version: 66.02
glider: 103
mission: 7
dive: 418
start: 1 24 108 14 47 41
data:
$ID,103
$MISSION,7
$DIVE,418
$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,-70577.031
$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
$GPS1,143708,6208.877,-924.343,40,0.9,40,-9.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.36
$_SM_ANGLEo,-53.8
$GPS2,144709,6208.823,-924.107,15,1.1,15,-9.7
$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,174.5,30363,-11.1,-6.000
$D_GRID,554
$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,-146.6,0.0,0.0,0,96,0.00,0.00,-70.20,0.000,6,0.000,0.000,45,2900,3500
$GC,100,-1.10,-146.6,2.3,-6.0,3,116,11.93,1.75,0.00,0.000,4,0.156,0.089,2163,3786,3501
$GC,352,-1.10,-146.6,37.6,-5.3,13,355,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2900,3502
$GC,674,-1.10,-146.6,55.8,-4.9,29,679,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1490,3502
$GC,702,-1.10,-146.6,57.1,-4.0,30,707,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2900,3502
$GC,1018,-1.10,-146.6,68.5,-3.5,45,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,1329,-1.10,-146.6,92.0,-8.2,60,1334,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1490,3502
$GC,1362,-1.10,-146.6,94.5,-6.9,61,1369,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2903,3502
$GC,1679,-1.10,-146.6,109.6,-5.8,77,1682,0.00,1.70,0.00,0.000,4,0.000,0.098,2163,3786,3502
$GC,1758,-1.10,-146.6,113.5,-4.1,80,1761,0.00,1.58,0.00,0.000,6,0.000,0.050,2163,2899,3502
$GC,2080,-1.10,-146.6,124.9,-3.5,96,2084,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1481,3502
$GC,2120,-1.10,-146.6,126.3,-3.8,98,2124,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2903,3502
$GC,2447,-1.10,-146.6,140.1,-5.7,114,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,2755,-1.10,-146.6,151.1,-3.7,129,2760,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1487,3503
$GC,2800,-1.10,-146.6,153.5,-5.6,131,2805,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2900,3502
$GC,3121,-1.10,-146.6,168.2,-5.8,147,3125,0.00,1.73,0.00,0.000,4,0.000,0.098,2163,3792,3502
$GC,3138,-1.10,-146.6,169.5,-6.5,147,3144,0.00,1.60,0.00,0.000,6,0.000,0.050,2163,2892,3503
$GC,3454,-1.10,-146.6,187.5,-5.1,163,3458,0.00,2.58,0.00,0.000,4,0.000,0.066,2163,1480,3502
$GC,3487,-1.10,-146.6,189.2,-5.1,164,3493,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2900,3502
$GC,3803,-1.10,-146.6,205.1,-5.8,180,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4112,-1.10,-146.6,223.0,-4.3,195,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,4422,-1.10,-146.6,238.8,-5.2,210,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4731,-1.10,-146.6,262.5,-9.0,225,4735,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1483,3502
$GC,4763,-1.10,-146.6,265.4,-9.1,226,4769,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2908,3502
$GC,5080,-1.10,-146.6,286.7,-4.8,242,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,5388,-1.10,-146.6,309.4,-9.7,257,5392,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1478,3502
$GC,5438,-1.10,-146.6,314.0,-8.9,259,5442,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2903,3502
$GC,5754,-1.10,-146.6,340.4,-7.2,274,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,6063,-1.10,-146.6,367.4,-9.8,289,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,6372,-1.10,-146.6,392.7,-8.8,304,6376,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1486,3502
$GC,6439,-1.10,-146.6,398.4,-8.5,307,6443,0.00,2.60,0.00,0.000,6,0.000,0.062,2163,2902,3502
$GC,6759,-1.10,-146.6,423.8,-7.5,323,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,7068,-1.10,-146.6,447.1,-7.0,338,7073,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1485,3502
$GC,7132,-1.10,-146.6,451.1,-6.8,341,7136,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2902,3502
$GC,7458,-1.10,-146.6,472.6,-6.6,357,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,7768,-1.10,-146.6,489.3,-4.4,372,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,8077,-1.10,-146.6,505.1,-4.7,387,8081,0.00,2.53,0.00,0.000,4,0.000,0.055,2163,1482,3502
$GC,8194,-1.10,-146.6,511.1,-4.7,392,8199,0.00,2.60,0.00,0.000,6,0.000,0.062,2163,2900,3502
