version: 66.02
glider: 103
mission: 7
dive: 175
start: 12 14 107 22 34 12
data:
$ID,103
$MISSION,7
$DIVE,175
$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,-65560.688
$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
$GPS1,222716,6246.718,-1210.456,39,5.2,58,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-58.8
$GPS2,223307,6246.711,-1210.336,14,1.2,30,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.132,0.174
$KALMAN_X,-211253.7,-204.8,-794.5,21861.7,4142.7
$KALMAN_Y,-79448.2,-248.8,37.8,214336.1,-4587.5
$MHEAD_RNG_PITCHd_Wd,334.3,19282,-11.1,-6.000
$D_GRID,679
$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,22,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-60.58,0.000,2,0.000,0.000,48,2908,3364
$GC,86,-1.10,-146.6,3.2,-7.8,3,109,11.90,2.60,-2.60,0.000,4,0.156,0.078,2165,1490,3502
$GC,327,-1.10,-146.6,27.1,-8.6,13,334,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2899,3502
$GC,643,-1.10,-146.6,47.7,-7.7,29,647,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1489,3502
$GC,681,-1.10,-146.6,50.7,-8.3,31,686,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2901,3502
$GC,1008,-1.10,-146.6,75.2,-6.8,47,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,1317,-1.10,-146.6,98.1,-7.7,62,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,1628,-1.10,-146.6,119.5,-7.0,77,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,1936,-1.10,-146.6,142.7,-7.6,92,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,2244,-1.10,-146.6,166.1,-7.4,107,2248,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1489,3503
$GC,2298,-1.10,-146.6,170.1,-7.9,109,2305,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2901,3503
$GC,2614,-1.10,-146.6,192.3,-6.5,125,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,2923,-1.10,-146.6,211.4,-5.7,140,2927,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1484,3503
$GC,2994,-1.10,-146.6,215.8,-6.1,143,2998,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3503
$GC,3315,-1.10,-146.6,237.0,-7.7,159,3320,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3503
$GC,3377,-1.10,-146.6,241.1,-6.3,162,3381,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2901,3503
$GC,3702,-1.10,-146.6,263.2,-6.9,178,3707,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1490,3503
$GC,3734,-1.10,-146.6,265.5,-6.5,179,3741,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2902,3503
$GC,4050,-1.10,-146.6,287.7,-7.0,195,4054,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1485,3504
$GC,4133,-1.10,-146.6,294.1,-7.8,199,4138,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3504
$GC,4459,-1.10,-146.6,317.9,-7.2,215,4463,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1485,3503
$GC,4497,-1.10,-146.6,320.9,-8.0,217,4501,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3504
$GC,4822,-1.10,-146.6,347.6,-8.3,233,4827,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1481,3503
$GC,4877,-1.10,-146.6,352.1,-8.0,235,4885,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2896,3503
$GC,5193,-1.10,-146.6,377.7,-8.4,251,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3503
$GC,5503,-1.10,-146.6,403.4,-8.2,266,5507,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1488,3503
$GC,5557,-1.10,-146.6,408.2,-8.8,268,5564,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2891,3503
$GC,5872,-1.10,-146.6,433.8,-8.0,284,5877,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1487,3503
$GC,5899,-1.10,-146.6,435.8,-8.0,285,5903,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2899,3503
$GC,6221,-1.10,-146.6,459.9,-7.1,301,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,6530,-1.10,-146.6,482.3,-7.5,316,6534,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1484,3503
