version: 66.02
glider: 103
mission: 7
dive: 483
start: 2 5 108 14 25 32
data:
$ID,103
$MISSION,7
$DIVE,483
$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,-72884.047
$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,14
$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
$GPS1,141728,6141.840,-908.500,53,2.2,72,-9.4
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-55.5
$GPS2,142459,6141.677,-908.422,15,2.9,34,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$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,146.6,37036,-11.1,-6.000
$D_GRID,783
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-67.10,0.000,6,0.000,0.000,46,2891,3499
$GC,98,-1.10,-146.6,1.8,-4.6,3,114,12.00,1.77,0.00,0.000,4,0.158,0.089,2163,3783,3501
$GC,350,-1.10,-146.6,31.2,-3.8,13,354,0.00,1.60,0.00,0.000,6,0.000,0.053,2163,2893,3502
$GC,673,-1.10,-146.6,59.3,-11.0,29,677,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1484,3502
$GC,712,-1.10,-146.6,62.2,-8.4,31,717,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2896,3502
$GC,1039,-1.10,-146.6,86.6,-8.8,47,1043,0.00,1.75,0.00,0.000,4,0.000,0.101,2163,3790,3502
$GC,1132,-1.10,-146.6,93.9,-7.8,51,1136,0.00,1.58,0.00,0.000,6,0.000,0.054,2163,2899,3502
$GC,1467,-1.10,-146.6,121.6,-8.6,67,1471,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1488,3502
$GC,1556,-1.10,-146.6,129.7,-8.8,71,1560,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2901,3502
$GC,1877,-1.10,-146.6,157.8,-9.2,87,1881,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1480,3503
$GC,1904,-1.10,-146.6,160.6,-9.9,88,1909,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2900,3502
$GC,2220,-1.10,-146.6,191.6,-10.0,103,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,2530,-1.10,-146.6,221.0,-8.9,118,2534,0.00,2.62,0.00,0.000,4,0.000,0.065,2163,1482,3503
$GC,2569,-1.10,-146.6,224.5,-9.0,120,2574,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3502
$GC,2902,-1.10,-146.6,250.7,-7.4,136,2907,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1487,3502
$GC,2947,-1.10,-146.6,254.3,-8.3,138,2952,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2900,3503
$GC,3269,-1.10,-146.6,274.6,-4.9,154,3273,0.00,1.70,0.00,0.000,4,0.000,0.098,2163,3786,3502
$GC,3376,-1.10,-146.6,278.6,-3.6,158,3382,0.00,1.58,0.00,0.000,6,0.000,0.048,2163,2894,3502
$GC,3693,-1.10,-146.6,291.9,-4.4,174,3697,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1481,3503
$GC,3770,-1.10,-146.6,296.1,-6.1,177,3776,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2901,3503
$GC,4087,-1.10,-146.6,309.5,-3.3,193,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,4395,-1.10,-146.6,327.6,-6.0,208,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,4705,-1.10,-146.6,346.3,-6.3,223,4709,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1483,3503
$GC,4754,-1.10,-146.6,349.9,-7.4,225,4762,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2901,3502
$GC,5079,-1.10,-146.6,372.9,-8.4,241,5082,0.00,1.70,0.00,0.000,4,0.000,0.094,2163,3789,3502
$GC,5125,-1.10,-146.6,377.2,-9.1,243,5129,0.00,1.58,0.00,0.000,6,0.000,0.044,2163,2899,3502
