version: 66.02
glider: 103
mission: 7
dive: 145
start: 12 8 107 5 1 39
data:
$ID,103
$MISSION,7
$DIVE,145
$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,300
$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,-65028.832
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,13
$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
$GPS1,045438,6228.365,-1034.127,33,0.9,33,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-57.3
$GPS2,050033,6228.425,-1034.226,15,1.0,15,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,0.003
$KALMAN_X,-186446.0,-381.8,-552.0,81720.3,-2751.1
$KALMAN_Y,-5931.1,-1297.6,-350.6,108388.0,5056.5
$MHEAD_RNG_PITCHd_Wd,281.2,27096,-11.1,-6.000
$D_GRID,629
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-65.20,0.000,6,0.000,0.000,48,2904,3500
$GC,94,-1.10,-146.6,5.6,-8.5,4,115,11.95,2.62,0.00,0.000,4,0.159,0.057,2162,1491,3502
$GC,350,-1.10,-146.6,35.3,-7.7,15,355,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2889,3502
$GC,671,-1.10,-146.6,58.1,-7.9,31,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2889,3502
$GC,981,-1.10,-146.6,81.6,-7.4,46,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2889,3502
$GC,1290,-1.10,-146.6,103.5,-7.0,61,1294,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1492,3502
$GC,1333,-1.10,-146.6,106.4,-7.4,63,1338,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2903,3502
$GC,1660,-1.10,-146.6,128.4,-6.5,79,1664,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1492,3502
$GC,1698,-1.10,-146.6,130.9,-6.4,81,1703,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2900,3502
$GC,2024,-1.10,-146.6,153.3,-6.9,97,2028,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1490,3502
$GC,2072,-1.10,-146.6,156.9,-7.2,99,2077,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2898,3502
$GC,2394,-1.10,-146.6,179.7,-6.7,115,2398,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3502
$GC,2454,-1.10,-146.6,184.2,-7.5,118,2459,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2908,3502
$GC,2780,-1.10,-146.6,206.7,-7.1,134,2785,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1491,3502
$GC,2812,-1.10,-146.6,209.2,-7.7,135,2820,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2899,3502
$GC,3128,-1.10,-146.6,232.3,-7.4,151,3133,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1491,3502
$GC,3160,-1.10,-146.6,234.9,-7.5,152,3167,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2901,3502
$GC,3476,-1.10,-146.6,260.1,-8.1,168,3480,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3502
$GC,3519,-1.10,-146.6,263.4,-8.0,170,3523,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2909,3502
$GC,3846,-1.10,-146.6,287.2,-6.9,186,3851,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1491,3502
$GC,3895,-1.10,-146.6,290.6,-6.3,188,3900,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2892,3502
$GC,4217,-1.10,-146.6,309.6,-5.6,204,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2892,3502
$GC,4526,-1.10,-146.6,328.6,-5.7,219,4531,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1489,3502
$GC,4581,-1.10,-146.6,332.0,-5.8,221,4588,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2906,3502
$GC,4896,-1.10,-146.6,351.6,-6.7,237,4900,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1489,3502
$GC,4950,-1.10,-146.6,355.2,-6.3,239,4957,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2904,3502
$GC,5266,-1.10,-146.6,374.9,-6.3,255,5273,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1485,3502
$GC,5317,-1.10,-146.6,378.5,-6.9,257,5322,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2901,3502
$GC,5646,-1.10,-146.6,401.2,-6.8,273,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,5953,-1.10,-146.6,422.8,-7.0,288,5957,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1490,3502
$GC,6014,-1.10,-146.6,427.1,-7.4,291,6019,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2907,3502
$GC,6340,-1.10,-146.6,446.6,-5.4,307,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,6649,-1.10,-146.6,460.0,-4.2,322,6653,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1489,3502
$GC,6698,-1.10,-146.6,461.9,-4.0,324,6702,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3502
$GC,7020,-1.10,-146.6,475.2,-5.0,340,7024,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1490,3502
$GC,7046,-1.10,-146.6,476.7,-5.4,341,7050,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3502
$GC,7367,-1.10,-146.6,498.8,-8.7,357,7371,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1482,3502
$GC,7416,-1.10,-146.6,503.8,-10.2,359,7420,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2901,3502
$GC,7737,-1.10,-146.6,531.4,-5.9,375,7741,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1483,3502
$GC,7798,-1.10,-146.6,534.2,-4.5,378,7802,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2899,3502
