version: 66.02
glider: 103
mission: 7
dive: 390
start: 1 18 108 19 17 40
data:
$ID,103
$MISSION,7
$DIVE,390
$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,-70077.109
$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,23
$R_STBD_OVSHOOT,15
$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
$GPS1,190708,6235.462,-1102.275,32,1.8,32,-10.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.64
$_SM_ANGLEo,-53.1
$GPS2,191708,6235.660,-1101.954,19,1.8,19,-10.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$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,121.7,29268,-11.1,-6.000
$D_GRID,646
$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,-146.6,0.0,0.0,0,93,0.00,0.00,-66.90,0.000,6,0.000,0.000,46,2901,3499
$GC,96,-1.10,-146.6,2.8,-8.1,3,112,11.90,1.75,0.00,0.000,4,0.156,0.092,2166,3780,3502
$GC,365,-1.10,-146.6,35.0,-7.4,14,369,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2891,3501
$GC,692,-1.10,-146.6,60.4,-7.4,30,696,0.00,1.73,0.00,0.000,4,0.000,0.091,2166,3780,3502
$GC,850,-1.10,-146.6,76.0,-9.1,37,854,0.00,1.55,0.00,0.000,6,0.000,0.044,2166,2905,3502
$GC,1183,-1.10,-146.6,99.0,-6.7,53,1188,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1483,3502
$GC,1224,-1.10,-146.6,101.7,-7.1,55,1228,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2895,3502
$GC,1550,-1.10,-146.6,122.5,-6.3,71,1553,0.00,1.70,0.00,0.000,4,0.000,0.092,2166,3786,3502
$GC,1588,-1.10,-146.6,125.2,-7.4,72,1595,0.00,1.55,0.00,0.000,6,0.000,0.041,2166,2901,3502
$GC,1904,-1.10,-146.6,146.3,-6.7,88,1909,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1489,3503
$GC,1937,-1.10,-146.6,148.5,-6.4,89,1944,0.00,2.65,0.00,0.000,6,0.000,0.076,2166,2903,3503
$GC,2253,-1.10,-146.6,168.3,-6.9,105,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,2562,-1.10,-146.6,188.3,-6.4,120,2566,0.00,1.67,0.00,0.000,4,0.000,0.092,2166,3786,3503
$GC,2608,-1.10,-146.6,191.4,-6.5,122,2612,0.00,1.55,0.00,0.000,6,0.000,0.041,2166,2903,3503
$GC,2940,-1.10,-146.6,213.8,-6.8,138,2945,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1488,3503
$GC,2981,-1.10,-146.6,216.5,-6.5,140,2985,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2908,3503
$GC,3307,-1.10,-146.6,238.4,-6.6,156,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,3616,-1.10,-146.6,259.0,-6.5,171,3621,0.00,2.60,0.00,0.000,4,0.000,0.060,2166,1480,3503
$GC,3650,-1.10,-146.6,261.1,-6.0,172,3656,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2901,3503
$GC,3965,-1.10,-146.6,281.8,-6.7,188,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,4274,-1.10,-146.6,302.6,-7.1,203,4279,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1483,3503
$GC,4319,-1.10,-146.6,305.3,-5.8,205,4324,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2901,3503
$GC,4641,-1.10,-146.6,326.6,-6.6,221,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,4950,-1.10,-146.6,346.4,-6.0,236,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,5260,-1.10,-146.6,363.4,-5.2,251,5264,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1488,3503
$GC,5349,-1.10,-146.6,368.2,-4.9,255,5353,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2906,3503
$GC,5670,-1.10,-146.6,385.4,-5.6,271,5675,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1485,3503
$GC,5703,-1.10,-146.6,387.5,-6.0,272,5709,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2900,3503
$GC,6019,-1.10,-146.6,410.6,-8.2,288,6022,0.00,1.67,0.00,0.000,4,0.000,0.091,2166,3786,3503
