version: 66.02
glider: 103
mission: 7
dive: 288
start: 1 5 108 16 54 4
data:
$ID,103
$MISSION,7
$DIVE,288
$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,-1
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,270
$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,571.30371
$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,-67807.305
$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,22
$R_STBD_OVSHOOT,16
$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
$GPS1,164438,6408.120,-1245.663,35,1.6,35,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.68
$_SM_ANGLEo,-47.7
$GPS2,165333,6408.209,-1245.688,13,1.0,13,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6408.209,-1250.399
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.218
$KALMAN_X,-132816.5,336.3,-67.9,-69746.9,3448.5
$KALMAN_Y,-172894.2,-517.8,223.0,462266.0,3982.7
$MHEAD_RNG_PITCHd_Wd,282.3,20000,-11.1,-6.000
$D_GRID,419
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.10,-146.6,0.0,0.0,0,141,0.00,0.00,-109.70,0.000,6,0.000,0.000,45,2908,3499
$GC,144,-1.10,-146.6,1.7,-2.8,5,165,11.93,2.60,0.00,0.000,4,0.156,0.051,2166,1490,3501
$GC,170,-1.10,-146.6,13.1,-30.4,6,175,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2894,3501
$GC,491,-1.10,-146.6,36.2,-7.2,22,496,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,1491,3501
$GC,749,-1.10,-146.6,61.8,-7.8,33,755,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2901,3501
$GC,1065,-1.10,-146.6,81.9,-6.6,49,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,1376,-1.10,-146.6,103.8,-6.7,64,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,1683,-1.10,-146.6,125.5,-6.2,79,1688,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1484,3501
$GC,1738,-1.10,-146.6,129.4,-7.1,81,1745,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2905,3500
$GC,2055,-1.10,-146.6,150.8,-7.2,97,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3501
$GC,2363,-1.10,-146.6,172.2,-7.6,112,2367,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1484,3501
$GC,2395,-1.10,-146.6,174.7,-7.5,113,2406,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2900,3501
$GC,2711,-1.10,-146.6,198.0,-7.4,129,2715,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1490,3501
$GC,2738,-1.10,-146.6,200.1,-7.3,130,2743,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2904,3501
$GC,3053,-1.10,-146.6,221.2,-6.2,145,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3501
$GC,3363,-1.10,-146.6,241.8,-6.8,160,3367,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1489,3501
$GC,3412,-1.10,-146.6,245.2,-7.0,162,3416,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2901,3501
$GC,3727,-1.10,-146.6,267.2,-7.2,177,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,4037,-1.10,-146.6,290.5,-7.7,192,4041,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1489,3501
$GC,4076,-1.10,-146.6,293.4,-7.7,194,4080,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2901,3501
$GC,4402,-1.10,-146.6,314.6,-5.6,210,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,4711,-1.10,-146.6,329.2,-5.1,225,4716,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1490,3501
$GC,4783,-1.10,-146.6,333.6,-6.6,228,4788,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2906,3501
$GC,5099,-1.10,-146.6,353.4,-7.2,243,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,5409,-1.10,-146.6,372.2,-5.1,258,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,5717,-1.10,-146.6,389.6,-6.5,273,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,6027,-1.10,-146.6,410.9,-6.9,288,6031,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1482,3501
$GC,6115,-1.10,-146.6,417.6,-7.9,292,6120,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2903,3501
$STATE,6145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6145,begin apogee
$GC,6152,-0.42,0.0,419.8,7.4,294,6278,0.77,0.00,122.15,1.087,6,0.098,0.000,2319,2098,2900
$STATE,6278,end apogee,CONTROL_FINISHED_OK
