version: 66.02
glider: 103
mission: 7
dive: 282
start: 1 4 108 18 37 1
data:
$ID,103
$MISSION,7
$DIVE,282
$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,-67675.289
$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,16
$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
$GPS1,182955,6410.022,-1223.791,40,1.2,40,-12.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.73
$_SM_ANGLEo,-41.7
$GPS2,183557,6410.074,-1223.835,12,1.4,12,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,LW
$TGT_LATLONG,6406.000,-1306.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.020,-0.218
$KALMAN_X,-132816.5,336.3,-67.9,-69746.9,3448.5
$KALMAN_Y,-172894.2,-517.8,223.0,462266.0,3982.7
$MHEAD_RNG_PITCHd_Wd,197.3,34934,-11.1,-6.000
$D_GRID,461
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-105.07,0.000,2,0.000,0.000,43,2906,3437
$GC,134,-1.10,-146.6,4.1,-5.3,6,156,11.95,2.60,-1.05,0.000,4,0.158,0.068,2163,1495,3502
$GC,408,-1.10,-146.6,35.4,-6.9,18,413,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2895,3502
$GC,730,-1.10,-146.6,61.5,-4.8,34,734,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1492,3502
$GC,830,-1.10,-146.6,67.2,-3.9,38,837,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3502
$GC,1147,-1.10,-146.6,94.8,-11.0,54,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,1455,-1.10,-146.6,122.4,-11.0,69,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,1764,-1.10,-146.6,143.9,-6.9,84,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,2073,-1.10,-146.6,168.1,-7.2,99,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,2382,-1.10,-146.6,190.2,-8.0,114,2386,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1492,3502
$GC,2415,-1.10,-146.6,192.9,-7.5,115,2422,0.00,2.62,0.00,0.000,6,0.000,0.074,2163,2903,3502
$GC,2731,-1.10,-146.6,213.8,-6.7,131,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,3040,-1.10,-146.6,236.2,-7.7,146,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,3350,-1.10,-146.6,259.9,-7.4,161,3354,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1492,3502
$GC,3376,-1.10,-146.6,261.9,-7.2,162,3380,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2908,3502
$GC,3691,-1.10,-146.6,283.6,-6.9,177,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,4001,-1.10,-146.6,304.8,-7.1,192,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,4311,-1.10,-146.6,325.7,-6.4,207,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,4619,-1.10,-146.6,345.4,-6.1,222,4624,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1486,3502
$GC,4641,-1.10,-146.6,346.7,-6.0,223,4645,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2900,3502
$GC,4962,-1.10,-146.6,366.5,-6.1,239,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5271,-1.10,-146.6,384.4,-5.3,254,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5581,-1.10,-146.6,402.0,-5.8,269,5585,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3502
$GC,5647,-1.10,-146.6,405.7,-5.7,272,5652,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2899,3502
$GC,5968,-1.10,-146.6,426.8,-6.6,288,5972,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1489,3502
$GC,5989,-1.10,-146.6,428.3,-6.8,289,5993,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2899,3502
$GC,6310,-1.10,-146.6,451.3,-7.0,305,6313,0.00,1.73,0.00,0.000,4,0.000,0.102,2163,3786,3502
$GC,6416,-1.10,-146.6,459.0,-6.9,309,6422,0.00,1.58,0.00,0.000,6,0.000,0.049,2163,2900,3502
$STATE,6461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6461,begin apogee
$GC,6468,-0.42,0.0,462.3,7.1,312,6594,0.77,0.00,122.82,1.136,6,0.100,0.000,2316,2093,2901
