version: 66.02
glider: 103
mission: 7
dive: 125
start: 12 3 107 18 12 57
data:
$ID,103
$MISSION,7
$DIVE,125
$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,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,-64648.695
$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,2000
$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
$GPS1,180626,6223.620,-959.557,38,1.4,38,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-58.2
$GPS2,181152,6223.581,-959.521,16,1.4,16,-10.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.180,0.124
$KALMAN_X,-122529.9,881.8,899.4,45681.2,-4829.8
$KALMAN_Y,49981.7,-77.5,593.1,41332.7,-3273.3
$MHEAD_RNG_PITCHd_Wd,314.6,28648,-11.1,-6.000
$D_GRID,631
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-62.47,0.000,2,0.000,0.000,48,2893,3407
$GC,86,-1.10,-146.6,3.6,-9.5,3,108,11.93,1.75,-1.65,0.000,4,0.158,0.113,2163,3783,3502
$GC,349,-1.10,-146.6,29.5,-5.6,14,356,0.00,1.52,0.00,0.000,6,0.000,0.033,2163,2896,3502
$GC,665,-1.10,-146.6,54.1,-5.7,30,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2894,3502
$GC,974,-1.10,-146.6,73.4,-4.2,45,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2894,3502
$GC,1283,-1.10,-146.6,90.5,-7.3,60,1287,0.00,2.58,0.00,0.000,4,0.000,0.070,2164,1494,3503
$GC,1314,-1.10,-146.6,93.6,-8.7,61,1322,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2898,3503
$GC,1632,-1.10,-146.6,115.3,-6.3,77,1636,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1499,3502
$GC,1664,-1.10,-146.6,117.3,-5.9,78,1671,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2898,3503
$GC,1979,-1.10,-146.6,137.3,-6.7,94,1984,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1497,3503
$GC,2006,-1.10,-146.6,139.3,-7.0,95,2010,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2891,3503
$GC,2328,-1.10,-146.6,161.0,-6.0,111,2332,0.00,2.55,0.00,0.000,4,0.000,0.066,2163,1498,3503
$GC,2366,-1.10,-146.6,163.6,-7.3,113,2370,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2901,3503
$GC,2691,-1.10,-146.6,188.1,-7.4,129,2695,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1500,3503
$GC,2745,-1.10,-146.6,192.2,-7.4,131,2752,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2908,3503
$GC,3060,-1.10,-146.6,215.2,-7.1,147,3065,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1496,3503
$GC,3103,-1.10,-146.6,218.8,-7.9,149,3108,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2892,3503
$GC,3430,-1.10,-146.6,242.5,-6.8,165,3435,0.00,2.55,0.00,0.000,4,0.000,0.067,2163,1499,3503
$GC,3479,-1.10,-146.6,246.1,-7.4,167,3484,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2898,3503
$GC,3800,-1.10,-146.6,271.3,-7.8,183,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3503
$GC,4110,-1.10,-146.6,294.0,-7.1,198,4114,0.00,2.55,0.00,0.000,4,0.000,0.067,2163,1500,3503
$GC,4171,-1.10,-146.6,297.9,-6.9,201,4175,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2900,3503
$GC,4496,-1.10,-146.6,321.9,-7.7,217,4500,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1499,3503
$GC,4527,-1.10,-146.6,324.4,-7.4,218,4534,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,4843,-1.10,-146.6,347.0,-6.5,234,4847,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1496,3503
$GC,4869,-1.10,-146.6,348.8,-6.2,235,4873,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2899,3503