$GC,8511,-1.10,-146.6,525.4,-5.0,407,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,8819,-1.10,-146.6,544.2,-6.8,422,8823,0.00,2.53,0.00,0.000,4,0.000,0.053,2163,1481,3503
$GC,8897,-1.10,-146.6,550.0,-7.3,425,8904,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2906,3503
$STATE,8922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8922,begin apogee
$GC,8930,-0.42,0.0,551.9,7.6,427,9059,0.77,0.00,125.45,1.202,6,0.097,0.000,2317,2092,2901
$STATE,9060,end apogee,CONTROL_FINISHED_OK
$STATE,9060,begin climb
$GC,9063,1.10,146.6,556.5,0.0,433,9191,1.52,2.58,120.43,1.177,4,0.052,0.051,2647,695,2303
$GC,9329,1.12,158.9,546.0,5.7,445,9347,0.00,2.47,11.62,1.071,6,0.000,0.034,2647,2116,2253
$GC,9670,1.13,168.1,525.6,5.7,462,9684,0.00,2.62,9.48,1.054,4,0.000,0.053,2647,691,2215
$GC,9731,1.13,168.1,521.9,6.1,464,9735,0.00,2.45,0.00,0.000,6,0.000,0.035,2647,2097,2215
$GC,10057,1.16,191.6,507.3,5.3,480,10080,0.00,0.00,20.88,1.138,6,0.000,0.000,2647,2097,2119
$GC,10387,1.23,248.7,492.1,4.4,496,10442,0.15,2.72,47.90,1.165,4,0.041,0.070,2693,3502,1887
$GC,10465,1.23,248.7,486.4,9.4,499,10471,0.00,2.47,0.00,0.000,6,0.000,0.038,2693,2095,1887
$GC,10780,1.23,248.7,456.8,9.1,515,10781,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2095,1886
$GC,11090,1.23,248.7,426.1,10.8,530,11094,0.00,2.65,0.00,0.000,4,0.000,0.069,2693,3511,1886
$GC,11129,1.23,248.7,421.6,12.6,532,11134,0.00,2.47,0.00,0.000,6,0.000,0.041,2693,2104,1886
$GC,11455,1.23,248.7,383.9,11.1,548,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2104,1885
$GC,11765,1.23,248.7,350.8,10.0,563,11766,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2103,1885
$GC,12074,1.23,248.7,314.9,13.6,578,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2103,1885
$GC,12383,1.23,248.7,275.2,8.1,593,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2103,1885
$GC,12693,1.23,248.7,246.6,9.4,608,12697,0.00,2.55,0.00,0.000,4,0.000,0.061,2693,695,1885
$GC,12737,1.23,248.7,241.5,11.0,610,12741,0.00,2.47,0.00,0.000,6,0.000,0.044,2693,2091,1885
$GC,13058,1.23,248.7,214.4,7.8,626,13062,0.00,2.65,0.00,0.000,4,0.000,0.075,2694,3511,1885
$GC,13085,1.23,248.7,211.8,9.2,627,13089,0.00,2.50,0.00,0.000,6,0.000,0.044,2693,2100,1885
$GC,13401,1.23,248.7,184.8,7.8,642,13405,0.00,2.67,0.00,0.000,4,0.000,0.074,2693,3516,1885
$GC,13433,1.23,248.7,182.2,6.9,643,13439,0.00,2.50,0.00,0.000,6,0.000,0.044,2693,2101,1885
$GC,13749,1.23,248.7,158.9,7.6,659,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2101,1885
$GC,14059,1.23,248.7,132.8,8.5,674,14060,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2101,1886
$GC,14368,1.23,248.7,106.3,8.9,689,14372,0.00,2.65,0.00,0.000,4,0.000,0.074,2693,3511,1886
$GC,14401,1.23,248.7,103.0,9.6,690,14407,0.00,2.50,0.00,0.000,6,0.000,0.045,2693,2094,1886
$GC,14718,1.23,248.7,72.8,9.3,706,14722,0.00,2.58,0.00,0.000,4,0.000,0.067,2693,688,1886
$GC,14746,1.23,248.7,69.7,11.1,707,14750,0.00,2.50,0.00,0.000,6,0.000,0.044,2693,2100,1886
$GC,15062,1.23,248.7,41.6,10.3,722,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2100,1886
$GC,15372,1.23,248.7,9.0,10.0,737,15376,0.00,2.65,0.00,0.000,4,0.000,0.077,2693,3511,1886
$GC,15398,1.23,248.7,6.1,10.8,738,15403,0.00,2.50,0.00,0.000,6,0.000,0.049,2694,2105,1886
$STATE,15444,end climb,SURFACE_DEPTH_REACHED
$STATE,15444,begin surface coast
$FINISH,-0.4,1.027354
$STATE,15467,end surface coast,CONTROL_FINISHED_OK
$STATE,15467,begin surface
$SM_CCo,15492,42.50,0.841,1,0,1678,300.00
$SM_GC,-0.32,0.00,0.00,42.50,0.000,0.000,0.841,31,2895,1678,-10.94,-0.17,300.00
$IRIDIUM_FIX,6144.36,-923.21,190497,141400
$TT8_MAMPS,0.027612
$HUMID,2063
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.0,61.0
$24V_AH,23.2,69.700
$10V_AH,10.1,32.415
$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,26.125,121.350,335.750,42.500,0.000,77.252,71.378,256.509,4.500,0.000,0.000,15.761,1365.493,11973.461,497.631,1602.066,715.987,0.000,1308.891,0.000,1582.618,0.000,28.201
$DEVICE_MAMPS,156.468,98.176,1201.889,840.632,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.787,515.551,530.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37995,741
$CFSIZE,260165632,236007424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,240108,190756,6205.908,-922.526,38,2.0,38,-9.6