version: 66.02
glider: 103
mission: 7
dive: 226
start: 12 25 107 13 26 36
data:
$ID,103
$MISSION,7
$DIVE,226
$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,-66625.828
$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
$GPS1,131931,6332.965,-1255.176,67,1.9,67,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.76
$_SM_ANGLEo,-44.1
$GPS2,132532,6332.971,-1255.124,14,1.9,14,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.145,0.447
$KALMAN_X,-269696.5,-440.1,1614.2,38608.2,-2869.3
$KALMAN_Y,-184634.7,-58.7,807.7,404215.0,-2138.2
$MHEAD_RNG_PITCHd_Wd,30.2,22279,-0.1,-6.000
$D_GRID,602
$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,-0.19,-146.6,0.0,0.0,0,126,0.00,0.00,-102.03,0.000,2,0.000,0.000,50,2895,3335
$GC,128,-0.19,-146.6,3.2,-4.7,5,151,13.00,2.70,-2.90,0.000,4,0.155,0.092,2364,1491,3499
$GC,358,-0.19,-146.6,25.1,-6.8,15,363,0.00,2.72,0.00,0.000,6,0.000,0.083,2365,2912,3499
$GC,685,-0.19,-146.6,55.2,-10.0,31,688,0.00,1.75,0.00,0.000,4,0.000,0.111,2365,3790,3499
$GC,942,-0.19,-146.6,80.1,-10.3,42,946,0.00,1.62,0.00,0.000,6,0.000,0.058,2365,2904,3499
$GC,1263,-0.19,-146.6,109.1,-8.6,58,1267,0.00,1.75,0.00,0.000,4,0.000,0.098,2365,3790,3499
$GC,1521,-0.19,-146.6,130.5,-8.4,69,1525,0.00,1.60,0.00,0.000,6,0.000,0.054,2365,2907,3499
$GC,1842,-0.19,-146.6,156.6,-8.1,85,1845,0.00,1.73,0.00,0.000,4,0.000,0.097,2365,3788,3499
$GC,2099,-0.19,-146.6,178.5,-8.7,96,2103,0.00,1.60,0.00,0.000,6,0.000,0.054,2365,2901,3499
$GC,2420,-0.19,-146.6,205.0,-7.8,112,2423,0.00,1.75,0.00,0.000,4,0.000,0.097,2365,3792,3499
$GC,2677,-0.19,-146.6,226.1,-8.1,123,2681,0.00,1.62,0.00,0.000,6,0.000,0.057,2365,2900,3499
$GC,2999,-0.19,-146.6,250.3,-7.4,139,3002,0.00,1.75,0.00,0.000,4,0.000,0.097,2365,3793,3499
$GC,3157,-0.19,-146.6,262.9,-8.4,146,3160,0.00,1.60,0.00,0.000,6,0.000,0.058,2365,2897,3499
$GC,3488,-0.19,-146.6,288.9,-7.8,162,3492,0.00,1.75,0.00,0.000,4,0.000,0.099,2365,3788,3499
$GC,3645,-0.19,-146.6,302.1,-9.0,169,3649,0.00,1.58,0.00,0.000,6,0.000,0.056,2365,2900,3499
$GC,3977,-0.19,-146.6,330.9,-8.5,185,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2900,3499
$GC,4286,-0.19,-146.6,358.0,-8.9,200,4290,0.00,1.73,0.00,0.000,4,0.000,0.098,2365,3787,3499
$GC,4526,-0.19,-146.6,381.6,-9.7,210,4533,0.00,1.60,0.00,0.000,6,0.000,0.054,2365,2901,3499
$GC,4843,-0.19,-146.6,412.5,-9.3,226,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2901,3499
$GC,5152,-0.19,-146.6,442.1,-9.4,241,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2901,3499
$GC,5461,-0.19,-146.6,469.7,-8.5,256,5465,0.00,1.75,0.00,0.000,4,0.000,0.099,2365,3791,3499
$GC,5521,-0.19,-146.6,474.7,-8.3,258,5529,0.00,1.60,0.00,0.000,6,0.000,0.058,2365,2908,3499
$GC,5837,-0.19,-146.6,499.6,-7.7,274,5842,0.00,1.73,0.00,0.000,4,0.000,0.102,2365,3787,3499
$GC,5893,-0.19,-146.6,504.3,-8.5,276,5897,0.00,1.60,0.00,0.000,6,0.000,0.054,2365,2893,3499
$GC,6214,-0.19,-146.6,531.9,-8.6,292,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2893,3499
$GC,6523,-0.19,-146.6,559.7,-8.7,307,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2893,3499
$GC,6832,-0.19,-146.6,587.6,-9.8,322,6836,0.00,2.50,0.00,0.000,4,0.000,0.054,2365,1474,3499
$GC,6870,-0.19,-146.6,591.5,-10.0,324,6875,0.00,2.65,0.00,0.000,6,0.000,0.067,2365,2909,3499
$STATE,6988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6988,begin apogee
$GC,6995,-0.42,0.0,602.4,8.7,330,7121,0.22,0.00,124.10,1.200,6,0.052,0.000,2313,2094,2901
$STATE,7122,end apogee,CONTROL_FINISHED_OK
$STATE,7122,begin climb
$GC,7124,0.19,146.6,610.5,0.0,336,7255,0.62,2.65,121.32,1.159,4,0.051,0.057,2452,687,2302
$GC,7510,0.94,752.1,602.6,3.5,353,7869,0.75,2.55,350.17,1.142,6,0.038,0.044,2622,2115,572
