version: 66.02
glider: 103
mission: 7
dive: 414
start: 1 23 108 18 52 6
data:
$ID,103
$MISSION,7
$DIVE,414
$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,-70516.539
$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,18
$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
$GPS1,184207,6214.720,-954.822,30,1.3,30,-10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-55.3
$GPS2,185133,6214.719,-954.811,13,1.2,13,-10.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$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,149.2,53153,-11.1,-6.000
$D_GRID,688
$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,-146.6,0.0,0.0,0,97,0.00,0.00,-71.15,0.000,6,0.000,0.000,35,2901,3499
$GC,101,-1.10,-146.6,2.0,-5.2,3,122,12.10,1.75,0.00,0.000,4,0.160,0.092,2166,3783,3502
$GC,374,-1.10,-146.6,37.2,-8.3,15,378,0.00,1.60,0.00,0.000,6,0.000,0.055,2166,2897,3502
$GC,702,-1.10,-146.6,63.3,-5.2,31,706,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1491,3502
$GC,729,-1.10,-146.6,65.6,-7.5,32,733,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2899,3502
$GC,1046,-1.10,-146.6,93.8,-10.2,47,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,1355,-1.10,-146.6,119.0,-7.2,62,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,1663,-1.10,-146.6,139.4,-6.9,77,1668,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1490,3502
$GC,1703,-1.10,-146.6,142.3,-6.3,79,1708,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2904,3502
$GC,2029,-1.10,-146.6,165.1,-7.4,95,2034,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1484,3502
$GC,2057,-1.10,-146.6,167.1,-7.2,96,2061,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2901,3502
$GC,2373,-1.10,-146.6,189.9,-7.3,111,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,2682,-1.10,-146.6,213.0,-7.6,126,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,2992,-1.10,-146.6,237.3,-8.3,141,2996,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1487,3502
$GC,3047,-1.10,-146.6,242.0,-7.8,143,3053,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2908,3502
$GC,3362,-1.10,-146.6,263.1,-6.8,159,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,3672,-1.10,-146.6,286.8,-7.7,174,3676,0.00,2.60,0.00,0.000,4,0.000,0.060,2166,1481,3502
$GC,3716,-1.10,-146.6,290.1,-7.8,176,3720,0.00,2.67,0.00,0.000,6,0.000,0.072,2167,2902,3502
$GC,4036,-1.10,-146.6,314.3,-7.9,192,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,4346,-1.10,-146.6,337.2,-7.8,207,4350,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1488,3502
$GC,4390,-1.10,-146.6,340.8,-8.1,209,4394,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2899,3502
$GC,4711,-1.10,-146.6,361.8,-5.8,225,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,5020,-1.10,-146.6,380.7,-6.4,240,5024,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3502
$GC,5059,-1.10,-146.6,383.4,-6.7,242,5063,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2902,3502
$GC,5386,-1.10,-146.6,403.5,-6.1,258,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,5694,-1.10,-146.6,423.2,-6.6,273,5699,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1484,3502
$GC,5767,-1.10,-146.6,427.7,-5.9,276,5772,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,6084,-1.10,-146.6,447.8,-6.7,291,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,6393,-1.10,-146.6,468.6,-6.7,306,6396,0.00,2.55,0.00,0.000,4,0.000,0.056,2165,1484,3502
$GC,6431,-1.10,-146.6,471.1,-6.4,307,6438,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2898,3502
$GC,6748,-1.10,-146.6,489.4,-5.7,323,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,7056,-1.10,-146.6,511.7,-8.2,338,7060,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1482,3502
$GC,7100,-1.10,-146.6,515.7,-9.0,340,7104,0.00,2.60,0.00,0.000,6,0.000,0.060,2166,2900,3502
$GC,7421,-1.10,-146.6,544.3,-9.7,356,7426,0.00,2.53,0.00,0.000,4,0.000,0.048,2166,1479,3502
$GC,7484,-1.10,-146.6,550.9,-10.5,359,7488,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2900,3502
$GC,7810,-1.10,-146.6,581.6,-8.3,375,7814,0.00,2.53,0.00,0.000,4,0.000,0.049,2166,1479,3502
$GC,7867,-1.10,-146.6,586.0,-7.6,377,7873,0.00,2.62,0.00,0.000,6,0.000,0.061,2166,2907,3502
$GC,8182,-1.10,-146.6,610.3,-7.5,393,8183,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,8492,-1.10,-146.6,632.3,-6.9,408,8496,0.00,2.53,0.00,0.000,4,0.000,0.049,2166,1477,3502
$GC,8525,-1.10,-146.6,634.6,-7.8,409,8531,0.00,2.62,0.00,0.000,6,0.000,0.062,2166,2899,3502
$STATE,8756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8756,begin apogee
$GC,8764,-0.42,0.0,649.5,6.4,421,8898,0.75,0.00,126.93,1.295,6,0.086,0.000,2317,2090,2901
$STATE,8899,end apogee,CONTROL_FINISHED_OK
$STATE,8899,begin climb
