version: 66.02
glider: 103
mission: 7
dive: 384
start: 1 17 108 9 51 37
data:
$ID,103
$MISSION,7
$DIVE,384
$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,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,-69979.086
$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,21
$R_STBD_OVSHOOT,13
$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
$GPS1,094427,6248.597,-1207.858,43,1.9,43,-11.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.43
$_SM_ANGLEo,-55.9
$GPS2,095105,6248.653,-1207.700,16,2.8,35,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$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,120.8,20404,-11.1,-6.000
$D_GRID,644
$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,26,-1.10,-146.6,0.0,0.0,0,93,0.00,0.00,-65.68,0.000,6,0.000,0.000,48,2908,3500
$GC,96,-1.10,-146.6,3.0,-8.1,3,112,11.90,1.73,0.00,0.000,4,0.157,0.086,2164,3786,3502
$GC,241,-1.10,-146.6,28.8,-9.3,8,247,0.00,1.58,0.00,0.000,6,0.000,0.043,2164,2905,3502
$GC,557,-1.10,-146.6,48.9,-5.2,24,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3502
$GC,866,-1.10,-146.6,70.1,-8.0,39,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3502
$GC,1176,-1.10,-146.6,94.3,-7.2,54,1180,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1489,3502
$GC,1242,-1.10,-146.6,99.2,-7.2,57,1247,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2898,3502
$GC,1564,-1.10,-146.6,121.2,-6.5,73,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,1873,-1.10,-146.6,147.4,-9.3,88,1878,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1483,3502
$GC,1906,-1.10,-146.6,150.6,-8.9,89,1913,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2899,3503
$GC,2223,-1.10,-146.6,176.1,-8.9,105,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2531,-1.10,-146.6,199.3,-6.6,120,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2840,-1.10,-146.6,222.4,-7.8,135,2845,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1489,3503
$GC,2876,-1.10,-146.6,225.3,-8.1,136,2882,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2900,3503
$GC,3191,-1.10,-146.6,253.6,-8.8,152,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3500,-1.10,-146.6,277.2,-7.3,167,3504,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3786,3503
$GC,3528,-1.10,-146.6,279.2,-7.6,168,3532,0.00,1.52,0.00,0.000,6,0.000,0.038,2164,2906,3503
$GC,3855,-1.10,-146.6,302.8,-7.4,184,3859,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1488,3503
$GC,3904,-1.10,-146.6,306.7,-7.4,186,3909,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3503
$GC,4220,-1.10,-146.6,329.7,-6.8,201,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4530,-1.10,-146.6,352.0,-7.5,216,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4839,-1.10,-146.6,373.6,-6.7,231,4843,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1486,3503
$GC,4866,-1.10,-146.6,375.5,-6.7,232,4870,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2903,3503
$GC,5182,-1.10,-146.6,393.7,-5.6,247,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,5491,-1.10,-146.6,411.1,-5.8,262,5495,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1488,3503
$GC,5531,-1.10,-146.6,413.4,-5.6,264,5535,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2900,3503
$GC,5857,-1.10,-146.6,433.7,-6.5,280,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6166,-1.10,-146.6,455.4,-6.7,295,6170,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1483,3503
$GC,6238,-1.10,-146.6,460.7,-7.2,298,6242,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2901,3503
$GC,6554,-1.10,-146.6,483.8,-7.6,313,6557,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3786,3503
