version: 66.02
glider: 103
mission: 7
dive: 290
start: 1 5 108 23 43 50
data:
$ID,103
$MISSION,7
$DIVE,290
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,270
$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,-67855.688
$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,19
$R_STBD_OVSHOOT,10
$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
$GPS1,233037,6410.449,-1246.016,34,1.4,34,-12.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.65
$_SM_ANGLEo,-51.1
$GPS2,234320,6410.513,-1245.888,14,1.9,31,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6410.513,-1250.592
$TGT_RADIUS,1852.000
$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,282.4,20000,-11.1,-6.000
$D_GRID,342
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.10,-146.6,0.0,0.0,0,141,0.00,0.00,-110.22,0.000,6,0.000,0.000,48,2908,3499
$GC,144,-1.10,-146.6,1.8,-2.9,5,160,11.88,1.75,0.00,0.000,4,0.156,0.094,2167,3784,3501
$GC,413,-1.10,-146.6,34.9,-8.1,16,416,0.00,1.62,0.00,0.000,6,0.000,0.064,2167,2903,3501
$GC,739,-1.10,-146.6,60.9,-6.7,32,743,0.00,1.75,0.00,0.000,4,0.000,0.098,2166,3787,3502
$GC,997,-1.10,-146.6,80.9,-9.1,43,1001,0.00,1.62,0.00,0.000,6,0.000,0.059,2166,2894,3501
$GC,1318,-1.10,-146.6,108.8,-8.3,59,1322,0.00,1.75,0.00,0.000,4,0.000,0.096,2166,3786,3501
$GC,1368,-1.10,-146.6,112.9,-8.1,61,1372,0.00,1.60,0.00,0.000,6,0.000,0.058,2167,2907,3501
$GC,1695,-1.10,-146.6,137.9,-7.3,77,1699,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1476,3501
$GC,1721,-1.10,-146.6,140.1,-7.8,78,1726,0.00,2.70,0.00,0.000,6,0.000,0.077,2167,2903,3501
$GC,2037,-1.10,-146.6,162.8,-6.7,93,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3501
$GC,2346,-1.10,-146.6,183.1,-6.8,108,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,2656,-1.10,-146.6,204.2,-6.8,123,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3501
$GC,2965,-1.10,-146.6,226.8,-7.5,138,2969,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,1476,3501
$GC,3031,-1.10,-146.6,232.1,-8.4,141,3035,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2903,3502
$GC,3352,-1.10,-146.6,255.6,-7.3,157,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3501
$GC,3661,-1.10,-146.6,277.2,-7.0,172,3665,0.00,2.62,0.00,0.000,4,0.000,0.065,2167,1477,3501
$GC,3716,-1.10,-146.6,281.4,-7.8,174,3722,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2905,3501
$GC,4032,-1.10,-146.6,304.1,-7.5,190,4036,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1483,3501
$GC,4086,-1.10,-146.6,308.3,-8.0,192,4092,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2900,3501
$GC,4402,-1.10,-146.6,331.6,-7.5,208,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$STATE,4565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4565,begin apogee
$GC,4572,-0.42,0.0,343.4,7.2,216,4696,0.77,0.00,120.85,1.032,6,0.102,0.000,2319,2091,2901
$STATE,4697,end apogee,CONTROL_FINISHED_OK
$STATE,4697,begin climb
$GC,4699,1.10,146.6,349.1,0.0,222,4825,1.55,2.60,117.88,0.998,4,0.064,0.058,2646,683,2303
$GC,4933,1.13,169.6,345.9,5.4,233,4958,0.00,2.53,20.27,0.937,6,0.000,0.038,2646,2118,2209
$GC,5281,1.18,209.8,327.6,4.9,250,5323,0.00,2.70,33.90,0.981,4,0.000,0.071,2646,3507,2045
$GC,5391,1.18,209.8,321.4,6.0,255,5396,0.00,2.53,0.00,0.000,6,0.000,0.042,2646,2083,2044
$GC,5718,1.18,209.8,303.3,6.1,271,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2083,2043
$GC,6028,1.18,209.8,280.7,7.9,286,6032,0.00,2.70,0.00,0.000,4,0.000,0.072,2646,3509,2043
$GC,6099,1.18,209.8,275.8,6.8,289,6103,0.00,2.50,0.00,0.000,6,0.000,0.045,2646,2098,2043
$GC,6415,1.18,209.8,256.2,6.6,304,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2098,2043
$GC,6724,1.18,209.8,236.5,6.2,319,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2098,2043
$GC,7033,1.18,209.8,216.7,6.9,334,7037,0.00,2.65,0.00,0.000,4,0.000,0.073,2646,3507,2043
$GC,7082,1.18,209.8,212.9,7.9,336,7086,0.00,2.50,0.00,0.000,6,0.000,0.044,2646,2094,2043
$GC,7398,1.18,209.8,190.2,6.8,351,7403,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3507,2043
$GC,7431,1.18,209.8,187.8,7.1,352,7437,0.00,2.47,0.00,0.000,6,0.000,0.043,2646,2097,2043
$GC,7746,1.18,209.8,167.7,6.5,368,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2097,2043
$GC,8056,1.18,209.8,144.3,7.9,383,8060,0.00,2.65,0.00,0.000,4,0.000,0.072,2646,3507,2043
$GC,8118,1.18,209.8,139.4,8.5,386,8122,0.00,2.47,0.00,0.000,6,0.000,0.042,2646,2098,2043
$GC,8446,1.18,209.8,114.6,6.6,402,8450,0.00,2.65,0.00,0.000,4,0.000,0.073,2646,3507,2043
$GC,8500,1.18,209.8,109.3,9.2,404,8507,0.00,2.47,0.00,0.000,6,0.000,0.041,2646,2110,2043
$GC,8817,1.18,209.8,85.6,6.8,420,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2110,2043
$GC,9126,1.18,209.8,64.2,6.0,435,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2110,2043
$GC,9435,1.18,209.8,44.2,6.2,450,9439,0.00,2.62,0.00,0.000,4,0.000,0.072,2646,3507,2043
$GC,9490,1.18,212.3,40.8,5.9,452,9496,0.00,2.47,0.00,0.000,6,0.000,0.044,2646,2100,2043
$GC,9805,1.18,212.3,21.3,7.0,468,9806,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2099,2043
$GC,10116,1.21,232.2,3.4,5.5,483,10139,0.12,0.00,18.27,0.795,6,0.047,0.000,2680,2097,1954
$STATE,10156,end climb,SURFACE_DEPTH_REACHED
$STATE,10156,begin surface coast
$FINISH,-1.2,1.027360
$STATE,10178,end surface coast,CONTROL_FINISHED_OK
$STATE,10178,begin surface
$SM_CCo,10201,242.98,0.815,0,0,573,571.30
$SM_GC,-0.92,0.00,0.00,242.98,0.000,0.000,0.815,47,2899,573,-10.87,-0.03,571.30
$IRIDIUM_FIX,6346.88,-1241.91,060108,030313
$TT8_MAMPS,0.029146
$HUMID,2000
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,23.5,51.264
$10V_AH,10.1,24.415
$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,26.000,75.550,311.175,242.975,0.000,116.647,196.418,205.204,2.500,0.000,0.000,31.616,919.233,7741.590,673.349,1180.353,713.464,0.000,1268.191,0.000,1155.976,0.000,13.892
$DEVICE_MAMPS,155.701,98.176,1032.382,814.554,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.171,345.286,426.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25472,486
$CFSIZE,260165632,242003968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,060108,023907,6410.458,-1247.448,37,0.9,37,-12.4