version: 66.02
glider: 103
mission: 7
dive: 194
start: 12 18 107 21 8 6
data:
$ID,103
$MISSION,7
$DIVE,194
$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,-1
$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,-65916.547
$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,18
$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
$GPS1,210126,6302.328,-1252.598,42,1.1,42,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-55.4
$GPS2,210702,6302.241,-1252.525,10,1.8,15,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.135,0.172
$KALMAN_X,-218449.3,691.0,718.3,-10602.8,-2302.4
$KALMAN_Y,-103114.9,-462.3,-130.1,267137.9,-4946.1
$MHEAD_RNG_PITCHd_Wd,50.1,24438,-11.1,-6.000
$D_GRID,604
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-62.67,0.000,6,0.000,0.000,39,2901,3501
$GC,88,-1.10,-146.6,2.4,-5.1,3,110,12.05,2.62,0.00,0.000,4,0.160,0.055,2166,1482,3503
$GC,362,-1.10,-146.6,33.8,-6.9,15,366,0.00,2.70,0.00,0.000,6,0.000,0.080,2166,2898,3504
$GC,683,-1.10,-146.6,59.0,-8.3,31,687,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1481,3504
$GC,834,-1.10,-146.6,70.5,-7.6,38,839,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2899,3503
$GC,1161,-1.10,-146.6,93.5,-7.0,54,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3504
$GC,1470,-1.10,-146.6,118.4,-8.6,69,1474,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1482,3504
$GC,1513,-1.10,-146.6,122.2,-8.8,71,1517,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2903,3504
$GC,1840,-1.10,-146.6,146.6,-7.9,87,1844,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1484,3504
$GC,1871,-1.10,-146.6,149.2,-7.7,88,1879,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2896,3504
$GC,2188,-1.10,-146.6,169.7,-5.8,104,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2896,3504
$GC,2496,-1.10,-146.6,187.4,-6.0,119,2501,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1490,3504
$GC,2552,-1.10,-146.6,190.8,-6.3,121,2558,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2899,3504
$GC,2867,-1.10,-146.6,211.4,-7.2,137,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3504
$GC,3176,-1.10,-146.6,232.6,-6.9,152,3181,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1490,3504
$GC,3225,-1.10,-146.6,236.2,-6.9,154,3230,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2899,3504
$GC,3547,-1.10,-146.6,257.5,-6.5,170,3551,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1482,3504
$GC,3578,-1.10,-146.6,259.7,-6.4,171,3585,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2902,3504
$GC,3894,-1.10,-146.6,282.2,-7.0,187,3898,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1483,3504
$GC,3932,-1.10,-146.6,284.8,-7.4,189,3937,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2903,3504
$GC,4258,-1.10,-146.6,307.6,-7.1,205,4262,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1486,3504
$GC,4301,-1.10,-146.6,310.7,-6.9,207,4305,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2899,3504
$GC,4628,-1.10,-146.6,333.8,-7.9,223,4632,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1485,3504
$GC,4676,-1.10,-146.6,337.5,-8.0,225,4681,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3504
$GC,4998,-1.10,-146.6,360.4,-6.8,241,5002,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1484,3504
$GC,5036,-1.10,-146.6,363.1,-7.1,243,5041,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2899,3504
$GC,5362,-1.10,-146.6,384.4,-6.3,259,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3504
$GC,5672,-1.10,-146.6,404.6,-6.7,274,5676,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1485,3504
$GC,5789,-1.10,-146.6,412.8,-7.2,279,5793,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3504
$GC,6104,-1.10,-146.6,435.0,-7.0,294,6108,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1480,3504
$GC,6143,-1.10,-146.6,437.7,-7.0,296,6147,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2908,3504
$GC,6468,-1.10,-146.6,459.8,-6.7,312,6473,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1485,3504
$GC,6507,-1.10,-146.6,462.6,-7.0,314,6512,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2900,3504
$GC,6833,-1.10,-146.6,483.7,-6.5,330,6838,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1477,3504
$GC,6877,-1.10,-146.6,486.3,-6.1,332,6882,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2901,3504
$GC,7198,-1.10,-146.6,505.4,-5.8,348,7203,0.00,2.58,0.00,0.000,4,0.000,0.057,2166,1474,3504
$GC,7276,-1.10,-146.6,510.8,-6.7,351,7282,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2903,3504
$GC,7591,-1.10,-146.6,532.4,-7.1,367,7595,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1476,3504
$GC,7685,-1.10,-146.6,539.4,-7.4,371,7689,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2901,3504
$GC,8006,-1.10,-146.6,560.3,-6.5,387,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3504
