version: 66.02
glider: 103
mission: 7
dive: 353
start: 1 12 108 4 17 24
data:
$ID,103
$MISSION,7
$DIVE,353
$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,-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,-69398.062
$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,20
$R_STBD_OVSHOOT,11
$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
$GPS1,041143,6342.866,-1138.610,40,1.8,57,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-59.6
$GPS2,041651,6342.772,-1138.818,15,1.6,15,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$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,244.3,85000,-11.1,-6.000
$D_GRID,347
$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,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-61.47,0.000,2,0.000,0.000,50,2894,3357
$GC,89,-1.10,-146.6,3.2,-7.8,3,111,11.95,1.75,-2.60,0.000,4,0.160,0.114,2164,3780,3501
$GC,364,-1.10,-146.6,32.8,-6.6,15,368,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2900,3501
$GC,691,-1.10,-146.6,51.0,-6.6,31,694,0.00,1.73,0.00,0.000,4,0.000,0.094,2164,3784,3502
$GC,948,-1.10,-146.6,71.1,-8.3,42,952,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2909,3502
$GC,1271,-1.10,-146.6,95.7,-7.5,58,1275,0.00,1.70,0.00,0.000,4,0.000,0.093,2164,3785,3502
$GC,1327,-1.10,-146.6,99.7,-6.6,60,1330,0.00,1.58,0.00,0.000,6,0.000,0.048,2164,2902,3502
$GC,1648,-1.10,-146.6,120.7,-6.9,76,1653,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1482,3502
$GC,1710,-1.10,-146.6,125.1,-6.9,79,1715,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2898,3502
$GC,2038,-1.10,-146.6,148.0,-6.8,95,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,2346,-1.10,-146.6,164.9,-6.3,110,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,2655,-1.10,-146.6,185.6,-7.3,125,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,2965,-1.10,-146.6,203.9,-4.8,140,2969,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1484,3502
$GC,3009,-1.10,-146.6,206.2,-5.3,142,3014,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2907,3502
$GC,3330,-1.10,-146.6,220.8,-4.7,158,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,3639,-1.10,-146.6,235.5,-4.2,173,3644,0.00,2.62,0.00,0.000,4,0.000,0.064,2164,1475,3502
$GC,3695,-1.10,-146.6,238.1,-3.8,175,3702,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2898,3502
$GC,4014,-1.10,-146.6,250.1,-3.9,191,4018,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3786,3502
$GC,4060,-1.10,-146.6,251.9,-3.8,193,4063,0.00,1.58,0.00,0.000,6,0.000,0.044,2164,2883,3502
$GC,4392,-1.10,-146.6,269.5,-7.1,209,4396,0.00,1.75,0.00,0.000,4,0.000,0.094,2164,3783,3502
$GC,4492,-1.10,-146.6,276.3,-7.0,213,4496,0.00,1.58,0.00,0.000,6,0.000,0.047,2164,2898,3502
$GC,4814,-1.10,-146.6,293.8,-5.1,229,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,5123,-1.10,-146.6,311.0,-6.0,244,5128,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1478,3502
$GC,5212,-1.10,-146.6,318.7,-6.8,248,5217,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2900,3502
$STATE,5345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5345,begin apogee
$GC,5353,-0.42,0.0,329.1,7.8,255,5479,0.77,0.00,122.72,1.044,6,0.107,0.000,2314,2095,2901
$STATE,5480,end apogee,CONTROL_FINISHED_OK
$STATE,5480,begin climb
$GC,5483,1.10,146.6,333.3,0.0,261,5609,1.55,2.62,118.82,1.009,4,0.057,0.059,2647,690,2303
$GC,5693,1.18,208.4,327.6,4.3,271,5750,0.00,2.50,51.53,0.987,6,0.000,0.038,2646,2113,2051
$GC,6062,1.27,283.8,312.0,3.9,289,6129,0.17,2.67,61.03,1.027,4,0.041,0.060,2700,691,1744
$GC,6174,1.27,283.8,305.0,8.4,294,6179,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,2092,1744
$GC,6490,1.27,283.8,284.2,6.6,309,6494,0.00,2.70,0.00,0.000,4,0.000,0.078,2700,3516,1742
$GC,6551,1.27,283.8,279.4,8.1,312,6556,0.00,2.55,0.00,0.000,6,0.000,0.048,2700,2097,1742
$GC,6878,1.27,283.8,249.8,9.4,328,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2097,1742
$GC,7187,1.27,283.8,220.9,9.9,343,7191,0.00,2.70,0.00,0.000,4,0.000,0.075,2700,3518,1741
$GC,7219,1.27,283.8,217.5,10.0,344,7226,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,2097,1741
$GC,7535,1.27,283.8,186.9,9.3,360,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2097,1741
$GC,7844,1.27,283.8,157.5,9.7,375,7848,0.00,2.67,0.00,0.000,4,0.000,0.074,2700,3514,1741
$GC,7883,1.27,283.8,153.2,10.8,377,7888,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,2095,1741
$GC,8212,1.27,283.8,119.2,10.7,393,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2095,1741
$GC,8519,1.27,283.8,88.1,9.5,408,8523,0.00,2.67,0.00,0.000,4,0.000,0.074,2700,3512,1741
$GC,8568,1.27,283.8,82.7,11.5,410,8572,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,2090,1741
$GC,8886,1.27,283.8,49.1,11.6,425,8890,0.00,2.67,0.00,0.000,4,0.000,0.074,2700,3511,1741
$GC,8908,1.27,283.8,46.1,12.9,426,8913,0.00,2.50,0.00,0.000,6,0.000,0.045,2700,2103,1741
$GC,9229,1.27,283.8,12.1,9.7,442,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2103,1742
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,-0.5,1.027402
$STATE,9353,end surface coast,CONTROL_FINISHED_OK
$STATE,9353,begin surface
$SM_CCo,9376,14.98,0.745,1,0,1677,300.00
$SM_GC,-0.72,0.00,0.00,14.98,0.000,0.000,0.745,42,2894,1677,-10.89,-0.17,300.00
$IRIDIUM_FIX,6317.84,-1134.80,120108,050531
$TT8_MAMPS,0.027612
$HUMID,2075
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,275.2,63.5
$24V_AH,23.4,60.350
$10V_AH,10.1,27.393
$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,26.125,77.000,354.100,14.975,0.000,39.839,38.274,124.168,2.250,0.000,0.000,15.195,870.116,6905.843,439.946,1113.058,399.216,0.000,1014.476,0.000,1096.991,0.000,16.562
$DEVICE_MAMPS,159.536,113.516,1043.887,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.232,305.011,378.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22253,448
$CFSIZE,260165632,239808512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,120108,065508,6340.163,-1146.255,30,1.4,30,-11.6