version: 66.02
glider: 103
mission: 7
dive: 439
start: 1 28 108 16 18 48
data:
$ID,103
$MISSION,7
$DIVE,439
$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,-70957.93
$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,20
$R_STBD_OVSHOOT,10
$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
$GPS1,160708,6137.076,-915.776,39,1.3,39,-9.4
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,3
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-57.7
$GPS2,161815,6137.084,-915.788,10,1.7,10,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$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,165.5,34611,-11.1,-6.000
$D_GRID,804
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-60.85,0.000,2,0.000,0.000,48,2906,3324
$GC,90,-1.10,-146.6,3.0,-7.4,3,113,11.90,1.73,-3.20,0.000,4,0.155,0.104,2165,3806,3501
$GC,366,-1.10,-146.6,36.9,-6.3,15,370,0.00,1.62,0.00,0.000,6,0.000,0.056,2165,2904,3502
$GC,693,-1.10,-146.6,58.2,-6.3,31,697,0.00,1.73,0.00,0.000,4,0.000,0.094,2165,3786,3502
$GC,834,-1.10,-146.6,67.9,-8.4,37,837,0.00,1.58,0.00,0.000,6,0.000,0.049,2165,2899,3502
$GC,1162,-1.10,-146.6,91.6,-8.1,53,1167,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1484,3502
$GC,1207,-1.10,-146.6,95.3,-8.0,55,1212,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2909,3502
$GC,1529,-1.10,-146.6,118.0,-6.9,71,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,1837,-1.10,-146.6,139.6,-7.3,86,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,2147,-1.10,-146.6,160.6,-6.9,101,2151,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1484,3502
$GC,2191,-1.10,-146.6,163.5,-6.6,103,2195,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2902,3502
$GC,2512,-1.10,-146.6,184.4,-6.9,119,2516,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1483,3502
$GC,2539,-1.10,-146.6,186.2,-6.2,120,2543,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2901,3502
$GC,2854,-1.10,-146.6,209.6,-7.3,135,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3164,-1.10,-146.6,231.0,-6.7,150,3168,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1480,3502
$GC,3191,-1.10,-146.6,232.9,-6.5,151,3196,0.00,2.65,0.00,0.000,6,0.000,0.065,2165,2908,3502
$GC,3507,-1.10,-146.6,255.5,-7.2,166,3511,0.00,1.67,0.00,0.000,4,0.000,0.094,2165,3783,3502
$GC,3541,-1.10,-146.6,258.2,-8.6,167,3544,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2893,3502
$GC,3862,-1.10,-146.6,282.2,-7.5,183,3866,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1486,3502
$GC,3901,-1.10,-146.6,285.1,-7.5,185,3906,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,4229,-1.10,-146.6,310.9,-8.1,201,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,4538,-1.10,-146.6,335.2,-7.6,216,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,4847,-1.10,-146.6,357.7,-6.9,231,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,5157,-1.10,-146.6,380.6,-7.4,246,5162,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1484,3502
$GC,5185,-1.10,-146.6,382.9,-7.7,247,5189,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2902,3502
$GC,5500,-1.10,-146.6,407.0,-7.3,262,5504,0.00,1.67,0.00,0.000,4,0.000,0.091,2165,3785,3502
$GC,5534,-1.10,-146.6,409.8,-8.1,263,5538,0.00,1.58,0.00,0.000,6,0.000,0.045,2165,2884,3502
$GC,5855,-1.10,-146.6,434.3,-7.4,279,5859,0.00,2.50,0.00,0.000,4,0.000,0.061,2165,1490,3502
$GC,5893,-1.10,-146.6,437.2,-7.9,280,5900,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2902,3502
$GC,6210,-1.10,-146.6,458.5,-6.7,296,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,6519,-1.10,-146.6,478.1,-6.1,311,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,6828,-1.10,-146.6,496.7,-6.2,326,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,7138,-1.10,-146.6,515.6,-6.3,341,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,7447,-1.10,-146.6,537.1,-6.9,356,7451,0.00,2.53,0.00,0.000,4,0.000,0.051,2165,1478,3502