$GC,5458,-1.10,-146.6,405.4,-8.8,259,5462,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1489,3502
$GC,5524,-1.10,-146.6,411.1,-8.6,262,5529,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2901,3503
$GC,5846,-1.10,-146.6,438.2,-8.7,278,5850,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1487,3502
$GC,5890,-1.10,-146.6,441.9,-8.5,280,5895,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2901,3502
$GC,6211,-1.10,-146.6,467.8,-8.1,296,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,6521,-1.10,-146.6,491.9,-8.2,311,6525,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1478,3502
$GC,6577,-1.10,-146.6,496.3,-7.3,313,6583,0.00,2.65,0.00,0.000,6,0.000,0.064,2163,2908,3502
$GC,6892,-1.10,-146.6,520.9,-7.3,329,6897,0.00,2.53,0.00,0.000,4,0.000,0.051,2163,1484,3502
$GC,6927,-1.10,-146.6,523.4,-7.1,330,6934,0.00,2.65,0.00,0.000,6,0.000,0.066,2163,2910,3502
$GC,7244,-1.10,-146.6,549.4,-9.3,346,7249,0.00,2.55,0.00,0.000,4,0.000,0.052,2163,1477,3502
$GC,7283,-1.10,-146.6,553.4,-10.3,347,7289,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2900,3502
$GC,7598,-1.10,-146.6,583.1,-7.2,363,7603,0.00,2.53,0.00,0.000,4,0.000,0.053,2163,1481,3502
$GC,7632,-1.10,-146.6,585.5,-6.7,364,7638,0.00,2.62,0.00,0.000,6,0.000,0.063,2163,2904,3502
$GC,7948,-1.10,-146.6,598.7,-2.7,380,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,8257,-1.10,-146.6,613.5,-9.5,395,8260,0.00,1.65,0.00,0.000,4,0.000,0.085,2163,3785,3502
$GC,8341,-1.10,-146.6,626.8,-17.5,398,8347,0.00,1.55,0.00,0.000,6,0.000,0.035,2163,2883,3502
$GC,8658,-1.10,-146.6,677.3,-13.5,414,8662,0.00,2.42,0.00,0.000,4,0.000,0.048,2163,1498,3502
$GC,8759,-1.10,-146.6,690.8,-12.0,418,8763,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2904,3502
$GC,9075,-1.10,-146.6,701.7,2.7,433,9079,0.00,1.67,0.00,0.000,4,0.000,0.092,2163,3784,3502
$GC,9306,-1.10,-146.6,717.4,-13.2,443,9309,0.00,1.52,0.00,0.000,6,0.000,0.041,2163,2918,3502
$GC,9638,-1.10,-146.6,750.3,-6.7,459,9642,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1494,3502
$GC,9755,-1.10,-146.6,756.8,-5.7,464,9759,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2899,3502
$GC,10071,-1.10,-146.6,775.8,-7.2,479,10076,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1486,3502
$GC,10105,-1.10,-146.6,778.7,-8.2,480,10111,0.00,2.70,0.00,0.000,6,0.000,0.083,2163,2900,3502
$STATE,10170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10170,begin apogee
$GC,10179,-0.42,0.0,784.0,8.0,484,10314,0.80,0.00,129.93,1.396,6,0.104,0.000,2318,2108,2901
$STATE,10315,end apogee,CONTROL_FINISHED_OK
$STATE,10315,begin climb
$GC,10318,1.10,146.6,792.2,0.0,491,10454,1.55,2.75,126.00,1.359,4,0.063,0.067,2647,690,2303
$GC,10515,1.14,174.9,789.3,5.2,500,10546,0.00,2.55,26.05,1.285,6,0.000,0.043,2647,2109,2187
$GC,10857,1.14,174.9,767.9,8.2,516,10861,0.00,2.62,0.00,0.000,4,0.000,0.077,2647,3505,2185
$GC,10934,1.14,174.9,760.9,6.7,519,10941,0.00,2.55,0.00,0.000,6,0.000,0.047,2647,2093,2185
$GC,11250,1.49,460.9,756.6,-1.9,535,11506,0.38,2.88,245.52,1.371,4,0.038,0.084,2737,3504,1021
$GC,11557,1.49,460.9,708.9,28.3,549,11563,0.00,2.58,0.00,0.000,6,0.000,0.050,2737,2099,1020
