version: 66.02
glider: 103
mission: 7
dive: 260
start: 1 1 108 4 38 50
data:
$ID,103
$MISSION,7
$DIVE,260
$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,571.30371
$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,-67267.391
$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,23
$R_STBD_OVSHOOT,8
$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
$GPS1,042301,6401.040,-1229.411,37,1.6,43,-12.1
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-41.9
$GPS2,043744,6401.211,-1229.092,13,1.7,13,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,0.008
$KALMAN_X,-187966.0,-1135.7,661.1,-18467.8,5657.7
$KALMAN_Y,-224709.6,544.3,1298.1,495499.3,-3452.8
$MHEAD_RNG_PITCHd_Wd,284.2,25193,-11.1,-6.000
$D_GRID,502
$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,22,-1.10,-146.6,0.0,0.0,0,130,0.00,0.00,-106.70,0.000,6,0.000,0.000,30,2898,3500
$GC,133,-1.10,-146.6,2.2,-3.1,5,155,12.12,2.60,0.00,0.000,4,0.161,0.058,2165,1497,3502
$GC,227,-1.10,-146.6,17.5,-8.9,9,232,0.00,2.70,0.00,0.000,6,0.000,0.082,2165,2905,3502
$GC,549,-1.10,-146.6,40.6,-7.4,25,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3502
$GC,858,-1.10,-146.6,62.7,-8.4,40,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3502
$GC,1168,-1.10,-146.6,85.5,-5.2,55,1172,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1494,3502
$GC,1207,-1.10,-146.6,87.9,-6.5,57,1211,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2901,3502
$GC,1533,-1.10,-146.6,115.5,-8.4,73,1536,0.00,1.73,0.00,0.000,4,0.000,0.100,2166,3787,3502
$GC,1645,-1.10,-146.6,129.2,-14.2,78,1649,0.00,1.58,0.00,0.000,6,0.000,0.057,2166,2903,3502
$GC,1978,-1.10,-146.6,155.7,-4.3,94,1982,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1482,3502
$GC,2039,-1.10,-146.6,158.6,-4.2,97,2044,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2903,3502
$GC,2365,-1.10,-146.6,181.4,-8.6,113,2370,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3502
$GC,2398,-1.10,-146.6,184.7,-9.5,114,2404,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2902,3502
$GC,2713,-1.10,-146.6,212.8,-7.1,130,2717,0.00,1.70,0.00,0.000,4,0.000,0.098,2166,3784,3502
$GC,2746,-1.10,-146.6,215.6,-8.2,131,2750,0.00,1.60,0.00,0.000,6,0.000,0.053,2166,2896,3502
$GC,3067,-1.10,-146.6,237.9,-7.3,147,3071,0.00,2.60,0.00,0.000,4,0.000,0.070,2165,1480,3502
$GC,3116,-1.10,-146.6,241.7,-7.9,149,3121,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2903,3502
$GC,3432,-1.10,-146.6,266.0,-8.0,164,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,3741,-1.10,-146.6,285.4,-5.7,179,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,4050,-1.10,-146.6,306.3,-7.7,194,4054,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1486,3502
$GC,4089,-1.10,-146.6,309.2,-7.7,196,4094,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2899,3502
$GC,4415,-1.10,-146.6,338.0,-8.7,212,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,4725,-1.10,-146.6,360.7,-7.1,227,4729,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1486,3502
$GC,4764,-1.10,-146.6,363.4,-7.3,229,4768,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2904,3502
$GC,5089,-1.10,-146.6,388.6,-7.5,245,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,5399,-1.10,-146.6,411.8,-7.2,260,5403,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1482,3502
$GC,5431,-1.10,-146.6,414.4,-7.5,261,5437,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2900,3502
$GC,5746,-1.10,-146.6,437.2,-6.5,277,5750,0.00,1.70,0.00,0.000,4,0.000,0.097,2166,3786,3502
$GC,5858,-1.10,-146.6,444.4,-6.4,282,5862,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2883,3502