$STATE,6279,begin climb
$GC,6281,1.10,146.6,425.2,0.0,300,6407,1.55,2.60,118.50,1.049,4,0.061,0.057,2649,688,2302
$GC,6575,1.13,166.7,417.7,5.4,313,6602,0.00,2.50,18.00,0.982,6,0.000,0.037,2650,2118,2221
$GC,6911,1.13,166.7,398.6,6.3,330,6915,0.00,2.60,0.00,0.000,4,0.000,0.058,2650,688,2220
$GC,6976,1.13,166.7,394.1,6.7,333,6981,0.00,2.47,0.00,0.000,6,0.000,0.041,2650,2097,2220
$GC,7304,1.17,205.1,375.6,4.9,349,7345,0.00,2.75,32.38,1.045,4,0.000,0.073,2650,3507,2064
$GC,7436,1.19,221.3,368.6,5.6,355,7458,0.00,2.50,14.55,0.984,6,0.000,0.040,2650,2092,1998
$GC,7767,1.19,221.3,348.1,7.5,371,7771,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3507,1997
$GC,7828,1.19,221.3,343.2,7.8,374,7833,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2094,1997
$GC,8154,1.19,221.3,318.3,7.5,390,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2094,1997
$GC,8464,1.19,221.3,298.4,6.0,405,8468,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3505,1997
$GC,8507,1.19,221.3,295.7,6.0,407,8512,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2093,1996
$GC,8834,1.19,221.3,275.9,6.1,423,8838,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3507,1997
$GC,8866,1.19,221.3,273.7,6.6,424,8872,0.00,2.50,0.00,0.000,6,0.000,0.046,2650,2092,1997
$GC,9182,1.20,226.2,254.8,5.9,440,9192,0.00,2.67,5.43,0.782,4,0.000,0.071,2650,3512,1978
$GC,9231,1.20,226.2,251.6,6.4,442,9235,0.00,2.50,0.00,0.000,6,0.000,0.046,2650,2099,1978
$GC,9552,1.20,226.2,230.0,7.5,458,9557,0.00,2.65,0.00,0.000,4,0.000,0.072,2650,3510,1978
$GC,9591,1.20,226.2,226.8,8.0,460,9595,0.00,2.50,0.00,0.000,6,0.000,0.046,2650,2097,1978
$GC,9917,1.20,226.2,196.3,9.8,476,9922,0.00,2.62,0.00,0.000,4,0.000,0.072,2650,3506,1978
$GC,9972,1.20,226.2,191.0,9.6,478,9979,0.00,2.50,0.00,0.000,6,0.000,0.048,2650,2098,1978
$GC,10288,1.20,226.2,168.3,6.0,494,10293,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3506,1978
$GC,10332,1.20,226.2,165.6,6.3,496,10337,0.00,2.50,0.00,0.000,6,0.000,0.048,2650,2094,1978
$GC,10659,1.20,226.2,145.1,7.1,512,10664,0.00,2.67,0.00,0.000,4,0.000,0.074,2650,3510,1978
$GC,10699,1.20,226.2,142.0,8.0,514,10703,0.00,2.50,0.00,0.000,6,0.000,0.048,2650,2099,1978
$GC,11025,1.20,226.2,118.4,7.1,530,11029,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3505,1978
$GC,11069,1.20,226.2,115.3,7.1,532,11073,0.00,2.50,0.00,0.000,6,0.000,0.048,2650,2097,1978
$GC,11390,1.20,226.2,93.4,6.9,548,11394,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3505,1978
$GC,11433,1.20,226.2,89.9,7.7,550,11438,0.00,2.50,0.00,0.000,6,0.000,0.048,2650,2100,1978
$GC,11754,1.20,226.2,65.6,8.5,566,11759,0.00,2.65,0.00,0.000,4,0.000,0.072,2650,3512,1978
$GC,11795,1.20,226.2,62.1,8.9,568,11799,0.00,2.50,0.00,0.000,6,0.000,0.049,2650,2098,1978
$GC,12127,1.21,236.6,36.7,5.7,584,12139,0.10,0.00,10.02,0.769,6,0.048,0.000,2686,2097,1936
$GC,12438,1.21,236.6,10.4,7.4,599,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1936
$STATE,12558,end climb,SURFACE_DEPTH_REACHED
$STATE,12558,begin surface coast
$FINISH,-1.2,1.027348
$STATE,12580,end surface coast,CONTROL_FINISHED_OK
$STATE,12580,begin surface
$SM_CCo,12603,239.32,0.781,0,0,572,571.30
$SM_GC,-0.84,0.00,0.00,239.32,0.000,0.000,0.781,46,2896,572,-10.87,-0.11,571.30
$IRIDIUM_FIX,6342.00,-1245.63,050108,202032
$TT8_MAMPS,0.029146
$HUMID,1998
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.5,50.942
$10V_AH,10.1,24.299
$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,25.925,122.550,321.025,239.325,0.000,76.759,69.353,213.617,3.250,0.000,0.000,13.107,1143.443,9540.567,717.327,1408.245,585.131,0.000,1442.728,0.000,1390.956,0.000,18.757
$DEVICE_MAMPS,156.468,85.137,1086.839,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.291,419.455,470.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31746,606
$CFSIZE,260165632,242061312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,050108,202908,6409.631,-1246.150,26,1.8,26,-12.4