version: 66.02
glider: 103
mission: 7
dive: 199
start: 12 19 107 20 16 10
data:
$ID,103
$MISSION,7
$DIVE,199
$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,-1
$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,-66047.086
$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
$GPS1,195758,6304.535,-1253.231,32,2.8,51,-12.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-55.7
$GPS2,201507,6304.250,-1253.163,18,1.4,34,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.207,0.071
$KALMAN_X,-222490.2,675.9,609.7,-6970.4,-3018.6
$KALMAN_Y,-118946.1,-674.7,237.0,286526.8,-4931.8
$MHEAD_RNG_PITCHd_Wd,83.1,20708,-11.1,-6.000
$D_GRID,593
$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,-61.67,0.000,2,0.000,0.000,46,2900,3414
$GC,87,-1.10,-146.6,3.3,-7.8,3,109,11.98,1.75,-1.58,0.000,4,0.159,0.117,2165,3780,3501
$GC,361,-1.10,-146.6,31.4,-9.3,15,365,0.00,1.55,0.00,0.000,6,0.000,0.041,2165,2895,3502
$GC,688,-1.10,-146.6,58.3,-8.2,31,691,0.00,1.70,0.00,0.000,4,0.000,0.085,2165,3786,3502
$GC,907,-1.10,-146.6,74.7,-6.6,40,913,0.00,1.55,0.00,0.000,6,0.000,0.038,2165,2899,3502
$GC,1222,-1.10,-146.6,95.8,-6.7,56,1226,0.00,2.58,0.00,0.000,4,0.000,0.070,2165,1493,3503
$GC,1260,-1.10,-146.6,98.7,-7.4,58,1265,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2900,3503
$GC,1587,-1.10,-146.6,120.1,-6.6,74,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,1896,-1.10,-146.6,141.9,-7.3,89,1900,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1498,3503
$GC,1940,-1.10,-146.6,145.1,-7.3,91,1945,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2900,3503
$GC,2261,-1.10,-146.6,168.8,-7.8,107,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,2570,-1.10,-146.6,194.3,-8.1,122,2574,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1491,3503
$GC,2698,-1.10,-146.6,205.0,-8.4,128,2703,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2900,3503
$GC,3024,-1.10,-146.6,231.0,-8.0,144,3028,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1490,3503
$GC,3056,-1.10,-146.6,233.8,-8.1,145,3063,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2895,3503
$GC,3372,-1.10,-146.6,256.8,-7.0,161,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3503
$GC,3681,-1.10,-146.6,277.7,-6.9,176,3686,0.00,2.60,0.00,0.000,4,0.000,0.070,2165,1491,3503
$GC,3743,-1.10,-146.6,282.0,-6.9,179,3747,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2900,3503
$GC,4068,-1.10,-146.6,302.9,-6.1,195,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,4378,-1.10,-146.6,321.0,-5.9,210,4382,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1494,3503
$GC,4432,-1.10,-146.6,324.2,-5.8,212,4439,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2904,3503
$GC,4748,-1.10,-146.6,343.4,-6.5,228,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,5057,-1.10,-146.6,362.1,-5.9,243,5061,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1496,3503
$GC,5128,-1.10,-146.6,366.4,-6.0,246,5133,0.00,2.62,0.00,0.000,6,0.000,0.075,2165,2900,3503
$GC,5444,-1.10,-146.6,386.2,-6.7,261,5449,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3503
$GC,5478,-1.10,-146.6,388.4,-6.6,262,5484,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2900,3503
$GC,5793,-1.10,-146.6,408.6,-6.0,278,5797,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1495,3503
