version: 66.02
glider: 103
mission: 7
dive: 456
start: 1 31 108 17 24 32
data:
$ID,103
$MISSION,7
$DIVE,456
$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,-71310.828
$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,20
$R_STBD_OVSHOOT,9
$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
$GPS1,171738,6126.884,-913.546,151,1.7,151,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-45.5
$GPS2,172359,6126.780,-913.661,15,2.3,34,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$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,7.9,48573,-11.1,-6.000
$D_GRID,566
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-76.30,0.000,6,0.000,0.000,36,2900,3500
$GC,110,-1.10,-146.6,6.0,-11.4,4,130,12.07,1.75,0.00,0.000,4,0.160,0.090,2167,3786,3501
$GC,215,-1.10,-146.6,17.8,-5.9,8,221,0.00,1.65,0.00,0.000,6,0.000,0.062,2167,2903,3501
$GC,531,-1.10,-146.6,44.3,-2.1,24,535,0.00,1.73,0.00,0.000,4,0.000,0.095,2167,3786,3501
$GC,604,-1.10,-146.6,44.8,-0.9,27,608,0.00,1.58,0.00,0.000,6,0.000,0.049,2167,2898,3501
$GC,931,-1.10,-146.6,67.7,-10.0,43,936,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1484,3501
$GC,1044,-1.10,-146.6,77.9,-11.8,48,1048,0.00,2.67,0.00,0.000,6,0.000,0.072,2167,2902,3501
$GC,1365,-1.10,-146.6,111.3,-9.3,64,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,1675,-1.10,-146.6,133.6,-7.1,79,1678,0.00,1.70,0.00,0.000,4,0.000,0.093,2167,3787,3501
$GC,1703,-1.10,-146.6,134.5,-2.6,80,1706,0.00,1.58,0.00,0.000,6,0.000,0.045,2167,2890,3502
$GC,2030,-1.10,-146.6,164.6,-12.1,96,2033,0.00,1.75,0.00,0.000,4,0.000,0.095,2167,3786,3501
$GC,2069,-1.10,-146.6,170.6,-15.2,97,2075,0.00,1.58,0.00,0.000,6,0.000,0.049,2167,2897,3501
$GC,2385,-1.10,-146.6,217.5,-17.1,113,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3502
$GC,2694,-1.10,-146.6,243.8,-9.0,128,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3501
$GC,3003,-1.10,-146.6,269.6,-8.5,143,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3501
$GC,3313,-1.10,-146.6,294.9,-8.0,158,3317,0.00,2.53,0.00,0.000,4,0.000,0.054,2167,1482,3501
$GC,3352,-1.10,-146.6,298.0,-8.1,160,3357,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2906,3501
$GC,3679,-1.10,-146.6,328.6,-9.9,176,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3502
$GC,3988,-1.10,-146.6,356.3,-8.6,191,3992,0.00,2.58,0.00,0.000,4,0.000,0.055,2167,1480,3501
$GC,4055,-1.10,-146.6,362.1,-8.6,194,4059,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2902,3501
$GC,4376,-1.10,-146.6,389.7,-9.1,210,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,4685,-1.10,-146.6,417.0,-8.1,225,4689,0.00,2.53,0.00,0.000,4,0.000,0.050,2167,1481,3501
$GC,4729,-1.10,-146.6,421.0,-8.9,227,4733,0.00,2.60,0.00,0.000,6,0.000,0.058,2167,2903,3501
$GC,5051,-1.10,-146.6,450.1,-9.3,243,5055,0.00,2.50,0.00,0.000,4,0.000,0.044,2167,1478,3501
$GC,5083,-1.10,-146.6,453.3,-9.2,244,5089,0.00,2.58,0.00,0.000,6,0.000,0.055,2167,2901,3501
$GC,5399,-1.10,-146.6,480.2,-8.1,260,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,5709,-1.10,-146.6,502.8,-7.0,275,5713,0.00,2.47,0.00,0.000,4,0.000,0.039,2167,1476,3501
$GC,5758,-1.10,-146.6,506.4,-7.6,277,5763,0.00,2.58,0.00,0.000,6,0.000,0.051,2167,2902,3501
$GC,6074,-1.10,-146.6,530.2,-6.8,292,6078,0.00,2.47,0.00,0.000,4,0.000,0.038,2167,1475,3501
$GC,6107,-1.10,-146.6,532.5,-7.0,293,6113,0.00,2.55,0.00,0.000,6,0.000,0.050,2167,2900,3502
$GC,6423,-1.10,-146.6,552.7,-6.3,309,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$STATE,6646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6646,begin apogee
$GC,6655,-0.42,0.0,567.1,6.7,320,6788,0.73,0.00,126.10,1.172,6,0.077,0.000,2316,2078,2901
$STATE,6789,end apogee,CONTROL_FINISHED_OK
$STATE,6789,begin climb
$GC,6793,1.10,146.6,571.3,0.0,327,6924,1.55,2.53,121.75,1.147,4,0.055,0.048,2650,708,2303
