version: 66.02
glider: 103
mission: 7
dive: 370
start: 1 14 108 12 32 15
data:
$ID,103
$MISSION,7
$DIVE,370
$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,-69696.32
$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,24
$R_STBD_OVSHOOT,12
$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
$GPS1,122601,6322.130,-1244.555,41,1.3,41,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-53.3
$GPS2,123144,6322.167,-1244.464,10,1.4,10,-12.0
$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,236.3,18545,-11.1,-6.000
$D_GRID,529
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,91,0.00,0.00,-65.70,0.000,6,0.000,0.000,51,2895,3500
$GC,95,-1.10,-146.6,2.1,-5.3,3,116,11.95,2.60,0.00,0.000,4,0.159,0.058,2166,1492,3503
$GC,212,-1.10,-146.6,22.9,-6.5,8,216,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2903,3503
$GC,534,-1.10,-146.6,47.6,-8.4,24,538,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1492,3503
$GC,556,-1.10,-146.6,49.6,-8.2,25,561,0.00,2.70,0.00,0.000,6,0.000,0.075,2166,2909,3503
$GC,878,-1.10,-146.6,74.3,-6.3,41,882,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1491,3503
$GC,905,-1.10,-146.6,76.5,-7.1,42,909,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2899,3503
$GC,1222,-1.10,-146.6,100.4,-8.3,57,1226,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1485,3504
$GC,1249,-1.10,-146.6,103.1,-9.4,58,1254,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2904,3504
$GC,1565,-1.10,-146.6,128.2,-7.8,73,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3504
$GC,1875,-1.10,-146.6,150.8,-7.1,88,1879,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1491,3504
$GC,1907,-1.10,-146.6,153.3,-6.8,89,1914,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2907,3504
$GC,2223,-1.10,-146.6,177.4,-8.0,105,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3504
$GC,2532,-1.10,-146.6,201.6,-8.2,120,2536,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1491,3504
$GC,2581,-1.10,-146.6,206.1,-8.3,122,2585,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2906,3504
$GC,2903,-1.10,-146.6,235.0,-9.4,138,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3504
$GC,3212,-1.10,-146.6,263.8,-9.7,153,3216,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1484,3504
$GC,3278,-1.10,-146.6,270.2,-9.0,156,3282,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2909,3504
$GC,3599,-1.10,-146.6,297.0,-8.7,172,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3504
$GC,3908,-1.10,-146.6,316.7,-6.3,187,3912,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1489,3504
$GC,3934,-1.10,-146.6,318.5,-6.2,188,3939,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2901,3504
$GC,4250,-1.10,-146.6,338.6,-6.6,203,4254,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1484,3504
$GC,4289,-1.10,-146.6,341.1,-6.7,205,4294,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2904,3504
$GC,4616,-1.10,-146.6,361.9,-7.0,221,4620,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1491,3504
$GC,4638,-1.10,-146.6,363.4,-6.7,222,4643,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2910,3504
$GC,4959,-1.10,-146.6,386.4,-7.4,238,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2910,3504
$GC,5268,-1.10,-146.6,410.3,-7.3,253,5272,0.00,1.65,0.00,0.000,4,0.000,0.090,2166,3783,3504
$GC,5347,-1.10,-146.6,416.1,-6.9,256,5351,0.00,1.55,0.00,0.000,6,0.000,0.041,2166,2897,3504
$GC,5668,-1.10,-146.6,436.6,-6.1,272,5672,0.00,2.55,0.00,0.000,4,0.000,0.064,2166,1491,3504
$GC,5723,-1.10,-146.6,439.8,-5.7,274,5729,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2902,3504
$GC,6039,-1.10,-146.6,456.5,-5.3,290,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3504
$GC,6348,-1.10,-146.6,472.9,-5.8,305,6352,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1492,3504
$GC,6403,-1.10,-146.6,476.3,-5.9,307,6409,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2902,3504
$GC,6719,-1.10,-146.6,494.9,-6.0,323,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3504
$GC,7028,-1.10,-146.6,516.2,-7.1,338,7032,0.00,2.53,0.00,0.000,4,0.000,0.062,2166,1495,3504
$STATE,7036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7036,begin apogee
$GC,7044,-0.42,0.0,517.1,7.4,338,7172,0.75,0.00,125.20,1.196,6,0.100,0.000,2316,2112,2901
$STATE,7173,end apogee,CONTROL_FINISHED_OK
$STATE,7173,begin climb
$GC,7175,1.10,146.6,521.3,0.0,345,7304,1.55,2.65,120.18,1.163,4,0.058,0.058,2648,701,2303
$GC,7545,1.15,184.5,507.9,5.0,362,7587,0.00,2.45,32.78,1.142,6,0.000,0.038,2648,2102,2148