$GC,5832,-1.10,-146.6,410.8,-6.3,280,5836,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2906,3503
$GC,6158,-1.10,-146.6,429.7,-5.6,296,6162,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1494,3503
$GC,6235,-1.10,-146.6,433.9,-5.2,299,6241,0.00,2.62,0.00,0.000,6,0.000,0.072,2165,2902,3502
$GC,6551,-1.10,-146.6,450.0,-5.1,315,6556,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1489,3503
$GC,6601,-1.10,-146.6,453.0,-5.9,317,6605,0.00,2.60,0.00,0.000,6,0.000,0.071,2165,2900,3502
$GC,6922,-1.10,-146.6,472.2,-6.2,333,6926,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1492,3502
$GC,6965,-1.10,-146.6,474.9,-6.7,335,6971,0.00,2.60,0.00,0.000,6,0.000,0.070,2165,2901,3502
$GC,7292,-1.10,-146.6,497.7,-7.7,351,7296,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1483,3502
$GC,7398,-1.10,-146.6,506.3,-8.3,356,7403,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2901,3502
$GC,7724,-1.10,-146.6,533.8,-8.2,372,7729,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1489,3502
$GC,7796,-1.10,-146.6,539.9,-8.2,375,7800,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2904,3502
$GC,8118,-1.10,-146.6,564.7,-7.3,391,8122,0.00,2.53,0.00,0.000,4,0.000,0.052,2165,1487,3502
$GC,8217,-1.10,-146.6,571.8,-7.4,395,8224,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2901,3502
$STATE,8428,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8428,begin apogee
$GC,8435,-0.42,0.0,585.6,6.5,406,8561,0.75,0.00,123.28,1.208,6,0.091,0.000,2315,2100,2902
$STATE,8562,end apogee,CONTROL_FINISHED_OK
$STATE,8562,begin climb
$GC,8564,1.10,146.6,590.2,0.0,412,8689,1.55,0.00,120.10,1.168,6,0.056,0.000,2648,2098,2303
$GC,8995,1.13,172.1,574.1,5.3,433,9024,0.00,2.70,22.52,1.111,4,0.000,0.064,2648,3511,2199
$GC,9133,1.13,172.1,565.6,6.7,439,9138,0.00,2.50,0.00,0.000,6,0.000,0.037,2648,2093,2199
$GC,9453,1.19,216.6,549.1,4.8,455,9498,0.00,2.65,37.53,1.154,4,0.000,0.058,2648,701,2018
$GC,9539,1.19,216.6,544.3,6.3,459,9543,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2117,2018
$GC,9864,1.19,216.6,524.7,6.1,475,9868,0.00,2.58,0.00,0.000,4,0.000,0.067,2648,3502,2016
$GC,9929,1.19,216.6,520.2,6.7,478,9934,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2093,2015
$GC,10256,1.19,216.6,498.7,6.4,494,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2093,2014
$GC,10565,1.22,239.5,480.6,5.4,509,10588,0.12,0.00,19.73,1.103,6,0.048,0.000,2684,2092,1924
$GC,10895,1.22,239.5,459.5,6.2,525,10899,0.00,2.67,0.00,0.000,4,0.000,0.074,2684,3509,1923
$GC,10984,1.22,239.5,452.7,7.4,529,10989,0.00,2.50,0.00,0.000,6,0.000,0.042,2684,2103,1923
$GC,11304,1.22,239.5,429.6,7.3,545,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2103,1923
$GC,11613,1.22,239.5,406.1,8.0,560,11618,0.00,2.58,0.00,0.000,4,0.000,0.061,2684,687,1923
$GC,11652,1.22,239.5,402.4,9.7,562,11657,0.00,2.47,0.00,0.000,6,0.000,0.042,2684,2093,1923
$GC,11978,1.22,239.5,375.1,8.1,578,11982,0.00,2.65,0.00,0.000,4,0.000,0.075,2684,3509,1923
$GC,12040,1.22,239.5,370.0,8.6,581,12044,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2103,1923
$GC,12365,1.22,239.5,344.4,7.6,597,12369,0.00,2.67,0.00,0.000,4,0.000,0.075,2684,3516,1923
$GC,12391,1.22,239.5,342.2,7.9,598,12396,0.00,2.55,0.00,0.000,6,0.000,0.046,2684,2099,1923
