version: 66.02
glider: 103
mission: 7
dive: 374
start: 1 15 108 6 39 15
data:
$ID,103
$MISSION,7
$DIVE,374
$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,-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,-69778.102
$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,16
$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
$GPS1,063231,6307.792,-1255.593,39,1.2,44,-12.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-55.9
$GPS2,063844,6307.646,-1255.660,10,1.1,15,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$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,189.8,14171,-11.1,-6.000
$D_GRID,606
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-66.55,0.000,6,0.000,0.000,45,2898,3501
$GC,97,-1.10,-146.6,2.6,-6.7,3,118,11.88,2.62,0.00,0.000,4,0.155,0.058,2164,1486,3502
$GC,370,-1.10,-146.6,35.6,-8.6,15,375,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2900,3503
$GC,692,-1.10,-146.6,62.9,-7.5,31,696,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1484,3503
$GC,742,-1.10,-146.6,67.3,-10.3,33,746,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2901,3503
$GC,1057,-1.10,-146.6,90.0,-7.0,48,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,1367,-1.10,-146.6,111.4,-8.7,63,1371,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1485,3503
$GC,1406,-1.10,-146.6,114.2,-7.4,65,1411,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2907,3503
$GC,1733,-1.10,-146.6,139.5,-9.9,81,1736,0.00,1.65,0.00,0.000,4,0.000,0.089,2164,3782,3503
$GC,1780,-1.10,-146.6,143.3,-8.4,83,1784,0.00,1.55,0.00,0.000,6,0.000,0.039,2164,2897,3503
$GC,2113,-1.10,-146.6,163.0,-5.3,99,2117,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1486,3503
$GC,2140,-1.10,-146.6,164.6,-5.3,100,2145,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2898,3503
$GC,2456,-1.10,-146.6,182.0,-5.5,115,2460,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1489,3503
$GC,2478,-1.10,-146.6,183.3,-5.8,116,2482,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2902,3503
$GC,2799,-1.10,-146.6,201.1,-5.5,132,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,3108,-1.10,-146.6,218.5,-5.8,147,3112,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1487,3503
$GC,3152,-1.10,-146.6,221.7,-7.3,149,3156,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,3472,-1.10,-146.6,240.9,-5.3,165,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3781,-1.10,-146.6,261.6,-6.7,180,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4091,-1.10,-146.6,284.1,-7.3,195,4095,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1482,3503
$GC,4130,-1.10,-146.6,287.1,-7.4,197,4134,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2900,3503
$GC,4456,-1.10,-146.6,312.3,-8.0,213,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4766,-1.10,-146.6,336.8,-8.0,228,4770,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1480,3503
$GC,4805,-1.10,-146.6,339.9,-8.2,230,4809,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2904,3503
$GC,5131,-1.10,-146.6,364.3,-7.1,246,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$GC,5441,-1.10,-146.6,384.7,-6.3,261,5445,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1485,3503
$GC,5473,-1.10,-146.6,387.1,-7.0,262,5479,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2906,3503
$GC,5789,-1.10,-146.6,407.7,-6.3,278,5793,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1484,3503
$GC,5816,-1.10,-146.6,409.7,-7.2,279,5820,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2908,3503
$GC,6131,-1.10,-146.6,430.3,-6.5,294,6135,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1480,3503
$GC,6165,-1.10,-146.6,432.8,-7.0,295,6171,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2900,3503
$GC,6481,-1.10,-146.6,454.0,-6.5,311,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6792,-1.10,-146.6,475.2,-6.8,326,6797,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1484,3503
$GC,6832,-1.10,-146.6,478.2,-7.2,328,6836,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2904,3503
$GC,7158,-1.10,-146.6,501.8,-7.4,344,7162,0.00,1.67,0.00,0.000,4,0.000,0.091,2164,3786,3503
$GC,7232,-1.10,-146.6,507.2,-8.0,347,7236,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2904,3503
$GC,7559,-1.10,-146.6,529.2,-6.4,363,7563,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1478,3503
$GC,7643,-1.10,-146.6,534.7,-6.6,367,7648,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2907,3503
$GC,7970,-1.10,-146.6,555.0,-6.7,383,7974,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1482,3503
$GC,8047,-1.10,-146.6,560.8,-7.2,386,8053,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2901,3503
$GC,8363,-1.10,-146.6,583.3,-6.8,402,8367,0.00,1.67,0.00,0.000,4,0.000,0.089,2164,3790,3503
$GC,8454,-1.10,-146.6,589.3,-6.6,406,8457,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2901,3503
