version: 66.02
glider: 103
mission: 7
dive: 398
start: 1 20 108 10 50 17
data:
$ID,103
$MISSION,7
$DIVE,398
$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,-3
$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,-70224.961
$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,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
$GPS1,103938,6232.745,-1049.224,38,1.8,38,-10.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-52.6
$GPS2,104946,6232.558,-1049.294,15,1.7,34,-10.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$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,116.6,17166,-11.1,-6.000
$D_GRID,631
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.03,0.000,2,0.000,0.000,49,2899,3401
$GC,89,-1.10,-146.6,4.2,-11.0,3,112,11.90,1.77,-1.65,0.000,4,0.156,0.118,2164,3781,3502
$GC,365,-1.10,-146.6,35.5,-7.9,15,368,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2900,3502
$GC,692,-1.10,-146.6,59.4,-7.4,31,695,0.00,1.75,0.00,0.000,4,0.000,0.095,2164,3789,3503
$GC,850,-1.10,-146.6,74.9,-6.8,38,854,0.00,1.58,0.00,0.000,6,0.000,0.048,2164,2896,3503
$GC,1183,-1.10,-146.6,98.2,-7.6,54,1188,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1482,3503
$GC,1250,-1.10,-146.6,103.2,-7.7,57,1254,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2902,3503
$GC,1571,-1.10,-146.6,123.0,-6.0,73,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,1881,-1.10,-146.6,142.2,-6.6,88,1885,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1489,3503
$GC,1936,-1.10,-146.6,145.8,-6.5,90,1942,0.00,2.65,0.00,0.000,6,0.000,0.076,2164,2903,3503
$GC,2252,-1.10,-146.6,166.9,-7.0,106,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,2561,-1.10,-146.6,186.5,-6.5,121,2566,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1484,3503
$GC,2628,-1.10,-146.6,191.3,-7.1,124,2633,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2901,3503
$GC,2949,-1.10,-146.6,215.2,-7.5,140,2954,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1487,3503
$GC,2977,-1.10,-146.6,217.3,-7.6,141,2982,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2902,3503
$GC,3293,-1.10,-146.6,241.1,-7.7,156,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,3602,-1.10,-146.6,264.2,-7.7,171,3607,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1477,3503
$GC,3658,-1.10,-146.6,268.7,-7.9,173,3665,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,3974,-1.10,-146.6,292.3,-7.4,189,3978,0.00,2.60,0.00,0.000,4,0.000,0.062,2164,1482,3503
$GC,4013,-1.10,-146.6,295.2,-7.5,191,4018,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2900,3503
$GC,4340,-1.10,-146.6,317.0,-6.4,207,4344,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1480,3503
$GC,4367,-1.10,-146.6,318.9,-6.8,208,4371,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2902,3503
$GC,4683,-1.10,-146.6,337.3,-5.6,223,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,4992,-1.10,-146.6,355.3,-6.0,238,4996,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1478,3503
$GC,5036,-1.10,-146.6,358.2,-6.5,240,5040,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2903,3503
$GC,5357,-1.10,-146.6,377.7,-5.9,256,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,5667,-1.10,-146.6,394.5,-5.3,271,5671,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1482,3503
$GC,5717,-1.10,-146.6,397.3,-5.5,273,5721,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2906,3503
