version: 66.02
glider: 103
mission: 7
dive: 176
start: 12 15 107 4 18 34
data:
$ID,103
$MISSION,7
$DIVE,176
$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,-65576.742
$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,23
$R_STBD_OVSHOOT,13
$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
$GPS1,040401,6247.194,-1212.049,40,1.6,40,-11.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-57.4
$GPS2,041727,6247.090,-1211.901,15,1.7,15,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.048,0.213
$KALMAN_X,-210474.9,-547.3,290.8,18963.0,1650.6
$KALMAN_Y,-83301.9,152.7,288.1,218225.1,-5117.3
$MHEAD_RNG_PITCHd_Wd,358.8,17787,-11.1,-6.000
$D_GRID,675
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,85,0.00,0.00,-61.70,0.000,2,0.000,0.000,52,2899,3458
$GC,88,-1.10,-146.6,4.1,-9.6,3,109,11.93,1.77,-0.73,0.000,4,0.158,0.111,2163,3787,3503
$GC,361,-1.10,-146.6,34.2,-8.4,15,365,0.00,1.52,0.00,0.000,6,0.000,0.035,2163,2904,3503
$GC,688,-1.10,-146.6,58.7,-7.8,31,692,0.00,1.67,0.00,0.000,4,0.000,0.085,2163,3785,3503
$GC,908,-1.10,-146.6,78.3,-10.0,40,915,0.00,1.55,0.00,0.000,6,0.000,0.033,2163,2890,3503
$GC,1223,-1.10,-146.6,103.7,-8.2,56,1228,0.00,2.58,0.00,0.000,4,0.000,0.073,2163,1499,3503
$GC,1256,-1.10,-146.6,106.3,-7.7,57,1263,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2891,3503
$GC,1573,-1.10,-146.6,130.4,-7.7,73,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2891,3503
$GC,1881,-1.10,-146.6,154.0,-7.7,88,1885,0.00,2.58,0.00,0.000,4,0.000,0.068,2163,1500,3503
$GC,1912,-1.10,-146.6,156.6,-7.8,89,1919,0.00,2.58,0.00,0.000,6,0.000,0.067,2163,2899,3503
$GC,2228,-1.10,-146.6,181.0,-7.8,105,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,2537,-1.10,-146.6,205.5,-8.2,120,2542,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1500,3503
$GC,2614,-1.10,-146.6,212.1,-8.0,123,2621,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2903,3503
$GC,2930,-1.10,-146.6,236.7,-7.4,139,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3503
$GC,3239,-1.10,-146.6,257.1,-6.6,154,3244,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1499,3503
$GC,3346,-1.10,-146.6,265.4,-7.4,159,3350,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2903,3503
$GC,3671,-1.10,-146.6,290.8,-7.9,175,3675,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1500,3503
$GC,3709,-1.10,-146.6,294.0,-7.9,177,3714,0.00,2.60,0.00,0.000,6,0.000,0.070,2163,2901,3503
$GC,4035,-1.10,-146.6,319.7,-7.6,193,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,4345,-1.10,-146.6,341.9,-6.9,208,4349,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1496,3503
$GC,4399,-1.10,-146.6,345.8,-7.0,210,4406,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2900,3503
$GC,4715,-1.10,-146.6,367.1,-6.4,226,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,5024,-1.10,-146.6,386.9,-6.2,241,5029,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1492,3503
$GC,5079,-1.10,-146.6,390.4,-6.1,243,5086,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2901,3503
$GC,5394,-1.10,-146.6,410.9,-6.6,259,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,5704,-1.10,-146.6,432.1,-7.0,274,5708,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1497,3503
