version: 66.02
glider: 103
mission: 7
dive: 225
start: 12 25 107 8 17 43
data:
$ID,103
$MISSION,7
$DIVE,225
$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,-66610.227
$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,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
$GPS1,081107,6329.853,-1258.462,36,2.0,42,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.63
$_SM_ANGLEo,-47.9
$GPS2,081639,6329.886,-1258.406,10,1.5,10,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.002,0.221
$KALMAN_X,-270374.3,-149.0,-932.1,38669.2,345.8
$KALMAN_Y,-184530.1,-551.7,-2.0,399726.1,-999.1
$MHEAD_RNG_PITCHd_Wd,12.7,28129,-10.9,-6.000
$D_GRID,620
$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,-1.08,-146.6,0.0,0.0,0,131,0.00,0.00,-107.97,0.000,6,0.000,0.000,50,2901,3501
$GC,134,-1.08,-146.6,2.3,-3.3,5,155,12.05,2.62,0.00,0.000,4,0.161,0.058,2167,1492,3503
$GC,408,-1.08,-146.6,31.9,-6.4,17,412,0.00,2.70,0.00,0.000,6,0.000,0.081,2167,2904,3503
$GC,728,-1.08,-146.6,57.0,-8.6,33,733,0.00,2.65,0.00,0.000,4,0.000,0.072,2167,1487,3503
$GC,845,-1.08,-146.6,68.5,-9.7,38,850,0.00,2.70,0.00,0.000,6,0.000,0.079,2168,2902,3503
$GC,1162,-1.08,-146.6,89.2,-6.5,53,1167,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1491,3503
$GC,1189,-1.08,-146.6,91.2,-6.8,54,1194,0.00,2.70,0.00,0.000,6,0.000,0.079,2168,2908,3503
$GC,1506,-1.08,-146.6,113.6,-5.6,69,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2908,3503
$GC,1814,-1.08,-146.6,135.4,-7.6,84,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2908,3503
$GC,2123,-1.08,-146.6,157.1,-6.9,99,2128,0.00,2.65,0.00,0.000,4,0.000,0.073,2168,1489,3503
$GC,2186,-1.08,-146.6,161.0,-5.9,102,2190,0.00,2.70,0.00,0.000,6,0.000,0.078,2168,2908,3503
$GC,2511,-1.08,-146.6,182.8,-7.3,118,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2908,3503
$GC,2820,-1.08,-146.6,204.8,-7.8,133,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3503
$GC,3130,-1.08,-146.6,228.4,-7.1,148,3134,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1486,3503
$GC,3184,-1.08,-146.6,232.2,-6.9,150,3191,0.00,2.67,0.00,0.000,6,0.000,0.077,2168,2908,3503
$GC,3500,-1.08,-146.6,251.7,-5.7,166,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2908,3503
$GC,3809,-1.08,-146.6,271.0,-6.4,181,3814,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1491,3503
$GC,3859,-1.08,-146.6,274.3,-6.6,183,3863,0.00,2.67,0.00,0.000,6,0.000,0.079,2168,2900,3503
$GC,4174,-1.08,-146.6,296.6,-7.4,198,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,4484,-1.08,-146.6,321.5,-7.6,213,4488,0.00,2.62,0.00,0.000,4,0.000,0.069,2168,1481,3503
$GC,4522,-1.08,-146.6,324.3,-7.6,215,4527,0.00,2.67,0.00,0.000,6,0.000,0.078,2168,2900,3503
$GC,4849,-1.08,-146.6,344.3,-6.4,231,4853,0.00,2.60,0.00,0.000,4,0.000,0.070,2167,1489,3503
$GC,4881,-1.08,-146.6,346.5,-6.7,232,4887,0.00,2.67,0.00,0.000,6,0.000,0.080,2168,2902,3503
$GC,5197,-1.08,-146.6,368.6,-6.5,248,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,5505,-1.08,-146.6,389.1,-6.5,263,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,5815,-1.08,-146.6,408.6,-6.1,278,5819,0.00,2.60,0.00,0.000,4,0.000,0.066,2168,1483,3503
