version: 66.02
glider: 103
mission: 7
dive: 431
start: 1 26 108 22 57 48
data:
$ID,103
$MISSION,7
$DIVE,431
$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,-70841.031
$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,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
$GPS1,224701,6148.728,-914.307,38,1.1,43,-9.5
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-60.3
$GPS2,225715,6148.830,-914.036,11,1.6,11,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$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,176.4,54830,-11.1,-6.000
$D_GRID,690
$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,25,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-60.67,0.000,2,0.000,0.000,47,2904,3358
$GC,91,-1.10,-146.6,3.5,-8.9,3,113,11.90,2.58,-2.53,0.000,4,0.156,0.073,2165,1492,3502
$GC,152,-1.10,-146.6,18.3,-12.5,5,158,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2900,3502
$GC,468,-1.10,-146.6,45.6,-7.4,21,472,0.00,1.73,0.00,0.000,4,0.000,0.100,2165,3784,3502
$GC,496,-1.10,-146.6,47.8,-7.2,22,499,0.00,1.58,0.00,0.000,6,0.000,0.052,2165,2909,3502
$GC,823,-1.10,-146.6,70.5,-7.1,38,827,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1480,3502
$GC,856,-1.10,-146.6,72.1,-4.9,39,863,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2901,3502
$GC,1174,-1.10,-146.6,90.2,-7.4,55,1177,0.00,1.73,0.00,0.000,4,0.000,0.100,2165,3787,3502
$GC,1197,-1.10,-146.6,92.2,-7.8,56,1201,0.00,1.60,0.00,0.000,6,0.000,0.052,2165,2899,3502
$GC,1530,-1.10,-146.6,118.9,-8.9,72,1534,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1489,3502
$GC,1552,-1.10,-146.6,121.0,-9.0,73,1556,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2899,3502
$GC,1872,-1.10,-146.6,156.1,-13.4,89,1877,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1488,3502
$GC,1900,-1.10,-146.6,159.6,-11.2,90,1904,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2899,3502
$GC,2216,-1.10,-146.6,191.8,-9.4,105,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,2526,-1.10,-146.6,225.4,-10.8,120,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,2834,-1.10,-146.6,246.5,-3.9,135,2839,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1487,3502
$GC,2875,-1.10,-146.6,249.3,-7.1,137,2880,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,3204,-1.10,-146.6,277.2,-11.4,153,3207,0.00,1.70,0.00,0.000,4,0.000,0.096,2165,3785,3502
$GC,3289,-1.10,-146.6,286.3,-10.7,156,3295,0.00,1.58,0.00,0.000,6,0.000,0.047,2165,2892,3503
$GC,3606,-1.10,-146.6,309.4,-5.1,172,3610,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1480,3502
$GC,3650,-1.10,-146.6,311.1,-4.4,174,3654,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2900,3502
$GC,3971,-1.10,-146.6,334.5,-7.6,190,3975,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1483,3502
$GC,3998,-1.10,-146.6,336.8,-8.5,191,4002,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2899,3502