$GC,7491,-1.10,-146.6,540.5,-7.1,358,7496,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2903,3502
$GC,7812,-1.10,-146.6,565.5,-8.3,374,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,8121,-1.10,-146.6,591.9,-8.4,389,8125,0.00,2.53,0.00,0.000,4,0.000,0.050,2165,1484,3502
$GC,8154,-1.10,-146.6,594.7,-8.6,390,8160,0.00,2.58,0.00,0.000,6,0.000,0.059,2165,2902,3502
$GC,8471,-1.10,-146.6,619.9,-8.1,406,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,8779,-1.10,-146.6,645.8,-8.5,421,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,9088,-1.10,-146.6,671.7,-8.2,436,9093,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1488,3502
$GC,9155,-1.10,-146.6,677.3,-8.4,439,9160,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2904,3502
$GC,9477,-1.10,-146.6,701.8,-7.4,455,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,9786,-1.10,-146.6,723.5,-6.8,470,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,10096,-1.10,-146.6,746.7,-8.7,485,10099,0.00,1.65,0.00,0.000,4,0.000,0.088,2165,3782,3502
$GC,10209,-1.10,-146.6,756.5,-7.9,490,10213,0.00,1.52,0.00,0.000,6,0.000,0.040,2165,2900,3502
$GC,10543,-1.10,-146.6,782.5,-7.8,506,10547,0.00,2.50,0.00,0.000,4,0.000,0.054,2165,1489,3502
$GC,10599,-1.10,-146.6,787.0,-8.4,508,10603,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2899,3502
$GC,10915,-1.10,-146.6,802.6,-4.8,523,10919,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1490,3502
$STATE,10933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10933,begin apogee
$GC,10942,-0.42,0.0,804.2,7.2,524,11079,0.73,0.00,129.00,1.328,6,0.097,0.000,2312,2108,2901
$STATE,11079,end apogee,CONTROL_FINISHED_OK
$STATE,11079,begin climb
$GC,11082,1.10,146.6,810.5,0.0,531,11217,1.58,2.67,125.10,1.298,4,0.060,0.068,2648,3511,2303
$GC,11344,1.10,146.6,795.9,7.9,543,11348,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2097,2302
$GC,11665,1.21,235.9,789.6,3.5,559,11748,0.12,2.80,76.70,1.322,4,0.045,0.071,2686,3518,1939
$GC,11817,1.21,235.9,778.9,7.5,566,11821,0.00,2.53,0.00,0.000,6,0.000,0.044,2686,2105,1938
$GC,12143,1.21,235.9,748.0,9.8,582,12147,0.00,2.55,0.00,0.000,4,0.000,0.060,2686,696,1936
$GC,12193,1.21,235.9,743.3,9.0,584,12198,0.00,2.50,0.00,0.000,6,0.000,0.039,2686,2111,1936
$GC,12509,1.21,235.9,717.1,8.0,599,12513,0.00,2.58,0.00,0.000,4,0.000,0.067,2686,3508,1935
$GC,12541,1.21,235.9,714.2,8.8,600,12548,0.00,2.47,0.00,0.000,6,0.000,0.039,2686,2095,1935
$GC,12857,1.21,235.9,689.1,7.4,616,12862,0.00,2.50,0.00,0.000,4,0.000,0.055,2686,698,1934
$GC,12913,1.21,235.9,684.9,7.5,618,12920,0.00,2.45,0.00,0.000,6,0.000,0.037,2686,2102,1934
$GC,13229,1.21,235.9,664.6,6.1,634,13233,0.00,2.55,0.00,0.000,4,0.000,0.053,2686,692,1934
$GC,13269,1.21,235.9,662.0,6.5,636,13273,0.00,2.45,0.00,0.000,6,0.000,0.036,2686,2099,1934
$GC,13595,1.21,235.9,641.4,7.0,652,13600,0.00,2.53,0.00,0.000,4,0.000,0.052,2686,694,1934
$GC,13635,1.21,235.9,638.4,7.9,654,13640,0.00,2.45,0.00,0.000,6,0.000,0.036,2686,2103,1934
$GC,13963,1.21,235.9,613.4,7.9,670,13967,0.00,2.55,0.00,0.000,4,0.000,0.053,2686,691,1935
$GC,13990,1.21,235.9,611.0,8.6,671,13994,0.00,2.45,0.00,0.000,6,0.000,0.036,2686,2098,1935
$GC,14306,1.21,235.9,583.4,9.1,686,14310,0.00,2.50,0.00,0.000,4,0.000,0.053,2686,698,1935
$GC,14357,1.21,235.9,578.4,10.0,688,14361,0.00,2.45,0.00,0.000,6,0.000,0.035,2686,2102,1935
$GC,14679,1.21,235.9,546.9,10.2,704,14683,0.00,2.53,0.00,0.000,4,0.000,0.052,2686,698,1935
$GC,14712,1.21,235.9,543.3,10.2,705,14718,0.00,2.42,0.00,0.000,6,0.000,0.036,2686,2101,1935