$GC,5191,-1.10,-146.6,371.1,-7.1,251,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,5500,-1.10,-146.6,393.6,-7.1,266,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,5809,-1.10,-146.6,413.8,-6.2,281,5813,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1494,3503
$GC,5880,-1.10,-146.6,418.5,-6.6,284,5885,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2894,3503
$GC,6201,-1.10,-146.6,440.2,-7.2,300,6205,0.00,2.53,0.00,0.000,4,0.000,0.063,2163,1498,3503
$GC,6257,-1.10,-146.6,444.6,-8.4,302,6263,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2905,3503
$GC,6571,-1.10,-146.6,467.0,-6.6,318,6575,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1499,3503
$GC,6603,-1.10,-146.6,469.0,-6.0,319,6609,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2900,3503
$GC,6918,-1.10,-146.6,489.9,-6.8,335,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,7227,-1.10,-146.6,509.6,-6.5,350,7231,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1491,3503
$GC,7270,-1.10,-146.6,512.8,-7.5,352,7275,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2900,3503
$GC,7597,-1.10,-146.6,537.9,-7.6,368,7602,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1497,3503
$GC,7636,-1.10,-146.6,540.9,-8.1,370,7641,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2901,3503
$GC,7963,-1.10,-146.6,567.4,-7.7,386,7967,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1492,3503
$GC,8005,-1.10,-146.6,570.6,-6.9,388,8010,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2907,3503
$GC,8332,-1.10,-146.6,590.8,-5.6,404,8337,0.00,2.55,0.00,0.000,4,0.000,0.062,2164,1497,3503
$GC,8375,-1.10,-146.6,593.7,-6.6,406,8380,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2916,3503
$GC,8702,-1.10,-146.6,616.6,-7.6,422,8706,0.00,1.62,0.00,0.000,4,0.000,0.084,2163,3787,3503
$GC,8779,-1.10,-146.6,622.5,-8.0,425,8784,0.00,1.52,0.00,0.000,6,0.000,0.035,2163,2894,3503
$STATE,8913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8913,begin apogee
$GC,8919,-0.42,0.0,632.0,7.1,432,9047,0.75,0.00,124.65,1.180,6,0.087,0.000,2315,2016,2901
$STATE,9048,end apogee,CONTROL_FINISHED_OK
$STATE,9048,begin climb
$GC,9050,1.10,146.6,637.1,0.0,438,9180,1.55,2.78,120.65,1.164,4,0.057,0.066,2647,581,2303
$GC,9332,1.10,146.6,626.1,6.5,451,9337,0.00,2.55,0.00,0.000,6,0.000,0.040,2647,2010,2302
$GC,9658,1.10,146.6,606.6,6.1,467,9662,0.00,2.60,0.00,0.000,4,0.000,0.069,2647,3406,2301
$GC,9871,1.13,166.8,594.0,5.4,476,9898,0.00,2.55,18.05,1.104,6,0.000,0.044,2646,1992,2220
$GC,10206,1.13,166.8,573.7,6.3,493,10210,0.00,2.62,0.00,0.000,4,0.000,0.068,2647,3410,2219
$GC,10289,1.13,166.8,567.7,7.4,497,10293,0.00,2.50,0.00,0.000,6,0.000,0.044,2646,1998,2219
$GC,10614,1.21,234.2,549.0,4.1,513,10677,0.12,2.70,55.90,1.138,4,0.048,0.072,2685,3406,1946
$GC,10755,1.21,234.2,541.0,7.5,519,10759,0.00,2.55,0.00,0.000,6,0.000,0.048,2685,2001,1945
$GC,11076,1.21,234.2,518.1,7.0,535,11080,0.00,2.60,0.00,0.000,4,0.000,0.066,2685,588,1945
$GC,11124,1.21,234.2,513.8,8.8,537,11129,0.00,2.53,0.00,0.000,6,0.000,0.042,2685,1986,1945
$GC,11446,1.21,234.2,486.1,8.5,553,11450,0.00,2.67,0.00,0.000,4,0.000,0.072,2685,3421,1944
$GC,11539,1.21,234.2,477.7,8.5,557,11544,0.00,2.55,0.00,0.000,6,0.000,0.048,2685,1994,1944
$GC,11860,1.21,234.2,451.8,7.9,573,11864,0.00,2.67,0.00,0.000,4,0.000,0.071,2685,3420,1944
$GC,11908,1.21,234.2,447.6,8.2,575,11913,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,1998,1944
$GC,12230,1.21,234.2,422.2,8.2,591,12234,0.00,2.67,0.00,0.000,4,0.000,0.072,2685,3421,1944