$GC,5765,-1.10,-146.6,436.5,-6.9,277,5769,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2909,3503
$GC,6090,-1.10,-146.6,458.7,-6.5,293,6094,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1494,3503
$GC,6133,-1.10,-146.6,461.6,-7.1,295,6137,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2902,3503
$GC,6460,-1.10,-146.6,482.9,-6.8,311,6464,0.00,2.53,0.00,0.000,4,0.000,0.055,2163,1486,3503
$GC,6498,-1.10,-146.6,485.6,-7.2,313,6503,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2907,3503
$GC,6824,-1.10,-146.6,506.9,-6.3,329,6829,0.00,2.53,0.00,0.000,4,0.000,0.052,2163,1491,3503
$GC,6868,-1.10,-146.6,509.5,-6.1,331,6872,0.00,2.58,0.00,0.000,6,0.000,0.063,2163,2903,3503
$GC,7195,-1.10,-146.6,526.6,-5.0,347,7199,0.00,2.50,0.00,0.000,4,0.000,0.051,2163,1490,3503
$GC,7227,-1.10,-146.6,528.2,-5.0,348,7233,0.00,2.58,0.00,0.000,6,0.000,0.062,2163,2902,3503
$GC,7542,-1.10,-146.6,545.6,-5.7,364,7547,0.00,2.50,0.00,0.000,4,0.000,0.051,2163,1492,3503
$GC,7608,-1.10,-146.6,549.9,-7.0,367,7614,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2902,3503
$GC,7935,-1.10,-146.6,572.1,-7.3,383,7939,0.00,2.50,0.00,0.000,4,0.000,0.049,2163,1491,3503
$GC,8030,-1.10,-146.6,579.6,-8.4,387,8034,0.00,2.55,0.00,0.000,6,0.000,0.059,2163,2901,3503
$GC,8351,-1.10,-146.6,603.4,-7.0,403,8355,0.00,2.47,0.00,0.000,4,0.000,0.047,2163,1486,3503
$GC,8396,-1.10,-146.6,606.4,-6.6,405,8400,0.00,2.55,0.00,0.000,6,0.000,0.058,2163,2906,3503
$GC,8723,-1.10,-146.6,628.5,-7.1,421,8727,0.00,2.50,0.00,0.000,4,0.000,0.045,2163,1481,3503
$GC,8817,-1.10,-146.6,635.6,-7.7,425,8821,0.00,2.55,0.00,0.000,6,0.000,0.057,2163,2899,3503
$GC,9138,-1.10,-146.6,658.0,-6.8,441,9142,0.00,2.47,0.00,0.000,4,0.000,0.044,2163,1489,3502
$GC,9169,-1.10,-146.6,660.2,-6.8,442,9176,0.00,2.55,0.00,0.000,6,0.000,0.058,2163,2901,3502
$STATE,9380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9380,begin apogee
$GC,9387,-0.42,0.0,675.5,6.7,453,9515,0.75,0.00,125.62,1.225,6,0.071,0.000,2321,2094,2901
$STATE,9516,end apogee,CONTROL_FINISHED_OK
$STATE,9516,begin climb
$GC,9518,1.10,146.6,678.8,0.0,459,9649,1.50,2.70,122.00,1.186,4,0.049,0.061,2648,3505,2303
$GC,9767,1.10,146.6,671.5,6.5,470,9774,0.00,2.47,0.00,0.000,6,0.000,0.036,2648,2107,2302
$GC,10083,1.12,158.4,654.3,5.7,486,10097,0.00,0.00,11.62,1.085,6,0.000,0.000,2648,2107,2255
$GC,10392,1.12,158.4,635.2,6.1,501,10397,0.00,2.62,0.00,0.000,4,0.000,0.062,2648,3518,2254
$GC,10436,1.12,158.4,632.4,6.1,503,10441,0.00,2.50,0.00,0.000,6,0.000,0.037,2648,2102,2255
$GC,10763,1.18,207.4,616.8,4.6,519,10806,0.00,0.00,41.70,1.209,6,0.000,0.000,2648,2102,2055
$GC,11113,1.19,220.0,597.4,5.7,536,11127,0.00,0.00,11.88,1.116,6,0.000,0.000,2648,2102,2004
$GC,11422,1.24,258.8,582.5,4.9,551,11464,0.15,2.70,33.42,1.170,4,0.039,0.062,2694,3512,1846
$GC,11513,1.24,258.8,575.1,9.0,555,11518,0.00,2.47,0.00,0.000,6,0.000,0.035,2694,2093,1845
$GC,11841,1.24,258.8,545.8,8.7,571,11845,0.00,2.50,0.00,0.000,4,0.000,0.054,2694,701,1844
$GC,11906,1.24,258.8,539.2,10.5,574,11911,0.00,2.47,0.00,0.000,6,0.000,0.035,2694,2125,1844
$GC,12233,1.24,258.8,507.4,9.8,590,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2125,1844
