version: 66.02
glider: 103
mission: 7
dive: 97
start: 11 27 107 17 44 31
data:
$ID,103
$MISSION,7
$DIVE,97
$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,120
$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,1
$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,-63979.195
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,9
$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
$GPS1,173525,6150.024,-912.074,39,1.2,39,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-55.6
$GPS2,174326,6149.963,-911.988,12,1.2,17,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.163,0.130
$KALMAN_X,-78134.3,110.7,-455.7,45324.7,881.4
$KALMAN_Y,94371.4,218.3,-778.9,-64237.7,2817.4
$MHEAD_RNG_PITCHd_Wd,318.0,6208,-11.9,-6.000
$D_GRID,649
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.15,-130.6,0.0,0.0,0,85,0.00,0.00,-61.35,0.000,6,0.000,0.000,48,2893,3436
$GC,87,-1.15,-130.6,3.8,-8.8,3,103,11.90,1.77,0.00,0.000,4,0.160,0.091,2152,3789,3437
$GC,180,-1.15,-130.6,20.2,-10.3,6,185,0.00,1.58,0.00,0.000,6,0.000,0.038,2152,2899,3438
$GC,502,-1.15,-130.6,44.7,-6.6,22,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2899,3438
$GC,811,-1.15,-130.6,70.2,-8.0,37,815,0.00,2.58,0.00,0.000,4,0.000,0.063,2152,1484,3438
$GC,887,-1.15,-130.6,76.2,-7.5,40,895,0.00,2.67,0.00,0.000,6,0.000,0.070,2152,2901,3438
$GC,1205,-1.15,-130.6,98.1,-6.5,56,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2901,3438
$GC,1513,-1.15,-130.6,129.0,-8.1,71,1517,0.00,2.60,0.00,0.000,4,0.000,0.061,2152,1480,3438
$GC,1561,-1.15,-130.6,132.4,-6.8,73,1566,0.00,2.67,0.00,0.000,6,0.000,0.070,2152,2899,3438
$GC,1882,-1.15,-130.6,155.1,-7.3,89,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2899,3438
$GC,2192,-1.15,-130.6,177.2,-7.3,104,2196,0.00,2.58,0.00,0.000,4,0.000,0.063,2152,1485,3438
$GC,2240,-1.15,-130.6,181.0,-7.8,106,2244,0.00,2.65,0.00,0.000,6,0.000,0.068,2152,2896,3438
$GC,2561,-1.15,-130.6,204.6,-7.3,122,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2896,3438
$GC,2870,-1.15,-130.6,228.2,-7.8,137,2874,0.00,2.58,0.00,0.000,4,0.000,0.064,2152,1480,3438
$GC,2925,-1.15,-130.6,232.5,-7.4,139,2932,0.00,2.65,0.00,0.000,6,0.000,0.067,2152,2899,3438
$GC,3240,-1.15,-130.6,256.7,-7.8,155,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2899,3438
$GC,3550,-1.15,-130.6,280.9,-7.7,170,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2899,3438
$GC,3859,-1.15,-130.6,303.6,-7.2,185,3863,0.00,2.55,0.00,0.000,4,0.000,0.061,2152,1484,3438
$GC,3897,-1.15,-130.6,306.4,-7.4,187,3901,0.00,2.62,0.00,0.000,6,0.000,0.069,2152,2900,3438
$GC,4222,-1.15,-130.6,327.8,-6.3,203,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2900,3438
$GC,4531,-1.15,-130.6,347.2,-6.2,218,4535,0.00,2.58,0.00,0.000,4,0.000,0.064,2152,1483,3438
$GC,4575,-1.15,-130.6,350.1,-6.1,220,4580,0.00,2.62,0.00,0.000,6,0.000,0.069,2152,2901,3438
$GC,4896,-1.15,-130.6,370.7,-6.4,236,4901,0.00,2.60,0.00,0.000,4,0.000,0.064,2152,1482,3438
$GC,4963,-1.15,-130.6,375.2,-6.6,239,4967,0.00,2.62,0.00,0.000,6,0.000,0.067,2152,2907,3438
$GC,5283,-1.15,-130.6,396.4,-6.5,255,5288,0.00,2.58,0.00,0.000,4,0.000,0.063,2152,1486,3438
$GC,5349,-1.15,-130.6,400.9,-7.0,258,5354,0.00,2.62,0.00,0.000,6,0.000,0.067,2152,2888,3438
$GC,5675,-1.15,-130.6,421.3,-6.4,274,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2888,3438
