version: 66.02
glider: 103
mission: 7
dive: 395
start: 1 19 108 20 17 5
data:
$ID,103
$MISSION,7
$DIVE,395
$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,-3
$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,-70158.531
$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,8
$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
$GPS1,201037,6238.502,-1045.582,66,1.2,66,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-53.6
$GPS2,201633,6238.517,-1045.496,13,1.2,13,-10.6
$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,150.6,20601,-11.1,-6.000
$D_GRID,585
$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,-146.6,0.0,0.0,0,97,0.00,0.00,-70.40,0.000,6,0.000,0.000,50,2899,3500
$GC,100,-1.10,-146.6,2.4,-7.0,3,116,11.82,1.77,0.00,0.000,4,0.155,0.096,2164,3787,3502
$GC,368,-1.10,-146.6,33.8,-8.4,14,372,0.00,1.60,0.00,0.000,6,0.000,0.054,2165,2899,3503
$GC,695,-1.10,-146.6,55.6,-7.2,30,699,0.00,1.75,0.00,0.000,4,0.000,0.094,2164,3791,3502
$GC,756,-1.10,-146.6,61.6,-10.5,32,763,0.00,1.60,0.00,0.000,6,0.000,0.052,2164,2902,3502
$GC,1073,-1.10,-146.6,86.5,-7.0,48,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,1383,-1.10,-146.6,105.5,-5.8,63,1388,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1482,3503
$GC,1424,-1.10,-146.6,108.0,-6.0,65,1428,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2902,3503
$GC,1751,-1.10,-146.6,130.0,-7.0,81,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,2060,-1.10,-146.6,151.1,-6.3,96,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,2369,-1.10,-146.6,172.3,-6.9,111,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,2679,-1.10,-146.6,193.9,-6.9,126,2683,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1483,3503
$GC,2722,-1.10,-146.6,197.1,-6.8,128,2727,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2903,3503
$GC,3043,-1.10,-146.6,219.2,-6.6,144,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,3353,-1.10,-146.6,241.1,-7.1,159,3357,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1481,3503
$GC,3392,-1.10,-146.6,244.0,-7.2,161,3397,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2898,3503
$GC,3718,-1.10,-146.6,267.8,-7.0,177,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,4028,-1.10,-146.6,291.6,-6.8,192,4032,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1476,3503
$GC,4077,-1.10,-146.6,295.0,-6.6,194,4082,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2899,3503
$GC,4393,-1.10,-146.6,316.4,-7.4,209,4397,0.00,1.70,0.00,0.000,4,0.000,0.094,2165,3787,3503
$GC,4432,-1.10,-146.6,319.7,-7.9,210,4439,0.00,1.60,0.00,0.000,6,0.000,0.048,2165,2896,3503
$GC,4748,-1.10,-146.6,342.3,-6.7,226,4753,0.00,2.53,0.00,0.000,4,0.000,0.058,2165,1485,3503
$GC,4811,-1.10,-146.6,346.5,-6.5,229,4815,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2902,3503
$GC,5137,-1.10,-146.6,368.3,-6.8,245,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,5446,-1.10,-146.6,392.0,-7.4,260,5450,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1487,3503
$GC,5478,-1.10,-146.6,394.3,-7.2,261,5485,0.00,2.60,0.00,0.000,6,0.000,0.068,2165,2898,3503
$GC,5794,-1.10,-146.6,415.7,-6.8,277,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,6103,-1.10,-146.6,435.9,-6.2,292,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,6413,-1.10,-146.6,457.4,-7.8,307,6417,0.00,2.55,0.00,0.000,4,0.000,0.057,2164,1478,3503
$GC,6452,-1.10,-146.6,460.5,-7.8,309,6456,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2904,3503
$GC,6778,-1.10,-146.6,484.9,-7.0,325,6782,0.00,1.70,0.00,0.000,4,0.000,0.094,2165,3781,3503
$GC,6827,-1.10,-146.6,488.3,-6.8,327,6831,0.00,1.55,0.00,0.000,6,0.000,0.043,2165,2895,3502
$GC,7155,-1.10,-146.6,508.9,-5.8,343,7159,0.00,2.50,0.00,0.000,4,0.000,0.058,2165,1492,3503
$GC,7257,-1.10,-146.6,514.7,-5.5,347,7263,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2901,3503
$GC,7573,-1.10,-146.6,531.6,-6.0,363,7577,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1491,3503
$GC,7652,-1.10,-146.6,536.7,-6.8,366,7658,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2906,3503
$GC,7967,-1.10,-146.6,556.1,-6.1,382,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,8277,-1.10,-146.6,576.1,-6.9,397,8281,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1487,3503
$GC,8320,-1.10,-146.6,579.2,-6.5,399,8325,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2903,3502
$STATE,8411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8412,begin apogee
$GC,8420,-0.42,0.0,585.1,6.2,404,8548,0.77,0.00,125.25,1.246,6,0.099,0.000,2317,2097,2901
$STATE,8549,end apogee,CONTROL_FINISHED_OK
$STATE,8549,begin climb
$GC,8552,1.10,146.6,589.9,0.0,410,8683,1.55,2.65,122.28,1.200,4,0.055,0.061,2650,701,2303
