version: 66.02
glider: 103
mission: 7
dive: 230
start: 12 26 107 7 52 31
data:
$ID,103
$MISSION,7
$DIVE,230
$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,-66684.156
$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,24
$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
$GPS1,074601,6340.646,-1258.276,37,1.8,42,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.65
$_SM_ANGLEo,-45.9
$GPS2,075127,6340.692,-1258.225,14,1.9,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.058,0.211
$KALMAN_X,-276641.6,348.3,-1436.5,45111.9,-499.4
$KALMAN_Y,-191497.0,2014.3,-663.4,424791.5,-2447.5
$MHEAD_RNG_PITCHd_Wd,27.6,8404,-11.1,-6.000
$D_GRID,645
$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,-1.10,-146.6,0.0,0.0,0,133,0.00,0.00,-109.32,0.000,6,0.000,0.000,51,2905,3500
$GC,135,-1.10,-146.6,2.2,-3.4,5,157,11.85,2.60,0.00,0.000,4,0.155,0.054,2165,1491,3503
$GC,409,-1.10,-146.6,32.0,-8.8,17,413,0.00,2.67,0.00,0.000,6,0.000,0.081,2165,2895,3503
$GC,730,-1.10,-146.6,62.3,-9.2,33,734,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1490,3503
$GC,819,-1.10,-146.6,65.7,-4.8,37,823,0.00,2.72,0.00,0.000,6,0.000,0.081,2165,2903,3503
$GC,1139,-1.10,-146.6,91.6,-11.5,53,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,1450,-1.10,-146.6,125.8,-8.6,68,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,1757,-1.10,-146.6,155.3,-8.7,83,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,2066,-1.10,-146.6,189.3,-11.0,98,2071,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,1490,3503
$GC,2110,-1.10,-146.6,194.5,-11.7,100,2114,0.00,2.70,0.00,0.000,6,0.000,0.081,2166,2907,3503
$GC,2439,-1.10,-146.6,225.7,-8.2,116,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,2746,-1.10,-146.6,248.5,-7.4,131,2751,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1490,3503
$GC,2790,-1.10,-146.6,251.3,-6.4,133,2794,0.00,2.67,0.00,0.000,6,0.000,0.081,2165,2899,3503
$GC,3117,-1.10,-146.6,273.5,-6.6,149,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,3426,-1.10,-146.6,293.0,-6.2,164,3430,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1492,3503
$GC,3458,-1.10,-146.6,295.0,-5.9,165,3465,0.00,2.65,0.00,0.000,6,0.000,0.080,2166,2899,3503
$GC,3774,-1.10,-146.6,316.5,-7.5,181,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,4083,-1.10,-146.6,340.9,-7.8,196,4087,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1486,3504
$GC,4137,-1.10,-146.6,345.6,-8.5,198,4144,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2901,3503
$GC,4453,-1.10,-146.6,368.8,-6.1,214,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,4762,-1.10,-146.6,381.7,-2.8,229,4767,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1484,3503
$GC,4829,-1.10,-146.6,383.5,-2.6,232,4833,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2899,3503
$GC,5149,-1.10,-146.6,393.9,-4.7,248,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,5458,-1.10,-146.6,418.4,-9.9,263,5462,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1489,3503
$GC,5507,-1.10,-146.6,423.9,-11.1,265,5512,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2900,3503
$GC,5829,-1.10,-146.6,457.7,-10.6,281,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,6138,-1.10,-146.6,482.3,-6.4,296,6143,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1482,3503
$GC,6216,-1.10,-146.6,487.2,-6.4,299,6222,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2908,3503
$GC,6531,-1.10,-146.6,510.7,-8.3,315,6536,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1483,3503
$GC,6564,-1.10,-146.6,513.6,-8.5,316,6570,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2900,3503
$GC,6880,-1.10,-146.6,530.6,-1.2,332,6884,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1483,3503
$GC,6929,-1.10,-146.6,530.9,-1.0,334,6934,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2905,3503
$GC,7244,-1.10,-146.6,555.8,-12.9,349,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3503
$GC,7554,-1.10,-146.6,576.8,-4.2,364,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3503
$GC,7863,-1.10,-146.6,593.6,-7.0,379,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3503
$GC,8172,-1.10,-146.6,615.7,-5.9,394,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3503
$GC,8481,-1.10,-146.6,636.0,-6.0,409,8486,0.00,2.50,0.00,0.000,4,0.000,0.048,2166,1482,3503