$GC,6191,-1.10,-146.6,461.1,-5.0,298,6195,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1480,3502
$GC,6275,-1.10,-146.6,465.5,-5.5,302,6279,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,6601,-1.10,-146.6,483.0,-5.4,318,6605,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1486,3502
$GC,6645,-1.10,-146.6,485.3,-5.0,320,6649,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2901,3502
$GC,6966,-1.10,-146.6,490.8,3.9,336,6969,0.00,1.67,0.00,0.000,4,0.000,0.094,2166,3785,3502
$GC,7011,-1.10,-146.6,486.6,9.5,338,7015,0.00,1.55,0.00,0.000,6,0.000,0.046,2166,2907,3502
$GC,7343,-1.10,-146.6,462.3,2.8,354,7347,0.00,1.73,0.00,0.000,4,0.000,0.094,2166,3780,3502
$GC,7389,-1.10,-146.6,464.2,-4.9,356,7393,0.00,1.55,0.00,0.000,6,0.000,0.047,2165,2905,3502
$GC,7722,-1.10,-146.6,494.4,-10.8,372,7726,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1481,3502
$GC,7754,-1.10,-146.6,498.5,-12.9,373,7761,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2908,3502
$STATE,7800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7800,begin apogee
$GC,7807,-0.42,0.0,502.8,9.4,376,7933,0.75,0.00,123.12,1.134,6,0.094,0.000,2316,2099,2901
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7934,begin climb
$GC,7936,1.10,146.6,502.0,0.0,382,8064,1.52,2.60,119.70,1.101,4,0.053,0.053,2647,690,2302
$GC,8200,1.49,463.2,485.0,-2.8,394,8465,0.40,2.47,255.12,1.092,6,0.033,0.036,2750,2113,1012
$GC,8788,1.49,463.2,429.4,14.7,423,8792,0.00,2.60,0.00,0.000,4,0.000,0.054,2750,682,1011
$GC,8867,1.49,463.2,416.0,17.3,426,8873,0.00,2.53,0.00,0.000,6,0.000,0.043,2750,2097,1011
$GC,9181,1.49,463.2,360.2,17.4,442,9186,0.00,2.65,0.00,0.000,4,0.000,0.074,2750,3511,1011
$GC,9243,1.49,463.2,349.2,18.2,445,9248,0.00,2.50,0.00,0.000,6,0.000,0.041,2750,2089,1010
$GC,9569,1.49,463.2,290.0,18.7,461,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2089,1010
$GC,9878,1.49,463.2,237.0,16.4,476,9883,0.00,2.67,0.00,0.000,4,0.000,0.073,2750,3512,1010
$GC,9917,1.49,463.2,230.0,18.0,478,9922,0.00,2.50,0.00,0.000,6,0.000,0.043,2750,2093,1010
$GC,10243,1.49,463.2,170.0,17.6,494,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2093,1010
$GC,10553,1.49,463.2,124.6,15.4,509,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2090,1010
$GC,10862,1.49,463.2,74.7,17.2,524,10866,0.00,2.67,0.00,0.000,4,0.000,0.074,2750,3511,1010
$GC,10889,1.49,463.2,69.9,18.0,525,10893,0.00,2.50,0.00,0.000,6,0.000,0.047,2750,2097,1010
$GC,11206,1.49,463.2,17.5,18.3,540,11210,0.00,2.53,0.00,0.000,4,0.000,0.056,2750,691,1010
$GC,11249,1.49,463.2,11.6,11.4,542,11253,0.00,2.47,0.00,0.000,6,0.000,0.043,2750,2102,1010
$STATE,11327,end climb,SURFACE_DEPTH_REACHED
$STATE,11327,begin surface coast
$FINISH,-1.0,1.018308
$STATE,11348,end surface coast,CONTROL_FINISHED_OK
$STATE,11349,begin surface
$SM_CCo,11371,86.18,0.788,1,0,572,571.30
$SM_GC,-0.54,0.00,0.00,86.18,0.000,0.000,0.788,32,2898,572,-10.94,-0.06,571.30
$IRIDIUM_FIX,6332.30,-1231.73,010108,080849
$TT8_MAMPS,0.029146
$HUMID,2053
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.6,88.9
$24V_AH,23.4,46.150
$10V_AH,10.1,22.395
$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,26.550,107.675,497.950,86.175,0.000,114.488,112.809,418.935,3.750,0.000,0.000,13.934,1024.036,8506.527,662.758,1310.412,861.146,33.368,1385.422,0.000,1290.251,0.000,23.416
$DEVICE_MAMPS,161.070,100.477,1134.393,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,404.044,377.560,371.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28537,547
$CFSIZE,260165632,243396608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,010108,075108,6401.092,-1230.671,40,1.1,40,-12.2