$GC,8811,1.15,182.4,582.7,5.0,422,8851,0.00,2.50,31.50,1.164,6,0.000,0.039,2650,2117,2157
$GC,9161,1.16,197.1,564.3,5.6,439,9182,0.00,2.67,13.80,1.134,4,0.000,0.074,2650,3505,2097
$GC,9228,1.16,197.1,560.3,6.7,442,9232,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2097,2096
$GC,9554,1.16,197.1,536.8,7.3,458,9559,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3502,2095
$GC,9617,1.16,197.1,532.2,7.2,461,9622,0.00,2.50,0.00,0.000,6,0.000,0.045,2650,2102,2094
$GC,9944,1.16,197.1,508.5,7.1,477,9948,0.00,2.58,0.00,0.000,4,0.000,0.064,2650,695,2093
$GC,9961,1.16,197.1,507.4,6.4,478,9965,0.00,2.47,0.00,0.000,6,0.000,0.042,2650,2097,2093
$GC,10287,1.17,201.4,487.7,5.9,494,10297,0.00,2.67,4.47,0.902,4,0.000,0.074,2650,3508,2080
$GC,10314,1.17,201.4,486.0,6.9,495,10318,0.00,2.53,0.00,0.000,6,0.000,0.046,2650,2099,2079
$GC,10635,1.17,201.4,466.6,6.3,511,10640,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3510,2078
$GC,10681,1.17,201.4,463.3,7.3,513,10685,0.00,2.53,0.00,0.000,6,0.000,0.044,2650,2097,2079
$GC,11001,1.18,208.1,442.2,5.8,529,11016,0.00,2.70,7.22,1.028,4,0.000,0.071,2650,3501,2052
$GC,11046,1.19,215.9,439.7,5.8,531,11060,0.00,2.50,8.30,1.046,6,0.000,0.041,2650,2092,2020
$GC,11378,1.23,248.0,422.3,5.1,547,11412,0.12,2.75,27.77,1.146,4,0.047,0.072,2688,3501,1889
$GC,11480,1.23,248.0,415.0,8.1,551,11486,0.00,2.50,0.00,0.000,6,0.000,0.041,2688,2099,1889
$GC,11796,1.23,248.0,389.3,8.8,567,11800,0.00,2.65,0.00,0.000,4,0.000,0.069,2688,3510,1889
$GC,11822,1.23,248.0,386.6,9.5,568,11827,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2095,1889
$GC,12138,1.23,248.0,357.6,9.5,583,12143,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3514,1889
$GC,12171,1.23,248.0,354.4,9.0,584,12177,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2100,1889
$GC,12487,1.23,248.0,326.9,8.7,600,12489,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1890
$GC,12796,1.23,248.0,301.5,7.9,615,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2100,1890
$GC,13105,1.23,248.0,274.9,9.3,630,13110,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3511,1891
$GC,13145,1.23,248.0,271.6,8.0,632,13150,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2100,1891
$GC,13472,1.23,248.0,243.8,8.4,648,13476,0.00,2.58,0.00,0.000,4,0.000,0.063,2688,685,1891
$GC,13493,1.23,248.0,241.9,7.9,649,13497,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2104,1891
$GC,13813,1.23,248.0,216.2,7.9,665,13818,0.00,2.62,0.00,0.000,4,0.000,0.072,2688,3516,1892
$GC,13864,1.23,248.0,211.9,8.5,667,13868,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2099,1892
$GC,14179,1.23,248.0,186.2,8.3,682,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1892
$GC,14488,1.23,248.0,156.3,10.0,697,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1893
$GC,14799,1.23,248.0,126.0,8.1,712,14803,0.00,2.55,0.00,0.000,4,0.000,0.064,2688,692,1893
$GC,14825,1.23,248.0,124.0,7.8,713,14830,0.00,2.47,0.00,0.000,6,0.000,0.044,2688,2101,1893
$GC,15143,1.23,248.0,97.2,8.7,728,15147,0.00,2.62,0.00,0.000,4,0.000,0.073,2688,3511,1893
$GC,15176,1.23,248.0,93.8,8.9,729,15182,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2089,1893
$GC,15492,1.23,248.0,62.5,11.0,745,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2089,1894
$GC,15803,1.23,248.0,31.4,11.3,760,15807,0.00,2.70,0.00,0.000,4,0.000,0.075,2688,3518,1894
$GC,15813,1.23,248.0,29.9,10.7,760,15819,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2097,1894
$GC,16131,1.46,436.8,8.3,0.8,776,16197,0.15,0.00,62.97,0.830,2,0.046,0.000,2730,2094,1576
$STATE,16198,end climb,SURFACE_DEPTH_REACHED
$STATE,16198,begin surface coast
$FINISH,0.5,1.027345
$STATE,16202,end surface coast,CONTROL_FINISHED_OK
$STATE,16202,begin surface
$SM_CCo,16287,0.00,0.000,0,0,1573,326.00
$SM_GC,-0.43,12.15,0.00,0.00,0.038,0.000,0.000,45,2900,1573,-10.81,0.00,326.00
$IRIDIUM_FIX,6211.90,-1044.65,190108,191919
$TT8_MAMPS,0.028379
$HUMID,2065
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,19.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.5,72.8
$24V_AH,23.2,66.205
$10V_AH,10.1,30.528
$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,26.575,150.525,403.575,0.000,0.000,40.181,33.899,159.047,4.750,0.000,0.000,13.358,1445.685,12417.757,513.706,1740.219,536.859,0.000,1423.962,0.000,1711.610,0.000,29.849
$DEVICE_MAMPS,154.934,95.875,1246.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,567.171,541.162,502.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38018,779
$CFSIZE,260165632,237432832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,200108,004938,6235.949,-1046.014,32,1.8,32,-10.6