version: 66.02
glider: 103
mission: 7
dive: 172
start: 12 14 107 6 31 58
data:
$ID,103
$MISSION,7
$DIVE,172
$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,-2
$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,1
$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,-65495.852
$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,19
$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
$GPS1,062138,6246.826,-1204.657,51,1.0,51,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-55.2
$GPS2,063051,6246.833,-1204.456,11,1.7,11,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.136,0.171
$KALMAN_X,-217103.7,194.1,-324.4,32013.4,2375.8
$KALMAN_Y,-69788.1,593.2,-497.0,204575.2,-3508.0
$MHEAD_RNG_PITCHd_Wd,333.0,23602,-11.1,-6.000
$D_GRID,660
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-62.10,0.000,2,0.000,0.000,46,2899,3445
$GC,87,-1.10,-146.6,4.4,-11.2,3,109,11.95,2.62,-0.95,0.000,4,0.157,0.074,2165,1487,3502
$GC,360,-1.10,-146.6,34.8,-8.1,15,365,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2899,3503
$GC,689,-1.10,-146.6,61.1,-8.0,31,694,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1489,3503
$GC,753,-1.10,-146.6,65.6,-6.3,34,757,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2902,3503
$GC,1078,-1.10,-146.6,91.7,-7.9,50,1083,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1490,3503
$GC,1150,-1.10,-146.6,97.4,-7.7,53,1154,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2900,3503
$GC,1471,-1.10,-146.6,122.2,-8.5,69,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,1780,-1.10,-146.6,149.0,-8.1,84,1785,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1483,3503
$GC,1852,-1.10,-146.6,154.7,-7.8,87,1856,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2908,3503
$GC,2173,-1.10,-146.6,179.4,-7.8,103,2177,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1491,3503
$GC,2216,-1.10,-146.6,183.0,-8.8,105,2220,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2905,3503
$GC,2543,-1.10,-146.6,210.1,-8.3,121,2548,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1489,3503
$GC,2604,-1.10,-146.6,215.1,-8.0,124,2609,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2908,3503
$GC,2930,-1.10,-146.6,239.8,-7.9,140,2934,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1483,3503
$GC,2973,-1.10,-146.6,243.3,-7.9,142,2977,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2902,3503
$GC,3299,-1.10,-146.6,270.3,-8.9,158,3303,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1483,3503
$GC,3337,-1.10,-146.6,273.7,-9.2,160,3342,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2906,3503
$GC,3664,-1.10,-146.6,300.1,-7.5,176,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3503
$GC,3972,-1.10,-146.6,322.6,-7.0,191,3977,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1490,3503
$GC,4056,-1.10,-146.6,328.6,-6.9,195,4061,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2904,3503
$GC,4383,-1.10,-146.6,350.7,-6.7,211,4388,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1484,3503
$GC,4422,-1.10,-146.6,353.3,-6.6,213,4427,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2901,3503
$GC,4749,-1.10,-146.6,375.2,-6.9,229,4753,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1482,3503
$GC,4792,-1.10,-146.6,378.6,-7.0,231,4797,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2902,3503
$GC,5119,-1.10,-146.6,400.8,-6.7,247,5124,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1481,3503
$GC,5163,-1.10,-146.6,403.8,-6.7,249,5167,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2901,3503
$GC,5489,-1.10,-146.6,424.5,-6.9,265,5494,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1481,3503
