version: 66.02
glider: 103
mission: 7
dive: 423
start: 1 25 108 11 51 0
data:
$ID,103
$MISSION,7
$DIVE,423
$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,-70699.969
$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,11
$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
$GPS1,113932,6200.271,-917.220,42,1.5,42,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-58.6
$GPS2,115029,6200.264,-917.254,12,1.9,20,-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,181.3,13595,-11.1,-6.000
$D_GRID,506
$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,25,-1.10,-146.6,0.0,0.0,0,93,0.00,0.00,-66.32,0.000,6,0.000,0.000,38,2899,3499
$GC,97,-1.10,-146.6,2.1,-5.3,3,117,12.32,1.75,0.00,0.000,4,0.170,0.086,2164,3789,3502
$GC,370,-1.10,-146.6,30.4,-10.3,15,374,0.00,1.60,0.00,0.000,6,0.000,0.059,2164,2905,3502
$GC,698,-1.10,-146.6,57.8,-5.7,31,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3502
$GC,1008,-1.10,-146.6,78.1,-7.6,46,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3502
$GC,1317,-1.10,-146.6,102.9,-8.3,61,1321,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1487,3502
$GC,1372,-1.10,-146.6,108.7,-10.8,63,1378,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3502
$GC,1688,-1.10,-146.6,134.0,-6.8,79,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,1997,-1.10,-146.6,166.7,-9.8,94,2001,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1483,3502
$GC,2037,-1.10,-146.6,169.9,-7.8,96,2041,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2902,3502
$GC,2363,-1.10,-146.6,197.0,-8.9,112,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2672,-1.10,-146.6,221.9,-8.7,127,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2982,-1.10,-146.6,249.6,-8.9,142,2987,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1486,3502
$GC,3043,-1.10,-146.6,255.1,-9.6,144,3049,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2908,3502
$GC,3359,-1.10,-146.6,281.1,-7.7,160,3363,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1485,3502
$GC,3386,-1.10,-146.6,283.4,-8.1,161,3391,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2897,3502
$GC,3702,-1.10,-146.6,305.0,-7.1,176,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3502
$GC,4012,-1.10,-146.6,327.5,-7.1,191,4016,0.00,2.60,0.00,0.000,4,0.000,0.062,2164,1478,3502
$GC,4056,-1.10,-146.6,331.1,-7.7,193,4060,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2903,3502
$GC,4377,-1.10,-146.6,354.6,-7.3,209,4381,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1485,3502
$GC,4403,-1.10,-146.6,356.7,-7.5,210,4408,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2902,3502
$GC,4719,-1.10,-146.6,378.6,-6.6,225,4724,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1487,3502
$GC,4759,-1.10,-146.6,381.4,-7.2,227,4764,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2906,3502
$GC,5086,-1.10,-146.6,406.9,-7.8,243,5091,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1480,3502
$GC,5127,-1.10,-146.6,409.8,-7.7,245,5131,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2903,3502
$GC,5453,-1.10,-146.6,430.7,-6.1,261,5457,0.00,1.67,0.00,0.000,4,0.000,0.096,2164,3780,3502
$GC,5583,-1.10,-146.6,437.8,-4.9,266,5589,0.00,1.58,0.00,0.000,6,0.000,0.046,2164,2883,3502
$GC,5899,-1.10,-146.6,449.8,-3.9,282,5909,0.00,2.50,0.00,0.000,4,0.000,0.058,2164,1487,3502
$GC,5982,-1.10,-146.6,453.0,-4.1,285,5987,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2902,3502
$GC,6298,-1.10,-146.6,473.2,-7.7,300,6302,0.00,1.70,0.00,0.000,4,0.000,0.091,2164,3783,3502
$GC,6353,-1.10,-146.6,477.8,-8.6,302,6357,0.00,1.55,0.00,0.000,6,0.000,0.041,2164,2904,3502
$GC,6674,-1.10,-146.6,500.6,-6.2,318,6679,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1482,3502
$STATE,6761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6761,begin apogee
$GC,6770,-0.42,0.0,506.1,6.3,322,6898,0.75,0.00,125.18,1.165,6,0.094,0.000,2317,2110,2901