$GC,5984,-1.15,-130.6,442.4,-6.7,289,5989,0.00,2.58,0.00,0.000,4,0.000,0.063,2152,1477,3438
$GC,6023,-1.15,-130.6,445.0,-6.5,291,6028,0.00,2.62,0.00,0.000,6,0.000,0.067,2152,2900,3438
$GC,6349,-1.17,-140.9,465.3,-5.7,307,6353,0.00,2.58,0.00,0.000,4,0.000,0.061,2152,1483,3438
$GC,6387,-1.17,-146.6,467.4,-5.4,309,6392,0.00,2.62,0.00,0.000,6,0.000,0.067,2152,2909,3438
$GC,6713,-1.17,-146.6,485.3,-5.7,325,6717,0.00,2.58,0.00,0.000,4,0.000,0.061,2152,1483,3438
$GC,6766,-1.17,-146.6,488.6,-6.1,327,6773,0.00,2.62,0.00,0.000,6,0.000,0.065,2152,2899,3438
$GC,7082,-1.17,-146.6,508.3,-6.6,343,7086,0.00,2.55,0.00,0.000,4,0.000,0.059,2152,1477,3438
$GC,7120,-1.17,-146.6,511.0,-6.7,345,7124,0.00,2.62,0.00,0.000,6,0.000,0.065,2152,2906,3438
$GC,7446,-1.17,-146.6,534.3,-7.7,361,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2906,3438
$GC,7756,-1.17,-146.6,556.0,-7.0,376,7760,0.00,2.58,0.00,0.000,4,0.000,0.058,2152,1480,3438
$GC,7843,-1.17,-146.6,562.3,-7.3,380,7848,0.00,2.62,0.00,0.000,6,0.000,0.063,2152,2900,3438
$GC,8171,-1.17,-146.6,583.2,-5.8,396,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2900,3438
$GC,8480,-1.17,-146.6,602.3,-6.4,411,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2900,3438
$GC,8789,-1.17,-146.6,619.4,-6.3,426,8793,0.00,1.67,0.00,0.000,4,0.000,0.085,2152,3779,3438
$GC,8872,-1.17,-146.6,623.9,-5.5,429,8879,0.00,1.52,0.00,0.000,6,0.000,0.038,2152,2893,3438
$GC,9187,-1.17,-146.6,641.5,-6.0,445,9191,0.00,2.55,0.00,0.000,4,0.000,0.067,2151,1490,3438
$GC,9270,-1.17,-146.6,646.6,-6.7,448,9277,0.00,2.65,0.00,0.000,6,0.000,0.074,2152,2897,3438
$STATE,9316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9316,begin apogee
$GC,9323,-0.42,0.0,649.3,5.9,451,9439,0.82,0.00,112.20,1.180,6,0.087,0.000,2319,1782,2901
$STATE,9440,end apogee,CONTROL_FINISHED_OK
$STATE,9440,begin climb
$GC,9441,1.17,146.6,649.6,0.0,457,9572,1.60,2.75,122.53,1.157,4,0.051,0.074,2666,367,2303
$GC,9734,1.17,146.6,643.0,6.1,470,9741,0.00,2.55,0.00,0.000,6,0.000,0.045,2666,1774,2302
$GC,10050,1.17,146.6,625.3,6.2,486,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1776,2302
$GC,10359,1.20,167.1,607.6,5.4,501,10383,0.00,2.75,18.15,1.130,4,0.000,0.079,2666,3177,2219
$GC,10502,1.21,174.7,598.9,5.8,507,10517,0.00,2.62,8.05,1.013,6,0.000,0.063,2666,1766,2188
$GC,10844,1.21,174.7,574.2,7.3,524,10848,0.00,2.67,0.00,0.000,4,0.000,0.074,2666,3186,2187
$GC,11100,1.21,174.7,555.5,7.3,535,11107,0.00,2.60,0.00,0.000,6,0.000,0.060,2666,1780,2186
$GC,11416,1.21,174.7,534.0,6.4,551,11420,0.00,2.62,0.00,0.000,4,0.000,0.071,2666,3181,2185
$GC,11649,1.21,174.7,518.3,6.4,561,11656,0.00,2.58,0.00,0.000,6,0.000,0.054,2666,1776,2184
$GC,11965,1.21,174.7,499.6,6.4,577,11970,0.00,2.62,0.00,0.000,4,0.000,0.068,2666,3181,2185
$GC,12149,1.21,174.7,487.7,6.6,585,12153,0.00,2.58,0.00,0.000,6,0.000,0.056,2666,1776,2184
$GC,12470,1.21,174.7,466.0,6.8,601,12475,0.00,2.62,0.00,0.000,4,0.000,0.067,2666,3185,2185
$GC,12622,1.21,175.6,455.6,6.0,608,12627,0.00,2.55,0.00,0.000,6,0.000,0.055,2666,1773,2185
$GC,12948,1.22,182.8,435.5,5.8,624,12962,0.00,2.70,7.88,0.927,4,0.000,0.069,2666,3183,2155
$GC,13075,1.24,197.5,428.0,5.5,629,13095,0.00,2.55,13.55,0.996,6,0.000,0.054,2666,1773,2095
$GC,13411,1.24,197.5,406.1,6.3,646,13415,0.00,2.62,0.00,0.000,4,0.000,0.068,2666,3181,2096
$GC,13555,1.24,197.5,396.7,6.7,652,13562,0.00,2.58,0.00,0.000,6,0.000,0.054,2665,1757,2096