$GC,11873,1.49,460.9,655.9,12.6,565,11878,0.00,2.70,0.00,0.000,4,0.000,0.081,2738,3504,1017
$GC,11895,1.49,460.9,652.3,15.5,566,11900,0.00,2.53,0.00,0.000,6,0.000,0.045,2737,2099,1017
$GC,12217,1.49,460.9,598.8,12.7,582,12221,0.00,2.67,0.00,0.000,4,0.000,0.076,2738,3505,1016
$GC,12257,1.49,460.9,594.2,11.9,584,12261,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2094,1016
$GC,12583,1.49,460.9,547.3,16.9,600,12588,0.00,2.67,0.00,0.000,4,0.000,0.074,2738,3508,1016
$GC,12611,1.49,460.9,542.1,18.3,601,12615,0.00,2.50,0.00,0.000,6,0.000,0.038,2738,2092,1016
$GC,12928,1.49,460.9,486.1,17.8,616,12932,0.00,2.67,0.00,0.000,4,0.000,0.073,2738,3509,1016
$GC,12955,1.49,460.9,480.5,19.1,617,12959,0.00,2.50,0.00,0.000,6,0.000,0.041,2738,2101,1016
$GC,13270,1.49,460.9,423.7,17.9,632,13275,0.00,2.67,0.00,0.000,4,0.000,0.078,2738,3505,1017
$GC,13299,1.49,460.9,418.7,18.0,633,13303,0.00,2.50,0.00,0.000,6,0.000,0.044,2738,2102,1017
$GC,13614,1.49,460.9,369.7,14.9,648,13619,0.00,2.67,0.00,0.000,4,0.000,0.077,2738,3511,1017
$GC,13642,1.49,460.9,365.2,15.9,649,13646,0.00,2.53,0.00,0.000,6,0.000,0.044,2738,2097,1017
$GC,13959,1.49,460.9,322.2,12.9,664,13960,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1018
$GC,14267,1.49,460.9,280.7,13.7,679,14272,0.00,2.67,0.00,0.000,4,0.000,0.078,2738,3505,1018
$GC,14289,1.49,460.9,277.5,13.2,680,14293,0.00,2.53,0.00,0.000,6,0.000,0.046,2738,2095,1018
$GC,14610,1.49,460.9,230.1,15.1,696,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2095,1018
$GC,14919,1.49,460.9,182.8,15.0,711,14924,0.00,2.70,0.00,0.000,4,0.000,0.079,2738,3507,1018
$GC,14952,1.49,460.9,177.7,14.5,712,14958,0.00,2.53,0.00,0.000,6,0.000,0.048,2738,2103,1018
$GC,15269,1.49,460.9,134.0,14.4,728,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2103,1018
$GC,15577,1.49,460.9,90.0,13.1,743,15578,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2102,1018
$GC,15888,1.49,460.9,53.0,14.2,758,15893,0.00,2.67,0.00,0.000,4,0.000,0.080,2738,3505,1018
$GC,15911,1.49,460.9,50.0,12.5,759,15915,0.00,2.53,0.00,0.000,6,0.000,0.049,2738,2099,1019
$GC,16232,1.49,460.9,4.3,12.6,775,16233,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2097,1019
$STATE,16249,end climb,SURFACE_DEPTH_REACHED
$STATE,16249,begin surface coast
$FINISH,-1.2,1.024137
$STATE,16271,end surface coast,CONTROL_FINISHED_OK
$STATE,16271,begin surface
$SM_CCo,16356,0.00,0.000,0,0,1019,461.90
$SM_GC,-0.39,11.73,0.00,0.00,0.025,0.000,0.000,40,2886,1019,-10.79,-0.40,461.90
$IRIDIUM_FIX,-4447.43,2514.83,010597,090913
$TT8_MAMPS,0.028379
$HUMID,2102
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,750.3,100.7
$24V_AH,22.8,80.453
$10V_AH,10.1,37.349
$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,26.450,168.950,527.500,0.000,0.000,36.331,37.136,218.004,7.250,0.000,0.000,35.540,1459.788,12221.643,598.266,1890.623,646.683,0.000,1601.883,0.000,1823.414,0.000,44.530
$DEVICE_MAMPS,158.002,101.244,1395.940,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,575.348,528.860,452.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37932,777
$CFSIZE,260165632,232529920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,050208,185927,6135.776,-901.410,43,1.3,44,-9.3