$GC,12542,1.24,258.8,479.1,9.6,605,12546,0.00,2.55,0.00,0.000,4,0.000,0.067,2694,3505,1844
$GC,12580,1.24,258.8,475.1,10.7,607,12585,0.00,2.45,0.00,0.000,6,0.000,0.038,2694,2104,1844
$GC,12906,1.24,258.8,443.0,10.1,623,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2104,1844
$GC,13215,1.24,258.8,411.7,10.2,638,13219,0.00,2.60,0.00,0.000,4,0.000,0.071,2694,3505,1844
$GC,13259,1.24,258.8,407.3,10.2,640,13264,0.00,2.50,0.00,0.000,6,0.000,0.044,2694,2099,1844
$GC,13580,1.24,258.8,377.3,9.1,656,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2099,1845
$GC,13889,1.24,258.8,349.9,8.9,671,13893,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3511,1844
$GC,13927,1.24,258.8,346.3,9.6,673,13932,0.00,2.47,0.00,0.000,6,0.000,0.046,2694,2099,1845
$GC,14253,1.24,258.8,317.4,8.8,689,14255,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2099,1845
$GC,14562,1.24,258.8,290.4,8.7,704,14567,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3505,1846
$GC,14611,1.24,258.8,286.0,9.2,706,14616,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2101,1846
$GC,14933,1.24,258.8,259.1,8.1,722,14934,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2101,1846
$GC,15242,1.24,258.8,233.5,8.5,737,15243,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2101,1846
$GC,15551,1.24,258.8,204.0,9.6,752,15555,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3510,1846
$GC,15599,1.24,258.8,199.2,9.2,754,15604,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2098,1847
$GC,15921,1.24,258.8,169.8,8.9,770,15922,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1846
$GC,16230,1.24,258.8,142.1,9.0,785,16231,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1848
$GC,16540,1.24,258.8,114.5,8.7,800,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1848
$GC,16851,1.24,258.8,87.6,8.6,815,16852,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1848
$GC,17158,1.24,258.8,60.4,8.7,830,17160,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1849
$GC,17468,1.24,258.8,33.3,9.3,845,17469,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2097,1849
$GC,17777,1.24,258.8,5.9,8.6,860,17778,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2097,1849
$STATE,17837,end climb,SURFACE_DEPTH_REACHED
$STATE,17837,begin surface coast
$FINISH,-0.9,1.027283
$STATE,17859,end surface coast,CONTROL_FINISHED_OK
$STATE,17859,begin surface
$SM_CCo,17880,35.28,0.738,1,0,1678,300.00
$SM_GC,0.72,0.00,0.00,35.28,0.000,0.000,0.738,42,2898,1678,-10.89,-0.06,300.00
$IRIDIUM_FIX,6221.17,-1214.89,151207,080848
$TT8_MAMPS,0.029146
$HUMID,2060
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.6,62.9
$24V_AH,23.4,31.990
$10V_AH,10.1,15.563
$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,25.925,142.575,346.250,35.275,0.000,116.687,210.281,243.848,6.000,0.000,0.000,15.430,1585.683,13919.065,522.641,1911.951,800.844,33.368,1476.708,0.000,1881.318,0.000,39.269
$DEVICE_MAMPS,158.002,111.215,1224.899,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,625.022,600.848,525.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44218,864
$CFSIZE,260165632,248262656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,151207,091831,6248.078,-1215.193,37,1.3,42,-11.5