version: 66.02
glider: 103
mission: 7
dive: 183
start: 12 16 107 14 47 22
data:
$ID,103
$MISSION,7
$DIVE,183
$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,-65715.68
$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,8
$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
$GPS1,143737,6259.178,-1239.368,65,1.1,65,-11.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-52.6
$GPS2,144615,6259.313,-1239.151,12,2.0,12,-11.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.197,0.094
$KALMAN_X,-219231.2,907.0,992.4,1500.9,-3310.9
$KALMAN_Y,-85995.2,819.2,813.7,242349.2,-1115.0
$MHEAD_RNG_PITCHd_Wd,307.2,13386,-11.1,-6.000
$D_GRID,566
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,96,0.00,0.00,-74.03,0.000,6,0.000,0.000,49,2902,3500
$GC,98,-1.10,-146.6,1.9,-5.1,3,120,11.88,2.62,0.00,0.000,4,0.156,0.058,2165,1489,3501
$GC,304,-1.10,-146.6,31.4,-10.3,12,309,0.00,2.70,0.00,0.000,6,0.000,0.081,2166,2902,3502
$GC,631,-1.10,-146.6,53.2,-8.1,28,636,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1491,3502
$GC,675,-1.10,-146.6,57.7,-10.2,30,679,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2904,3502
$GC,1002,-1.10,-146.6,92.1,-5.1,46,1007,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1485,3502
$GC,1042,-1.10,-146.6,94.6,-6.2,48,1047,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2898,3502
$GC,1367,-1.10,-146.6,120.1,-8.7,64,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,1678,-1.10,-146.6,142.6,-7.3,79,1683,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1492,3501
$GC,1742,-1.10,-146.6,147.5,-7.6,82,1746,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2902,3502
$GC,2068,-1.10,-146.6,169.3,-6.0,98,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,2376,-1.10,-146.6,195.2,-8.5,113,2381,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1491,3502
$GC,2409,-1.10,-146.6,198.0,-8.6,114,2416,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2909,3502
$GC,2724,-1.10,-146.6,219.2,-5.9,130,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,3033,-1.10,-146.6,240.5,-6.9,145,3038,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1491,3502
$GC,3083,-1.10,-146.6,243.9,-6.8,147,3087,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2900,3502
$GC,3403,-1.10,-146.6,265.5,-7.0,163,3408,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1491,3502
$GC,3453,-1.10,-146.6,268.8,-6.6,165,3457,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3502
$GC,3775,-1.10,-146.6,289.6,-4.8,181,3779,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1488,3502
$GC,3809,-1.10,-146.6,291.3,-5.2,182,3815,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2899,3502
$GC,4123,-1.10,-146.6,306.1,-5.9,198,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,4433,-1.10,-146.6,327.0,-7.4,213,4437,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3502
$GC,4459,-1.10,-146.6,328.9,-7.4,214,4463,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2902,3502
$GC,4780,-1.10,-146.6,349.5,-6.5,230,4784,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1482,3502
$GC,4857,-1.10,-146.6,354.5,-5.9,233,4863,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2899,3502
$GC,5172,-1.10,-146.6,374.9,-6.4,249,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,5482,-1.10,-146.6,393.1,-4.9,264,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,5791,-1.10,-146.6,409.4,-6.2,279,5795,0.00,2.55,0.00,0.000,4,0.000,0.063,2166,1488,3502
$GC,5874,-1.10,-146.6,415.0,-6.6,283,5878,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2906,3502
$GC,6200,-1.10,-146.6,433.9,-6.1,299,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,6510,-1.10,-146.6,451.4,-5.4,314,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,6818,-1.10,-146.6,473.9,-8.0,329,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,7127,-1.10,-146.6,501.0,-9.2,344,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$STATE,7311,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7311,begin apogee
$GC,7317,-0.42,0.0,517.1,7.6,353,7444,0.75,0.00,123.75,1.108,6,0.085,0.000,2318,2094,2901
$STATE,7445,end apogee,CONTROL_FINISHED_OK
$STATE,7445,begin climb
$GC,7447,1.10,146.6,521.1,0.0,359,7575,1.55,2.60,120.22,1.076,4,0.054,0.053,2650,687,2303
$GC,7664,1.10,146.6,510.7,9.4,369,7669,0.00,2.53,0.00,0.000,6,0.000,0.039,2650,2119,2303
$GC,7986,1.35,347.5,495.8,0.4,385,8159,0.20,2.70,162.90,1.085,4,0.033,0.072,2716,3499,1484
$GC,8328,1.35,347.5,469.6,12.2,401,8332,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,2099,1483
$GC,8653,1.35,347.5,432.2,10.6,417,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2094,1482
$GC,8962,1.35,347.5,395.7,12.6,432,8967,0.00,2.58,0.00,0.000,4,0.000,0.060,2716,686,1482
$GC,9062,1.35,347.5,383.0,12.2,436,9069,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,2098,1482
$GC,9378,1.35,347.5,346.6,11.7,452,9382,0.00,2.65,0.00,0.000,4,0.000,0.076,2716,3513,1482
$GC,9422,1.35,347.5,340.8,13.2,454,9427,0.00,2.53,0.00,0.000,6,0.000,0.045,2716,2099,1481
$GC,9742,1.35,347.5,300.5,13.0,470,9747,0.00,2.55,0.00,0.000,4,0.000,0.060,2716,693,1481
$GC,9799,1.35,347.5,293.6,12.8,472,9805,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,2098,1481
$GC,10113,1.35,347.5,257.5,11.3,488,10118,0.00,2.65,0.00,0.000,4,0.000,0.076,2716,3512,1481
$GC,10140,1.35,347.5,254.3,12.7,489,10144,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,2093,1481
$GC,10461,1.35,347.5,217.0,11.4,505,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2093,1481
$GC,10770,1.35,347.5,181.0,12.1,520,10775,0.00,2.55,0.00,0.000,4,0.000,0.062,2716,690,1481
$GC,10809,1.35,347.5,175.8,13.8,522,10814,0.00,2.53,0.00,0.000,6,0.000,0.049,2716,2104,1481
$GC,11136,1.35,347.5,136.7,12.0,538,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2104,1481
$GC,11446,1.35,347.5,102.0,11.2,553,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2104,1482
$GC,11754,1.35,347.5,68.1,10.6,568,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2104,1482
$GC,12064,1.35,347.5,31.3,11.1,583,12065,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2104,1482
$STATE,12309,end climb,SURFACE_DEPTH_REACHED
$STATE,12309,begin surface coast
$FINISH,-0.8,1.027321
$STATE,12331,end surface coast,CONTROL_FINISHED_OK
$STATE,12331,begin surface
$SM_CCo,12412,0.00,0.000,0,0,1481,348.08
$SM_GC,-0.15,11.73,0.00,0.00,0.029,0.000,0.000,49,2897,1481,-10.79,-0.08,348.08
$IRIDIUM_FIX,6230.49,-1243.01,161207,181822
$TT8_MAMPS,0.028379
$HUMID,2101
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.2,76.6
$24V_AH,23.5,32.980
$10V_AH,10.1,16.109
$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,26.100,96.925,406.875,0.000,0.000,76.568,74.235,207.397,4.250,0.000,0.000,12.485,1103.102,9488.487,484.084,1342.310,530.793,33.373,1181.522,0.000,1324.601,0.000,27.945
$DEVICE_MAMPS,155.701,98.943,1108.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.764,419.230,404.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28586,596
$CFSIZE,260165632,247894016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,161207,181526,6300.432,-1241.440,40,1.8,40,-11.8