$GC,13870,1.24,197.5,376.0,6.7,668,13874,0.00,2.65,0.00,0.000,4,0.000,0.071,2666,3181,2096
$GC,13999,1.24,197.5,367.3,7.2,674,14003,0.00,2.55,0.00,0.000,6,0.000,0.055,2666,1770,2096
$GC,14324,1.24,197.5,346.5,6.4,690,14328,0.00,2.62,0.00,0.000,4,0.000,0.070,2666,3184,2097
$GC,14440,1.24,197.5,338.7,7.1,695,14444,0.00,2.55,0.00,0.000,6,0.000,0.056,2666,1774,2097
$GC,14761,1.24,197.5,318.0,6.5,711,14766,0.00,2.62,0.00,0.000,4,0.000,0.070,2666,3183,2097
$GC,14883,1.24,197.5,309.7,6.6,716,14890,0.00,2.55,0.00,0.000,6,0.000,0.054,2666,1777,2097
$GC,15199,1.24,197.5,289.4,6.6,732,15203,0.00,2.62,0.00,0.000,4,0.000,0.069,2666,3184,2098
$GC,15310,1.24,197.5,281.5,7.1,737,15315,0.00,2.55,0.00,0.000,6,0.000,0.056,2666,1774,2098
$GC,15630,1.24,197.5,260.0,6.3,753,15634,0.00,2.60,0.00,0.000,4,0.000,0.069,2666,3181,2099
$GC,15752,1.24,197.5,252.0,6.7,758,15759,0.00,2.53,0.00,0.000,6,0.000,0.055,2666,1775,2098
$GC,16067,1.24,197.5,232.5,6.6,774,16072,0.00,2.60,0.00,0.000,4,0.000,0.069,2666,3182,2099
$GC,16219,1.24,197.5,222.7,6.4,781,16223,0.00,2.55,0.00,0.000,6,0.000,0.057,2666,1770,2099
$GC,16544,1.24,197.5,201.0,6.7,797,16548,0.00,2.60,0.00,0.000,4,0.000,0.067,2666,3181,2100
$GC,16711,1.24,197.5,189.6,6.6,804,16717,0.00,2.53,0.00,0.000,6,0.000,0.057,2666,1776,2099
$GC,17025,1.24,197.5,168.1,7.0,820,17029,0.00,2.58,0.00,0.000,4,0.000,0.069,2666,3181,2099
$GC,17137,1.24,197.5,160.0,7.5,825,17142,0.00,2.53,0.00,0.000,6,0.000,0.054,2666,1769,2100
$GC,17465,1.24,197.5,137.0,7.2,841,17469,0.00,2.62,0.00,0.000,4,0.000,0.069,2666,3181,2100
$GC,17580,1.24,197.5,128.9,7.1,846,17585,0.00,2.55,0.00,0.000,6,0.000,0.054,2666,1774,2100
$GC,17904,1.24,197.5,106.8,7.2,862,17908,0.00,2.62,0.00,0.000,4,0.000,0.068,2666,3187,2100
$GC,18042,1.24,197.5,96.8,6.6,868,18047,0.00,2.58,0.00,0.000,6,0.000,0.054,2666,1770,2100
$GC,18364,1.27,228.2,78.5,5.0,884,18398,0.00,2.70,26.65,0.772,4,0.000,0.067,2666,3184,1970
$GC,18499,1.27,228.2,70.0,6.8,890,18503,0.00,2.58,0.00,0.000,6,0.000,0.054,2666,1777,1970
$GC,18826,1.27,228.2,48.7,6.5,906,18831,0.10,2.65,0.00,0.000,4,0.049,0.071,2703,3184,1970
$GC,18942,1.27,228.2,40.2,7.7,911,18946,0.00,2.55,0.00,0.000,6,0.000,0.055,2703,1770,1970
$GC,19263,1.27,228.2,16.4,7.4,927,19268,0.00,2.62,0.00,0.000,4,0.000,0.067,2703,3185,1969
$GC,19351,1.27,228.2,9.5,8.6,931,19356,0.00,2.53,0.00,0.000,6,0.000,0.051,2703,1777,1970
$STATE,19452,end climb,SURFACE_DEPTH_REACHED
$STATE,19452,begin surface coast
$FINISH,-0.2,1.027240
$STATE,19472,end surface coast,CONTROL_FINISHED_OK
$STATE,19472,begin surface
$SM_CCo,19493,57.80,0.715,1,0,1678,300.00
$SM_GC,0.09,0.00,0.00,57.80,0.000,0.000,0.715,45,2891,1678,-10.87,-0.25,300.00
$IRIDIUM_FIX,6126.23,-913.51,271107,212112
$TT8_MAMPS,0.029146
$HUMID,2040
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,601.0,82.2
$24V_AH,23.5,20.820
$10V_AH,10.1,8.727
$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,26.000,192.950,309.000,57.800,0.000,76.653,55.555,184.796,5.500,0.000,0.000,17.149,1803.141,14741.398,543.075,2442.052,520.305,33.370,1740.892,0.000,2402.497,0.000,34.736
$DEVICE_MAMPS,159.536,91.273,1179.646,714.844,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,677.144,664.701,577.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47436,937
$CFSIZE,260165632,253349888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,1,0
$GPS,271107,231137,6151.815,-912.341,36,1.2,36,-9.5