version: 66.02
glider: 103
mission: 7
dive: 317
start: 1 8 108 19 56 7
data:
$ID,103
$MISSION,7
$DIVE,317
$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,330
$T_MISSION,350
$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,135
$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,-68451.609
$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,21
$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
$GPS1,195038,6412.623,-1153.951,34,1.2,35,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.62
$_SM_ANGLEo,-51.6
$GPS2,195533,6412.718,-1154.049,15,1.8,15,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6405.082,-1150.712
$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,146.9,20000,-18.2,-10.000
$D_GRID,357
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.70,-146.6,0.0,0.0,0,137,0.00,0.00,-107.62,0.000,6,0.000,0.000,45,2908,3500
$GC,140,-1.70,-146.6,2.8,-4.0,5,155,11.43,1.73,0.00,0.000,4,0.165,0.086,2033,3786,3501
$GC,284,-1.70,-146.6,30.5,-11.6,10,290,0.00,1.58,0.00,0.000,6,0.000,0.041,2033,2899,3502
$GC,600,-1.70,-146.6,66.5,-11.5,26,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2899,3502
$GC,909,-1.70,-146.6,103.6,-12.8,41,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2899,3501
$GC,1218,-1.70,-146.6,137.5,-11.5,56,1223,0.00,2.58,0.00,0.000,4,0.000,0.064,2033,1489,3501
$GC,1258,-1.70,-146.6,141.8,-11.0,58,1263,0.00,2.67,0.00,0.000,6,0.000,0.076,2033,2901,3501
$GC,1584,-1.70,-146.6,178.2,-11.3,74,1588,0.00,1.70,0.00,0.000,4,0.000,0.093,2033,3786,3501
$GC,1645,-1.70,-146.6,185.5,-11.5,76,1651,0.00,1.58,0.00,0.000,6,0.000,0.048,2033,2902,3501
$GC,1961,-1.70,-146.6,219.4,-10.9,92,1965,0.00,2.58,0.00,0.000,4,0.000,0.063,2034,1489,3501
$GC,1987,-1.70,-146.6,222.3,-11.0,93,1992,0.00,2.67,0.00,0.000,6,0.000,0.077,2033,2901,3501
$GC,2303,-1.70,-146.6,259.2,-12.2,108,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2901,3501
$GC,2613,-1.70,-146.6,295.8,-11.6,123,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2901,3501
$GC,2921,-1.70,-146.6,331.3,-11.4,138,2925,0.00,1.70,0.00,0.000,4,0.000,0.094,2034,3785,3501
$GC,2960,-1.70,-146.6,336.2,-12.1,139,2966,0.00,1.58,0.00,0.000,6,0.000,0.048,2033,2900,3501
$STATE,3149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3149,begin apogee
$GC,3157,-0.42,0.0,357.7,11.3,149,3282,1.42,0.00,121.07,1.061,6,0.097,0.000,2318,2098,2900
$STATE,3283,end apogee,CONTROL_FINISHED_OK
$STATE,3283,begin climb
$GC,3285,1.70,146.6,362.3,0.0,155,3412,2.12,2.60,116.82,1.035,4,0.058,0.051,2782,699,2303
$GC,3479,1.73,176.7,356.0,8.6,164,3510,0.00,2.47,25.77,0.984,6,0.000,0.034,2782,2117,2180
$GC,3820,1.74,184.6,324.7,9.6,180,3834,0.00,2.65,8.02,0.864,4,0.000,0.053,2782,692,2148
$GC,3989,1.74,184.6,307.0,10.4,187,3994,0.00,2.47,0.00,0.000,6,0.000,0.039,2782,2095,2148
$GC,4305,1.76,200.5,275.8,9.3,202,4324,0.00,0.00,14.48,0.939,6,0.000,0.000,2782,2095,2083
$GC,4634,1.81,237.1,246.3,8.3,218,4670,0.00,2.62,30.45,0.969,4,0.000,0.056,2782,682,1933
$GC,4829,1.81,237.1,227.6,10.4,226,4833,0.00,2.53,0.00,0.000,6,0.000,0.044,2782,2098,1933
$GC,5155,1.83,258.2,196.8,9.0,242,5180,0.12,2.65,18.00,0.923,4,0.048,0.058,2815,688,1848
$GC,5247,1.83,258.2,185.6,13.0,246,5251,0.00,2.50,0.00,0.000,6,0.000,0.043,2815,2100,1848
$GC,5568,1.83,258.2,144.4,13.3,262,5572,0.00,2.58,0.00,0.000,4,0.000,0.057,2815,688,1847
$GC,5691,1.83,258.2,126.8,13.5,267,5697,0.00,2.50,0.00,0.000,6,0.000,0.044,2815,2108,1847
$GC,6006,1.83,258.2,85.2,13.5,283,6011,0.00,2.60,0.00,0.000,4,0.000,0.058,2815,685,1847
$GC,6107,1.83,258.2,70.3,15.0,287,6113,0.00,2.47,0.00,0.000,6,0.000,0.043,2815,2102,1847
$GC,6422,1.83,258.2,26.2,14.1,303,6427,0.00,2.58,0.00,0.000,4,0.000,0.059,2815,689,1847
$GC,6500,1.83,258.2,14.7,14.1,306,6507,0.00,2.50,0.00,0.000,6,0.000,0.044,2815,2092,1847
$STATE,6609,end climb,SURFACE_DEPTH_REACHED
$STATE,6609,begin surface coast
$FINISH,-1.3,1.013574
$STATE,6629,end surface coast,CONTROL_FINISHED_OK
$STATE,6629,begin surface
$SM_CCo,6653,224.68,0.792,1,0,572,571.30
$SM_GC,-0.83,0.00,0.00,224.68,0.000,0.000,0.792,34,2895,572,-10.93,-0.14,571.30
$IRIDIUM_FIX,6346.88,-1156.37,080108,212112
$TT8_MAMPS,0.029146
$HUMID,2017
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.6,87.9
$24V_AH,23.4,55.455
$10V_AH,10.1,25.747
$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,27.125,59.125,334.625,224.675,0.000,39.468,50.363,109.607,2.750,0.000,0.000,15.824,634.346,4720.850,670.336,832.423,349.126,0.000,1120.501,0.000,817.804,0.000,18.272
$DEVICE_MAMPS,164.905,98.176,1060.761,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.635,214.074,262.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16027,313
$CFSIZE,260165632,241061888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,080108,215159,6413.504,-1152.026,13,2.2,33,-11.9