$GC,8124,-1.10,-146.6,547.3,-3.7,394,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,8432,-1.10,-146.6,562.4,-6.7,409,8436,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1489,3502
$GC,8548,-1.10,-146.6,571.1,-8.7,414,8552,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2903,3502
$GC,8870,-1.10,-146.6,595.8,-7.2,430,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,9178,-1.10,-146.6,618.5,-7.9,445,9183,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1488,3502
$GC,9205,-1.10,-146.6,620.6,-7.9,446,9209,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3502
$STATE,9236,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9236,begin apogee
$GC,9242,-0.42,0.0,622.5,6.3,448,9369,0.75,0.00,123.93,1.198,6,0.084,0.000,2315,2098,2901
$STATE,9370,end apogee,CONTROL_FINISHED_OK
$STATE,9370,begin climb
$GC,9371,1.10,146.6,626.6,0.0,454,9502,1.58,2.75,121.18,1.159,4,0.061,0.073,2648,3505,2303
$GC,9519,1.16,189.9,623.1,4.8,461,9565,0.00,2.53,37.55,1.102,6,0.000,0.040,2649,2091,2126
$GC,9886,1.16,189.9,601.7,6.5,479,9890,0.00,2.58,0.00,0.000,4,0.000,0.064,2649,690,2125
$GC,9907,1.16,189.9,599.6,9.4,480,9911,0.00,2.55,0.00,0.000,6,0.000,0.044,2649,2103,2125
$GC,10234,1.26,276.7,577.1,3.6,496,10316,0.17,2.70,71.62,1.159,4,0.035,0.061,2706,697,1773
$GC,10399,1.26,276.7,565.6,9.7,503,10406,0.05,2.55,0.00,0.000,6,0.066,0.048,2686,2100,1772
$GC,10715,1.26,276.7,533.3,11.0,519,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1771
$GC,11024,1.26,276.7,505.6,8.7,534,11028,0.00,2.65,0.00,0.000,4,0.000,0.076,2686,3512,1770
$GC,11050,1.26,276.7,503.3,8.7,535,11054,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2096,1770
$GC,11371,1.26,276.7,472.5,10.8,551,11376,0.00,2.70,0.00,0.000,4,0.000,0.076,2686,3516,1769
$GC,11426,1.26,276.7,466.3,11.0,553,11433,0.00,2.55,0.00,0.000,6,0.000,0.048,2686,2089,1769
$GC,11742,1.26,276.7,433.1,10.5,569,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2089,1769
$GC,12051,1.26,276.7,400.7,10.1,584,12055,0.00,2.70,0.00,0.000,4,0.000,0.076,2686,3515,1769
$GC,12076,1.26,276.7,398.0,10.1,585,12081,0.00,2.55,0.00,0.000,6,0.000,0.046,2687,2100,1769
$GC,12398,1.26,276.7,370.2,8.2,601,12403,0.00,2.67,0.00,0.000,4,0.000,0.076,2686,3511,1769
$GC,12419,1.26,276.7,368.2,9.0,602,12424,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2093,1769
$GC,12746,1.26,276.7,341.9,8.7,618,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1770
$GC,13055,1.26,276.7,315.3,8.8,633,13060,0.00,2.70,0.00,0.000,4,0.000,0.077,2686,3518,1771
$GC,13098,1.26,276.7,311.3,9.3,635,13103,0.00,2.55,0.00,0.000,6,0.000,0.049,2686,2103,1770
$GC,13425,1.26,276.7,282.6,8.5,651,13427,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2103,1771
$GC,13735,1.26,276.7,254.6,9.0,666,13739,0.00,2.67,0.00,0.000,4,0.000,0.077,2686,3518,1771
$GC,13766,1.26,276.7,251.4,9.1,667,13773,0.00,2.55,0.00,0.000,6,0.000,0.048,2686,2101,1771
$GC,14082,1.26,276.7,223.2,8.8,683,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2101,1772
$GC,14391,1.26,276.7,195.1,8.6,698,14396,0.00,2.65,0.00,0.000,4,0.000,0.075,2686,3512,1772
$GC,14436,1.26,276.7,190.8,9.5,700,14440,0.00,2.55,0.00,0.000,6,0.000,0.050,2686,2091,1772
$GC,14756,1.26,276.7,162.1,8.5,716,14757,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,1772
$GC,15067,1.26,276.7,134.7,8.4,731,15071,0.00,2.67,0.00,0.000,4,0.000,0.074,2686,3512,1772
$GC,15098,1.26,276.7,131.8,8.3,732,15106,0.00,2.55,0.00,0.000,6,0.000,0.051,2686,2100,1772
$GC,15415,1.26,276.7,102.5,9.6,748,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1773
$GC,15725,1.26,276.7,73.3,9.9,763,15730,0.00,2.67,0.00,0.000,4,0.000,0.076,2686,3514,1773
$GC,15758,1.26,276.7,70.1,8.8,764,15765,0.00,2.55,0.00,0.000,6,0.000,0.049,2686,2097,1773
$GC,16073,1.26,276.7,42.2,8.9,780,16074,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1773
$GC,16383,1.26,276.7,13.6,9.4,795,16384,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1773
$STATE,16525,end climb,SURFACE_DEPTH_REACHED
$STATE,16525,begin surface coast
$FINISH,-1.2,1.027345
$STATE,16547,end surface coast,CONTROL_FINISHED_OK
$STATE,16547,begin surface
$SM_CCo,16568,20.83,0.703,1,0,1676,300.00
$SM_GC,-0.24,0.00,0.00,20.83,0.000,0.000,0.703,48,2899,1676,-10.87,-0.03,300.00
$IRIDIUM_FIX,6202.67,-1030.33,081207,030315
$TT8_MAMPS,0.029146
$HUMID,2075
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.0,57.1
$24V_AH,23.5,27.671
$10V_AH,10.1,12.842
$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,26.075,164.425,354.275,20.825,0.000,39.116,37.380,173.540,5.500,0.000,0.000,15.623,1483.953,12737.785,523.946,1762.592,455.382,33.369,1441.339,0.000,1739.730,0.000,36.004
$DEVICE_MAMPS,158.769,82.836,1198.054,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.193,563.526,513.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41138,803
$CFSIZE,260165632,250294272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,081207,093925,6230.536,-1040.726,37,1.6,37,-10.5