$STATE,6899,end apogee,CONTROL_FINISHED_OK
$STATE,6899,begin climb
$GC,6902,1.10,146.6,509.8,0.0,328,7032,1.55,2.67,120.65,1.136,4,0.061,0.054,2646,696,2303
$GC,7243,1.10,146.6,496.5,7.3,343,7249,0.00,2.47,0.00,0.000,6,0.000,0.036,2646,2105,2302
$GC,7559,1.15,186.3,479.2,4.9,359,7598,0.00,0.00,34.17,1.124,6,0.000,0.000,2646,2105,2141
$GC,7908,1.15,186.3,456.2,6.7,376,7912,0.00,2.58,0.00,0.000,4,0.000,0.064,2646,3504,2140
$GC,7970,1.15,186.3,451.5,8.3,378,7975,0.00,2.47,0.00,0.000,6,0.000,0.037,2646,2098,2139
$GC,8286,1.15,186.3,430.3,6.0,394,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2097,2139
$GC,8594,1.15,186.3,408.9,7.1,409,8599,0.00,2.62,0.00,0.000,4,0.000,0.067,2646,3504,2138
$GC,8635,1.15,186.3,405.9,8.1,411,8639,0.00,2.45,0.00,0.000,6,0.000,0.038,2646,2101,2138
$GC,8961,1.15,186.3,382.9,6.5,427,8966,0.00,2.62,0.00,0.000,4,0.000,0.068,2646,3503,2138
$GC,9051,1.15,186.3,377.0,6.5,431,9055,0.00,2.45,0.00,0.000,6,0.000,0.039,2646,2099,2138
$GC,9372,1.15,186.3,355.1,7.3,447,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2099,2138
$GC,9681,1.15,186.3,333.6,6.6,462,9686,0.00,2.62,0.00,0.000,4,0.000,0.067,2646,3505,2138
$GC,9703,1.15,186.3,332.0,6.6,463,9708,0.00,2.47,0.00,0.000,6,0.000,0.043,2646,2100,2137
$GC,10025,1.27,283.7,319.8,3.3,479,10111,0.17,2.70,79.45,1.058,4,0.042,0.074,2696,3502,1744
$GC,10158,1.27,283.7,309.7,9.6,485,10163,0.00,2.53,0.00,0.000,6,0.000,0.047,2696,2104,1742
$GC,10480,1.27,283.7,281.8,7.4,501,10484,0.00,2.58,0.00,0.000,4,0.000,0.061,2696,692,1743
$GC,10519,1.27,285.9,279.4,5.9,503,10524,0.00,2.50,0.00,0.000,6,0.000,0.046,2696,2094,1743
$GC,10846,1.28,288.6,257.2,5.9,519,10854,0.00,0.00,5.62,0.807,6,0.000,0.000,2696,2094,1724
$GC,11155,1.28,288.6,232.0,8.9,534,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2094,1724
$GC,11465,1.28,288.6,203.3,9.6,549,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2094,1724
$GC,11773,1.28,288.6,173.5,9.9,564,11775,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2095,1724
$GC,12084,1.28,288.6,147.4,8.6,579,12088,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3511,1724
$GC,12105,1.28,288.6,144.9,10.7,580,12110,0.00,2.53,0.00,0.000,6,0.000,0.049,2696,2097,1724
$GC,12427,1.28,288.6,115.9,9.0,596,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2097,1724
$GC,12738,1.28,288.6,89.5,8.6,611,12742,0.00,2.65,0.00,0.000,4,0.000,0.070,2696,3512,1724
$GC,12755,1.28,288.6,87.3,10.4,612,12760,0.00,2.50,0.00,0.000,6,0.000,0.050,2696,2102,1724
$GC,13082,1.28,288.6,60.3,10.0,628,13087,0.00,2.55,0.00,0.000,4,0.000,0.062,2696,695,1724
$GC,13123,1.28,288.6,55.6,11.5,630,13127,0.00,2.50,0.00,0.000,6,0.000,0.048,2696,2103,1725
$GC,13455,1.28,288.6,17.7,11.1,646,13460,0.00,2.67,0.00,0.000,4,0.000,0.086,2696,3508,1725
$GC,13483,1.28,288.6,14.0,12.3,647,13488,0.00,2.50,0.00,0.000,6,0.000,0.044,2696,2093,1724
$STATE,13613,end climb,SURFACE_DEPTH_REACHED
$STATE,13613,begin surface coast
$FINISH,-1.0,1.027382
$STATE,13633,end surface coast,CONTROL_FINISHED_OK
$STATE,13633,begin surface
$SM_CCo,13657,11.62,0.693,1,0,1678,300.00
$SM_GC,-0.40,0.00,0.00,11.62,0.000,0.000,0.693,52,2892,1678,-10.85,-0.23,300.00
$IRIDIUM_FIX,6135.28,-911.93,200497,111131
$TT8_MAMPS,0.029146
$HUMID,2089
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.0,87.8
$24V_AH,23.3,70.544
$10V_AH,10.1,32.784
$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,26.450,118.325,365.075,11.625,0.000,76.396,77.162,304.227,4.000,0.000,0.000,20.496,1220.510,10382.648,480.542,1500.722,761.099,0.000,1259.233,0.000,1476.917,0.000,25.056
$DEVICE_MAMPS,169.507,95.875,1165.073,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.975,457.675,443.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31663,654
$CFSIZE,260165632,235773952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,250108,154026,6157.170,-921.451,54,1.6,54,-9.6