version: 66.02
glider: 103
mission: 7
dive: 520
start: 2 12 108 16 14 36
data:
$ID,103
$MISSION,7
$DIVE,520
$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,-73663.977
$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,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
$GPS1,160332,6149.582,-850.076,40,1.4,40,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-58.4
$GPS2,161401,6149.599,-850.065,11,1.5,13,-9.2
$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,177.2,42791,-11.1,-6.000
$D_GRID,551
$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,-60.58,0.000,2,0.000,0.000,50,2899,3415
$GC,91,-1.10,-146.6,4.0,-9.4,3,113,12.10,1.75,-1.48,0.000,4,0.160,0.110,2167,3786,3501
$GC,367,-1.10,-146.6,34.9,-11.1,15,371,0.00,1.60,0.00,0.000,6,0.000,0.056,2167,2903,3502
$GC,694,-1.10,-146.6,62.2,-7.6,31,698,0.00,1.75,0.00,0.000,4,0.000,0.097,2167,3789,3502
$GC,734,-1.10,-146.6,65.1,-7.4,32,740,0.00,1.62,0.00,0.000,6,0.000,0.051,2167,2899,3502
$GC,1050,-1.10,-146.6,88.9,-7.9,48,1055,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1483,3502
$GC,1113,-1.10,-146.6,93.9,-7.5,51,1118,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2900,3502
$GC,1441,-1.10,-146.6,118.6,-7.5,67,1446,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,1479,3503
$GC,1491,-1.10,-146.6,122.7,-8.4,69,1496,0.00,2.67,0.00,0.000,6,0.000,0.069,2167,2904,3503
$GC,1810,-1.10,-146.6,150.7,-9.1,84,1815,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1482,3503
$GC,1832,-1.10,-146.6,153.1,-9.3,85,1837,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2903,3503
$GC,2154,-1.10,-146.6,179.6,-9.0,101,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,2463,-1.10,-146.6,203.8,-7.6,116,2468,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1482,3502
$GC,2526,-1.10,-146.6,208.8,-8.0,119,2530,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2903,3503
$GC,2853,-1.10,-146.6,233.2,-7.6,135,2857,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,1480,3503
$GC,2893,-1.10,-146.6,236.2,-7.7,137,2897,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2899,3503
$GC,3219,-1.10,-146.6,259.9,-7.2,153,3224,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1477,3503
$GC,3248,-1.10,-146.6,262.0,-7.1,154,3252,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,3564,-1.10,-146.6,284.6,-6.9,169,3568,0.00,2.60,0.00,0.000,4,0.000,0.058,2167,1475,3503
$GC,3591,-1.10,-146.6,286.6,-7.4,170,3596,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2902,3503
$GC,3907,-1.10,-146.6,308.7,-6.9,185,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,4217,-1.10,-146.6,330.0,-6.9,200,4221,0.00,2.58,0.00,0.000,4,0.000,0.056,2167,1480,3503
$GC,4279,-1.10,-146.6,334.3,-7.5,203,4284,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2900,3503
$GC,4607,-1.10,-146.6,356.8,-7.0,219,4611,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1480,3503
$GC,4647,-1.10,-146.6,359.5,-7.0,221,4652,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2901,3503
$GC,4974,-1.10,-146.6,382.1,-7.1,237,4977,0.00,1.67,0.00,0.000,4,0.000,0.089,2167,3785,3503
$GC,5036,-1.10,-146.6,386.7,-7.6,239,5042,0.00,1.58,0.00,0.000,6,0.000,0.041,2167,2873,3503
$GC,5352,-1.10,-146.6,408.9,-7.1,255,5356,0.00,2.47,0.00,0.000,4,0.000,0.059,2167,1488,3503
$GC,5401,-1.10,-146.6,412.7,-7.4,257,5406,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2900,3503
$GC,5718,-1.10,-146.6,437.0,-7.7,272,5722,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1486,3503
$GC,5758,-1.10,-146.6,440.0,-7.8,274,5762,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2906,3503
$GC,6084,-1.10,-146.6,464.7,-7.6,290,6088,0.00,1.70,0.00,0.000,4,0.000,0.090,2167,3782,3503
$GC,6130,-1.10,-146.6,468.2,-8.0,292,6133,0.00,1.52,0.00,0.000,6,0.000,0.041,2167,2907,3503
$GC,6463,-1.10,-146.6,494.8,-8.1,308,6467,0.00,2.55,0.00,0.000,4,0.000,0.058,2167,1489,3503
$GC,6552,-1.10,-146.6,502.2,-8.1,312,6557,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2904,3503
