version: 66.02
glider: 103
mission: 7
dive: 142
start: 12 7 107 12 56 42
data:
$ID,103
$MISSION,7
$DIVE,142
$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,-64978.934
$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,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
$GPS1,124938,6220.009,-1035.186,29,1.4,29,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-60.0
$GPS2,125538,6220.040,-1035.241,13,1.4,30,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.098,0.195
$KALMAN_X,-178759.9,804.4,650.7,70705.6,-6907.2
$KALMAN_Y,-19033.7,1929.4,699.2,101599.6,-4476.4
$MHEAD_RNG_PITCHd_Wd,37.1,18983,-11.1,-6.000
$D_GRID,732
$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,21,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-61.08,0.000,2,0.000,0.000,30,2902,3345
$GC,86,-1.10,-146.6,3.2,-8.3,3,109,12.10,2.58,-2.88,0.000,4,0.160,0.073,2165,1493,3500
$GC,141,-1.10,-146.6,14.6,-7.9,5,146,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2906,3500
$GC,463,-1.10,-146.6,36.8,-7.1,21,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3501
$GC,772,-1.10,-146.6,58.6,-7.4,36,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3501
$GC,1081,-1.10,-146.6,80.9,-6.6,51,1086,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1483,3501
$GC,1143,-1.10,-146.6,85.2,-6.9,54,1148,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2904,3501
$GC,1471,-1.10,-146.6,107.9,-6.9,70,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3501
$GC,1779,-1.10,-146.6,128.2,-6.5,85,1783,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1494,3501
$GC,1827,-1.10,-146.6,131.6,-7.0,87,1832,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2901,3501
$GC,2148,-1.10,-146.6,153.0,-6.8,103,2153,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1491,3501
$GC,2175,-1.10,-146.6,155.0,-7.4,104,2180,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2898,3501
$GC,2496,-1.10,-146.6,178.2,-7.7,120,2500,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1493,3502
$GC,2534,-1.10,-146.6,181.2,-7.3,122,2538,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2899,3501
$GC,2859,-1.10,-146.6,206.6,-7.9,138,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,3169,-1.10,-146.6,231.2,-7.8,153,3173,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1484,3501
$GC,3217,-1.10,-146.6,235.2,-8.3,155,3221,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2892,3502
$GC,3538,-1.10,-146.6,259.5,-7.7,171,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2892,3501
$GC,3848,-1.10,-146.6,282.6,-7.4,186,3852,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1492,3502
$GC,3896,-1.10,-146.6,286.6,-8.1,188,3901,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2892,3502
$GC,4217,-1.10,-146.6,311.0,-8.4,204,4222,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1487,3501
$GC,4261,-1.10,-146.6,314.9,-8.3,206,4265,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2903,3501
$GC,4587,-1.10,-146.6,342.4,-7.9,222,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,4897,-1.10,-146.6,367.9,-9.1,237,4901,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1492,3501
$GC,4939,-1.10,-146.6,371.2,-7.3,239,4944,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2899,3501
$GC,5266,-1.10,-146.6,396.5,-8.2,255,5270,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1487,3501
$GC,5304,-1.10,-146.6,399.6,-8.2,257,5308,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2899,3502
$GC,5630,-1.10,-146.6,424.2,-7.3,273,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,5939,-1.10,-146.6,443.3,-5.3,288,5944,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3502
$GC,6007,-1.10,-146.6,446.7,-4.9,291,6011,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2900,3501
$GC,6327,-1.10,-146.6,463.4,-5.7,307,6331,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1482,3501
$GC,6365,-1.10,-146.6,465.9,-6.9,309,6370,0.00,2.58,0.00,0.000,6,0.000,0.062,2166,2900,3502
$GC,6691,-1.10,-146.6,488.8,-7.5,325,6695,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1483,3501
$GC,6739,-1.10,-146.6,492.3,-7.2,327,6744,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2898,3502
$GC,7061,-1.10,-146.6,514.7,-7.6,343,7065,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1482,3501
$GC,7171,-1.10,-146.6,523.5,-7.9,348,7175,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2908,3502
$GC,7498,-1.10,-146.6,540.6,-3.2,364,7502,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1489,3501
$GC,7541,-1.10,-146.6,542.2,-3.9,366,7545,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2902,3502
$GC,7867,-1.10,-146.6,559.5,-6.1,382,7872,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1483,3501
$GC,7933,-1.10,-146.6,564.1,-7.1,385,7938,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2892,3502
$GC,8260,-1.10,-146.6,589.6,-9.4,401,8265,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1483,3502
$GC,8309,-1.10,-146.6,594.8,-10.8,403,8314,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2899,3501
$GC,8630,-1.10,-146.6,620.6,-6.6,419,8632,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,8940,-1.10,-146.6,635.5,-6.0,434,8944,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1482,3502