$GC,8901,1.10,146.6,655.0,0.0,428,9033,1.52,2.60,123.47,1.249,4,0.054,0.059,2647,699,2303
$GC,9290,1.12,160.4,638.8,5.6,445,9310,0.00,2.50,13.05,1.160,6,0.000,0.037,2647,2123,2247
$GC,9627,1.13,165.3,619.6,5.9,462,9638,0.00,2.58,5.72,1.004,4,0.000,0.064,2647,3501,2227
$GC,9683,1.13,165.3,616.1,6.1,464,9689,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2094,2227
$GC,9999,1.16,192.1,598.5,5.3,480,10029,0.00,2.70,24.27,1.256,4,0.000,0.065,2647,3495,2117
$GC,10113,1.19,213.7,592.3,5.4,485,10138,0.00,2.47,19.58,1.225,6,0.000,0.039,2647,2101,2029
$GC,10461,1.19,213.7,570.4,6.3,502,10465,0.00,2.62,0.00,0.000,4,0.000,0.068,2647,3504,2027
$GC,10546,1.23,246.2,565.5,5.1,506,10581,0.15,2.47,28.17,1.260,6,0.041,0.040,2690,2101,1897
$GC,10899,1.23,246.2,540.9,7.0,523,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2101,1895
$GC,11206,1.23,246.2,515.4,8.9,538,11210,0.00,2.65,0.00,0.000,4,0.000,0.071,2690,3505,1894
$GC,11290,1.23,246.2,506.5,11.4,542,11295,0.00,2.47,0.00,0.000,6,0.000,0.041,2690,2103,1894
$GC,11617,1.23,246.2,475.0,8.9,558,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2103,1893
$GC,11925,1.23,246.2,450.5,8.2,573,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2103,1893
$GC,12235,1.23,246.2,423.4,9.1,588,12239,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3504,1893
$GC,12274,1.23,246.2,419.8,8.6,590,12279,0.00,2.47,0.00,0.000,6,0.000,0.044,2690,2103,1894
$GC,12607,1.23,246.2,388.9,9.2,606,12611,0.00,2.58,0.00,0.000,4,0.000,0.061,2690,685,1894
$GC,12651,1.23,246.2,384.6,8.9,608,12655,0.00,2.50,0.00,0.000,6,0.000,0.042,2690,2094,1894
$GC,12972,1.23,246.2,357.5,8.0,624,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2094,1895
$GC,13281,1.23,246.2,333.6,7.7,639,13285,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3512,1895
$GC,13320,1.23,246.2,330.4,8.0,641,13325,0.00,2.50,0.00,0.000,6,0.000,0.044,2690,2096,1896
$GC,13647,1.23,246.2,305.2,7.9,657,13651,0.00,2.67,0.00,0.000,4,0.000,0.072,2690,3517,1896
$GC,13675,1.23,246.2,302.9,8.4,658,13680,0.00,2.53,0.00,0.000,6,0.000,0.044,2690,2102,1896
$GC,13991,1.23,246.2,277.4,7.8,673,13992,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2101,1897
$GC,14300,1.23,246.2,253.8,7.5,688,14305,0.00,2.65,0.00,0.000,4,0.000,0.073,2690,3511,1897
$GC,14340,1.23,246.2,250.8,7.6,690,14344,0.00,2.50,0.00,0.000,6,0.000,0.046,2690,2098,1897
$GC,14666,1.23,246.2,227.0,7.1,706,14667,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2098,1897
$GC,14976,1.23,246.2,204.8,7.3,721,14980,0.00,2.65,0.00,0.000,4,0.000,0.072,2690,3512,1898
$GC,15020,1.23,246.2,201.1,8.1,723,15024,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2093,1899
$GC,15340,1.23,246.2,177.8,7.3,739,15345,0.00,2.67,0.00,0.000,4,0.000,0.072,2690,3516,1898
$GC,15374,1.23,246.2,175.0,8.2,740,15381,0.00,2.53,0.00,0.000,6,0.000,0.047,2690,2096,1898
$GC,15690,1.23,246.2,151.1,7.5,756,15691,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1899
$GC,15999,1.23,246.2,128.7,6.7,771,16004,0.00,2.67,0.00,0.000,4,0.000,0.073,2690,3516,1899
$GC,16039,1.23,246.2,126.1,6.7,773,16043,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2097,1899
$GC,16366,1.23,246.2,101.4,7.6,789,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2097,1899
$GC,16675,1.23,246.2,78.5,8.3,804,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2097,1899
$GC,16986,1.23,246.2,51.0,10.1,819,16990,0.00,2.67,0.00,0.000,4,0.000,0.076,2690,3512,1900
$GC,17019,1.23,246.2,47.7,9.5,820,17025,0.00,2.53,0.00,0.000,6,0.000,0.050,2690,2097,1900
$GC,17336,1.23,246.2,19.4,9.1,836,17337,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1900
$STATE,17538,end climb,SURFACE_DEPTH_REACHED
$STATE,17538,begin surface coast
$FINISH,-1.3,1.027379
$STATE,17562,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
$SM_CCo,17586,45.62,0.809,1,0,1678,300.00
$SM_GC,-0.44,0.00,0.00,45.62,0.000,0.000,0.809,44,2896,1678,-10.88,-0.11,300.00
$IRIDIUM_FIX,6148.92,-958.07,180497,181805
$TT8_MAMPS,0.029146
$HUMID,2078
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.80
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,601.1,57.2
$24V_AH,23.2,69.083
$10V_AH,10.1,32.091
$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,26.100,146.050,341.200,45.625,0.000,77.942,75.584,222.835,6.000,0.000,0.000,15.221,1552.494,13588.297,518.534,1847.978,711.245,0.000,1456.278,0.000,1819.792,0.000,37.597
$DEVICE_MAMPS,159.536,92.040,1294.696,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.889,584.583,528.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44203,847
$CFSIZE,260165632,236240896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,230108,234725,6213.439,-949.272,26,1.7,44,-9.9