$STATE,8536,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8536,begin apogee
$GC,8543,-0.42,0.0,640.4,10.3,411,8671,0.73,0.00,124.93,1.222,6,0.084,0.000,2317,2115,2901
$STATE,8672,end apogee,CONTROL_FINISHED_OK
$STATE,8672,begin climb
$GC,8674,1.10,146.6,644.3,0.0,418,8800,1.52,0.00,121.25,1.194,6,0.050,0.000,2650,2115,2303
$GC,9122,1.23,247.2,626.9,3.2,440,9212,0.12,2.67,83.97,1.193,4,0.043,0.056,2691,699,1893
$GC,9265,1.23,247.2,617.6,8.9,446,9271,0.00,2.47,0.00,0.000,6,0.000,0.037,2691,2106,1893
$GC,9580,1.23,247.2,592.7,9.5,462,9584,0.00,2.58,0.00,0.000,4,0.000,0.067,2691,3501,1890
$GC,9668,1.23,247.2,583.1,9.7,466,9673,0.00,2.45,0.00,0.000,6,0.000,0.036,2691,2093,1889
$GC,9995,1.23,247.2,556.6,8.0,482,9999,0.00,2.50,0.00,0.000,4,0.000,0.054,2691,703,1889
$GC,10034,1.23,247.2,553.0,10.0,484,10038,0.00,2.42,0.00,0.000,6,0.000,0.035,2691,2096,1889
$GC,10359,1.23,247.2,517.7,10.4,500,10363,0.00,2.62,0.00,0.000,4,0.000,0.071,2691,3505,1888
$GC,10398,1.23,247.2,514.0,10.4,502,10402,0.00,2.45,0.00,0.000,6,0.000,0.038,2691,2101,1888
$GC,10724,1.23,247.2,486.1,9.5,518,10728,0.00,2.50,0.00,0.000,4,0.000,0.053,2691,702,1888
$GC,10823,1.23,247.2,475.6,10.5,522,10830,0.00,2.42,0.00,0.000,6,0.000,0.038,2691,2098,1888
$GC,11139,1.23,247.2,442.8,10.0,538,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2098,1888
$GC,11448,1.23,247.2,415.6,8.4,553,11449,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2098,1888
$GC,11757,1.23,247.2,389.0,9.0,568,11762,0.00,2.65,0.00,0.000,4,0.000,0.077,2691,3505,1888
$GC,11802,1.23,247.2,384.9,9.5,570,11806,0.00,2.50,0.00,0.000,6,0.000,0.045,2691,2102,1888
$GC,12122,1.23,247.2,354.9,9.1,586,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1888
$GC,12432,1.23,247.2,330.4,7.0,601,12436,0.00,2.65,0.00,0.000,4,0.000,0.077,2691,3510,1888
$GC,12471,1.23,247.2,327.5,7.7,603,12475,0.00,2.50,0.00,0.000,6,0.000,0.048,2691,2099,1888
$GC,12796,1.23,247.2,306.1,6.6,619,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,1889
$GC,13105,1.23,247.2,282.4,8.5,634,13110,0.00,2.67,0.00,0.000,4,0.000,0.076,2691,3511,1889
$GC,13149,1.23,247.2,278.5,8.8,636,13154,0.00,2.50,0.00,0.000,6,0.000,0.049,2692,2098,1889
$GC,13476,1.23,247.2,250.7,8.5,652,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1889
$GC,13785,1.23,247.2,225.1,8.3,667,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2098,1890
$GC,14094,1.23,247.2,198.1,8.9,682,14099,0.00,2.67,0.00,0.000,4,0.000,0.077,2691,3508,1890
$GC,14137,1.23,247.2,193.8,10.0,684,14142,0.00,2.50,0.00,0.000,6,0.000,0.048,2691,2098,1890
$GC,14464,1.23,247.2,162.9,9.5,700,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2098,1890
$GC,14774,1.23,247.2,134.3,8.8,715,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2098,1890
$GC,15083,1.23,247.2,107.9,8.5,730,15088,0.00,2.67,0.00,0.000,4,0.000,0.077,2691,3510,1890
$GC,15127,1.23,247.2,104.1,8.9,732,15131,0.00,2.53,0.00,0.000,6,0.000,0.051,2691,2094,1890
$GC,15447,1.23,247.2,79.6,7.3,748,15449,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2094,1890
$GC,15758,1.23,247.2,56.9,6.9,763,15759,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2094,1891
$GC,16066,1.23,247.2,24.7,8.5,778,16070,0.00,2.55,0.00,0.000,4,0.000,0.067,2692,695,1891
$GC,16115,1.23,247.2,21.4,8.4,780,16119,0.00,2.47,0.00,0.000,6,0.000,0.044,2691,2101,1891
$STATE,16331,end climb,SURFACE_DEPTH_REACHED
$STATE,16331,begin surface coast
$FINISH,-0.3,1.027342
$STATE,16355,end surface coast,CONTROL_FINISHED_OK
$STATE,16355,begin surface
$SM_CCo,16377,255.27,0.746,2,0,572,571.30
$SM_GC,-0.83,0.00,0.00,255.27,0.000,0.000,0.746,48,2902,572,-10.87,0.06,571.30
$IRIDIUM_FIX,6313.04,-1301.13,261207,070736
$TT8_MAMPS,0.029146
$HUMID,2007
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.6,99.8
$24V_AH,23.4,40.514
$10V_AH,10.1,20.036
$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,25.875,118.950,330.150,255.275,0.000,38.156,33.886,146.864,5.000,0.000,0.000,14.209,1429.945,12683.387,743.095,1688.894,438.762,33.364,1594.438,0.000,1667.741,0.000,31.542
$DEVICE_MAMPS,154.934,81.302,1221.831,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.842,556.231,496.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41040,792
$CFSIZE,260165632,245039104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,2,0
$GPS,261207,123108,6344.604,-1254.104,39,1.0,39,-12.3