$GC,8190,0.94,752.1,549.3,8.7,387,8195,0.00,2.70,0.00,0.000,4,0.000,0.086,2622,3506,572
$GC,8296,0.94,752.1,539.2,10.4,392,8301,0.00,2.55,0.00,0.000,6,0.000,0.052,2622,2100,571
$GC,8622,0.94,752.1,507.5,9.9,408,8627,0.00,2.72,0.00,0.000,4,0.000,0.082,2622,3512,571
$GC,8722,0.94,752.1,497.7,10.9,412,8729,0.00,2.55,0.00,0.000,6,0.000,0.053,2622,2100,571
$GC,9038,0.94,752.1,469.6,8.5,428,9042,0.00,2.70,0.00,0.000,4,0.000,0.081,2622,3507,571
$GC,9121,0.94,752.1,461.3,11.0,432,9125,0.00,2.55,0.00,0.000,6,0.000,0.053,2622,2096,571
$GC,9447,0.94,752.1,430.8,9.3,448,9451,0.00,2.70,0.00,0.000,4,0.000,0.080,2622,3509,571
$GC,9535,0.94,752.1,422.1,10.0,452,9539,0.00,2.53,0.00,0.000,6,0.000,0.051,2622,2100,571
$GC,9861,0.94,752.1,393.1,8.7,468,9866,0.00,2.70,0.00,0.000,4,0.000,0.081,2622,3506,571
$GC,9949,0.94,752.1,385.5,8.4,472,9953,0.00,2.53,0.00,0.000,6,0.000,0.053,2623,2102,571
$GC,10276,0.94,752.1,359.7,8.1,488,10280,0.00,2.70,0.00,0.000,4,0.000,0.081,2622,3512,571
$GC,10359,0.94,752.1,352.4,9.3,492,10363,0.00,2.55,0.00,0.000,6,0.000,0.053,2622,2099,571
$GC,10685,0.94,752.1,324.9,7.8,508,10689,0.00,2.70,0.00,0.000,4,0.000,0.080,2622,3511,571
$GC,10768,0.94,752.1,318.4,7.6,512,10773,0.00,2.55,0.00,0.000,6,0.000,0.052,2623,2095,571
$GC,11095,0.94,752.1,297.0,6.4,528,11099,0.00,2.70,0.00,0.000,4,0.000,0.080,2622,3508,571
$GC,11178,0.94,752.1,290.8,8.0,532,11182,0.00,2.53,0.00,0.000,6,0.000,0.051,2622,2100,571
$GC,11503,0.94,752.1,267.8,7.5,548,11508,0.00,2.70,0.00,0.000,4,0.000,0.081,2623,3506,571
$GC,11587,0.94,752.1,260.6,9.0,552,11592,0.00,2.55,0.00,0.000,6,0.000,0.054,2622,2097,571
$GC,11913,0.94,752.1,234.6,7.9,568,11918,0.00,2.70,0.00,0.000,4,0.000,0.081,2622,3511,571
$GC,11992,0.94,752.1,227.6,8.4,571,11999,0.00,2.55,0.00,0.000,6,0.000,0.053,2623,2102,571
$GC,12307,0.94,752.1,199.6,9.2,587,12312,0.00,2.70,0.00,0.000,4,0.000,0.081,2622,3514,571
$GC,12392,0.94,752.1,191.5,9.3,591,12396,0.00,2.55,0.00,0.000,6,0.000,0.053,2622,2099,571
$GC,12717,0.94,752.1,163.2,8.0,607,12722,0.00,2.70,0.00,0.000,4,0.000,0.081,2623,3511,571
$GC,12802,0.94,752.1,155.8,8.4,611,12806,0.00,2.55,0.00,0.000,6,0.000,0.053,2622,2093,571
$GC,13128,1.35,1085.3,132.1,4.6,627,13133,0.32,2.72,0.00,0.000,4,0.040,0.083,2707,3508,571
$GC,13195,1.35,1085.3,124.8,12.8,630,13199,0.00,2.53,0.00,0.000,6,0.000,0.053,2707,2094,571
$GC,13515,1.35,1085.3,76.8,15.5,646,13520,0.00,2.67,0.00,0.000,4,0.000,0.077,2707,3512,571
$GC,13564,1.35,1085.3,70.7,11.3,648,13569,0.00,2.53,0.00,0.000,6,0.000,0.054,2707,2099,571
$GC,13886,1.35,1085.3,27.0,13.7,664,13891,0.00,2.67,0.00,0.000,4,0.000,0.077,2707,3508,571
$GC,13925,1.35,1085.3,21.3,14.0,666,13930,0.00,2.53,0.00,0.000,6,0.000,0.054,2707,2100,571
$STATE,14086,end climb,SURFACE_DEPTH_REACHED
$STATE,14086,begin surface coast
$FINISH,-1.2,1.027418
$STATE,14107,end surface coast,CONTROL_FINISHED_OK
$STATE,14107,begin surface
$SM_CCo,14189,0.00,0.000,0,0,571,571.55
$SM_GC,-0.55,11.65,0.00,0.00,0.028,0.000,0.000,43,2896,571,-10.81,-0.11,571.55
$IRIDIUM_FIX,6303.50,-1346.98,251207,121207
$TT8_MAMPS,0.028379
$HUMID,2059
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.6,62.7
$24V_AH,23.4,39.780
$10V_AH,10.1,19.718
$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,26.575,127.575,595.600,0.000,0.000,39.566,40.797,169.502,5.000,0.000,0.000,14.969,1312.870,10162.490,646.494,1983.500,456.031,33.371,1672.014,0.000,1935.433,0.000,31.463
$DEVICE_MAMPS,154.934,111.215,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,475.037,481.734,423.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34887,675
$CFSIZE,260165632,245280768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,0,0
$GPS,251207,172408,6333.110,-1257.436,31,1.5,31,-12.2