version: 66.02
glider: 103
mission: 7
dive: 420
start: 1 24 108 23 44 36
data:
$ID,103
$MISSION,7
$DIVE,420
$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,-70605.523
$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,20
$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
$GPS1,233707,6206.931,-917.414,29,1.1,29,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.67
$_SM_ANGLEo,-47.4
$GPS2,234403,6206.969,-917.189,10,1.8,10,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$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,185.4,25941,-11.1,-6.000
$D_GRID,491
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,134,0.00,0.00,-107.65,0.000,6,0.000,0.000,45,2914,3500
$GC,137,-1.10,-146.6,2.6,-3.9,5,153,11.98,1.70,0.00,0.000,4,0.157,0.087,2164,3777,3502
$GC,271,-1.10,-146.6,25.4,-7.7,10,275,0.00,1.58,0.00,0.000,6,0.000,0.054,2164,2905,3502
$GC,598,-1.10,-146.6,46.4,-6.4,26,603,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1489,3502
$GC,643,-1.10,-146.6,49.3,-6.9,28,648,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2894,3502
$GC,964,-1.10,-146.6,71.4,-7.2,44,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3502
$GC,1273,-1.10,-146.6,92.7,-6.3,59,1278,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1488,3502
$GC,1314,-1.10,-146.6,95.1,-5.9,61,1319,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2897,3502
$GC,1641,-1.10,-146.6,114.8,-6.1,77,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3502
$GC,1952,-1.10,-146.6,133.7,-6.0,92,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3502
$GC,2260,-1.10,-146.6,153.4,-6.8,107,2264,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1480,3502
$GC,2299,-1.10,-146.6,156.1,-7.3,109,2303,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2903,3502
$GC,2628,-1.10,-146.6,175.5,-5.8,125,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,2935,-1.10,-146.6,198.4,-8.1,140,2939,0.00,2.62,0.00,0.000,4,0.000,0.064,2164,1479,3502
$GC,2967,-1.10,-146.6,201.3,-8.4,141,2973,0.00,2.65,0.00,0.000,6,0.000,0.066,2164,2900,3502
$GC,3283,-1.10,-146.6,227.2,-8.3,157,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,3593,-1.10,-146.6,252.1,-7.8,172,3597,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1480,3502
$GC,3620,-1.10,-146.6,254.2,-7.4,173,3624,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2909,3502
$GC,3938,-1.10,-146.6,277.0,-7.0,188,3942,0.00,2.62,0.00,0.000,4,0.000,0.064,2164,1484,3502
$GC,3959,-1.10,-146.6,278.7,-6.7,189,3963,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2901,3502
$GC,4281,-1.10,-146.6,301.2,-7.0,205,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,4589,-1.10,-146.6,323.2,-7.0,220,4593,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1485,3502
$GC,4621,-1.10,-146.6,325.5,-7.2,221,4627,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2903,3502
$GC,4937,-1.10,-146.6,347.8,-7.3,237,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,5246,-1.10,-146.6,373.7,-9.0,252,5250,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1480,3502
$GC,5285,-1.10,-146.6,377.0,-8.4,254,5290,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2907,3502
$GC,5615,-1.10,-146.6,401.1,-6.7,270,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,5921,-1.10,-146.6,419.8,-5.4,285,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,6231,-1.10,-146.6,437.6,-5.6,300,6235,0.00,2.60,0.00,0.000,4,0.000,0.059,2164,1476,3502
$GC,6281,-1.10,-146.6,440.3,-5.3,302,6285,0.00,2.65,0.00,0.000,6,0.000,0.065,2164,2909,3502
$GC,6597,-1.10,-146.6,457.6,-6.0,317,6600,0.00,1.67,0.00,0.000,4,0.000,0.095,2164,3786,3502
$GC,6675,-1.10,-146.6,463.1,-7.5,320,6679,0.00,1.58,0.00,0.000,6,0.000,0.044,2164,2899,3502
$GC,6997,-1.10,-146.6,485.5,-7.0,336,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$STATE,7076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7076,begin apogee
$GC,7084,-0.42,0.0,491.2,6.9,340,7212,0.77,0.00,124.47,1.148,6,0.107,0.000,2314,2096,2901
