version: 66.02
glider: 103
mission: 7
dive: 224
start: 12 25 107 3 33 18
data:
$ID,103
$MISSION,7
$DIVE,224
$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,571.30371
$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,-66598.969
$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,21
$R_STBD_OVSHOOT,13
$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
$GPS1,032637,6328.466,-1255.155,34,1.6,34,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.60
$_SM_ANGLEo,-44.5
$GPS2,033215,6328.401,-1255.262,10,1.7,10,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.016,0.218
$KALMAN_X,-269046.5,666.8,35.2,38309.3,-2042.4
$KALMAN_Y,-182452.7,-100.6,-933.0,395368.3,299.1
$MHEAD_RNG_PITCHd_Wd,16.5,30742,-11.1,-6.000
$D_GRID,591
$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,22,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-107.45,0.000,6,0.000,0.000,44,2908,3499
$GC,134,-1.10,-146.6,2.7,-3.9,5,155,12.05,2.65,0.00,0.000,4,0.160,0.061,2165,1497,3501
$GC,407,-1.10,-146.6,32.5,-6.6,17,412,0.00,2.67,0.00,0.000,6,0.000,0.081,2165,2897,3501
$GC,728,-1.10,-146.6,54.6,-6.2,33,733,0.00,2.62,0.00,0.000,4,0.000,0.072,2165,1491,3501
$GC,817,-1.10,-146.6,60.5,-6.9,37,822,0.00,2.70,0.00,0.000,6,0.000,0.081,2166,2904,3501
$GC,1138,-1.10,-146.6,87.9,-8.1,53,1141,0.00,1.70,0.00,0.000,4,0.000,0.095,2166,3788,3501
$GC,1232,-1.10,-146.6,96.9,-9.8,57,1236,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2908,3501
$GC,1559,-1.10,-146.6,122.7,-7.8,73,1564,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1489,3501
$GC,1608,-1.10,-146.6,126.3,-7.3,75,1612,0.00,2.70,0.00,0.000,6,0.000,0.079,2165,2908,3501
$GC,1931,-1.10,-146.6,149.4,-7.0,91,1935,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,1482,3501
$GC,1953,-1.10,-146.6,150.8,-5.9,92,1957,0.00,2.72,0.00,0.000,6,0.000,0.080,2165,2906,3501
$GC,2272,-1.10,-146.6,171.2,-6.7,108,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,2582,-1.10,-146.6,191.9,-6.6,123,2586,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1487,3501
$GC,2631,-1.10,-146.6,195.0,-6.1,125,2636,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2901,3501
$GC,2946,-1.10,-146.6,216.9,-7.3,140,2951,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1480,3501
$GC,2979,-1.10,-146.6,219.3,-7.9,141,2985,0.00,2.70,0.00,0.000,6,0.000,0.080,2165,2900,3501
$GC,3294,-1.10,-146.6,241.7,-7.2,157,3299,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1488,3501
$GC,3321,-1.10,-146.6,243.8,-7.8,158,3326,0.00,2.67,0.00,0.000,6,0.000,0.081,2166,2900,3501
$GC,3642,-1.10,-146.6,269.9,-9.0,174,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,3952,-1.10,-146.6,295.3,-8.1,189,3956,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1487,3501
$GC,3991,-1.10,-146.6,298.4,-8.2,191,3995,0.00,2.70,0.00,0.000,6,0.000,0.079,2165,2907,3501
$GC,4316,-1.10,-146.6,322.2,-7.4,207,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,4625,-1.10,-146.6,344.7,-7.3,222,4630,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1486,3501
$GC,4680,-1.10,-146.6,349.1,-7.9,224,4687,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2900,3501
$GC,4996,-1.10,-146.6,370.9,-6.6,240,5000,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1480,3501
$GC,5028,-1.10,-146.6,373.2,-7.0,241,5034,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2909,3501
$GC,5343,-1.10,-146.6,395.0,-6.8,257,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3501
$GC,5652,-1.10,-146.6,417.0,-6.9,272,5657,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1480,3501
$GC,5719,-1.10,-146.6,422.0,-7.5,275,5723,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2900,3501
$GC,6040,-1.10,-146.6,445.8,-7.6,291,6044,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1483,3501
$GC,6072,-1.10,-146.6,448.4,-7.7,292,6078,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2900,3501
$GC,6387,-1.10,-146.6,473.1,-8.0,308,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,6696,-1.10,-146.6,495.3,-7.0,323,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,7006,-1.10,-146.6,515.3,-6.0,338,7009,0.00,1.67,0.00,0.000,4,0.000,0.093,2165,3786,3501
$GC,7089,-1.10,-146.6,520.8,-6.3,341,7095,0.00,1.58,0.00,0.000,6,0.000,0.044,2165,2894,3501
$GC,7404,-1.10,-146.6,540.5,-6.6,357,7408,0.00,2.53,0.00,0.000,4,0.000,0.059,2165,1481,3501
$GC,7481,-1.10,-146.6,545.6,-5.9,360,7488,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2901,3500
$GC,7797,-1.10,-146.6,562.8,-6.0,376,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,8106,-1.10,-146.6,581.6,-6.2,391,8110,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1475,3501