$GC,4314,-1.10,-146.6,361.1,-7.0,206,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,4624,-1.10,-146.6,379.6,-6.8,221,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,4932,-1.10,-146.6,405.1,-7.1,236,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,5242,-1.10,-146.6,426.4,-7.2,251,5246,0.00,2.58,0.00,0.000,4,0.000,0.057,2165,1477,3502
$GC,5286,-1.10,-146.6,429.4,-6.6,253,5290,0.00,2.62,0.00,0.000,6,0.000,0.062,2165,2901,3502
$GC,5607,-1.10,-146.6,445.7,-4.9,269,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5916,-1.10,-146.6,460.3,-4.8,284,5920,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1477,3502
$GC,5972,-1.10,-146.6,463.6,-6.0,286,5978,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2902,3502
$GC,6287,-1.10,-146.6,487.0,-7.2,302,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,6597,-1.10,-146.6,505.7,-5.9,317,6601,0.00,2.53,0.00,0.000,4,0.000,0.050,2165,1475,3503
$GC,6630,-1.10,-146.6,508.0,-6.4,318,6636,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2900,3502
$GC,6945,-1.10,-146.6,531.7,-7.7,334,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,7255,-1.10,-146.6,558.9,-9.4,349,7259,0.00,2.50,0.00,0.000,4,0.000,0.044,2165,1477,3503
$GC,7305,-1.10,-146.6,563.5,-9.1,351,7310,0.00,2.60,0.00,0.000,6,0.000,0.056,2165,2910,3502
$GC,7621,-1.10,-146.6,587.8,-8.0,366,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,7931,-1.10,-146.6,605.6,-5.1,381,7934,0.00,1.62,0.00,0.000,4,0.000,0.084,2165,3779,3502
$GC,8114,-1.10,-146.6,614.8,-4.9,389,8118,0.00,1.52,0.00,0.000,6,0.000,0.035,2165,2887,3503
$GC,8447,-1.10,-146.6,632.3,-5.1,405,8451,0.00,2.42,0.00,0.000,4,0.000,0.042,2165,1488,3503
$GC,8554,-1.10,-146.6,637.9,-7.0,410,8559,0.00,2.55,0.00,0.000,6,0.000,0.055,2165,2900,3502
$GC,8881,-1.10,-146.6,654.9,-4.9,426,8885,0.00,1.65,0.00,0.000,4,0.000,0.085,2165,3783,3502
$GC,8959,-1.10,-146.6,659.4,-6.5,429,8963,0.00,1.52,0.00,0.000,6,0.000,0.035,2165,2900,3502
$STATE,9278,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9278,begin apogee
$GC,9287,-0.42,0.0,685.2,8.1,445,9421,0.77,0.00,126.78,1.321,6,0.096,0.000,2319,2097,2901
$STATE,9421,end apogee,CONTROL_FINISHED_OK
$STATE,9421,begin climb
$GC,9424,1.10,146.6,693.9,0.0,452,9556,1.52,2.60,124.00,1.263,4,0.052,0.058,2650,707,2303
$GC,9815,1.15,181.2,689.0,5.0,470,9851,0.00,2.47,30.58,1.241,6,0.000,0.038,2650,2117,2162
$GC,10164,1.26,271.7,675.0,3.5,486,10250,0.15,2.67,77.28,1.282,4,0.041,0.058,2699,709,1793
$GC,10503,1.26,271.7,647.3,8.1,501,10507,0.00,2.45,0.00,0.000,6,0.000,0.040,2699,2096,1791
$GC,10819,1.26,271.7,619.6,9.8,516,10823,0.00,2.55,0.00,0.000,4,0.000,0.057,2699,702,1790
$GC,10904,1.26,271.7,612.1,8.4,520,10908,0.00,2.45,0.00,0.000,6,0.000,0.039,2699,2101,1790
$GC,11230,1.26,271.7,587.6,8.0,536,11235,0.00,2.62,0.00,0.000,4,0.000,0.070,2699,3513,1789
$GC,11338,1.26,271.7,577.0,10.0,541,11343,0.00,2.45,0.00,0.000,6,0.000,0.038,2699,2101,1788
$GC,11665,1.26,271.7,541.0,11.6,557,11669,0.00,2.53,0.00,0.000,4,0.000,0.053,2699,693,1788
$GC,11726,1.26,271.7,533.5,11.3,560,11731,0.00,2.42,0.00,0.000,6,0.000,0.037,2699,2101,1788
$GC,12054,1.26,271.7,494.8,12.1,576,12058,0.00,2.53,0.00,0.000,4,0.000,0.051,2699,698,1788