$GC,6064,-1.10,-146.6,414.5,-8.8,290,6068,0.00,1.55,0.00,0.000,6,0.000,0.041,2166,2899,3503
$GC,6397,-1.10,-146.6,440.2,-7.6,306,6402,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1483,3503
$GC,6437,-1.10,-146.6,443.2,-7.4,308,6442,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2903,3503
$GC,6764,-1.10,-146.6,464.9,-6.5,324,6769,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1487,3503
$GC,6792,-1.10,-146.6,466.9,-7.3,325,6796,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2901,3503
$GC,7107,-1.10,-146.6,490.2,-7.6,340,7112,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1487,3503
$GC,7157,-1.10,-146.6,494.0,-7.2,342,7162,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2908,3503
$GC,7473,-1.10,-146.6,516.0,-6.7,357,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,7782,-1.10,-146.6,536.5,-6.0,372,7787,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1480,3503
$GC,7816,-1.10,-146.6,538.8,-6.5,373,7822,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2900,3503
$GC,8132,-1.10,-146.6,560.8,-7.2,389,8135,0.00,2.53,0.00,0.000,4,0.000,0.052,2166,1484,3503
$GC,8204,-1.10,-146.6,565.7,-6.2,392,8208,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2901,3503
$GC,8525,-1.10,-146.6,582.2,-5.3,408,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,8834,-1.10,-146.6,603.0,-6.6,423,8838,0.00,2.53,0.00,0.000,4,0.000,0.053,2166,1481,3502
$GC,8895,-1.10,-146.6,606.8,-6.0,425,8902,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2899,3502
$GC,9212,-1.10,-146.6,626.4,-7.7,441,9216,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1482,3501
$GC,9319,-1.10,-146.6,633.8,-6.4,446,9323,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,2900,3501
$STATE,9324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9324,begin apogee
$GC,9332,-0.42,0.0,634.2,6.1,446,9462,0.73,0.00,126.65,1.285,6,0.093,0.000,2315,2095,2901
$STATE,9463,end apogee,CONTROL_FINISHED_OK
$STATE,9463,begin climb
$GC,9466,1.10,146.6,638.7,0.0,452,9597,1.55,2.60,123.40,1.241,4,0.057,0.058,2646,697,2303
$GC,9729,1.12,160.2,630.7,5.6,464,9748,0.00,2.50,13.32,1.135,6,0.000,0.037,2646,2119,2247
$GC,10071,1.13,166.0,612.1,5.8,481,10084,0.00,2.67,6.45,1.030,4,0.000,0.058,2646,698,2224
$GC,10108,1.13,166.0,609.7,6.4,482,10114,0.00,2.47,0.00,0.000,6,0.000,0.038,2646,2097,2224
$GC,10424,1.16,190.7,593.1,5.3,498,10453,0.00,2.72,22.23,1.234,4,0.000,0.067,2646,3501,2123
$GC,10516,1.16,190.7,587.3,6.4,502,10521,0.00,2.47,0.00,0.000,6,0.000,0.038,2646,2097,2122
$GC,10838,1.20,223.5,568.3,5.1,518,10872,0.10,2.70,28.67,1.251,4,0.051,0.067,2680,3507,1989
$GC,10929,1.20,223.5,562.1,7.7,522,10933,0.00,2.50,0.00,0.000,6,0.000,0.040,2680,2101,1988
$GC,11249,1.20,223.5,535.9,7.2,538,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2101,1987
$GC,11559,1.20,223.5,513.4,7.9,553,11563,0.00,2.62,0.00,0.000,4,0.000,0.071,2680,3501,1986
$GC,11631,1.20,223.5,508.1,7.2,556,11635,0.00,2.47,0.00,0.000,6,0.000,0.043,2680,2100,1986
$GC,11947,1.20,223.5,485.9,7.8,571,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2100,1985
$GC,12257,1.20,223.5,461.5,7.7,586,12261,0.00,2.62,0.00,0.000,4,0.000,0.071,2680,3504,1985
$GC,12283,1.20,223.5,459.2,7.6,587,12288,0.00,2.47,0.00,0.000,6,0.000,0.044,2680,2102,1985
$GC,12599,1.20,223.5,434.9,7.8,602,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2102,1985
$GC,12909,1.20,223.5,410.8,8.2,617,12913,0.00,2.60,0.00,0.000,4,0.000,0.071,2681,3504,1986