$GC,8132,-1.10,-146.6,583.1,-5.3,392,8137,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2906,3501
$STATE,8260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8260,begin apogee
$GC,8267,-0.42,0.0,591.7,7.3,398,8395,0.75,0.00,124.50,1.175,6,0.087,0.000,2316,2092,2902
$STATE,8395,end apogee,CONTROL_FINISHED_OK
$STATE,8395,begin climb
$GC,8398,1.10,146.6,596.2,0.0,404,8528,1.55,2.65,121.05,1.144,4,0.056,0.055,2649,677,2303
$GC,8601,1.15,181.3,591.2,5.0,413,8637,0.00,2.53,30.12,1.099,6,0.000,0.036,2649,2123,2161
$GC,8952,1.15,181.3,568.3,7.2,431,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2124,2161
$GC,9262,1.17,202.4,549.6,5.4,446,9286,0.00,2.65,18.90,1.102,4,0.000,0.071,2649,3505,2075
$GC,9359,1.17,202.4,543.8,6.5,450,9363,0.00,2.50,0.00,0.000,6,0.000,0.040,2649,2089,2075
$GC,9680,1.17,202.4,522.7,7.1,466,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2089,2074
$GC,9990,1.18,213.0,503.5,5.7,481,10005,0.00,2.72,10.12,1.041,4,0.000,0.074,2649,3498,2031
$GC,10100,1.18,213.0,496.8,6.4,485,10104,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2093,2031
$GC,10427,1.18,213.0,476.6,6.4,501,10431,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3499,2030
$GC,10466,1.18,213.0,474.0,6.9,503,10470,0.00,2.50,0.00,0.000,6,0.000,0.046,2649,2094,2030
$GC,10791,1.21,233.6,454.3,5.4,519,10816,0.12,2.75,18.15,1.062,4,0.045,0.075,2691,3499,1948
$GC,10856,1.21,233.6,450.0,7.7,522,10860,0.00,2.50,0.00,0.000,6,0.000,0.045,2691,2102,1948
$GC,11181,1.21,233.6,425.6,7.5,538,11186,0.00,2.55,0.00,0.000,4,0.000,0.058,2691,692,1948
$GC,11243,1.21,233.6,420.4,8.8,541,11248,0.00,2.45,0.00,0.000,6,0.000,0.039,2691,2092,1948
$GC,11570,1.21,233.6,393.8,8.0,557,11574,0.00,2.65,0.00,0.000,4,0.000,0.075,2691,3508,1948
$GC,11618,1.21,233.6,389.7,8.2,559,11622,0.00,2.50,0.00,0.000,6,0.000,0.044,2691,2098,1948
$GC,11939,1.21,233.6,366.3,7.5,575,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2098,1948
$GC,12249,1.21,233.6,345.6,6.6,590,12253,0.00,2.67,0.00,0.000,4,0.000,0.077,2691,3509,1948
$GC,12292,1.21,233.6,342.4,7.7,592,12296,0.00,2.50,0.00,0.000,6,0.000,0.046,2691,2099,1948
$GC,12619,1.21,233.6,317.3,8.2,608,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1948
$GC,12928,1.21,233.6,291.4,7.9,623,12933,0.00,2.67,0.00,0.000,4,0.000,0.076,2691,3512,1949
$GC,12960,1.21,233.6,288.7,8.5,624,12967,0.00,2.53,0.00,0.000,6,0.000,0.049,2691,2093,1949
$GC,13276,1.21,233.6,263.7,7.7,640,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,1949
$GC,13586,1.21,233.6,240.8,7.7,655,13590,0.00,2.70,0.00,0.000,4,0.000,0.077,2691,3515,1949
$GC,13624,1.21,233.6,237.5,8.1,657,13628,0.00,2.53,0.00,0.000,6,0.000,0.051,2691,2099,1949
$GC,13949,1.21,233.6,211.2,8.0,673,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1950
$GC,14259,1.21,233.6,185.2,8.2,688,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1950
$GC,14568,1.21,233.6,159.9,8.4,703,14569,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1950
$GC,14878,1.21,233.6,133.0,9.1,718,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1950
$GC,15187,1.21,233.6,104.8,7.3,733,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1950
$GC,15498,1.21,233.6,76.9,8.4,748,15499,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1950
$GC,15806,1.21,233.6,46.6,9.7,763,15807,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1951
$GC,16115,1.21,233.6,17.1,9.0,778,16119,0.00,2.67,0.00,0.000,4,0.000,0.080,2691,3508,1951
$GC,16169,1.21,233.6,12.4,9.8,780,16176,0.00,2.50,0.00,0.000,6,0.000,0.049,2691,2092,1951
$STATE,16277,end climb,SURFACE_DEPTH_REACHED
$STATE,16277,begin surface coast
$FINISH,-0.4,1.027337
$STATE,16299,end surface coast,CONTROL_FINISHED_OK
$STATE,16299,begin surface
$SM_CCo,16320,265.67,0.742,1,0,572,571.30
$SM_GC,-0.66,0.00,0.00,265.67,0.000,0.000,0.742,50,2899,572,-10.86,-0.03,571.30
$IRIDIUM_FIX,6303.50,-1256.79,251207,020200
$TT8_MAMPS,0.029146
$HUMID,1996
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.3,81.0
$24V_AH,23.4,39.397
$10V_AH,10.1,19.558
$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,26.050,140.675,322.850,265.675,0.000,41.170,36.503,154.732,5.250,0.000,0.000,10.019,1434.098,12558.128,762.547,1735.575,452.628,33.366,1640.068,0.000,1708.473,0.000,34.770
$DEVICE_MAMPS,160.303,95.108,1175.044,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.924,544.080,499.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41175,787
$CFSIZE,260165632,245387264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,251207,081107,6329.853,-1258.462,36,2.0,42,-12.2