$GC,6671,-1.10,-146.6,492.8,-7.6,318,6675,0.00,1.52,0.00,0.000,6,0.000,0.037,2164,2898,3503
$GC,6998,-1.10,-146.6,514.7,-6.6,334,7002,0.00,2.53,0.00,0.000,4,0.000,0.061,2164,1496,3503
$GC,7042,-1.10,-146.6,517.8,-6.8,336,7047,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2900,3503
$GC,7364,-1.10,-146.6,538.7,-6.4,352,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,7673,-1.10,-146.6,557.6,-6.0,367,7678,0.00,2.55,0.00,0.000,4,0.000,0.057,2164,1490,3503
$GC,7741,-1.10,-146.6,561.8,-6.0,370,7745,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2909,3503
$GC,8062,-1.10,-146.6,579.5,-5.4,386,8066,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1495,3503
$GC,8095,-1.10,-146.6,581.6,-5.4,387,8101,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2899,3503
$GC,8411,-1.10,-146.6,599.1,-5.5,403,8415,0.00,1.67,0.00,0.000,4,0.000,0.085,2164,3778,3503
$GC,8501,-1.10,-146.6,605.0,-6.5,407,8505,0.00,1.50,0.00,0.000,6,0.000,0.037,2164,2901,3503
$GC,8833,-1.10,-146.6,625.8,-6.3,423,8837,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1492,3503
$GC,8933,-1.10,-146.6,632.3,-6.4,427,8939,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2906,3503
$STATE,9102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9102,begin apogee
$GC,9110,-0.42,0.0,643.2,6.3,436,9244,0.77,0.00,126.47,1.271,6,0.098,0.000,2318,2111,2901
$STATE,9245,end apogee,CONTROL_FINISHED_OK
$STATE,9245,begin climb
$GC,9248,1.10,146.6,648.8,0.0,443,9379,1.55,2.67,121.90,1.256,4,0.061,0.060,2648,700,2303
$GC,9573,1.12,158.1,638.0,5.7,458,9590,0.00,2.50,11.12,1.116,6,0.000,0.039,2648,2117,2256
$GC,9899,1.12,158.1,619.5,6.3,473,9903,0.00,2.58,0.00,0.000,4,0.000,0.071,2648,3505,2255
$GC,10006,1.12,158.1,612.2,6.6,478,10010,0.00,2.50,0.00,0.000,6,0.000,0.040,2648,2088,2255
$GC,10332,1.14,174.6,592.8,5.5,494,10353,0.00,2.78,15.27,1.196,4,0.000,0.070,2648,3510,2189
$GC,10380,1.14,174.6,589.9,6.0,496,10385,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2102,2188
$GC,10701,1.14,174.6,570.4,6.1,512,10706,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3505,2187
$GC,10764,1.14,174.6,566.5,6.5,515,10768,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2095,2187
$GC,11090,1.15,186.0,547.7,5.7,531,11106,0.00,2.70,10.88,1.155,4,0.000,0.068,2648,3505,2142
$GC,11175,1.15,188.2,542.5,5.9,534,11180,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2100,2141
$GC,11502,1.15,188.2,522.1,6.2,550,11506,0.00,2.62,0.00,0.000,4,0.000,0.068,2648,3506,2141
$GC,11529,1.15,188.2,520.4,6.6,551,11533,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2096,2141
$GC,11845,1.15,188.2,499.8,6.6,566,11849,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3505,2140
$GC,11911,1.15,188.2,495.3,6.9,569,11915,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2098,2140
$GC,12232,1.15,188.2,475.5,6.1,585,12236,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3509,2140
$GC,12298,1.15,188.2,471.1,6.7,588,12302,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2099,2140
$GC,12619,1.16,190.2,451.8,5.9,604,12629,0.00,2.62,5.18,0.921,4,0.000,0.064,2648,3506,2125
$GC,12691,1.16,190.2,446.8,6.5,607,12695,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2094,2125
$GC,13006,1.16,190.2,426.3,6.4,622,13007,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2095,2125
$GC,13316,1.16,190.8,408.0,6.0,637,13320,0.00,2.60,0.00,0.000,4,0.000,0.066,2648,3505,2125
$GC,13366,1.16,190.8,404.8,6.1,639,13370,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2099,2125
$GC,13681,1.16,191.5,385.7,6.0,654,13685,0.00,2.60,0.00,0.000,4,0.000,0.064,2648,3508,2125
$GC,13736,1.17,197.6,382.2,5.8,656,13750,0.00,2.47,8.27,0.982,6,0.000,0.041,2648,2100,2095