$GC,9017,-1.10,-146.6,640.9,-7.4,437,9023,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2899,3501
$GC,9332,-1.10,-146.6,665.2,-8.3,453,9336,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1484,3501
$GC,9386,-1.10,-146.6,668.9,-6.3,455,9393,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2892,3502
$GC,9702,-1.10,-146.6,691.0,-7.9,471,9705,0.00,1.70,0.00,0.000,4,0.000,0.092,2165,3785,3501
$GC,9751,-1.10,-146.6,694.9,-8.6,473,9755,0.00,1.55,0.00,0.000,6,0.000,0.038,2165,2888,3502
$STATE,9760,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9760,begin apogee
$GC,9766,-0.42,0.0,695.8,8.4,473,9895,0.73,0.00,125.12,1.246,6,0.089,0.000,2315,2112,2901
$STATE,9896,end apogee,CONTROL_FINISHED_OK
$STATE,9896,begin climb
$GC,9898,1.10,146.6,700.9,0.0,480,10029,1.55,2.72,122.03,1.219,4,0.050,0.064,2650,686,2303
$GC,10057,1.23,253.3,701.7,3.0,487,10154,0.12,2.55,89.45,1.192,6,0.042,0.044,2692,2102,1868
$GC,10475,1.23,253.3,671.3,9.6,508,10479,0.00,2.67,0.00,0.000,4,0.000,0.076,2692,3512,1866
$GC,10551,1.23,253.3,662.3,11.2,511,10558,0.00,2.60,0.00,0.000,6,0.000,0.051,2692,2095,1865
$GC,10867,1.23,253.3,632.8,8.3,527,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2095,1864
$GC,11176,1.23,253.3,603.4,10.2,542,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,1863
$GC,11485,1.23,253.3,571.8,8.5,557,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,1862
$GC,11795,1.26,276.7,553.0,5.4,572,11816,0.00,0.00,19.50,1.167,6,0.000,0.000,2692,2094,1773
$GC,12124,1.26,276.7,528.2,9.4,588,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,1773
$GC,12433,1.26,276.7,495.3,10.1,603,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,1773
$GC,12742,1.26,276.7,465.2,9.2,618,12747,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3511,1773
$GC,12763,1.26,276.7,463.4,8.3,619,12767,0.00,2.53,0.00,0.000,6,0.000,0.044,2692,2101,1772
$GC,13089,1.26,276.7,438.7,7.5,635,13094,0.00,2.55,0.00,0.000,4,0.000,0.059,2692,691,1773
$GC,13128,1.26,276.7,435.5,7.6,637,13133,0.00,2.50,0.00,0.000,6,0.000,0.044,2692,2103,1773
$GC,13454,1.26,276.7,411.7,7.2,653,13458,0.00,2.62,0.00,0.000,4,0.000,0.074,2692,3512,1773
$GC,13480,1.26,276.7,409.5,8.3,654,13484,0.00,2.53,0.00,0.000,6,0.000,0.046,2692,2102,1773
$GC,13801,1.26,276.7,386.1,7.1,670,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2102,1774
$GC,14110,1.26,276.7,362.7,7.8,685,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2102,1775
$GC,14419,1.26,276.7,338.9,7.8,700,14421,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2102,1776
$GC,14729,1.26,276.7,315.5,7.6,715,14730,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2102,1776
$GC,15038,1.26,276.7,291.8,7.6,730,15042,0.00,2.65,0.00,0.000,4,0.000,0.075,2692,3512,1776
$GC,15081,1.26,276.7,288.3,8.2,732,15085,0.00,2.55,0.00,0.000,6,0.000,0.050,2692,2081,1777
$GC,15408,1.26,276.7,259.9,9.7,748,15409,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2081,1777
$GC,15717,1.26,276.7,231.7,8.9,763,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2081,1777
$GC,16026,1.26,276.7,202.9,9.5,778,16027,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2081,1777
$GC,16335,1.26,276.7,172.4,10.1,793,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2081,1777
$GC,16645,1.26,276.7,144.5,9.1,808,16649,0.00,2.70,0.00,0.000,4,0.000,0.074,2692,3514,1777
$GC,16676,1.26,276.7,141.4,8.9,809,16683,0.00,2.55,0.00,0.000,6,0.000,0.051,2692,2102,1777
$GC,16994,1.26,276.7,111.1,10.5,825,16998,0.00,2.58,0.00,0.000,4,0.000,0.065,2692,690,1777
$GC,17033,1.26,276.7,106.8,11.7,827,17037,0.00,2.50,0.00,0.000,6,0.000,0.049,2692,2099,1777
$GC,17359,1.26,276.7,76.9,8.8,843,17360,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1777
$GC,17668,1.26,276.7,49.2,8.9,858,17672,0.00,2.62,0.00,0.000,4,0.000,0.071,2692,3515,1778
$GC,17707,1.26,276.7,45.8,9.2,860,17711,0.00,2.53,0.00,0.000,6,0.000,0.051,2692,2099,1778
$GC,18033,1.26,276.7,19.3,9.1,876,18034,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1778
$STATE,18216,end climb,SURFACE_DEPTH_REACHED
$STATE,18216,begin surface coast
$FINISH,-0.5,1.027329
$STATE,18238,end surface coast,CONTROL_FINISHED_OK
$STATE,18238,begin surface
$SM_CCo,18259,21.83,0.733,1,0,1678,300.00
$SM_GC,-0.26,0.00,0.00,21.83,0.000,0.000,0.733,44,2899,1678,-10.88,-0.03,300.00
$IRIDIUM_FIX,6153.50,-1046.84,071207,111102
$TT8_MAMPS,0.029146
$HUMID,2089
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.5,79.5
$24V_AH,23.4,27.255
$10V_AH,10.1,12.589
$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,26.150,151.350,356.100,21.825,0.000,37.152,35.873,166.927,5.500,0.000,0.000,30.797,1596.328,14234.898,505.637,1884.961,434.499,33.372,1447.210,0.000,1836.850,0.000,36.339
$DEVICE_MAMPS,160.303,94.341,1245.608,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,632.740,618.046,548.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44268,886
$CFSIZE,260165632,250474496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,071207,180237,6224.849,-1036.125,34,1.0,34,-10.4