$GC,7036,1.10,146.6,563.1,6.2,338,7040,0.00,2.45,0.00,0.000,6,0.000,0.030,2650,2131,2303
$GC,7352,1.11,152.1,544.3,5.8,353,7365,0.00,2.47,6.43,0.913,4,0.000,0.051,2650,3492,2280
$GC,7434,1.11,152.1,538.7,6.9,356,7440,0.00,2.40,0.00,0.000,6,0.000,0.031,2650,2099,2280
$GC,7750,1.12,162.1,519.7,5.7,372,7762,0.00,0.00,10.20,1.009,6,0.000,0.000,2650,2099,2240
$GC,8060,1.12,162.1,497.8,7.5,387,8064,0.00,2.53,0.00,0.000,4,0.000,0.053,2650,3493,2240
$GC,8122,1.12,162.1,492.6,8.2,390,8126,0.00,2.40,0.00,0.000,6,0.000,0.030,2650,2092,2240
$GC,8449,1.12,162.1,465.4,8.7,406,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2092,2240
$GC,8759,1.12,162.1,435.6,9.8,421,8763,0.00,2.55,0.00,0.000,4,0.000,0.059,2650,3491,2240
$GC,8809,1.12,162.1,430.4,10.3,423,8813,0.00,2.40,0.00,0.000,6,0.000,0.033,2650,2104,2240
$GC,9124,1.12,162.1,400.8,8.6,438,9129,0.00,2.58,0.00,0.000,4,0.000,0.064,2650,3492,2240
$GC,9165,1.12,162.1,397.2,8.3,440,9169,0.00,2.42,0.00,0.000,6,0.000,0.037,2650,2095,2240
$GC,9491,1.12,162.1,371.1,7.3,456,9496,0.00,2.62,0.00,0.000,4,0.000,0.069,2650,3497,2240
$GC,9519,1.12,162.1,369.0,8.0,457,9523,0.00,2.47,0.00,0.000,6,0.000,0.041,2650,2095,2240
$GC,9835,1.12,162.1,349.5,6.0,472,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2095,2240
$GC,10144,1.12,162.1,330.2,6.2,487,10148,0.00,2.60,0.00,0.000,4,0.000,0.069,2650,3490,2240
$GC,10216,1.12,162.1,325.0,6.7,490,10220,0.00,2.45,0.00,0.000,6,0.000,0.040,2650,2097,2240
$GC,10532,1.12,162.1,301.2,7.2,505,10537,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3491,2240
$GC,10582,1.12,162.1,297.8,6.5,507,10586,0.00,2.42,0.00,0.000,6,0.000,0.040,2650,2099,2240
$GC,10904,1.12,162.1,269.5,10.0,523,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2098,2240
$GC,11213,1.12,162.1,240.0,9.0,538,11218,0.00,2.60,0.00,0.000,4,0.000,0.070,2650,3495,2240
$GC,11269,1.12,162.1,235.2,8.6,540,11275,0.00,2.47,0.00,0.000,6,0.000,0.043,2650,2097,2240
$GC,11585,1.27,280.0,222.5,2.7,556,11689,0.17,2.72,95.65,0.957,4,0.037,0.075,2701,3490,1758
$GC,11728,1.27,280.0,215.3,6.4,562,11734,0.00,2.50,0.00,0.000,6,0.000,0.047,2701,2101,1758
$GC,12043,1.36,358.5,191.6,3.8,578,12113,0.00,2.70,64.50,0.919,4,0.000,0.072,2701,3488,1438
$GC,12136,1.36,358.5,185.9,8.9,582,12142,0.00,2.53,0.00,0.000,6,0.000,0.048,2701,2097,1438
$GC,12452,1.36,358.5,162.6,7.2,598,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,1437
$GC,12763,1.36,358.5,131.6,12.1,613,12768,0.00,2.55,0.00,0.000,4,0.000,0.059,2701,694,1437
$GC,12881,1.36,358.5,115.2,21.0,618,12886,0.00,2.47,0.00,0.000,6,0.000,0.048,2701,2077,1436
$GC,13197,1.36,358.5,71.0,12.4,633,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2080,1436
$GC,13507,1.36,358.5,27.1,16.8,648,13511,0.00,2.62,0.00,0.000,4,0.000,0.081,2701,702,1437
$GC,13557,1.36,358.5,18.4,16.7,650,13561,0.00,2.53,0.00,0.000,6,0.000,0.049,2701,2107,1437
$STATE,13664,end climb,SURFACE_DEPTH_REACHED
$STATE,13664,begin surface coast
$FINISH,-0.9,1.027414
$STATE,13686,end surface coast,CONTROL_FINISHED_OK
$STATE,13686,begin surface
$SM_CCo,13770,0.00,0.000,0,0,1436,359.36
$SM_GC,-0.29,11.50,0.00,0.00,0.021,0.000,0.000,46,2892,1436,-10.79,-0.25,359.36
$IRIDIUM_FIX,6103.81,-915.18,260497,131347
$TT8_MAMPS,0.029146
$HUMID,2082
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.2,69.5
$24V_AH,23.2,75.816
$10V_AH,10.1,35.292
$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,26.025,117.800,424.625,0.000,0.000,40.691,51.426,148.314,4.750,0.000,0.000,38.109,1195.336,10423.271,527.809,1484.151,535.267,0.000,1301.558,0.000,1445.795,0.000,29.841
$DEVICE_MAMPS,159.536,95.108,1171.976,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.122,460.732,415.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,656
$CFSIZE,260165632,233971712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,310108,172359,6126.780,-913.661,15,2.3,34,-9.3