version: 66.02
glider: 103
mission: 7
dive: 178
start: 12 15 107 15 8 33
data:
$ID,103
$MISSION,7
$DIVE,178
$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,-65609.461
$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,12
$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
$GPS1,145807,6250.939,-1215.569,24,2.0,24,-11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-57.8
$GPS2,150726,6250.940,-1215.321,11,1.8,16,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,0.120
$KALMAN_X,-211296.6,-220.8,454.9,16275.7,96.7
$KALMAN_Y,-87156.7,1139.2,1261.8,227218.2,-6622.5
$MHEAD_RNG_PITCHd_Wd,315.0,12552,-11.1,-6.000
$D_GRID,631
$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,-62.25,0.000,2,0.000,0.000,44,2892,3471
$GC,87,-1.10,-146.6,4.0,-9.7,3,109,11.93,2.60,-0.52,0.000,4,0.156,0.077,2167,1499,3501
$GC,214,-1.10,-146.6,21.3,-7.0,8,221,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2897,3502
$GC,532,-1.10,-146.6,41.3,-7.1,24,536,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1495,3502
$GC,571,-1.10,-146.6,43.8,-7.1,26,575,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2899,3502
$GC,896,-1.10,-146.6,66.8,-6.8,42,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,1206,-1.10,-146.6,88.0,-6.4,57,1210,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1495,3502
$GC,1277,-1.10,-146.6,93.0,-6.8,60,1281,0.00,2.60,0.00,0.000,6,0.000,0.069,2167,2900,3502
$GC,1598,-1.10,-146.6,115.7,-6.8,76,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,1907,-1.10,-146.6,136.2,-6.7,91,1912,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1486,3502
$GC,1940,-1.10,-146.6,138.7,-7.6,92,1947,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2922,3502
$GC,2255,-1.10,-146.6,161.7,-7.0,108,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2923,3502
$GC,2564,-1.10,-146.6,182.6,-6.7,123,2569,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,1492,3502
$GC,2597,-1.10,-146.6,184.9,-6.8,124,2603,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2900,3502
$GC,2912,-1.10,-146.6,208.0,-7.4,140,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,3221,-1.10,-146.6,231.4,-7.7,155,3225,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1492,3502
$GC,3292,-1.10,-146.6,237.0,-7.8,158,3297,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,3613,-1.10,-146.6,260.8,-7.4,174,3617,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1488,3502
$GC,3652,-1.10,-146.6,263.4,-6.7,176,3656,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2901,3502
$GC,3977,-1.10,-146.6,285.6,-6.9,192,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,4286,-1.10,-146.6,307.4,-7.3,207,4291,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1490,3502
$GC,4341,-1.10,-146.6,311.3,-6.6,209,4348,0.00,2.60,0.00,0.000,6,0.000,0.069,2167,2900,3502
$GC,4657,-1.10,-146.6,334.9,-7.7,225,4661,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1491,3502
$GC,4683,-1.10,-146.6,337.1,-8.3,226,4687,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2899,3502
$GC,5004,-1.10,-146.6,358.3,-6.2,242,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,5313,-1.10,-146.6,379.2,-6.9,257,5318,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1490,3502
$GC,5375,-1.10,-146.6,383.5,-6.9,260,5379,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2900,3502
$GC,5700,-1.10,-146.6,406.0,-6.8,276,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,6010,-1.10,-146.6,428.7,-7.5,291,6014,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1483,3502
$GC,6064,-1.10,-146.6,433.0,-7.8,293,6071,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2894,3502
$GC,6380,-1.10,-146.6,454.8,-6.1,309,6384,0.00,2.55,0.00,0.000,4,0.000,0.059,2167,1484,3502
$GC,6411,-1.10,-146.6,456.8,-6.3,310,6418,0.00,2.58,0.00,0.000,6,0.000,0.064,2167,2900,3502
$GC,6727,-1.10,-146.6,473.9,-5.7,326,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,7037,-1.10,-146.6,496.9,-9.1,341,7041,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1478,3502
$GC,7120,-1.10,-146.6,504.5,-9.0,345,7125,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2901,3502
$GC,7449,-1.10,-146.6,525.3,-5.1,361,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,7756,-1.10,-146.6,542.8,-6.1,376,7760,0.00,2.53,0.00,0.000,4,0.000,0.052,2167,1484,3502
$GC,7799,-1.10,-146.6,545.6,-6.5,378,7803,0.00,2.58,0.00,0.000,6,0.000,0.061,2167,2901,3502
$GC,8125,-1.10,-146.6,569.0,-7.5,394,8130,0.00,2.53,0.00,0.000,4,0.000,0.050,2167,1477,3502
$GC,8187,-1.10,-146.6,573.3,-6.8,397,8191,0.00,2.60,0.00,0.000,6,0.000,0.062,2167,2903,3502
$GC,8513,-1.10,-146.6,591.2,-4.6,413,8517,0.00,2.53,0.00,0.000,4,0.000,0.049,2167,1479,3501
$GC,8575,-1.10,-146.6,594.5,-6.0,416,8579,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2908,3501
$GC,8900,-1.10,-146.6,614.4,-6.0,432,8904,0.00,2.50,0.00,0.000,4,0.000,0.048,2167,1482,3501
