version: 66.02
glider: 103
mission: 7
dive: 204
start: 12 20 107 21 51 32
data:
$ID,103
$MISSION,7
$DIVE,204
$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,-66214.219
$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,24
$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,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
$GPS1,213325,6304.081,-1259.639,38,2.0,38,-12.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-58.6
$GPS2,215029,6303.922,-1259.828,12,2.2,31,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.055,0.211
$KALMAN_X,-237741.4,1599.8,906.3,1159.2,-7304.0
$KALMAN_Y,-141029.8,167.7,716.0,306648.7,-7055.0
$MHEAD_RNG_PITCHd_Wd,26.6,20516,-11.1,-6.000
$D_GRID,647
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-62.08,0.000,2,0.000,0.000,48,2899,3461
$GC,88,-1.10,-146.6,4.5,-11.2,3,109,12.05,1.77,-0.65,0.000,4,0.161,0.116,2166,3786,3500
$GC,361,-1.10,-146.6,36.5,-8.4,15,366,0.00,1.55,0.00,0.000,6,0.000,0.044,2166,2910,3501
$GC,688,-1.10,-146.6,59.6,-7.6,31,692,0.00,1.67,0.00,0.000,4,0.000,0.085,2166,3789,3501
$GC,846,-1.10,-146.6,74.0,-8.6,38,850,0.00,1.58,0.00,0.000,6,0.000,0.041,2166,2878,3501
$GC,1178,-1.10,-146.6,98.6,-7.6,54,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2878,3501
$GC,1487,-1.10,-146.6,120.3,-6.8,69,1491,0.00,2.55,0.00,0.000,4,0.000,0.071,2166,1489,3501
$GC,1541,-1.10,-146.6,124.2,-7.0,71,1548,0.00,2.65,0.00,0.000,6,0.000,0.078,2166,2902,3501
$GC,1857,-1.10,-146.6,146.1,-6.9,87,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$GC,2166,-1.10,-146.6,167.8,-6.9,102,2170,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1486,3501
$GC,2220,-1.10,-146.6,172.0,-7.7,104,2227,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2901,3501
$GC,2536,-1.10,-146.6,195.5,-8.0,120,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,2845,-1.10,-146.6,219.7,-7.9,135,2849,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1487,3501
$GC,2894,-1.10,-146.6,223.6,-8.1,137,2898,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2902,3501
$GC,3215,-1.10,-146.6,247.2,-7.3,153,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$GC,3524,-1.10,-146.6,269.6,-7.0,168,3528,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1490,3501
$GC,3578,-1.10,-146.6,273.5,-6.8,170,3585,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2903,3501
$GC,3894,-1.10,-146.6,296.0,-7.6,186,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3501
$GC,4203,-1.10,-146.6,320.0,-7.9,201,4208,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1489,3501
$GC,4265,-1.10,-146.6,325.0,-7.8,204,4270,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2903,3501
$GC,4591,-1.10,-146.6,350.1,-7.6,220,4593,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3501
$GC,4900,-1.10,-146.6,372.8,-7.4,235,4904,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1481,3501
$GC,4949,-1.10,-146.6,376.4,-7.0,237,4953,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2906,3501
$GC,5264,-1.10,-146.6,398.8,-7.3,252,5268,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1489,3501
$GC,5302,-1.10,-146.6,401.6,-7.5,254,5307,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2905,3501
$GC,5629,-1.10,-146.6,425.2,-7.4,270,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3501
$GC,5937,-1.10,-146.6,447.8,-7.7,285,5942,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1488,3501
$GC,6026,-1.10,-146.6,454.8,-8.0,289,6030,0.00,2.62,0.00,0.000,6,0.000,0.074,2166,2900,3501
$GC,6353,-1.10,-146.6,478.6,-6.9,305,6357,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1487,3501
$GC,6385,-1.10,-146.6,480.8,-6.5,306,6391,0.00,2.62,0.00,0.000,6,0.000,0.073,2166,2900,3501
$GC,6701,-1.10,-146.6,501.2,-6.1,322,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,7010,-1.10,-146.6,520.1,-6.8,337,7014,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1485,3501
$GC,7059,-1.10,-146.6,523.6,-7.0,339,7063,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2900,3501
$GC,7374,-1.10,-146.6,545.1,-6.9,354,7378,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1477,3501
$GC,7439,-1.10,-146.6,549.8,-7.9,357,7446,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2900,3501
$GC,7767,-1.10,-146.6,572.7,-6.4,373,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,8077,-1.10,-146.6,591.9,-5.6,388,8081,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1480,3501
$GC,8138,-1.10,-146.6,595.7,-6.6,391,8143,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2901,3501
$GC,8464,-1.10,-146.6,617.9,-7.3,407,8468,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1483,3501
$STATE,8528,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8528,begin apogee
$GC,8534,-0.42,0.0,622.8,7.2,410,8663,0.73,0.00,124.90,1.191,6,0.099,0.000,2313,2104,2901
$STATE,8663,end apogee,CONTROL_FINISHED_OK