$GC,15028,1.21,235.9,510.1,10.2,721,15032,0.00,2.55,0.00,0.000,4,0.000,0.053,2686,689,1935
$GC,15084,1.21,235.9,503.8,10.9,723,15090,0.00,2.47,0.00,0.000,6,0.000,0.036,2686,2107,1935
$GC,15399,1.21,235.9,472.6,10.0,739,15403,0.00,2.55,0.00,0.000,4,0.000,0.054,2686,696,1935
$GC,15427,1.21,235.9,469.7,10.1,740,15431,0.00,2.45,0.00,0.000,6,0.000,0.038,2686,2101,1935
$GC,15743,1.21,235.9,439.7,9.2,755,15744,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2101,1935
$GC,16052,1.21,235.9,412.4,8.9,770,16056,0.00,2.53,0.00,0.000,4,0.000,0.054,2686,696,1936
$GC,16084,1.21,235.9,409.3,9.4,771,16090,0.00,2.47,0.00,0.000,6,0.000,0.040,2686,2104,1936
$GC,16400,1.21,235.9,381.0,9.1,787,16405,0.00,2.55,0.00,0.000,4,0.000,0.057,2686,694,1936
$GC,16445,1.21,235.9,376.8,9.6,789,16449,0.00,2.47,0.00,0.000,6,0.000,0.040,2686,2102,1936
$GC,16766,1.21,235.9,347.5,9.2,805,16770,0.00,2.55,0.00,0.000,4,0.000,0.058,2686,697,1936
$GC,16793,1.21,235.9,344.7,9.4,806,16798,0.00,2.47,0.00,0.000,6,0.000,0.041,2686,2099,1936
$GC,17109,1.21,235.9,316.0,9.4,821,17114,0.00,2.55,0.00,0.000,4,0.000,0.058,2686,697,1936
$GC,17143,1.21,235.9,312.7,9.4,822,17149,0.00,2.47,0.00,0.000,6,0.000,0.041,2686,2100,1936
$GC,17459,1.21,235.9,282.6,9.8,838,17460,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1937
$GC,17767,1.21,235.9,253.7,9.2,853,17772,0.00,2.55,0.00,0.000,4,0.000,0.059,2686,698,1937
$GC,17818,1.21,235.9,248.7,10.8,855,17822,0.00,2.47,0.00,0.000,6,0.000,0.043,2686,2100,1937
$GC,18134,1.21,235.9,219.3,9.5,870,18138,0.00,2.58,0.00,0.000,4,0.000,0.058,2686,689,1937
$GC,18178,1.21,235.9,214.9,10.1,872,18182,0.00,2.50,0.00,0.000,6,0.000,0.043,2686,2102,1937
$GC,18498,1.21,235.9,184.3,9.5,888,18503,0.00,2.58,0.00,0.000,4,0.000,0.059,2686,691,1937
$GC,18549,1.21,235.9,179.4,9.4,890,18553,0.00,2.50,0.00,0.000,6,0.000,0.044,2686,2100,1937
$GC,18865,1.21,235.9,152.8,7.9,905,18866,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1937
$GC,19175,1.26,270.8,132.0,5.0,920,19210,0.00,2.65,29.38,0.890,4,0.000,0.061,2686,677,1796
$GC,19256,1.26,270.8,124.6,10.0,923,19262,0.00,2.53,0.00,0.000,6,0.000,0.045,2686,2098,1795
$GC,19572,1.26,270.8,95.1,9.7,939,19573,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1795
$GC,19883,1.26,270.8,63.1,10.5,954,19887,0.00,2.58,0.00,0.000,4,0.000,0.064,2686,699,1795
$GC,19910,1.26,270.8,60.7,7.6,955,19915,0.00,2.53,0.00,0.000,6,0.000,0.050,2686,2105,1795
$GC,20226,1.26,270.8,33.5,11.3,970,20231,0.00,2.60,0.00,0.000,4,0.000,0.065,2686,698,1795
$GC,20282,1.26,270.8,26.9,11.1,972,20289,0.00,2.50,0.00,0.000,6,0.000,0.051,2686,2102,1795
$GC,20599,1.26,270.8,2.6,6.6,988,20603,0.00,2.72,0.00,0.000,4,0.000,0.094,2686,3509,1795
$STATE,20606,end climb,SURFACE_DEPTH_REACHED
$STATE,20606,begin surface coast
$FINISH,-0.5,1.027339
$STATE,20630,end surface coast,CONTROL_FINISHED_OK
$STATE,20630,begin surface
$SM_CCo,20653,26.05,0.736,2,0,1677,300.00
$SM_GC,0.09,0.00,0.00,26.05,0.000,0.000,0.736,46,2906,1677,-10.87,0.17,300.00
$IRIDIUM_FIX,6112.75,-918.82,230497,161616
$TT8_MAMPS,0.028379
$HUMID,2071
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,19.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,750.3,68.9
$24V_AH,23.1,73.411
$10V_AH,10.1,34.079
$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,25.950,191.875,360.175,26.050,0.000,79.163,70.413,312.393,7.250,0.000,0.000,10.933,1812.342,15979.100,533.373,2171.471,868.144,0.000,1650.629,0.000,2135.761,0.000,47.353
$DEVICE_MAMPS,154.934,104.312,1328.444,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,716.159,692.686,577.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50550,989
$CFSIZE,260165632,234758144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,280108,220501,6135.279,-919.126,39,1.3,45,-9.4