$GC,5847,-1.08,-146.6,410.6,-6.0,279,5853,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2901,3503
$GC,6163,-1.08,-146.6,429.3,-5.7,295,6167,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1488,3503
$GC,6206,-1.08,-146.6,431.9,-6.0,297,6210,0.00,2.65,0.00,0.000,6,0.000,0.076,2167,2900,3503
$GC,6534,-1.08,-146.6,450.0,-5.9,313,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2900,3503
$GC,6842,-1.08,-146.6,470.1,-6.8,328,6846,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1482,3503
$GC,6925,-1.08,-146.6,475.8,-7.3,332,6930,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2900,3503
$GC,7252,-1.08,-146.6,494.5,-5.0,348,7256,0.00,2.58,0.00,0.000,4,0.000,0.062,2168,1485,3503
$GC,7301,-1.08,-146.6,497.3,-5.8,350,7305,0.00,2.65,0.00,0.000,6,0.000,0.072,2168,2908,3503
$GC,7616,-1.08,-146.6,520.6,-8.6,365,7621,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1484,3503
$GC,7726,-1.08,-146.6,529.3,-8.0,370,7730,0.00,2.65,0.00,0.000,6,0.000,0.071,2168,2908,3503
$GC,8052,-1.08,-146.6,553.4,-6.8,386,8056,0.00,2.55,0.00,0.000,4,0.000,0.058,2168,1486,3503
$GC,8106,-1.08,-146.6,557.9,-7.7,388,8113,0.00,2.62,0.00,0.000,6,0.000,0.069,2168,2902,3503
$GC,8422,-1.08,-146.6,581.0,-6.0,404,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,8732,-1.08,-146.6,600.6,-5.5,419,8736,0.00,2.55,0.00,0.000,4,0.000,0.056,2167,1484,3503
$GC,8876,-1.08,-146.6,608.3,-6.3,425,8883,0.00,2.65,0.00,0.000,6,0.000,0.067,2168,2900,3502
$STATE,8984,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8984,begin apogee
$GC,8991,-0.42,0.0,615.7,6.5,431,9119,0.73,0.00,125.22,1.190,6,0.080,0.000,2317,2089,2901
$STATE,9120,end apogee,CONTROL_FINISHED_OK
$STATE,9120,begin climb
$GC,9122,1.08,146.6,617.6,0.0,437,9253,1.52,2.62,121.78,1.163,4,0.052,0.056,2648,691,2303
$GC,9299,1.12,175.6,614.3,5.2,446,9330,0.00,2.53,25.55,1.102,6,0.000,0.038,2648,2117,2185
$GC,9639,1.12,175.6,592.6,6.5,462,9644,0.00,2.60,0.00,0.000,4,0.000,0.058,2648,686,2184
$GC,9682,1.12,175.6,589.5,8.3,464,9687,0.00,2.53,0.00,0.000,6,0.000,0.041,2648,2097,2184
$GC,10009,1.12,175.6,570.9,6.1,480,10013,0.00,2.58,0.00,0.000,4,0.000,0.057,2648,691,2183
$GC,10108,1.12,175.6,564.5,6.3,484,10115,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2106,2182
$GC,10424,1.12,175.6,543.6,6.8,500,10428,0.00,2.58,0.00,0.000,4,0.000,0.070,2648,3501,2181
$GC,10646,1.12,175.6,528.8,6.7,510,10651,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2087,2180
$GC,10974,1.15,195.8,510.7,5.5,526,10999,0.00,2.62,17.42,1.116,4,0.000,0.057,2648,699,2102
$GC,11071,1.15,195.8,504.4,6.7,530,11076,0.00,2.45,0.00,0.000,6,0.000,0.038,2648,2095,2102
$GC,11387,1.15,195.8,482.7,7.4,545,11391,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3505,2101
$GC,11435,1.15,195.8,478.7,7.9,547,11440,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2105,2101
$GC,11756,1.15,195.8,453.7,7.8,563,11760,0.00,2.55,0.00,0.000,4,0.000,0.058,2648,691,2101
$GC,11805,1.15,195.8,449.8,7.9,565,11809,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2105,2101
$GC,12127,1.15,195.8,427.9,6.1,581,12131,0.00,2.62,0.00,0.000,4,0.000,0.074,2648,3507,2101