$GC,8939,-1.10,-146.6,616.6,-5.8,434,8943,0.00,2.58,0.00,0.000,6,0.000,0.059,2167,2901,3501
$STATE,9159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9159,begin apogee
$GC,9165,-0.42,0.0,631.3,7.3,445,9293,0.73,0.00,124.70,1.205,6,0.076,0.000,2318,2089,2901
$STATE,9294,end apogee,CONTROL_FINISHED_OK
$STATE,9294,begin climb
$GC,9296,1.10,146.6,633.6,0.0,451,9427,1.52,2.60,121.82,1.160,4,0.054,0.056,2647,702,2303
$GC,9485,1.14,180.1,628.1,5.1,460,9519,0.00,2.47,29.12,1.119,6,0.000,0.036,2647,2119,2166
$GC,9836,1.19,215.2,610.4,5.0,477,9872,0.00,2.62,30.35,1.138,4,0.000,0.066,2647,3502,2023
$GC,9972,1.19,215.2,601.9,6.5,482,9976,0.00,2.50,0.00,0.000,6,0.000,0.038,2647,2098,2023
$GC,10293,1.19,215.2,578.8,6.9,498,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2098,2021
$GC,10602,1.19,215.2,558.3,7.1,513,10606,0.00,2.60,0.00,0.000,4,0.000,0.067,2647,3496,2020
$GC,10634,1.19,215.2,555.7,7.9,514,10640,0.00,2.45,0.00,0.000,6,0.000,0.038,2647,2096,2019
$GC,10949,1.19,215.2,534.1,6.5,530,10953,0.00,2.53,0.00,0.000,4,0.000,0.056,2647,698,2018
$GC,11011,1.19,215.2,530.1,6.1,533,11015,0.00,2.45,0.00,0.000,6,0.000,0.037,2647,2100,2018
$GC,11336,1.22,244.1,512.1,5.2,549,11366,0.12,2.70,24.33,1.129,4,0.044,0.070,2688,3509,1905
$GC,11427,1.22,244.1,505.4,7.8,553,11432,0.00,2.50,0.00,0.000,6,0.000,0.041,2688,2096,1904
$GC,11748,1.22,244.1,478.0,9.5,569,11749,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1904
$GC,12058,1.22,244.1,448.1,8.8,584,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1904
$GC,12367,1.22,244.1,422.2,8.0,599,12371,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3506,1904
$GC,12393,1.22,244.1,420.1,7.9,600,12397,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2090,1904
$GC,12715,1.22,244.1,395.8,7.7,616,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2090,1904
$GC,13024,1.22,244.1,370.8,8.5,631,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2090,1905
$GC,13333,1.22,244.1,343.1,9.2,646,13337,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3511,1905
$GC,13382,1.22,244.1,338.4,9.3,648,13386,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2096,1905
$GC,13703,1.22,244.1,309.6,9.1,664,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1905
$GC,14012,1.22,244.1,280.9,9.4,679,14016,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3508,1906
$GC,14066,1.22,244.1,275.6,9.3,681,14073,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2093,1906
$GC,14381,1.22,244.1,248.5,8.7,697,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1906
$GC,14691,1.22,244.1,219.7,9.2,712,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1907
$GC,15000,1.22,244.1,192.4,9.0,727,15004,0.00,2.62,0.00,0.000,4,0.000,0.072,2688,3502,1907
$GC,15049,1.22,244.1,187.8,8.9,729,15053,0.00,2.47,0.00,0.000,6,0.000,0.048,2688,2102,1907
$GC,15369,1.22,244.1,159.0,9.2,745,15374,0.00,2.55,0.00,0.000,4,0.000,0.063,2688,694,1907
$GC,15402,1.22,244.1,155.9,8.7,746,15408,0.00,2.47,0.00,0.000,6,0.000,0.046,2688,2092,1907
$GC,15718,1.22,244.1,129.6,8.2,762,15722,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3518,1908
$GC,15772,1.22,244.1,124.8,9.5,764,15779,0.00,2.55,0.00,0.000,6,0.000,0.048,2688,2099,1908
$GC,16088,1.22,244.1,97.9,8.7,780,16092,0.00,2.58,0.00,0.000,4,0.000,0.065,2688,687,1908
$GC,16127,1.22,244.1,94.7,8.3,782,16131,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2100,1908
$GC,16452,1.22,244.1,66.1,8.4,798,16457,0.00,2.62,0.00,0.000,4,0.000,0.073,2688,3513,1909
$GC,16492,1.22,244.1,62.6,8.8,800,16496,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2102,1909
$GC,16823,1.22,244.1,33.3,8.8,816,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1909
$GC,17132,1.22,244.1,7.8,8.6,831,17137,0.00,2.70,0.00,0.000,4,0.000,0.083,2688,3512,1909
$GC,17148,1.22,244.1,6.5,7.9,832,17153,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2090,1909
$STATE,17205,end climb,SURFACE_DEPTH_REACHED
$STATE,17205,begin surface coast
$FINISH,-0.7,1.027301
$STATE,17227,end surface coast,CONTROL_FINISHED_OK
$STATE,17227,begin surface
$SM_CCo,17248,47.42,0.714,2,0,1678,300.00
$SM_GC,-0.13,0.00,0.00,47.42,0.000,0.000,0.714,43,2897,1678,-10.89,-0.08,300.00
$IRIDIUM_FIX,6225.82,-1212.28,151207,191906
$TT8_MAMPS,0.029146
$HUMID,2066
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.9,76.3
$24V_AH,23.4,32.272
$10V_AH,10.1,15.737
$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,25.975,162.700,330.325,47.425,0.000,80.565,71.359,230.087,5.500,0.000,0.000,16.779,1527.736,13399.743,526.866,1815.763,608.548,33.373,1454.683,0.000,1791.648,0.000,36.037
$DEVICE_MAMPS,155.701,82.836,1204.957,714.077,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.681,594.261,538.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41195,836
$CFSIZE,260165632,248127488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
$GPS,151207,195808,6251.093,-1222.141,34,1.0,34,-11.6