$GC,6032,-1.10,-146.6,416.6,-6.8,288,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,6342,-1.10,-146.6,441.1,-7.7,303,6346,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1481,3503
$GC,6408,-1.10,-146.6,446.5,-8.2,306,6412,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3503
$GC,6729,-1.10,-146.6,472.3,-7.8,322,6733,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1481,3503
$GC,6771,-1.10,-146.6,475.4,-8.5,324,6775,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2908,3503
$GC,7097,-1.10,-146.6,501.3,-7.1,340,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,7406,-1.10,-146.6,521.8,-6.9,355,7410,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1481,3503
$GC,7519,-1.10,-146.6,529.3,-6.8,360,7523,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2898,3503
$GC,7846,-1.10,-146.6,548.4,-5.2,376,7850,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1481,3503
$GC,7874,-1.10,-146.6,549.6,-4.5,377,7878,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2902,3503
$GC,8189,-1.10,-146.6,565.9,-5.5,392,8194,0.00,2.53,0.00,0.000,4,0.000,0.052,2164,1479,3503
$GC,8217,-1.10,-146.6,567.5,-5.5,393,8222,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,8539,-1.10,-146.6,585.3,-5.5,409,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,8848,-1.10,-146.6,600.5,-5.0,424,8852,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1479,3502
$GC,8942,-1.10,-146.6,606.0,-6.1,428,8947,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2903,3501
$GC,9258,-1.10,-146.6,625.4,-6.6,443,9263,0.00,2.58,0.00,0.000,4,0.000,0.054,2165,1472,3500
$GC,9292,-1.10,-146.6,627.7,-6.6,444,9298,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2902,3500
$STATE,9357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9357,begin apogee
$GC,9365,-0.42,0.0,631.7,5.9,448,9494,0.77,0.00,125.90,1.303,6,0.093,0.000,2319,2090,2901
$STATE,9495,end apogee,CONTROL_FINISHED_OK
$STATE,9495,begin climb
$GC,9498,1.10,146.6,637.1,0.0,454,9630,1.52,2.62,123.18,1.253,4,0.057,0.059,2647,689,2303
$GC,9711,1.12,158.4,635.2,5.7,464,9727,0.00,2.53,11.48,1.111,6,0.000,0.038,2646,2121,2255
$GC,10037,1.19,216.7,621.0,4.4,480,10093,0.10,2.62,50.38,1.249,4,0.048,0.067,2680,3498,2017
$GC,10132,1.19,216.7,614.4,8.3,483,10138,0.00,2.47,0.00,0.000,6,0.000,0.038,2679,2093,2016
$GC,10448,1.19,216.7,589.1,8.6,499,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2093,2015
$GC,10757,1.19,216.7,561.1,9.7,514,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2092,2014
$GC,11066,1.19,216.7,532.0,9.7,529,11071,0.00,2.62,0.00,0.000,4,0.000,0.071,2680,3498,2013
$GC,11094,1.19,216.7,529.1,10.9,530,11099,0.00,2.47,0.00,0.000,6,0.000,0.041,2680,2104,2013
$GC,11410,1.19,216.7,498.4,9.2,545,11413,0.00,2.55,0.00,0.000,4,0.000,0.061,2679,698,2012
$GC,11482,1.19,216.7,491.9,8.9,548,11486,0.00,2.45,0.00,0.000,6,0.000,0.040,2680,2091,2012
$GC,11803,1.19,216.7,469.5,6.5,564,11807,0.00,2.65,0.00,0.000,4,0.000,0.073,2680,3508,2011
$GC,11847,1.19,216.7,466.3,7.6,566,11851,0.00,2.47,0.00,0.000,6,0.000,0.043,2680,2100,2011
$GC,12167,1.19,216.7,445.3,6.4,582,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2100,2011
$GC,12477,1.19,216.8,427.0,6.0,597,12482,0.00,2.65,0.00,0.000,4,0.000,0.073,2680,3514,2011
$GC,12550,1.19,219.8,422.3,5.9,600,12554,0.00,2.53,0.00,0.000,6,0.000,0.044,2680,2094,2011
$GC,12865,1.19,219.8,402.2,7.1,615,12870,0.00,2.53,0.00,0.000,4,0.000,0.058,2680,694,2011