$STATE,8190,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8190,begin apogee
$GC,8196,-0.42,0.0,572.8,7.0,396,8324,0.75,0.00,124.32,1.184,6,0.084,0.000,2319,2091,2901
$STATE,8325,end apogee,CONTROL_FINISHED_OK
$STATE,8325,begin climb
$GC,8327,1.10,146.6,577.3,0.0,402,8457,1.52,2.62,120.38,1.144,4,0.053,0.055,2648,694,2303
$GC,8587,1.11,152.5,570.0,5.8,414,8599,0.00,2.47,6.55,0.923,6,0.000,0.037,2648,2114,2279
$GC,8908,1.14,173.2,552.3,5.4,429,8932,0.00,2.65,18.83,1.115,4,0.000,0.067,2648,3502,2194
$GC,9055,1.14,173.2,542.8,6.8,435,9062,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2099,2193
$GC,9371,1.15,185.7,524.2,5.7,451,9392,0.00,2.65,11.50,1.076,4,0.000,0.058,2649,699,2144
$GC,9442,1.16,195.0,519.7,5.7,454,9459,0.00,2.47,9.55,1.042,6,0.000,0.038,2649,2101,2105
$GC,9767,1.16,195.0,500.4,6.6,470,9771,0.00,2.58,0.00,0.000,4,0.000,0.058,2649,692,2104
$GC,9844,1.16,195.0,495.1,6.9,473,9850,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2101,2103
$GC,10159,1.20,223.5,478.0,5.2,489,10190,0.10,2.70,24.40,1.117,4,0.050,0.072,2679,3503,1989
$GC,10228,1.20,223.5,473.2,7.5,492,10233,0.00,2.53,0.00,0.000,6,0.000,0.040,2679,2097,1989
$GC,10549,1.20,223.5,450.1,7.1,508,10553,0.00,2.53,0.00,0.000,4,0.000,0.056,2679,698,1988
$GC,10610,1.20,223.5,445.5,7.9,511,10615,0.00,2.47,0.00,0.000,6,0.000,0.039,2679,2103,1988
$GC,10936,1.20,223.5,422.9,7.0,527,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2103,1987
$GC,11246,1.20,223.5,400.5,7.4,542,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2103,1987
$GC,11555,1.20,223.5,377.5,7.3,557,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2103,1987
$GC,11864,1.20,223.5,355.6,7.2,572,11868,0.00,2.62,0.00,0.000,4,0.000,0.074,2679,3508,1987
$GC,11896,1.20,223.5,353.3,6.6,573,11902,0.00,2.47,0.00,0.000,6,0.000,0.042,2679,2095,1987
$GC,12211,1.20,223.5,329.7,7.4,589,12215,0.00,2.67,0.00,0.000,4,0.000,0.076,2679,3509,1987
$GC,12243,1.20,223.5,326.9,8.5,590,12250,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,2106,1987
$GC,12559,1.20,223.5,303.6,7.5,606,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2106,1988
$GC,12868,1.20,223.5,280.2,7.9,621,12872,0.00,2.65,0.00,0.000,4,0.000,0.076,2679,3509,1989
$GC,12906,1.20,223.5,277.0,8.0,623,12910,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,2093,1989
$GC,13238,1.20,223.5,251.1,8.0,639,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2093,1989
$GC,13547,1.20,223.5,226.0,8.1,654,13551,0.00,2.67,0.00,0.000,4,0.000,0.076,2679,3513,1989
$GC,13595,1.20,223.5,221.7,8.9,656,13600,0.00,2.53,0.00,0.000,6,0.000,0.044,2678,2098,1989
$GC,13917,1.20,223.5,196.3,8.0,672,13918,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2098,1989
$GC,14226,1.20,223.5,172.3,7.7,687,14230,0.00,2.67,0.00,0.000,4,0.000,0.074,2679,3516,1990
$GC,14280,1.20,223.5,167.8,7.8,689,14287,0.00,2.50,0.00,0.000,6,0.000,0.047,2678,2099,1990
$GC,14596,1.20,223.5,144.6,7.4,705,14597,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,1990
$GC,14905,1.20,223.5,121.2,7.7,720,14909,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3509,1990
$GC,14966,1.20,223.5,116.3,7.9,723,14971,0.00,2.47,0.00,0.000,6,0.000,0.045,2679,2100,1990
$GC,15293,1.20,223.5,93.9,7.4,739,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,1991
$GC,15602,1.20,223.5,69.8,8.3,754,15606,0.00,2.65,0.00,0.000,4,0.000,0.075,2679,3510,1991
$GC,15651,1.20,223.5,65.5,8.6,756,15655,0.00,2.50,0.00,0.000,6,0.000,0.049,2679,2100,1991
$GC,15967,1.20,223.5,39.7,7.3,771,15968,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,1991
$GC,16275,1.20,223.5,9.2,9.8,786,16280,0.00,2.55,0.00,0.000,4,0.000,0.062,2679,693,1992
$GC,16292,1.20,223.5,7.6,9.8,787,16297,0.00,2.50,0.00,0.000,6,0.000,0.049,2679,2099,1992
$STATE,16370,end climb,SURFACE_DEPTH_REACHED
$STATE,16370,begin surface coast
$FINISH,1.0,1.027352
$STATE,16391,end surface coast,CONTROL_FINISHED_OK
$STATE,16391,begin surface
$SM_CCo,16413,62.47,0.758,1,0,1678,300.00
$SM_GC,0.01,0.00,0.00,62.47,0.000,0.000,0.758,49,2899,1678,-10.86,-0.03,300.00
$IRIDIUM_FIX,6239.86,-1304.65,181207,202038
$TT8_MAMPS,0.029146
$HUMID,2050
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.7,106.5
$24V_AH,23.4,34.491
$10V_AH,10.1,17.018
$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,26.125,164.350,315.525,62.475,0.000,40.757,34.340,153.238,4.250,0.000,0.000,15.595,1473.374,12544.482,527.905,1832.409,452.155,33.370,1456.609,0.000,1809.402,0.000,26.698
$DEVICE_MAMPS,159.536,98.943,1184.248,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.600,554.798,516.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41077,792
$CFSIZE,260165632,247185408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
$GPS,191207,014402,6302.142,-1250.981,40,1.2,40,-11.9