$GC,12290,1.21,234.2,417.0,8.5,594,12295,0.00,2.55,0.00,0.000,6,0.000,0.049,2685,1996,1944
$GC,12616,1.21,234.2,393.4,6.8,610,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1996,1944
$GC,12925,1.21,234.2,371.2,7.5,625,12929,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3413,1944
$GC,12990,1.21,234.2,365.6,8.4,628,12995,0.00,2.55,0.00,0.000,6,0.000,0.051,2685,2006,1944
$GC,13317,1.21,234.2,341.2,7.8,644,13322,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3414,1945
$GC,13343,1.21,234.2,339.1,8.3,645,13348,0.00,2.55,0.00,0.000,6,0.000,0.051,2685,2001,1945
$GC,13665,1.21,234.2,313.6,7.9,661,13669,0.00,2.62,0.00,0.000,4,0.000,0.074,2685,3414,1945
$GC,13697,1.21,234.2,310.9,8.5,662,13703,0.00,2.53,0.00,0.000,6,0.000,0.051,2685,1998,1945
$GC,14012,1.21,234.2,284.7,8.3,678,14016,0.00,2.65,0.00,0.000,4,0.000,0.075,2685,3420,1945
$GC,14050,1.21,234.2,281.3,8.5,680,14055,0.00,2.53,0.00,0.000,6,0.000,0.051,2685,2000,1945
$GC,14376,1.21,234.2,257.6,6.6,696,14381,0.00,2.67,0.00,0.000,4,0.000,0.075,2685,3417,1945
$GC,14415,1.21,234.2,254.1,8.7,698,14420,0.00,2.55,0.00,0.000,6,0.000,0.052,2685,1993,1946
$GC,14740,1.21,234.2,233.7,6.1,714,14745,0.00,2.67,0.00,0.000,4,0.000,0.074,2685,3416,1946
$GC,14783,1.21,234.2,230.7,6.5,716,14788,0.00,2.55,0.00,0.000,6,0.000,0.052,2685,2007,1946
$GC,15110,1.21,234.2,210.6,6.1,732,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2007,1946
$GC,15419,1.21,234.2,186.7,8.2,747,15423,0.00,2.65,0.00,0.000,4,0.000,0.074,2685,3416,1946
$GC,15495,1.21,234.2,180.4,8.2,750,15502,0.00,2.55,0.00,0.000,6,0.000,0.054,2685,2007,1946
$GC,15811,1.21,234.2,153.8,9.4,766,15812,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2007,1946
$GC,16120,1.21,234.2,134.8,7.4,781,16125,0.00,2.67,0.00,0.000,4,0.000,0.077,2685,3421,1946
$GC,16169,1.21,234.2,130.9,7.6,783,16174,0.00,2.55,0.00,0.000,6,0.000,0.054,2685,1997,1947
$GC,16491,1.22,245.9,107.1,5.7,799,16504,0.00,0.00,11.10,0.778,6,0.000,0.000,2685,1997,1898
$GC,16802,1.22,245.9,85.9,9.2,814,16806,0.00,2.67,0.00,0.000,4,0.000,0.075,2685,3414,1898
$GC,16873,1.22,245.9,79.0,8.6,817,16877,0.00,2.55,0.00,0.000,6,0.000,0.054,2685,1994,1898
$GC,17194,1.22,245.9,46.6,9.5,833,17195,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1994,1898
$GC,17503,1.24,258.4,24.2,5.7,848,17517,0.00,0.00,11.65,0.730,6,0.000,0.000,2685,1994,1847
$STATE,17790,end climb,SURFACE_DEPTH_REACHED
$STATE,17790,begin surface coast
$FINISH,-0.8,1.027322
$STATE,17814,end surface coast,CONTROL_FINISHED_OK
$STATE,17814,begin surface
$SM_CCo,17835,32.50,0.752,0,0,1678,300.00
$SM_GC,0.00,0.00,0.00,32.50,0.000,0.000,0.752,43,2900,1678,-10.89,0.00,300.00
$IRIDIUM_FIX,6158.08,-1001.28,031207,171755
$TT8_MAMPS,0.028379
$HUMID,2060
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.9,86.4
$24V_AH,23.4,24.718
$10V_AH,10.1,11.136
$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,25.975,186.025,342.000,32.500,0.000,38.681,34.516,152.566,5.250,0.000,0.000,16.984,1620.010,13621.724,538.497,2002.284,425.562,33.365,1556.364,0.000,1974.280,0.000,33.123
$DEVICE_MAMPS,158.002,112.749,1180.413,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.815,599.711,560.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44230,863
$CFSIZE,260165632,251559936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,0,0
$GPS,031207,231156,6221.581,-1006.572,38,1.9,38,-10.1