$GC,5534,-1.10,-146.6,427.7,-7.1,267,5538,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2900,3503
$GC,5859,-1.10,-146.6,449.1,-6.2,283,5864,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1479,3503
$GC,5914,-1.10,-146.6,452.8,-6.6,285,5921,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2889,3503
$GC,6230,-1.10,-146.6,474.2,-6.7,301,6234,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1480,3503
$GC,6291,-1.10,-146.6,478.4,-6.8,304,6295,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2906,3503
$GC,6616,-1.10,-146.6,499.1,-6.2,320,6620,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1483,3503
$GC,6676,-1.10,-146.6,503.0,-6.9,322,6683,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2903,3503
$GC,6992,-1.10,-146.6,526.6,-7.6,338,6996,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1483,3503
$GC,7063,-1.10,-146.6,531.6,-7.1,341,7067,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2896,3503
$GC,7384,-1.10,-146.6,552.9,-6.3,357,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2896,3503
$GC,7694,-1.10,-146.6,571.1,-5.7,372,7698,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1479,3503
$GC,7804,-1.10,-146.6,577.4,-5.5,377,7809,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2907,3503
$GC,8131,-1.10,-146.6,596.2,-6.3,393,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3503
$GC,8440,-1.10,-146.6,617.7,-6.9,408,8444,0.00,2.53,0.00,0.000,4,0.000,0.049,2166,1480,3503
$GC,8511,-1.10,-146.6,622.5,-7.1,411,8515,0.00,2.58,0.00,0.000,6,0.000,0.060,2166,2900,3503
$GC,8833,-1.10,-146.6,642.1,-6.0,427,8837,0.00,2.53,0.00,0.000,4,0.000,0.049,2166,1474,3502
$GC,8910,-1.10,-146.6,647.4,-6.7,430,8917,0.00,2.60,0.00,0.000,6,0.000,0.059,2166,2893,3502
$STATE,9099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9100,begin apogee
$GC,9106,-0.42,0.0,660.8,7.3,440,9234,0.75,0.00,124.35,1.243,6,0.078,0.000,2321,2091,2901
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9236,1.10,146.6,664.5,0.0,446,9368,1.52,2.70,122.65,1.185,4,0.051,0.061,2651,3506,2303
$GC,9447,1.15,185.9,662.5,4.9,456,9489,0.00,2.47,34.22,1.152,6,0.000,0.037,2651,2096,2143
$GC,9797,1.15,186.7,642.7,6.0,473,9802,0.00,2.53,0.00,0.000,4,0.000,0.059,2651,701,2143
$GC,9904,1.15,186.7,634.8,7.6,478,9908,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2116,2142
$GC,10229,1.15,186.7,613.0,6.6,494,10234,0.00,2.55,0.00,0.000,4,0.000,0.065,2651,3499,2141
$GC,10335,1.15,186.7,606.0,6.4,499,10339,0.00,2.45,0.00,0.000,6,0.000,0.039,2651,2099,2139
$GC,10666,1.17,197.6,586.7,5.7,515,10682,0.00,2.67,10.60,1.108,4,0.000,0.066,2651,3505,2095
$GC,10765,1.17,197.6,580.2,7.3,518,10772,0.00,2.50,0.00,0.000,6,0.000,0.040,2651,2100,2095
$GC,11081,1.17,197.6,559.2,6.7,534,11082,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2100,2094
$GC,11390,1.17,197.6,538.8,6.3,549,11391,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2100,2093
$GC,11699,1.17,197.6,519.0,6.2,564,11703,0.00,2.50,0.00,0.000,4,0.000,0.056,2651,698,2093
$GC,11754,1.17,197.6,515.5,6.4,566,11758,0.00,2.45,0.00,0.000,6,0.000,0.038,2651,2107,2093
$GC,12076,1.18,209.8,496.2,5.7,582,12096,0.00,2.70,11.48,1.075,4,0.000,0.067,2651,3510,2045
$GC,12159,1.18,212.1,491.5,5.9,585,12168,0.00,2.47,3.90,0.771,6,0.000,0.041,2651,2102,2035
$GC,12496,1.20,229.3,471.8,5.5,602,12516,0.00,0.00,15.77,1.075,6,0.000,0.000,2651,2102,1966
$GC,12825,1.20,229.3,449.3,6.9,618,12829,0.00,2.62,0.00,0.000,4,0.000,0.070,2651,3505,1966
$GC,12886,1.20,229.3,445.1,7.2,621,12891,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2102,1966
$GC,13212,1.20,229.3,423.6,6.4,637,13216,0.00,2.65,0.00,0.000,4,0.000,0.070,2651,3514,1966
$GC,13243,1.20,229.3,421.4,6.9,638,13250,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2104,1966