$STATE,6595,end apogee,CONTROL_FINISHED_OK
$STATE,6595,begin climb
$GC,6597,1.10,146.6,465.8,0.0,318,6725,1.55,2.60,119.18,1.096,4,0.058,0.054,2648,688,2302
$GC,6793,1.10,146.6,461.3,6.6,327,6798,0.00,2.50,0.00,0.000,6,0.000,0.036,2648,2116,2302
$GC,7115,1.15,184.7,446.4,4.9,343,7156,0.00,2.65,32.35,1.073,4,0.000,0.064,2648,3498,2147
$GC,7208,1.23,249.3,442.1,4.2,347,7268,0.15,2.50,53.80,1.080,6,0.041,0.037,2694,2085,1884
$GC,7595,1.23,249.3,412.5,7.9,366,7600,0.00,2.67,0.00,0.000,4,0.000,0.074,2694,3501,1882
$GC,7644,1.23,249.3,408.6,8.0,368,7648,0.00,2.47,0.00,0.000,6,0.000,0.044,2694,2099,1882
$GC,7966,1.23,249.3,376.0,11.4,384,7970,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3500,1881
$GC,7992,1.23,249.3,372.7,11.6,385,7997,0.00,2.50,0.00,0.000,6,0.000,0.045,2694,2084,1881
$GC,8314,1.23,249.3,339.1,9.7,401,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2083,1880
$GC,8624,1.23,249.3,314.8,7.8,416,8628,0.00,2.67,0.00,0.000,4,0.000,0.074,2694,3500,1880
$GC,8685,1.23,249.3,309.6,8.4,419,8689,0.00,2.47,0.00,0.000,6,0.000,0.049,2694,2098,1880
$GC,9016,1.23,249.3,281.6,9.0,435,9021,0.00,2.65,0.00,0.000,4,0.000,0.075,2694,3500,1880
$GC,9044,1.23,249.3,279.0,10.0,436,9048,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2098,1880
$GC,9359,1.23,249.3,249.0,9.5,451,9364,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3505,1879
$GC,9381,1.23,249.3,246.7,10.4,452,9385,0.00,2.50,0.00,0.000,6,0.000,0.050,2694,2103,1880
$GC,9708,1.23,249.3,217.0,9.4,468,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2103,1880
$GC,10017,1.23,249.3,190.7,9.0,483,10021,0.00,2.62,0.00,0.000,4,0.000,0.074,2694,3501,1880
$GC,10049,1.23,249.3,187.4,10.8,484,10055,0.00,2.50,0.00,0.000,6,0.000,0.049,2694,2093,1880
$GC,10364,1.23,249.3,157.1,8.9,500,10366,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2093,1880
$GC,10674,1.23,249.3,132.1,9.2,515,10678,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3499,1880
$GC,10700,1.23,249.3,129.7,8.3,516,10704,0.00,2.47,0.00,0.000,6,0.000,0.047,2694,2097,1880
$GC,11023,1.23,249.3,99.1,8.7,532,11027,0.00,2.55,0.00,0.000,4,0.000,0.061,2695,690,1880
$GC,11077,1.23,249.3,94.0,11.4,534,11085,0.00,2.50,0.00,0.000,6,0.000,0.045,2694,2090,1880
$GC,11393,1.23,249.3,59.8,10.7,550,11397,0.00,2.55,0.00,0.000,4,0.000,0.063,2694,698,1881
$GC,11488,1.23,249.3,51.6,9.4,554,11492,0.00,2.50,0.00,0.000,6,0.000,0.044,2694,2109,1881
$GC,11803,1.23,249.3,32.2,6.4,569,11807,0.00,2.58,0.00,0.000,4,0.000,0.056,2694,685,1881
$GC,11852,1.23,249.3,26.8,9.7,571,11857,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2097,1881
$STATE,12145,end climb,SURFACE_DEPTH_REACHED
$STATE,12145,begin surface coast
$FINISH,0.6,1.027369
$STATE,12167,end surface coast,CONTROL_FINISHED_OK
$STATE,12167,begin surface
$SM_CCo,12190,239.25,0.775,2,0,572,571.30
$SM_GC,-1.06,0.00,0.00,239.25,0.000,0.000,0.775,50,2904,572,-10.86,0.11,571.30
$IRIDIUM_FIX,6342.00,-1226.37,040108,181840
$TT8_MAMPS,0.029913
$HUMID,2000
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.8,86.3
$24V_AH,23.4,49.919
$10V_AH,10.1,23.902
$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,26.325,104.175,328.150,239.250,0.000,41.232,34.590,186.370,3.500,0.000,0.000,12.473,1084.149,9247.031,709.514,1313.137,466.335,33.375,1393.665,0.000,1305.159,0.000,21.788
$DEVICE_MAMPS,158.002,102.011,1135.927,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.704,403.258,431.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28549,586
$CFSIZE,260165632,242343936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,040108,220538,6408.986,-1221.228,41,1.0,41,-12.1