$GC,7896,1.15,184.5,487.6,6.0,379,7900,0.00,2.60,0.00,0.000,4,0.000,0.069,2648,3504,2146
$GC,8003,1.15,184.5,481.1,6.4,384,8007,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2099,2146
$GC,8329,1.15,184.5,461.1,6.1,400,8333,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3503,2145
$GC,8368,1.15,184.5,458.6,6.7,402,8372,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2100,2145
$GC,8694,1.16,192.9,438.9,5.8,418,8708,0.00,2.70,8.12,1.034,4,0.000,0.073,2648,3498,2114
$GC,8762,1.16,192.9,434.9,6.3,421,8766,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2094,2114
$GC,9088,1.16,192.9,412.4,6.7,437,9092,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3506,2113
$GC,9165,1.16,192.9,407.4,6.0,440,9172,0.00,2.47,0.00,0.000,6,0.000,0.045,2648,2102,2113
$GC,9481,1.16,192.9,388.2,6.3,456,9486,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3504,2112
$GC,9577,1.16,192.9,382.1,6.3,460,9581,0.00,2.50,0.00,0.000,6,0.000,0.045,2648,2097,2112
$GC,9892,1.16,192.9,363.2,6.4,475,9896,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3502,2112
$GC,10003,1.16,192.9,355.5,7.5,480,10007,0.00,2.47,0.00,0.000,6,0.000,0.044,2648,2100,2112
$GC,10324,1.17,204.7,334.9,5.7,496,10337,0.00,0.00,11.27,1.029,6,0.000,0.000,2648,2100,2066
$GC,10633,1.17,204.7,315.1,6.9,511,10638,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3510,2066
$GC,10679,1.17,204.7,312.1,7.3,513,10683,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2093,2066
$GC,10999,1.17,204.7,290.8,7.0,529,11003,0.00,2.65,0.00,0.000,4,0.000,0.069,2648,3508,2066
$GC,11061,1.17,204.7,286.3,7.1,532,11065,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2098,2066
$GC,11387,1.17,204.7,261.2,7.4,548,11391,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3504,2066
$GC,11426,1.17,204.7,258.4,7.4,550,11430,0.00,2.50,0.00,0.000,6,0.000,0.045,2648,2092,2066
$GC,11752,1.17,204.7,234.9,6.1,566,11757,0.00,2.65,0.00,0.000,4,0.000,0.070,2648,3508,2067
$GC,11792,1.17,204.7,232.2,6.7,568,11796,0.00,2.50,0.00,0.000,6,0.000,0.045,2648,2096,2067
$GC,12118,1.17,204.7,210.0,7.5,584,12122,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3502,2066
$GC,12162,1.17,204.7,206.7,7.2,586,12166,0.00,2.47,0.00,0.000,6,0.000,0.045,2648,2101,2067
$GC,12483,1.19,214.8,187.3,5.7,602,12495,0.00,0.00,10.02,0.899,6,0.000,0.000,2648,2101,2025
$GC,12792,1.19,214.8,166.0,7.4,617,12796,0.00,2.60,0.00,0.000,4,0.000,0.069,2648,3502,2025
$GC,12847,1.19,214.8,161.6,8.0,619,12853,0.00,2.47,0.00,0.000,6,0.000,0.044,2648,2098,2025
$GC,13163,1.19,214.8,138.0,7.5,635,13167,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3509,2025
$GC,13218,1.19,214.8,133.2,8.2,637,13224,0.00,2.47,0.00,0.000,6,0.000,0.045,2648,2097,2025
$GC,13535,1.19,214.8,111.9,6.2,653,13539,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3505,2025
$GC,13584,1.19,214.8,108.5,6.7,655,13589,0.00,2.50,0.00,0.000,6,0.000,0.047,2648,2100,2025
$GC,13900,1.19,220.7,87.9,5.8,670,13914,0.00,2.67,6.65,0.783,4,0.000,0.073,2648,3502,2001
$GC,13944,1.19,220.7,85.2,6.1,672,13948,0.00,2.50,0.00,0.000,6,0.000,0.047,2648,2094,2001
$GC,14278,1.26,277.6,69.5,4.4,688,14330,0.15,2.72,46.15,0.887,4,0.043,0.071,2698,3504,1768
$GC,14382,1.26,277.6,62.0,8.6,693,14386,0.00,2.55,0.00,0.000,6,0.000,0.051,2698,2097,1768
$GC,14709,1.26,277.6,30.3,8.7,709,14713,0.00,2.58,0.00,0.000,4,0.000,0.065,2698,692,1768
$GC,14786,1.26,277.6,23.6,8.8,712,14793,0.00,2.47,0.00,0.000,6,0.000,0.046,2698,2098,1768
$STATE,15058,end climb,SURFACE_DEPTH_REACHED
$STATE,15058,begin surface coast
$FINISH,0.3,1.027421
$STATE,15080,end surface coast,CONTROL_FINISHED_OK
$STATE,15080,begin surface
$SM_CCo,15104,21.20,0.716,2,0,1678,300.00
$SM_GC,-0.10,0.00,0.00,21.20,0.000,0.000,0.716,46,2898,1678,-10.87,-0.06,300.00
$IRIDIUM_FIX,6258.74,-1239.54,140108,121243
$TT8_MAMPS,0.029146
$HUMID,2079
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.1,76.8
$24V_AH,23.3,62.504
$10V_AH,10.1,28.432
$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,26.200,163.625,360.375,21.200,0.000,40.243,33.151,148.546,4.000,0.000,0.000,11.014,1377.625,11388.775,514.550,1705.605,505.782,0.000,1399.498,0.000,1678.432,0.000,24.996
$DEVICE_MAMPS,158.769,89.739,1195.753,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,534.723,500.954,503.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38052,727
$CFSIZE,260165632,239001600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,140108,164538,6320.170,-1243.084,31,1.0,31,-12.0