$GC,13559,1.20,229.3,400.1,7.1,654,13563,0.00,2.60,0.00,0.000,4,0.000,0.069,2651,3506,1966
$GC,13598,1.20,229.3,397.1,7.6,656,13602,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2099,1966
$GC,13923,1.20,229.3,374.6,6.9,672,13928,0.00,2.62,0.00,0.000,4,0.000,0.070,2651,3509,1966
$GC,13972,1.20,229.3,370.9,7.4,674,13977,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2093,1966
$GC,14294,1.20,229.3,348.3,7.0,690,14298,0.00,2.65,0.00,0.000,4,0.000,0.069,2651,3511,1968
$GC,14336,1.20,229.3,345.0,7.9,692,14341,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2103,1967
$GC,14663,1.20,229.3,321.7,7.3,708,14667,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3506,1968
$GC,14724,1.20,229.3,317.0,7.5,710,14731,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2091,1968
$GC,15039,1.20,229.3,295.3,6.6,726,15044,0.00,2.65,0.00,0.000,4,0.000,0.069,2651,3508,1968
$GC,15094,1.20,229.3,291.2,7.4,728,15101,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2100,1968
$GC,15410,1.20,229.3,269.3,6.9,744,15414,0.00,2.62,0.00,0.000,4,0.000,0.069,2651,3506,1969
$GC,15458,1.20,229.3,265.6,7.6,746,15463,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2100,1969
$GC,15779,1.20,229.3,242.9,7.2,762,15784,0.00,2.62,0.00,0.000,4,0.000,0.069,2651,3507,1969
$GC,15823,1.20,229.3,239.3,7.6,764,15827,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2095,1969
$GC,16150,1.20,229.3,210.9,9.5,780,16154,0.00,2.65,0.00,0.000,4,0.000,0.069,2651,3515,1969
$GC,16210,1.20,229.3,205.3,8.9,783,16215,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2099,1969
$GC,16536,1.20,229.3,179.9,9.1,799,16538,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,1969
$GC,16846,1.24,258.3,159.2,5.2,814,16877,0.12,2.72,25.35,0.870,4,0.048,0.072,2688,3511,1846
$GC,16915,1.24,258.3,154.4,7.1,817,16920,0.00,2.58,0.00,0.000,6,0.000,0.051,2688,2102,1846
$GC,17238,1.24,258.3,128.5,8.2,833,17239,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1846
$GC,17546,1.24,258.3,104.2,7.6,848,17550,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3505,1846
$GC,17572,1.24,258.3,102.0,7.9,849,17576,0.00,2.53,0.00,0.000,6,0.000,0.051,2688,2094,1846
$GC,17894,1.27,282.1,82.0,5.3,865,17919,0.00,2.62,20.05,0.795,4,0.000,0.067,2688,694,1751
$GC,18003,1.34,341.5,75.2,4.4,870,18061,0.00,2.50,48.40,0.797,6,0.000,0.048,2688,2093,1508
$GC,18372,1.34,341.5,42.3,8.5,888,18373,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1507
$GC,18679,1.34,341.5,9.2,10.5,903,18683,0.00,2.65,0.00,0.000,4,0.000,0.077,2688,697,1508
$GC,18745,1.40,390.5,3.9,4.6,906,18776,0.12,2.50,24.77,0.752,2,0.047,0.049,2722,2106,1386
$STATE,18776,end climb,SURFACE_DEPTH_REACHED
$STATE,18776,begin surface coast
$FINISH,-0.1,1.027297
$STATE,18797,end surface coast,CONTROL_FINISHED_OK
$STATE,18797,begin surface
$SM_CCo,18879,0.00,0.000,0,0,1384,372.12
$SM_GC,-0.32,11.95,0.00,0.00,0.031,0.000,0.000,49,2897,1384,-10.79,-0.08,372.12
$IRIDIUM_FIX,6221.17,-1204.70,141207,101033
$TT8_MAMPS,0.028379
$HUMID,2072
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.4,72.9
$24V_AH,23.4,31.415
$10V_AH,10.1,15.209
$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,26.425,209.575,441.550,0.000,0.000,80.512,75.500,225.909,5.750,0.000,0.000,11.939,1714.930,14329.485,583.373,2178.693,639.477,33.371,1708.732,0.000,2145.441,0.000,37.647
$DEVICE_MAMPS,157.235,88.972,1242.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.797,631.479,545.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47480,908
$CFSIZE,260165632,248504320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,0,0
$GPS,141207,114739,6247.897,-1206.125,28,1.8,29,-11.4