$GC,12712,1.22,239.5,318.3,6.8,614,12717,0.00,2.67,0.00,0.000,4,0.000,0.076,2684,3511,1924
$GC,12745,1.22,239.5,316.0,7.3,615,12752,0.00,2.53,0.00,0.000,6,0.000,0.048,2684,2101,1924
$GC,13060,1.22,239.5,292.8,7.5,631,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2101,1924
$GC,13370,1.22,239.5,268.0,8.2,646,13375,0.00,2.65,0.00,0.000,4,0.000,0.073,2684,3513,1924
$GC,13408,1.22,239.5,264.7,8.1,648,13413,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2100,1924
$GC,13734,1.22,239.5,238.5,7.7,664,13738,0.00,2.65,0.00,0.000,4,0.000,0.072,2684,3509,1924
$GC,13773,1.22,239.5,235.4,8.6,666,13777,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2099,1925
$GC,14098,1.22,239.5,212.0,6.7,682,14102,0.00,2.65,0.00,0.000,4,0.000,0.074,2684,3509,1925
$GC,14124,1.22,239.5,209.8,7.1,683,14129,0.00,2.53,0.00,0.000,6,0.000,0.048,2684,2106,1925
$GC,14445,1.22,239.5,186.6,7.3,699,14447,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2106,1925
$GC,14754,1.22,239.5,164.3,7.0,714,14759,0.00,2.65,0.00,0.000,4,0.000,0.076,2684,3509,1925
$GC,14809,1.22,239.5,160.2,7.9,716,14816,0.00,2.50,0.00,0.000,6,0.000,0.049,2684,2097,1925
$GC,15125,1.22,239.5,137.1,7.7,732,15130,0.00,2.67,0.00,0.000,4,0.000,0.076,2684,3513,1926
$GC,15151,1.22,239.5,134.7,8.2,733,15156,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,2094,1926
$GC,15474,1.22,239.5,109.1,7.9,749,15479,0.00,2.55,0.00,0.000,4,0.000,0.064,2684,694,1926
$GC,15506,1.22,239.5,106.6,7.7,750,15514,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2100,1926
$GC,15823,1.22,239.5,85.1,6.5,766,15827,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3514,1926
$GC,15866,1.22,239.5,81.8,7.8,768,15870,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2102,1926
$GC,16193,1.22,239.5,58.0,7.5,784,16197,0.00,2.58,0.00,0.000,4,0.000,0.067,2684,694,1926
$GC,16232,1.22,239.5,54.8,8.7,786,16236,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2101,1926
$GC,16557,1.22,239.5,29.1,8.9,802,16562,0.00,2.65,0.00,0.000,4,0.000,0.076,2684,3518,1926
$GC,16601,1.22,239.5,24.9,9.1,804,16605,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2096,1926
$GC,16928,1.22,239.5,2.5,8.8,820,16933,0.00,2.55,0.00,0.000,4,0.000,0.067,2684,692,1927
$STATE,16937,end climb,SURFACE_DEPTH_REACHED
$STATE,16937,begin surface coast
$FINISH,0.0,1.027307
$STATE,16954,end surface coast,CONTROL_FINISHED_OK
$STATE,16954,begin surface
$SM_CCo,16978,50.22,0.745,1,0,1678,300.00
$SM_GC,-0.22,0.00,0.00,50.22,0.000,0.000,0.745,48,2897,1678,-10.87,-0.08,300.00
$IRIDIUM_FIX,6239.86,-1255.41,201207,000031
$TT8_MAMPS,0.028379
$HUMID,2055
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,19.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.4,94.4
$24V_AH,23.4,35.217
$10V_AH,10.1,17.412
$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,25.925,180.175,323.150,50.225,0.000,157.465,329.476,230.646,4.500,0.000,0.000,34.846,1543.469,13108.417,534.865,1947.147,942.387,33.367,1508.914,0.000,1892.487,0.000,28.299
$DEVICE_MAMPS,158.769,116.584,1208.025,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,598.907,569.304,542.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41155,821
$CFSIZE,260165632,246894592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,201207,010107,6300.980,-1254.629,28,1.1,28,-12.0