$GC,14074,1.17,197.6,360.6,6.7,673,14078,0.00,2.60,0.00,0.000,4,0.000,0.065,2648,3505,2095
$GC,14140,1.17,197.6,355.8,7.3,676,14144,0.00,2.45,0.00,0.000,6,0.000,0.041,2648,2101,2095
$GC,14467,1.17,197.6,332.8,7.2,692,14471,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3506,2095
$GC,14511,1.17,197.6,329.3,7.8,694,14515,0.00,2.45,0.00,0.000,6,0.000,0.040,2648,2099,2095
$GC,14832,1.17,197.6,306.2,7.0,710,14836,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3510,2095
$GC,14876,1.17,197.6,303.1,7.6,712,14880,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2096,2095
$GC,15196,1.17,197.6,280.9,7.2,728,15201,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3510,2096
$GC,15259,1.17,197.6,276.5,6.7,731,15263,0.00,2.47,0.00,0.000,6,0.000,0.044,2648,2103,2096
$GC,15585,1.17,197.6,254.1,7.0,747,15590,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3507,2096
$GC,15641,1.17,197.6,249.9,7.2,749,15647,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2095,2097
$GC,15956,1.17,197.6,227.3,6.6,765,15961,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3505,2096
$GC,15990,1.17,197.6,224.9,6.7,766,15996,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2100,2097
$GC,16305,1.17,197.6,204.7,6.2,782,16309,0.00,2.60,0.00,0.000,4,0.000,0.071,2649,3505,2097
$GC,16332,1.17,197.6,202.9,6.9,783,16336,0.00,2.45,0.00,0.000,6,0.000,0.040,2648,2100,2097
$GC,16653,1.17,197.6,184.1,6.2,799,16657,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3508,2097
$GC,16697,1.17,200.3,181.3,5.9,801,16706,0.00,2.47,4.57,0.742,6,0.000,0.041,2648,2101,2084
$GC,17018,1.18,205.4,162.9,5.9,816,17031,0.00,2.65,6.28,0.803,4,0.000,0.069,2648,3505,2063
$GC,17066,1.18,208.3,160.0,5.9,818,17075,0.00,2.50,4.05,0.673,6,0.000,0.044,2648,2102,2051
$GC,17392,1.18,208.3,139.8,6.4,834,17396,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3505,2051
$GC,17436,1.18,208.3,136.8,7.4,836,17440,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2097,2051
$GC,17757,1.18,210.7,116.7,5.9,852,17766,0.00,2.65,3.55,0.616,4,0.000,0.068,2648,3502,2042
$GC,17803,1.23,247.4,114.0,5.0,854,17839,0.12,2.47,30.62,0.890,6,0.044,0.047,2688,2099,1892
$GC,18153,1.23,247.4,86.9,8.7,870,18158,0.00,2.65,0.00,0.000,4,0.000,0.070,2688,3511,1892
$GC,18186,1.23,247.4,83.4,9.0,871,18193,0.00,2.50,0.00,0.000,6,0.000,0.049,2688,2102,1892
$GC,18502,1.23,247.4,56.9,8.5,887,18507,0.00,2.62,0.00,0.000,4,0.000,0.071,2689,3505,1892
$GC,18530,1.23,247.4,54.3,8.6,888,18535,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2099,1891
$GC,18848,1.23,247.4,25.7,8.2,903,18849,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1892
$STATE,19111,end climb,SURFACE_DEPTH_REACHED
$STATE,19111,begin surface coast
$FINISH,-1.2,1.027377
$STATE,19135,end surface coast,CONTROL_FINISHED_OK
$STATE,19135,begin surface
$SM_CCo,19159,43.95,0.795,1,0,1678,300.00
$SM_GC,-0.63,0.00,0.00,43.95,0.000,0.000,0.795,44,2895,1678,-10.88,-0.14,300.00
$IRIDIUM_FIX,6221.17,-1213.89,170108,080828
$TT8_MAMPS,0.029146
$HUMID,2061
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.1,102.0
$24V_AH,23.2,64.561
$10V_AH,10.1,29.584
$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,25.925,195.725,348.175,43.950,0.000,37.120,37.582,173.135,5.000,0.000,0.000,36.156,1718.501,14641.105,546.718,2111.625,599.830,0.000,1617.937,0.000,2057.713,0.000,31.543
$DEVICE_MAMPS,157.235,86.671,1270.919,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.657,654.715,559.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47383,917
$CFSIZE,260165632,238108672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
$GPS,170108,151301,6248.441,-1156.960,38,1.6,38,-11.3