$GC,6874,-1.10,-146.6,529.2,-7.7,328,6879,0.00,2.55,0.00,0.000,4,0.000,0.053,2167,1486,3503
$GC,6925,-1.10,-146.6,532.5,-6.5,330,6929,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2899,3503
$STATE,7135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7135,begin apogee
$GC,7144,-0.42,0.0,547.6,7.6,340,7277,0.77,0.00,127.82,1.192,6,0.113,0.000,2315,2098,2901
$STATE,7278,end apogee,CONTROL_FINISHED_OK
$STATE,7278,begin climb
$GC,7282,1.10,146.6,552.4,0.0,347,7413,1.58,2.62,123.60,1.182,4,0.061,0.057,2647,692,2303
$GC,7428,1.26,272.2,551.1,2.5,354,7540,0.17,2.53,105.82,1.182,6,0.035,0.036,2699,2112,1792
$GC,7850,1.26,272.2,513.8,9.3,374,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2113,1789
$GC,8159,1.26,272.2,485.9,9.4,389,8163,0.00,2.62,0.00,0.000,4,0.000,0.074,2699,3504,1788
$GC,8200,1.26,272.2,482.0,10.3,391,8204,0.00,2.50,0.00,0.000,6,0.000,0.043,2699,2094,1788
$GC,8526,1.26,272.2,450.8,9.4,407,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,1788
$GC,8835,1.26,272.2,421.5,9.8,422,8840,0.00,2.67,0.00,0.000,4,0.000,0.074,2699,3508,1787
$GC,8881,1.26,272.2,416.4,12.1,424,8885,0.00,2.53,0.00,0.000,6,0.000,0.045,2700,2098,1787
$GC,9202,1.26,272.2,386.6,9.1,440,9206,0.00,2.62,0.00,0.000,4,0.000,0.074,2699,3502,1787
$GC,9241,1.26,272.2,383.0,9.3,442,9246,0.00,2.50,0.00,0.000,6,0.000,0.045,2699,2098,1787
$GC,9569,1.26,272.2,353.9,9.0,458,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2098,1788
$GC,9878,1.26,272.2,327.1,9.2,473,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2098,1787
$GC,10187,1.26,272.2,297.3,10.0,488,10191,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3501,1787
$GC,10220,1.26,272.2,293.7,10.6,489,10226,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,2094,1788
$GC,10536,1.26,272.2,262.7,9.6,505,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2093,1788
$GC,10846,1.26,272.2,231.1,10.9,520,10850,0.00,2.67,0.00,0.000,4,0.000,0.074,2700,3505,1788
$GC,10879,1.26,272.2,227.1,11.9,521,10885,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,2100,1788
$GC,11195,1.26,272.2,191.0,11.4,537,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1788
$GC,11504,1.26,272.2,154.7,11.6,552,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,1788
$GC,11815,1.26,272.2,120.0,11.3,567,11819,0.00,2.58,0.00,0.000,4,0.000,0.064,2700,690,1788
$GC,11859,1.26,272.2,114.5,11.9,569,11864,0.00,2.50,0.00,0.000,6,0.000,0.046,2699,2091,1788
$GC,12181,1.26,272.2,79.8,10.2,585,12186,0.00,2.67,0.00,0.000,4,0.000,0.080,2700,3510,1788
$GC,12227,1.26,272.2,74.7,11.3,587,12231,0.00,2.55,0.00,0.000,6,0.000,0.050,2699,2094,1788
$GC,12548,1.26,272.2,40.4,10.8,603,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2094,1789
$GC,12859,1.26,272.2,9.1,9.9,618,12863,0.00,2.72,0.00,0.000,4,0.000,0.081,2700,3515,1789
$GC,12876,1.26,272.2,7.3,10.0,619,12881,0.00,2.50,0.00,0.000,6,0.000,0.044,2700,2093,1788
$STATE,12933,end climb,SURFACE_DEPTH_REACHED
$STATE,12933,begin surface coast
$FINISH,-0.3,1.027371
$STATE,12955,end surface coast,CONTROL_FINISHED_OK
$STATE,12955,begin surface
$SM_CCo,12981,25.02,0.777,2,0,1678,300.00
$SM_GC,0.47,0.00,0.00,25.02,0.000,0.000,0.777,50,2897,1678,-10.86,-0.08,300.00
$IRIDIUM_FIX,6121.73,-817.45,080597,161636
$TT8_MAMPS,0.028379
$HUMID,2074
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.3,56.9
$24V_AH,22.8,86.781
$10V_AH,10.1,40.248
$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,26.300,130.700,357.250,25.025,0.000,80.654,73.000,272.338,4.750,0.000,0.000,13.868,1168.569,9833.008,485.745,1419.674,754.691,0.000,1232.222,0.000,1393.562,0.000,31.099
$DEVICE_MAMPS,160.303,109.681,1191.918,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.163,426.109,421.113,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31751,623
$CFSIZE,260165632,230473728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,120208,195237,6149.167,-850.883,26,1.4,26,-9.2