$STATE,8663,begin climb
$GC,8665,1.10,146.6,626.2,0.0,416,8796,1.58,2.65,121.55,1.160,4,0.058,0.056,2649,700,2303
$GC,9027,1.10,146.6,608.9,7.4,432,9034,0.00,2.47,0.00,0.000,6,0.000,0.035,2649,2120,2302
$GC,9343,1.12,161.6,590.8,5.6,448,9363,0.00,0.00,13.90,1.092,6,0.000,0.000,2649,2120,2242
$GC,9672,1.12,161.6,570.3,6.4,464,9676,0.00,2.58,0.00,0.000,4,0.000,0.067,2649,3507,2241
$GC,9733,1.12,161.6,566.3,6.6,467,9737,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2093,2241
$GC,10058,1.13,169.3,546.1,5.8,483,10068,0.00,0.00,7.90,1.018,6,0.000,0.000,2649,2094,2210
$GC,10368,1.17,201.0,528.9,5.1,498,10402,0.00,2.70,27.70,1.131,4,0.000,0.066,2649,3495,2081
$GC,10435,1.17,201.0,524.9,6.6,501,10440,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2098,2080
$GC,10762,1.17,201.0,502.7,6.9,517,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2098,2080
$GC,11071,1.17,201.0,475.7,9.2,532,11076,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3501,2079
$GC,11133,1.17,201.0,469.9,8.9,535,11137,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2098,2079
$GC,11459,1.17,201.0,444.6,7.1,551,11463,0.00,2.60,0.00,0.000,4,0.000,0.068,2649,3501,2080
$GC,11507,1.17,201.0,441.1,7.5,553,11512,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2096,2079
$GC,11828,1.17,201.0,419.2,7.0,569,11833,0.00,2.60,0.00,0.000,4,0.000,0.068,2649,3504,2080
$GC,11872,1.17,201.0,415.9,7.9,571,11876,0.00,2.45,0.00,0.000,6,0.000,0.039,2649,2099,2080
$GC,12199,1.17,201.0,391.6,7.3,587,12203,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3508,2080
$GC,12247,1.17,201.0,387.7,7.8,589,12252,0.00,2.45,0.00,0.000,6,0.000,0.040,2649,2102,2080
$GC,12568,1.17,201.0,365.5,6.6,605,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2102,2080
$GC,12877,1.17,201.0,346.2,6.1,620,12882,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3508,2080
$GC,12939,1.18,205.4,342.3,5.9,623,12949,0.00,2.45,5.43,0.809,6,0.000,0.041,2649,2101,2063
$GC,13264,1.20,222.8,323.7,5.5,639,13286,0.00,2.67,15.68,0.946,4,0.000,0.070,2649,3501,1992
$GC,13338,1.20,226.9,319.4,5.9,642,13348,0.10,2.50,5.22,0.774,6,0.048,0.042,2683,2094,1975
$GC,13657,1.20,226.9,296.0,7.5,657,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1975
$GC,13966,1.20,226.9,272.7,7.6,672,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1975
$GC,14276,1.20,226.9,248.5,7.8,687,14280,0.00,2.65,0.00,0.000,4,0.000,0.074,2684,3507,1975
$GC,14314,1.20,226.9,245.2,8.3,689,14319,0.00,2.47,0.00,0.000,6,0.000,0.048,2684,2099,1975
$GC,14640,1.20,226.9,218.6,8.4,705,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1975
$GC,14949,1.20,226.9,193.0,8.8,720,14954,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3501,1976
$GC,14999,1.20,226.9,188.3,8.8,722,15003,0.00,2.47,0.00,0.000,6,0.000,0.050,2684,2097,1975
$GC,15320,1.20,226.9,162.2,7.7,738,15321,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1976
$GC,15629,1.20,226.9,137.4,8.1,753,15634,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3501,1976
$GC,15679,1.20,226.9,133.0,8.4,755,15683,0.00,2.47,0.00,0.000,6,0.000,0.049,2684,2099,1976
$GC,16000,1.20,226.9,107.8,7.6,771,16002,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1976
$GC,16311,1.20,226.9,84.4,7.9,786,16315,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3502,1976
$GC,16350,1.20,226.9,81.5,7.3,788,16355,0.00,2.50,0.00,0.000,6,0.000,0.050,2684,2094,1976
$GC,16677,1.20,226.9,55.8,7.1,804,16678,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2093,1976
$GC,16986,1.20,226.9,31.5,7.7,819,16990,0.00,2.62,0.00,0.000,4,0.000,0.073,2684,3501,1976
$GC,17012,1.20,226.9,29.0,9.3,820,17016,0.00,2.47,0.00,0.000,6,0.000,0.047,2684,2097,1976
$GC,17335,1.20,226.9,6.2,7.3,836,17337,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1976
$STATE,17414,end climb,SURFACE_DEPTH_REACHED
$STATE,17414,begin surface coast
$FINISH,-0.5,1.027300
$STATE,17436,end surface coast,CONTROL_FINISHED_OK
$STATE,17436,begin surface
$SM_CCo,17457,59.55,0.748,1,0,1678,300.00
$SM_GC,0.02,0.00,0.00,59.55,0.000,0.000,0.748,48,2890,1678,-10.87,-0.28,300.00
$IRIDIUM_FIX,6239.86,-1311.44,211207,010130
$TT8_MAMPS,0.029146
$HUMID,2066
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.3,57.3
$24V_AH,23.4,35.986
$10V_AH,10.1,17.845
$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,26.075,145.950,322.275,59.550,0.000,157.202,263.230,286.449,5.500,0.000,0.000,32.288,1552.190,13628.124,517.156,1921.958,939.761,33.362,1468.316,0.000,1869.276,0.000,35.985
$DEVICE_MAMPS,161.070,115.817,1191.151,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.054,604.588,540.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41146,841
$CFSIZE,260165632,246591488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,211207,024457,6303.553,-1303.911,28,2.1,47,-12.1