$GC,6578,-1.10,-146.6,486.3,-7.8,318,6583,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2901,3503
$GC,6899,-1.10,-146.6,511.6,-8.2,334,6903,0.00,2.53,0.00,0.000,4,0.000,0.055,2165,1483,3503
$GC,6964,-1.10,-146.6,517.0,-8.1,337,6969,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2909,3503
$GC,7291,-1.10,-146.6,540.7,-6.7,353,7296,0.00,2.55,0.00,0.000,4,0.000,0.052,2165,1477,3503
$GC,7340,-1.10,-146.6,544.0,-6.7,355,7345,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2901,3503
$GC,7662,-1.10,-146.6,563.9,-6.0,371,7667,0.00,2.53,0.00,0.000,4,0.000,0.050,2165,1479,3503
$GC,7706,-1.10,-146.6,566.8,-6.2,373,7710,0.00,2.58,0.00,0.000,6,0.000,0.060,2165,2901,3503
$GC,8032,-1.10,-146.6,587.4,-6.8,389,8037,0.00,2.53,0.00,0.000,4,0.000,0.049,2165,1474,3503
$GC,8110,-1.10,-146.6,593.2,-7.5,392,8116,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2908,3503
$GC,8425,-1.10,-146.6,616.4,-7.4,408,8430,0.00,2.53,0.00,0.000,4,0.000,0.046,2165,1472,3502
$GC,8469,-1.10,-146.6,619.8,-7.7,410,8473,0.00,2.58,0.00,0.000,6,0.000,0.058,2165,2899,3503
$GC,8796,-1.10,-146.6,642.9,-6.6,426,8800,0.00,2.47,0.00,0.000,4,0.000,0.046,2165,1480,3502
$GC,8835,-1.10,-146.6,645.3,-6.7,428,8839,0.00,2.58,0.00,0.000,6,0.000,0.058,2165,2901,3502
$GC,9160,-1.10,-146.6,666.0,-6.0,444,9164,0.00,2.50,0.00,0.000,4,0.000,0.044,2165,1477,3502
$STATE,9252,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9252,begin apogee
$GC,9258,-0.42,0.0,671.4,5.8,448,9386,0.70,0.00,125.07,1.231,6,0.074,0.000,2315,2113,2901
$STATE,9387,end apogee,CONTROL_FINISHED_OK
$STATE,9387,begin climb
$GC,9389,1.10,146.6,674.9,0.0,454,9520,1.55,2.67,122.30,1.188,4,0.052,0.057,2651,699,2303
$GC,9772,1.10,146.6,658.4,6.1,471,9779,0.00,2.45,0.00,0.000,6,0.000,0.036,2651,2109,2302
$GC,10088,1.14,178.0,642.2,5.1,487,10122,0.00,2.67,27.30,1.167,4,0.000,0.056,2650,694,2175
$GC,10263,1.14,178.0,631.7,6.2,495,10267,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2105,2174
$GC,10589,1.14,178.0,611.0,6.9,511,10593,0.00,2.58,0.00,0.000,4,0.000,0.065,2651,3499,2173
$GC,10627,1.14,178.0,608.1,7.7,513,10632,0.00,2.47,0.00,0.000,6,0.000,0.037,2650,2083,2173
$GC,10953,1.14,178.0,583.4,7.8,529,10957,0.00,2.50,0.00,0.000,4,0.000,0.055,2650,695,2172
$GC,11041,1.14,178.0,576.9,7.1,533,11045,0.00,2.42,0.00,0.000,6,0.000,0.035,2651,2099,2172
$GC,11368,1.14,178.0,556.4,6.0,549,11372,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3508,2171
$GC,11502,1.14,178.1,548.3,6.0,555,11507,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2096,2171
$GC,11823,1.17,203.9,532.1,5.3,571,11848,0.00,0.00,22.60,1.127,6,0.000,0.000,2651,2096,2069
$GC,12152,1.17,203.9,511.5,6.5,587,12156,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3501,2068
$GC,12190,1.17,203.9,508.7,7.6,589,12194,0.00,2.45,0.00,0.000,6,0.000,0.039,2651,2095,2068
$GC,12522,1.17,203.9,483.7,8.0,605,12526,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3499,2068
$GC,12583,1.17,203.9,478.5,8.6,608,12587,0.00,2.45,0.00,0.000,6,0.000,0.040,2651,2102,2068
$GC,12908,1.17,203.9,451.8,8.1,624,12912,0.00,2.60,0.00,0.000,4,0.000,0.068,2650,3502,2068
$GC,12957,1.17,203.9,447.5,8.1,626,12961,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2107,2068
$GC,13278,1.17,203.9,423.7,7.0,642,13279,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2107,2069
$GC,13587,1.17,203.9,403.3,6.3,657,13591,0.00,2.60,0.00,0.000,4,0.000,0.070,2650,3499,2069
$GC,13652,1.17,203.9,398.7,6.4,660,13657,0.00,2.45,0.00,0.000,6,0.000,0.040,2650,2099,2069
$GC,13979,1.17,203.9,377.3,6.7,676,13984,0.00,2.62,0.00,0.000,4,0.000,0.069,2651,3505,2069
