.071,2689,3171,1922
$GC,15205,1.22,239.8,432.6,10.0,735,15209,0.00,2.53,0.00,0.000,6,0.000,0.058,2689,1776,1922
$GC,15536,1.22,239.8,401.1,9.4,751,15541,0.00,2.62,0.00,0.000,4,0.000,0.072,2689,3177,1923
$GC,15620,1.22,239.8,392.9,10.0,755,15624,0.00,2.55,0.00,0.000,6,0.000,0.060,2689,1771,1923
$GC,15946,1.22,239.8,364.0,8.7,771,15950,0.00,2.62,0.00,0.000,4,0.000,0.070,2689,3177,1923
$GC,16028,1.22,239.8,356.2,9.7,775,16033,0.00,2.53,0.00,0.000,6,0.000,0.060,2689,1774,1923
$GC,16360,1.22,239.8,329.3,7.9,791,16365,0.00,2.60,0.00,0.000,4,0.000,0.070,2689,3171,1922
$GC,16448,1.22,239.8,322.2,7.9,795,16453,0.00,2.55,0.00,0.000,6,0.000,0.056,2689,1774,1923
$GC,16776,1.22,239.8,296.1,8.1,811,16780,0.00,2.62,0.00,0.000,4,0.000,0.071,2689,3175,1923
$GC,16891,1.22,239.8,286.0,9.1,816,16896,0.00,2.58,0.00,0.000,6,0.000,0.058,2689,1770,1923
$GC,17213,1.22,239.8,261.9,7.3,832,17217,0.00,2.60,0.00,0.000,4,0.000,0.070,2689,3175,1923
$GC,17300,1.22,239.8,255.3,7.2,836,17305,0.00,2.58,0.00,0.000,6,0.000,0.058,2689,1772,1923
$GC,17627,1.22,239.8,231.5,7.8,852,17631,0.00,2.60,0.00,0.000,4,0.000,0.073,2689,3172,1923
$GC,17726,1.22,239.8,222.2,11.0,856,17733,0.00,2.55,0.00,0.000,6,0.000,0.057,2689,1776,1923
$GC,18041,1.22,239.8,192.3,9.0,872,18046,0.00,2.60,0.00,0.000,4,0.000,0.071,2689,3172,1923
$GC,18141,1.22,239.8,183.5,8.0,876,18148,0.00,2.53,0.00,0.000,6,0.000,0.058,2689,1769,1923
$GC,18456,1.22,239.8,157.9,7.9,892,18461,0.00,2.62,0.00,0.000,4,0.000,0.072,2689,3171,1923
$GC,18555,1.22,239.8,150.4,7.3,896,18562,0.00,2.55,0.00,0.000,6,0.000,0.057,2689,1774,1923
$GC,18871,1.22,239.8,124.2,7.2,912,18876,0.00,2.62,0.00,0.000,4,0.000,0.073,2689,3175,1923
$GC,18988,1.22,239.8,115.3,8.2,917,18992,0.00,2.55,0.00,0.000,6,0.000,0.056,2689,1776,1923
$GC,19309,1.22,239.8,87.2,11.7,933,19313,0.00,2.62,0.00,0.000,4,0.000,0.075,2689,3171,1923
$GC,19402,1.22,239.8,80.1,7.7,937,19407,0.00,2.55,0.00,0.000,6,0.000,0.060,2689,1766,1924
$GC,19723,1.22,239.8,56.3,8.1,953,19728,0.00,2.60,0.00,0.000,4,0.000,0.066,2689,3175,1924
$GC,19808,1.22,239.8,49.3,9.9,957,19812,0.00,2.55,0.00,0.000,6,0.000,0.058,2689,1766,1924
$GC,20133,1.27,283.2,26.5,4.8,973,20176,0.00,2.67,34.75,0.831,4,0.000,0.070,2689,3174,1746
$GC,20208,1.27,283.2,20.3,10.5,976,20213,0.00,2.60,0.00,0.000,6,0.000,0.061,2689,1777,1746
$STATE,20447,end climb,SURFACE_DEPTH_REACHED
$STATE,20447,begin surface coast
$FINISH,-0.9,1.027226
$STATE,20468,end surface coast,CONTROL_FINISHED_OK
$STATE,20468,begin surface
$SM_CCo,20488,13.52,0.783,0,0,1677,300.00
$SM_GC,0.15,0.00,0.00,13.52,0.000,0.000,0.783,46,2884,1677,-10.87,-0.42,300.00
$IRIDIUM_FIX,6112.75,-918.82,231107,101037
$TT8_MAMPS,0.029146
$HUMID,2071
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,700.3,84.2
$24V_AH,23.4,17.743
$10V_AH,10.1,6.983
$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,26.125,222.475,362.050,13.525,0.000,35.248,27.073,167.123,6.500,0.000,0.000,16.263,1883.006,15555.007,540.779,2437.666,425.197,33.359,1763.031,0.000,2398.887,0.000,41.719
$DEVICE_MAMPS,161.837,93.574,1310.803,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,697.700,708.118,608.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50621,989
$CFSIZE,260165632,254623744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,231107,185038,6132.420,-907.531,51,1.0,51,-9.3