version: 66.02
glider: 103
mission: 7
dive: 375
start: 1 15 108 11 26 16
data:
$ID,103
$MISSION,7
$DIVE,375
$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,-69810.539
$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,10
$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
$GPS1,111938,6303.455,-1254.326,25,1.6,25,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-58.1
$GPS2,112546,6303.435,-1254.288,11,2.9,30,-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,197.4,6390,-11.1,-6.000
$D_GRID,604
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-66.22,0.000,6,0.000,0.000,43,2898,3500
$GC,95,-1.10,-146.6,2.4,-6.3,3,116,11.98,2.62,0.00,0.000,4,0.159,0.060,2163,1491,3502
$GC,369,-1.10,-146.6,42.5,-10.5,15,373,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2909,3502
$GC,690,-1.10,-146.6,64.2,-8.8,31,694,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1490,3502
$GC,779,-1.10,-146.6,70.4,-4.3,35,784,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2902,3502
$GC,1100,-1.10,-146.6,92.0,-8.7,51,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1411,-1.10,-146.6,113.0,-6.6,66,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,1719,-1.10,-146.6,133.9,-7.4,81,1722,0.00,1.67,0.00,0.000,4,0.000,0.090,2163,3785,3502
$GC,1757,-1.10,-146.6,137.6,-9.3,82,1763,0.00,1.52,0.00,0.000,6,0.000,0.039,2163,2909,3503
$GC,2073,-1.10,-146.6,171.2,-10.3,98,2077,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1485,3503
$GC,2129,-1.10,-146.6,175.6,-6.3,100,2135,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3503
$GC,2445,-1.10,-146.6,198.0,-8.0,116,2449,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1488,3503
$GC,2494,-1.10,-146.6,201.7,-6.4,118,2499,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2905,3502
$GC,2810,-1.10,-146.6,222.9,-6.5,133,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,3119,-1.10,-146.6,243.3,-6.7,148,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2906,3502
$GC,3428,-1.10,-146.6,265.4,-7.0,163,3433,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1488,3503
$GC,3468,-1.10,-146.6,268.2,-7.6,165,3473,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2908,3502
$GC,3795,-1.10,-146.6,290.2,-6.4,181,3799,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1482,3503
$GC,3821,-1.10,-146.6,292.2,-6.9,182,3826,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3503
$GC,4137,-1.10,-146.6,313.7,-6.7,197,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,4447,-1.10,-146.6,334.9,-6.8,212,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,4756,-1.10,-146.6,358.5,-7.4,227,4760,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1487,3503
$GC,4788,-1.10,-146.6,361.0,-7.2,228,4794,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2908,3503
$GC,5104,-1.10,-146.6,383.3,-7.3,244,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,5413,-1.10,-146.6,405.3,-6.8,259,5417,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1482,3503
$GC,5445,-1.10,-146.6,407.7,-6.8,260,5452,0.00,2.60,0.00,0.000,6,0.000,0.070,2163,2901,3503
$GC,5762,-1.10,-146.6,428.7,-6.4,276,5763,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,6071,-1.10,-146.6,446.6,-5.5,291,6075,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1484,3503
$GC,6098,-1.10,-146.6,448.3,-5.4,292,6103,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2908,3503
$GC,6414,-1.10,-146.6,466.5,-5.9,307,6418,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1485,3503
$GC,6447,-1.10,-146.6,468.6,-6.7,308,6453,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2905,3503
$GC,6762,-1.10,-146.6,489.1,-6.2,324,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,7072,-1.10,-146.6,507.7,-6.1,339,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,7381,-1.10,-146.6,525.1,-5.1,354,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,7690,-1.10,-146.6,543.7,-6.1,369,7694,0.00,1.67,0.00,0.000,4,0.000,0.089,2163,3789,3503
$GC,7758,-1.10,-146.6,548.2,-7.0,372,7762,0.00,1.55,0.00,0.000,6,0.000,0.039,2163,2901,3503
$GC,8091,-1.10,-146.6,567.3,-5.8,388,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$STATE,8233,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8233,begin apogee
$GC,8241,-0.42,0.0,575.0,5.7,395,8375,0.77,0.00,126.35,1.188,6,0.097,0.000,2317,2100,2901
$STATE,8375,end apogee,CONTROL_FINISHED_OK
$STATE,8375,begin climb
$GC,8378,1.10,146.6,579.1,0.0,402,8509,1.55,2.65,121.88,1.154,4,0.054,0.057,2650,688,2303
$GC,8663,1.10,146.6,566.9,7.9,415,8667,0.00,2.50,0.00,0.000,6,0.000,0.037,2650,2112,2302
$GC,8983,1.10,146.6,538.4,8.3,431,8988,0.00,2.60,0.00,0.000,4,0.000,0.071,2650,3504,2302
$GC,9073,1.10,146.6,530.8,7.9,435,9077,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2089,2301