$GC,12893,1.19,219.8,400.1,8.0,616,12898,0.00,2.47,0.00,0.000,6,0.000,0.040,2680,2098,2011
$GC,13209,1.19,219.8,377.8,7.2,631,13213,0.00,2.62,0.00,0.000,4,0.000,0.074,2680,3510,2011
$GC,13264,1.19,219.8,373.5,7.3,633,13270,0.00,2.53,0.00,0.000,6,0.000,0.045,2680,2094,2011
$GC,13580,1.19,219.8,349.1,7.8,649,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2094,2012
$GC,13889,1.19,219.8,325.3,7.6,664,13893,0.00,2.65,0.00,0.000,4,0.000,0.074,2680,3510,2013
$GC,13938,1.19,219.8,321.2,8.1,666,13942,0.00,2.47,0.00,0.000,6,0.000,0.045,2680,2100,2013
$GC,14259,1.19,219.8,297.1,7.7,682,14263,0.00,2.65,0.00,0.000,4,0.000,0.074,2680,3510,2013
$GC,14292,1.19,219.8,294.6,7.6,683,14298,0.00,2.50,0.00,0.000,6,0.000,0.047,2680,2098,2013
$GC,14607,1.19,219.8,269.7,7.7,699,14611,0.00,2.65,0.00,0.000,4,0.000,0.072,2680,3508,2013
$GC,14634,1.19,219.8,267.5,7.8,700,14639,0.00,2.50,0.00,0.000,6,0.000,0.047,2680,2102,2013
$GC,14950,1.19,219.8,245.2,6.8,715,14955,0.00,0.00,3.80,0.703,6,0.000,0.000,2680,2102,2005
$GC,15259,1.19,219.8,223.3,7.2,730,15263,0.00,2.65,0.00,0.000,4,0.000,0.074,2680,3514,2005
$GC,15309,1.19,219.8,219.5,8.0,732,15313,0.00,2.53,0.00,0.000,6,0.000,0.046,2680,2098,2005
$GC,15624,1.19,219.8,194.9,7.9,747,15625,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,2006
$GC,15933,1.19,219.8,170.1,8.2,762,15938,0.00,2.67,0.00,0.000,4,0.000,0.074,2680,3513,2006
$GC,15978,1.19,219.8,166.0,9.5,764,15982,0.00,2.53,0.00,0.000,6,0.000,0.048,2680,2101,2006
$GC,16301,1.19,219.8,139.8,8.1,780,16302,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,2006
$GC,16608,1.19,219.8,115.1,8.1,795,16613,0.00,2.67,0.00,0.000,4,0.000,0.075,2680,3512,2007
$GC,16649,1.19,219.8,111.3,8.9,797,16653,0.00,2.53,0.00,0.000,6,0.000,0.048,2680,2093,2007
$GC,16975,1.19,219.8,78.8,8.5,813,16980,0.00,2.55,0.00,0.000,4,0.000,0.061,2680,687,2007
$GC,17053,1.19,219.8,71.4,9.0,816,17060,0.00,2.50,0.00,0.000,6,0.000,0.048,2680,2097,2007
$GC,17370,1.19,219.8,47.0,7.0,832,17374,0.00,2.58,0.00,0.000,4,0.000,0.064,2680,694,2007
$GC,17425,1.19,219.8,42.3,9.0,834,17431,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,2111,2007
$GC,17741,1.29,296.8,27.2,3.9,850,17811,0.00,2.75,62.38,0.844,4,0.000,0.069,2680,695,1691
$GC,17834,1.29,296.8,18.0,10.0,854,17839,0.00,2.53,0.00,0.000,6,0.000,0.043,2680,2098,1691
$STATE,17982,end climb,SURFACE_DEPTH_REACHED
$STATE,17982,begin surface coast
$FINISH,-0.7,1.027389
$STATE,18004,end surface coast,CONTROL_FINISHED_OK
$STATE,18004,begin surface
$SM_CCo,18028,3.15,0.522,0,0,1678,300.00
$SM_GC,1.11,0.00,0.00,3.15,0.000,0.000,0.522,49,2896,1678,-10.86,-0.11,300.00
$IRIDIUM_FIX,6207.28,-1047.49,200108,141456
$TT8_MAMPS,0.029146
$HUMID,2065
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,550.9,101.5
$24V_AH,23.2,66.644
$10V_AH,10.1,30.775
$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,25.975,180.325,377.100,3.150,0.000,76.534,74.909,241.715,5.250,0.000,0.000,34.535,1604.170,13821.604,504.153,1977.528,744.756,0.000,1514.356,0.000,1933.734,0.000,31.547
$DEVICE_MAMPS,156.468,118.118,1303.133,522.327,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,638.220,594.480,542.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44119,862
$CFSIZE,260165632,237223936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,200108,155208,6229.790,-1052.602,41,1.8,41,-10.6