$STATE,7213,end apogee,CONTROL_FINISHED_OK
$STATE,7213,begin climb
$GC,7216,1.10,146.6,496.0,0.0,346,7347,1.58,2.62,120.32,1.113,4,0.064,0.054,2647,684,2304
$GC,7433,1.17,197.9,492.5,4.6,356,7483,0.00,2.50,43.97,1.080,6,0.000,0.034,2647,2116,2094
$GC,7803,1.20,223.1,474.0,5.3,374,7832,0.12,2.70,22.17,1.068,4,0.048,0.071,2682,3503,1991
$GC,7912,1.20,223.1,466.4,7.8,379,7917,0.00,2.50,0.00,0.000,6,0.000,0.040,2682,2089,1990
$GC,8239,1.20,223.1,441.5,8.8,395,8243,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3501,1989
$GC,8288,1.20,223.1,437.0,8.5,397,8292,0.00,2.50,0.00,0.000,6,0.000,0.041,2682,2094,1989
$GC,8604,1.20,223.1,410.1,8.3,412,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2094,1989
$GC,8914,1.20,223.1,386.5,8.1,427,8918,0.00,2.62,0.00,0.000,4,0.000,0.070,2682,3501,1989
$GC,8964,1.20,223.1,382.5,7.6,429,8968,0.00,2.50,0.00,0.000,6,0.000,0.044,2683,2096,1989
$GC,9279,1.20,223.1,356.3,6.6,444,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2096,1988
$GC,9589,1.20,223.1,330.6,7.6,459,9593,0.00,2.53,0.00,0.000,4,0.000,0.058,2682,695,1988
$GC,9610,1.20,223.1,328.8,7.7,460,9615,0.00,2.45,0.00,0.000,6,0.000,0.041,2683,2092,1988
$GC,9932,1.20,223.1,304.5,7.6,476,9936,0.00,2.65,0.00,0.000,4,0.000,0.074,2683,3513,1988
$GC,9982,1.20,223.1,300.4,8.1,478,9987,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2103,1988
$GC,10298,1.20,223.1,276.4,7.9,493,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2103,1988
$GC,10607,1.20,223.1,251.7,7.9,508,10611,0.00,2.65,0.00,0.000,4,0.000,0.072,2682,3512,1988
$GC,10663,1.20,223.1,247.0,8.7,510,10669,0.00,2.53,0.00,0.000,6,0.000,0.044,2683,2085,1988
$GC,10978,1.20,223.1,220.4,8.4,526,10983,0.00,2.67,0.00,0.000,4,0.000,0.072,2683,3510,1988
$GC,11005,1.20,223.1,217.8,9.2,527,11010,0.00,2.53,0.00,0.000,6,0.000,0.045,2683,2093,1988
$GC,11321,1.20,223.1,191.8,8.0,542,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2093,1988
$GC,11630,1.20,223.1,167.4,7.9,557,11635,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3508,1988
$GC,11680,1.20,223.1,162.9,8.2,559,11685,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2098,1988
$GC,11997,1.20,223.1,136.1,8.1,574,12002,0.00,2.65,0.00,0.000,4,0.000,0.069,2682,3515,1989
$GC,12025,1.20,223.1,133.4,9.6,575,12029,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2100,1988
$GC,12341,1.20,223.1,106.7,7.9,590,12345,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3514,1988
$GC,12358,1.20,223.1,105.3,7.6,591,12362,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2099,1988
$GC,12685,1.20,223.1,75.7,8.1,607,12690,0.00,2.65,0.00,0.000,4,0.000,0.070,2682,3516,1989
$GC,12707,1.20,223.1,73.8,8.1,608,12711,0.00,2.55,0.00,0.000,6,0.000,0.051,2682,2102,1989
$GC,13028,1.20,223.1,41.8,11.2,624,13032,0.00,2.58,0.00,0.000,4,0.000,0.066,2683,691,1989
$GC,13068,1.20,223.1,36.0,14.4,626,13072,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2100,1989
$STATE,13392,end climb,SURFACE_DEPTH_REACHED
$STATE,13392,begin surface coast
$FINISH,-0.3,1.027351
$STATE,13415,end surface coast,CONTROL_FINISHED_OK
$STATE,13418,begin surface
$SM_CCo,13442,63.22,0.801,2,0,1678,300.00
$SM_GC,-0.69,0.00,0.00,63.22,0.000,0.000,0.801,51,2897,1678,-10.85,-0.08,300.00
$IRIDIUM_FIX,6139.81,-923.21,190497,191940
$TT8_MAMPS,0.028379
$HUMID,2046
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.6,80.8
$24V_AH,23.3,70.058
$10V_AH,10.1,32.565
$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,26.050,123.650,310.950,63.225,0.000,40.193,33.812,221.483,3.750,0.000,0.000,10.008,1190.915,10252.546,525.145,1394.688,584.402,0.000,1250.944,0.000,1385.495,0.000,23.392
$DEVICE_MAMPS,157.235,95.108,1148.199,800.748,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.371,441.702,468.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31705,643
$CFSIZE,260165632,235921408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,250108,033128,6204.183,-915.348,39,3.3,58,-9.6