$GC,9394,1.21,234.0,513.5,3.6,451,9477,0.10,2.75,73.47,1.164,4,0.051,0.071,2685,3511,1946
$GC,9510,1.21,234.0,507.0,7.2,456,9514,0.00,2.53,0.00,0.000,6,0.000,0.042,2684,2095,1945
$GC,9826,1.22,241.5,488.2,5.8,471,9840,0.00,2.72,7.57,0.986,4,0.000,0.074,2685,3499,1916
$GC,9899,1.22,241.5,483.1,8.1,474,9903,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2103,1915
$GC,10219,1.22,241.5,458.5,6.6,490,10224,0.00,2.65,0.00,0.000,4,0.000,0.074,2684,3511,1915
$GC,10253,1.22,241.5,456.2,6.7,491,10259,0.00,2.53,0.00,0.000,6,0.000,0.044,2685,2096,1914
$GC,10568,1.26,277.6,440.2,5.0,507,10609,0.00,2.72,31.12,1.113,4,0.000,0.074,2685,3502,1769
$GC,10642,1.28,292.9,436.3,5.6,510,10662,0.00,2.53,14.52,1.058,6,0.000,0.044,2685,2096,1706
$GC,10985,1.28,292.9,416.2,6.4,527,10990,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3504,1705
$GC,11018,1.28,292.9,413.9,6.5,528,11024,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2102,1705
$GC,11334,1.28,292.9,393.3,6.5,544,11338,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3504,1705
$GC,11360,1.28,292.9,391.7,6.3,545,11365,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2092,1705
$GC,11676,1.28,292.9,371.7,6.6,560,11680,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3504,1705
$GC,11703,1.28,292.9,369.9,6.5,561,11707,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2094,1705
$GC,12019,1.28,292.9,349.0,6.7,576,12023,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3507,1705
$GC,12046,1.28,292.9,347.1,6.8,577,12050,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2095,1705
$GC,12361,1.28,292.9,325.7,6.6,592,12366,0.00,2.62,0.00,0.000,4,0.000,0.070,2685,3504,1706
$GC,12389,1.28,292.9,323.6,7.7,593,12393,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2101,1706
$GC,12704,1.28,292.9,302.6,7.2,608,12709,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3508,1706
$GC,12721,1.28,292.9,301.4,7.0,609,12726,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2100,1706
$GC,13048,1.28,292.9,277.7,7.3,625,13053,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3504,1706
$GC,13081,1.28,292.9,275.0,7.4,626,13087,0.00,2.47,0.00,0.000,6,0.000,0.045,2685,2100,1706
$GC,13397,1.28,292.9,251.0,8.0,642,13401,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3505,1707
$GC,13424,1.28,292.9,248.7,7.6,643,13428,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2099,1707
$GC,13740,1.28,292.9,222.6,8.2,658,13744,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3505,1707
$GC,13784,1.28,292.9,218.8,8.1,660,13788,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2092,1707
$GC,14105,1.28,292.9,194.6,7.5,676,14109,0.00,2.65,0.00,0.000,4,0.000,0.069,2685,3508,1707
$GC,14160,1.28,292.9,190.0,8.1,678,14166,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2098,1707
$GC,14475,1.28,292.9,163.9,9.7,694,14480,0.00,2.62,0.00,0.000,4,0.000,0.070,2685,3508,1707
$GC,14520,1.28,292.9,159.3,9.4,696,14524,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2101,1707
$GC,14842,1.28,292.9,130.8,8.7,712,14847,0.00,2.62,0.00,0.000,4,0.000,0.068,2685,3510,1708
$GC,14882,1.28,292.9,127.0,8.8,714,14887,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2100,1708
$GC,15210,1.28,292.9,99.7,9.5,730,15211,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1708
$GC,15519,1.28,292.9,69.6,9.1,745,15523,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3511,1708
$GC,15551,1.28,292.9,65.9,11.0,746,15558,0.00,2.47,0.00,0.000,6,0.000,0.045,2685,2097,1708
$GC,15869,1.28,292.9,34.7,8.7,762,15870,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2097,1709
$GC,16176,1.28,292.9,8.3,8.9,777,16177,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1708
$STATE,16256,end climb,SURFACE_DEPTH_REACHED
$STATE,16256,begin surface coast
$FINISH,-0.5,1.027345
$STATE,16278,end surface coast,CONTROL_FINISHED_OK
$STATE,16278,begin surface
$SM_CCo,16302,7.47,0.725,0,0,1678,300.00
$SM_GC,0.39,0.00,0.00,7.47,0.000,0.000,0.725,45,2893,1678,-10.88,-0.20,300.00
$IRIDIUM_FIX,6239.86,-1256.47,150108,101049
$TT8_MAMPS,0.028379
$HUMID,2078
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.1,84.8
$24V_AH,23.3,63.231
$10V_AH,10.1,28.817
$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,25.975,159.725,374.925,7.475,0.000,38.659,36.022,153.284,4.500,0.000,0.000,31.809,1440.989,12469.468,510.406,1745.854,523.000,0.000,1414.145,0.000,1700.784,0.000,28.258
$DEVICE_MAMPS,158.769,89.739,1188.083,724.815,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.964,535.692,497.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41052,782
$CFSIZE,260165632,238710784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,150108,155925,6300.854,-1248.809,42,1.1,42,-11.9