$GC,12121,1.26,271.7,486.1,12.7,579,12125,0.00,2.47,0.00,0.000,6,0.000,0.038,2699,2108,1788
$GC,12442,1.26,271.7,449.1,11.1,595,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2107,1788
$GC,12751,1.26,271.7,416.1,11.3,610,12755,0.00,2.55,0.00,0.000,4,0.000,0.055,2699,694,1788
$GC,12778,1.26,271.7,412.1,14.2,611,12782,0.00,2.47,0.00,0.000,6,0.000,0.038,2699,2103,1788
$GC,13094,1.26,271.7,374.6,11.9,626,13098,0.00,2.60,0.00,0.000,4,0.000,0.073,2699,3508,1789
$GC,13121,1.26,271.7,371.4,11.0,627,13125,0.00,2.50,0.00,0.000,6,0.000,0.043,2699,2098,1789
$GC,13437,1.26,271.7,338.3,10.2,642,13441,0.00,2.53,0.00,0.000,4,0.000,0.058,2699,691,1789
$GC,13481,1.26,271.7,333.5,11.4,644,13485,0.00,2.47,0.00,0.000,6,0.000,0.042,2699,2096,1789
$GC,13801,1.26,271.7,298.4,10.4,660,13806,0.00,2.55,0.00,0.000,4,0.000,0.058,2699,692,1790
$GC,13829,1.26,271.7,295.4,10.5,661,13834,0.00,2.50,0.00,0.000,6,0.000,0.042,2699,2104,1790
$GC,14145,1.26,271.7,263.8,10.0,676,14150,0.00,2.58,0.00,0.000,4,0.000,0.060,2699,695,1790
$GC,14195,1.26,271.7,258.3,10.9,678,14200,0.00,2.50,0.00,0.000,6,0.000,0.046,2699,2095,1791
$GC,14511,1.26,271.7,228.0,9.9,693,14512,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2095,1791
$GC,14820,1.26,271.7,195.8,10.4,708,14824,0.00,2.55,0.00,0.000,4,0.000,0.060,2699,690,1791
$GC,14853,1.26,271.7,192.0,11.5,709,14859,0.00,2.53,0.00,0.000,6,0.000,0.046,2699,2108,1791
$GC,15169,1.26,271.7,157.9,12.1,725,15173,0.00,2.58,0.00,0.000,4,0.000,0.061,2699,695,1792
$GC,15208,1.26,271.7,153.2,11.5,727,15213,0.00,2.50,0.00,0.000,6,0.000,0.048,2699,2102,1792
$GC,15536,1.26,271.7,116.6,11.4,743,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2102,1792
$GC,15845,1.26,271.7,84.6,10.3,758,15846,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2102,1792
$GC,16154,1.26,271.7,54.8,9.6,773,16158,0.00,2.60,0.00,0.000,4,0.000,0.065,2699,697,1792
$GC,16187,1.26,271.7,51.2,10.0,774,16193,0.00,2.50,0.00,0.000,6,0.000,0.049,2699,2098,1792
$GC,16505,1.26,271.7,21.4,9.4,790,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2098,1792
$STATE,16706,end climb,SURFACE_DEPTH_REACHED
$STATE,16706,begin surface coast
$FINISH,-0.3,1.027332
$STATE,16729,end surface coast,CONTROL_FINISHED_OK
$STATE,16730,begin surface
$SM_CCo,16754,24.75,0.783,1,0,1678,300.00
$SM_GC,-0.10,0.00,0.00,24.75,0.000,0.000,0.783,45,2900,1678,-10.87,0.00,300.00
$IRIDIUM_FIX,6121.73,-917.27,210497,222203
$TT8_MAMPS,0.029146
$HUMID,2093
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,626.1,68.2
$24V_AH,23.1,71.885
$10V_AH,10.1,33.392
$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,26.025,151.975,358.625,24.750,0.000,79.545,74.077,263.141,6.000,0.000,0.000,13.246,1497.728,12814.056,497.209,1846.771,754.183,0.000,1443.788,0.000,1808.751,0.000,39.250
$DEVICE_MAMPS,155.701,99.710,1320.774,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.825,557.109,489.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41157,801
$CFSIZE,260165632,235307008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,270108,033838,6147.369,-911.549,29,1.9,29,-9.4