$GC,14023,1.17,203.9,374.3,6.5,678,14027,0.00,2.45,0.00,0.000,6,0.000,0.041,2651,2101,2069
$GC,14350,1.17,203.9,352.1,6.9,694,14354,0.00,2.58,0.00,0.000,4,0.000,0.071,2651,3501,2070
$GC,14393,1.17,203.9,348.9,7.4,696,14397,0.00,2.45,0.00,0.000,6,0.000,0.041,2651,2099,2070
$GC,14719,1.17,203.9,326.2,6.9,712,14724,0.00,2.62,0.00,0.000,4,0.000,0.070,2651,3505,2070
$GC,14786,1.17,203.9,321.3,7.4,715,14790,0.00,2.45,0.00,0.000,6,0.000,0.042,2650,2100,2070
$GC,15107,1.17,203.9,300.1,6.8,731,15111,0.00,2.62,0.00,0.000,4,0.000,0.070,2650,3504,2070
$GC,15145,1.17,203.9,297.4,7.8,733,15150,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2096,2070
$GC,15471,1.17,203.9,276.4,6.5,749,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2096,2071
$GC,15780,1.17,203.9,257.0,6.3,764,15784,0.00,2.55,0.00,0.000,4,0.000,0.062,2651,686,2071
$GC,15812,1.17,203.9,254.8,6.5,765,15819,0.00,2.47,0.00,0.000,6,0.000,0.044,2651,2083,2071
$GC,16128,1.17,203.9,234.9,6.6,781,16132,0.00,2.65,0.00,0.000,4,0.000,0.071,2651,3515,2071
$GC,16221,1.17,203.9,228.5,6.7,785,16226,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2088,2072
$GC,16543,1.17,203.9,207.4,6.8,801,16548,0.00,2.65,0.00,0.000,4,0.000,0.070,2651,3509,2072
$GC,16587,1.17,203.9,204.1,7.8,803,16591,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2100,2072
$GC,16914,1.17,203.9,181.9,6.7,819,16915,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2100,2072
$GC,17223,1.17,203.9,161.6,6.5,834,17227,0.00,2.62,0.00,0.000,4,0.000,0.070,2651,3514,2072
$GC,17269,1.17,203.9,158.6,6.1,836,17273,0.00,2.47,0.00,0.000,6,0.000,0.043,2651,2098,2073
$GC,17596,1.17,203.9,136.0,7.0,852,17600,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3509,2073
$GC,17659,1.17,203.9,131.5,7.6,855,17663,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2101,2073
$GC,17985,1.17,203.9,110.3,6.5,871,17989,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3509,2073
$GC,18033,1.17,203.9,106.9,6.4,873,18037,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2095,2072
$GC,18355,1.17,203.9,85.8,6.8,889,18356,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2095,2073
$GC,18665,1.17,203.9,64.1,7.3,904,18670,0.00,2.62,0.00,0.000,4,0.000,0.069,2650,3510,2073
$GC,18749,1.17,203.9,58.3,6.9,908,18753,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,2096,2073
$GC,19075,1.17,203.9,36.1,6.7,924,19076,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2096,2073
$GC,19384,1.17,203.9,14.0,6.6,939,19388,0.00,2.60,0.00,0.000,4,0.000,0.062,2651,3515,2073
$GC,19410,1.17,203.9,12.2,6.5,940,19414,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2100,2073
$STATE,19585,end climb,SURFACE_DEPTH_REACHED
$STATE,19585,begin surface coast
$FINISH,0.7,1.027285
$STATE,19609,end surface coast,CONTROL_FINISHED_OK
$STATE,19609,begin surface
$SM_CCo,19631,77.93,0.732,1,0,1678,300.00
$SM_GC,-0.06,0.00,0.00,77.93,0.000,0.000,0.732,52,2897,1678,-10.85,-0.06,300.00
$IRIDIUM_FIX,6221.17,-1209.30,141207,212100
$TT8_MAMPS,0.029146
$HUMID,2047
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.3,106.1
$24V_AH,23.4,31.836
$10V_AH,10.1,15.477
$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,25.850,205.150,297.275,77.925,0.000,40.454,36.411,153.247,5.250,0.000,0.000,30.556,1785.417,15011.627,549.958,2246.776,483.233,33.369,1667.159,0.000,2205.725,0.000,33.180
$DEVICE_MAMPS,156.468,78.234,1231.035,731.718,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.543,665.809,603.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47430,950
$CFSIZE,260165632,248303616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,1,0
$GPS,151207,040401,6247.194,-1212.049,40,1.6,40,-11.5