$GC,12198,1.15,195.8,423.2,6.0,584,12202,0.00,2.50,0.00,0.000,6,0.000,0.045,2648,2093,2101
$GC,12519,1.19,233.2,406.4,5.0,600,12560,0.00,2.75,31.83,1.051,4,0.000,0.073,2648,3510,1949
$GC,12593,1.19,236.2,402.3,5.9,603,12606,0.10,2.53,4.22,0.746,6,0.051,0.044,2684,2099,1938
$GC,12914,1.19,236.2,382.4,6.3,619,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1938
$GC,13223,1.19,236.2,360.0,7.7,634,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1938
$GC,13532,1.19,236.2,334.8,8.3,649,13537,0.00,2.67,0.00,0.000,4,0.000,0.075,2684,3511,1938
$GC,13582,1.19,236.2,330.5,8.3,651,13586,0.00,2.53,0.00,0.000,6,0.000,0.049,2684,2099,1938
$GC,13903,1.19,236.2,305.2,7.8,667,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1939
$GC,14212,1.19,236.2,280.0,8.4,682,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1939
$GC,14521,1.19,236.2,254.0,8.0,697,14522,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1939
$GC,14830,1.19,236.2,228.7,8.1,712,14835,0.00,2.65,0.00,0.000,4,0.000,0.076,2684,3505,1939
$GC,14857,1.19,236.2,226.3,9.1,713,14861,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,2094,1939
$GC,15178,1.19,236.2,198.9,8.5,729,15179,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1939
$GC,15487,1.19,236.2,173.7,8.1,744,15491,0.00,2.67,0.00,0.000,4,0.000,0.075,2684,3508,1940
$GC,15519,1.19,236.2,170.8,8.2,745,15526,0.00,2.55,0.00,0.000,6,0.000,0.052,2684,2101,1940
$GC,15835,1.19,236.2,144.9,7.9,761,15837,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1940
$GC,16144,1.19,236.2,121.2,7.7,776,16148,0.00,2.65,0.00,0.000,4,0.000,0.074,2684,3507,1940
$GC,16176,1.19,236.2,118.7,7.0,777,16183,0.00,2.55,0.00,0.000,6,0.000,0.051,2684,2096,1940
$GC,16494,1.19,236.2,95.2,7.6,793,16495,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1940
$GC,16801,1.19,236.2,71.3,8.2,808,16802,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1940
$GC,17110,1.19,236.2,45.0,8.7,823,17111,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1940
$GC,17420,1.19,236.2,19.1,8.2,838,17421,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1940
$STATE,17687,end climb,SURFACE_DEPTH_REACHED
$STATE,17687,begin surface coast
$FINISH,-1.2,1.027435
$STATE,17707,end surface coast,CONTROL_FINISHED_OK
$STATE,17707,begin surface
$SM_CCo,17729,265.60,0.728,2,0,572,571.30
$SM_GC,-1.03,0.00,0.00,265.60,0.000,0.000,0.728,50,2896,572,-10.86,-0.11,571.30
$IRIDIUM_FIX,6303.50,-1253.17,251207,070740
$TT8_MAMPS,0.029146
$HUMID,1996
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.3,99.9
$24V_AH,23.4,39.571
$10V_AH,10.1,19.642
$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,25.975,148.900,326.025,265.600,0.000,39.626,42.177,149.672,4.750,0.000,0.000,10.629,1554.851,13648.469,788.532,1891.843,469.547,33.372,1737.008,0.000,1873.311,0.000,29.918
$DEVICE_MAMPS,161.070,80.535,1190.384,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,624.512,589.999,547.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44309,852
$CFSIZE,260165632,245321728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,2,0
$GPS,251207,131931,6332.965,-1255.176,67,1.9,67,-12.2