$GC,12970,1.20,223.5,405.4,8.5,619,12976,0.00,2.50,0.00,0.000,6,0.000,0.045,2680,2096,1985
$GC,13285,1.20,223.5,378.3,8.2,635,13290,0.00,2.62,0.00,0.000,4,0.000,0.070,2681,3502,1986
$GC,13308,1.20,223.5,376.3,8.5,636,13312,0.00,2.50,0.00,0.000,6,0.000,0.045,2681,2097,1986
$GC,13628,1.20,223.5,349.9,8.2,652,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,1986
$GC,13937,1.20,223.5,323.3,8.4,667,13941,0.00,2.62,0.00,0.000,4,0.000,0.070,2681,3507,1987
$GC,13993,1.20,223.5,318.3,8.8,669,13997,0.00,2.53,0.00,0.000,6,0.000,0.047,2681,2092,1987
$GC,14309,1.20,223.5,293.0,7.5,684,14313,0.00,2.65,0.00,0.000,4,0.000,0.071,2680,3507,1987
$GC,14370,1.20,223.5,288.0,8.2,687,14375,0.00,2.50,0.00,0.000,6,0.000,0.045,2680,2094,1987
$GC,14697,1.20,223.5,261.4,8.4,703,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2094,1988
$GC,15008,1.20,223.5,237.9,7.2,718,15012,0.00,2.62,0.00,0.000,4,0.000,0.070,2681,3503,1988
$GC,15085,1.20,223.5,232.1,6.8,721,15091,0.00,2.47,0.00,0.000,6,0.000,0.047,2681,2100,1988
$GC,15401,1.20,223.5,210.7,6.5,737,15405,0.00,2.62,0.00,0.000,4,0.000,0.070,2681,3502,1989
$GC,15473,1.20,223.5,205.7,7.0,740,15477,0.00,2.47,0.00,0.000,6,0.000,0.044,2681,2096,1989
$GC,15794,1.20,223.5,183.8,6.8,756,15798,0.00,2.62,0.00,0.000,4,0.000,0.069,2681,3502,1989
$GC,15827,1.20,223.5,181.3,7.5,757,15833,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2099,1989
$GC,16142,1.20,223.5,158.2,6.8,773,16147,0.00,2.62,0.00,0.000,4,0.000,0.072,2680,3502,1990
$GC,16170,1.20,223.5,156.5,6.2,774,16174,0.00,2.50,0.00,0.000,6,0.000,0.047,2681,2094,1990
$GC,16486,1.20,223.5,136.3,7.8,789,16491,0.00,2.62,0.00,0.000,4,0.000,0.069,2680,3502,1990
$GC,16519,1.29,296.0,134.4,4.0,790,16587,0.00,2.50,59.12,0.927,6,0.000,0.047,2680,2094,1694
$GC,16900,1.29,296.0,106.0,10.6,809,16901,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2093,1693
$GC,17207,1.33,331.3,85.6,5.0,824,17242,0.00,2.72,29.67,0.868,4,0.000,0.072,2680,3508,1550
$GC,17281,1.33,331.3,80.6,7.4,826,17288,0.00,2.55,0.00,0.000,6,0.000,0.050,2681,2094,1550
$GC,17597,1.33,331.3,45.6,11.9,842,17602,0.00,2.58,0.00,0.000,4,0.000,0.064,2681,691,1550
$GC,17619,1.33,331.3,42.5,13.2,843,17623,0.00,2.50,0.00,0.000,6,0.000,0.047,2681,2093,1550
$GC,17941,1.33,331.3,11.3,6.7,859,17945,0.00,2.70,0.00,0.000,4,0.000,0.083,2680,3512,1549
$GC,18007,1.33,331.3,6.5,8.5,862,18011,0.00,2.45,0.00,0.000,6,0.000,0.031,2681,2089,1549
$STATE,18078,end climb,SURFACE_DEPTH_REACHED
$STATE,18078,begin surface coast
$FINISH,-1.3,1.027342
$STATE,18100,end surface coast,CONTROL_FINISHED_OK
$STATE,18100,begin surface
$SM_CCo,18184,0.00,0.000,0,0,1548,331.89
$SM_GC,-0.55,11.60,0.00,0.00,0.030,0.000,0.000,36,2901,1548,-10.80,0.03,331.89
$IRIDIUM_FIX,6211.90,-1058.43,180108,232340
$TT8_MAMPS,0.029146
$HUMID,2083
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.4,43.7
$24V_AH,23.2,65.448
$10V_AH,10.1,30.119
$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,25.875,184.525,409.525,0.000,0.000,79.665,78.106,235.975,5.750,0.000,0.000,19.975,1615.461,13883.916,529.138,2010.910,750.474,0.000,1576.697,0.000,1976.137,0.000,34.628
$DEVICE_MAMPS,155.701,92.040,1284.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.235,603.040,538.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44223,867
$CFSIZE,260165632,237719552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,190108,002156,6236.216,-1057.068,38,1.9,38,-10.7