$STATE,8495,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8495,begin apogee
$GC,8503,-0.42,0.0,592.2,6.3,408,8633,0.77,0.00,126.40,1.193,6,0.091,0.000,2320,2098,2901
$STATE,8633,end apogee,CONTROL_FINISHED_OK
$STATE,8633,begin climb
$GC,8636,1.10,146.6,595.9,0.0,414,8767,1.55,2.62,121.68,1.164,4,0.061,0.056,2649,695,2303
$GC,8978,1.16,191.5,584.1,4.8,429,9025,0.00,2.50,38.83,1.138,6,0.000,0.035,2649,2126,2120
$GC,9334,1.16,191.5,561.0,7.1,447,9338,0.00,2.55,0.00,0.000,4,0.000,0.071,2649,3498,2118
$GC,9400,1.16,191.5,556.1,7.5,450,9405,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2094,2118
$GC,9722,1.16,191.5,533.5,7.3,466,9726,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3505,2118
$GC,9748,1.16,191.5,531.6,7.8,467,9753,0.00,2.47,0.00,0.000,6,0.000,0.039,2649,2094,2118
$GC,10064,1.16,191.5,509.9,6.9,482,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2094,2117
$GC,10374,1.16,194.8,490.8,5.9,497,10383,0.00,2.65,3.83,0.762,4,0.000,0.068,2649,3507,2106
$GC,10411,1.18,206.0,488.7,5.7,498,10427,0.00,2.47,11.07,1.055,6,0.000,0.038,2649,2100,2061
$GC,10744,1.18,210.4,468.8,5.9,515,10754,0.00,2.65,5.50,0.899,4,0.000,0.067,2648,3501,2043
$GC,10799,1.19,213.6,465.3,5.9,517,10808,0.00,2.47,4.50,0.818,6,0.000,0.040,2648,2102,2030
$GC,11136,1.19,213.6,443.9,6.5,534,11140,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3502,2030
$GC,11191,1.19,213.6,439.9,6.6,536,11197,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2100,2030
$GC,11506,1.19,213.6,418.7,6.5,552,11511,0.00,2.65,0.00,0.000,4,0.000,0.072,2649,3507,2030
$GC,11546,1.19,213.6,415.9,6.7,554,11550,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2100,2030
$GC,11873,1.20,228.1,395.9,5.6,570,11895,0.10,2.70,13.70,1.019,4,0.053,0.074,2679,3490,1971
$GC,11928,1.20,228.1,392.1,6.4,572,11933,0.00,2.47,0.00,0.000,6,0.000,0.043,2679,2097,1971
$GC,12244,1.20,228.1,369.3,7.5,587,12249,0.00,2.62,0.00,0.000,4,0.000,0.071,2679,3501,1971
$GC,12271,1.20,228.1,367.0,7.6,588,12276,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,2102,1971
$GC,12587,1.20,228.1,341.6,8.3,603,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2102,1971
$GC,12897,1.20,228.1,315.3,8.5,618,12901,0.00,2.60,0.00,0.000,4,0.000,0.071,2679,3500,1971
$GC,12936,1.20,228.1,312.0,8.8,620,12940,0.00,2.47,0.00,0.000,6,0.000,0.048,2679,2100,1971
$GC,13262,1.20,228.1,284.3,8.9,636,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,1971
$GC,13572,1.20,228.1,257.5,8.9,651,13576,0.00,2.65,0.00,0.000,4,0.000,0.074,2679,3504,1971
$GC,13621,1.20,228.1,252.9,9.4,653,13625,0.00,2.50,0.00,0.000,6,0.000,0.050,2679,2099,1971
$GC,13936,1.20,228.1,228.6,7.5,668,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,1971
$GC,14246,1.20,228.1,200.8,10.0,683,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,1971
$GC,14555,1.20,228.1,175.0,8.3,698,14559,0.00,2.62,0.00,0.000,4,0.000,0.071,2679,3508,1971
$GC,14587,1.20,228.1,171.7,9.2,699,14593,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2099,1971
$GC,14904,1.20,228.1,145.1,6.7,715,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,1972
$GC,15212,1.20,228.1,118.8,9.0,730,15217,0.00,2.55,0.00,0.000,4,0.000,0.062,2679,694,1972
$GC,15234,1.20,228.1,116.7,9.2,731,15239,0.00,2.47,0.00,0.000,6,0.000,0.046,2679,2092,1972
$GC,15556,1.20,228.1,87.5,8.9,747,15560,0.00,2.65,0.00,0.000,4,0.000,0.075,2679,3510,1972
$GC,15578,1.20,228.1,85.3,9.8,748,15582,0.00,2.53,0.00,0.000,6,0.000,0.048,2679,2095,1972
$GC,15899,1.20,228.1,56.8,7.6,764,15900,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2095,1972
$GC,16210,1.28,289.9,45.6,4.3,779,16262,0.00,0.00,50.45,0.839,6,0.000,0.000,2679,2095,1719
$GC,16560,1.28,289.9,12.8,10.9,796,16564,0.00,2.67,0.00,0.000,4,0.000,0.074,2679,3511,1718
$GC,16592,1.28,289.9,9.4,10.2,797,16599,0.00,2.53,0.00,0.000,6,0.000,0.054,2679,2099,1718
$STATE,16699,end climb,SURFACE_DEPTH_REACHED
$STATE,16699,begin surface coast
$FINISH,-0.8,1.027386
$STATE,16721,end surface coast,CONTROL_FINISHED_OK
$STATE,16721,begin surface
$SM_CCo,16745,10.15,0.670,1,0,1678,300.00
$SM_GC,-0.28,0.00,0.00,10.15,0.000,0.000,0.670,43,2895,1678,-10.89,-0.14,300.00
$IRIDIUM_FIX,6244.56,-1249.31,150108,050502
$TT8_MAMPS,0.028379
$HUMID,2059
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.2,100.9
$24V_AH,23.3,63.093
$10V_AH,10.1,28.741
$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,25.975,162.575,375.950,10.150,0.000,39.624,34.856,172.106,4.000,0.000,0.000,15.399,1496.975,12780.899,515.640,1802.990,549.513,0.000,1446.998,0.000,1772.947,0.000,28.305
$DEVICE_MAMPS,154.934,90.506,1193.452,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.527,555.245,519.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41086,804
$CFSIZE,260165632,238759936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,150108,111938,6303.455,-1254.326,25,1.6,25,-12.0