version: 66.02
glider: 103
mission: 7
dive: 232
start: 12 26 107 17 20 20
data:
$ID,103
$MISSION,7
$DIVE,232
$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,-66730.062
$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,25
$R_STBD_OVSHOOT,14
$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
$GPS1,170945,6345.202,-1257.594,28,1.5,35,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.67
$_SM_ANGLEo,-54.8
$GPS2,171917,6345.122,-1257.860,12,2.8,31,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.057,0.209
$KALMAN_X,-277387.8,145.5,-1148.8,46067.8,618.8
$KALMAN_Y,-188070.2,-1152.0,-1436.0,433492.2,4418.4
$MHEAD_RNG_PITCHd_Wd,357.2,27610,-11.2,-6.000
$D_GRID,652
$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,-1.11,-143.9,0.0,0.0,0,134,0.00,0.00,-110.25,0.000,6,0.000,0.000,44,2901,3490
$GC,136,-1.11,-146.6,2.1,-3.3,5,153,11.98,1.77,0.00,0.000,4,0.159,0.096,2164,3787,3491
$GC,405,-1.11,-146.6,36.9,-9.0,16,409,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2910,3492
$GC,731,-1.11,-146.6,67.4,-7.7,32,735,0.00,1.70,0.00,0.000,4,0.000,0.092,2163,3784,3492
$GC,837,-1.11,-146.6,76.2,-8.3,36,844,0.00,1.58,0.00,0.000,6,0.000,0.050,2163,2909,3492
$GC,1154,-1.11,-146.6,102.4,-8.3,52,1159,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1485,3492
$GC,1209,-1.11,-146.6,107.3,-8.5,54,1216,0.00,2.72,0.00,0.000,6,0.000,0.081,2163,2895,3492
$GC,1525,-1.11,-146.6,133.7,-7.0,70,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2895,3492
$GC,1834,-1.11,-146.6,153.2,-6.7,85,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3492
$GC,2143,-1.11,-146.6,186.8,-11.8,100,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3492
$GC,2453,-1.11,-146.6,214.2,-8.1,115,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3492
$GC,2762,-1.11,-146.6,239.7,-8.3,130,2766,0.00,2.62,0.00,0.000,4,0.000,0.070,2163,1482,3492
$GC,2794,-1.11,-146.6,242.3,-7.5,131,2800,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2902,3492
$GC,3109,-1.11,-146.6,264.2,-7.3,147,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3492
$GC,3418,-1.11,-146.6,286.5,-7.8,162,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3492
$GC,3728,-1.11,-146.6,310.2,-8.2,177,3732,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1483,3492
$GC,3789,-1.11,-146.6,315.1,-8.1,180,3793,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2901,3492
$GC,4115,-1.11,-146.6,339.9,-7.6,196,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3492
$GC,4424,-1.11,-146.6,362.7,-7.2,211,4428,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1480,3492
$GC,4473,-1.11,-146.6,366.6,-7.8,213,4477,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2901,3492
$GC,4788,-1.11,-146.6,392.8,-8.8,228,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3492
$GC,5097,-1.11,-146.6,420.1,-8.5,243,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3492
$GC,5407,-1.11,-146.6,447.6,-8.8,258,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3492
$GC,5716,-1.11,-146.6,470.9,-7.1,273,5720,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1471,3492
$GC,5765,-1.11,-146.6,474.6,-7.4,275,5770,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2902,3492
$GC,6080,-1.11,-146.6,497.9,-7.4,290,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3492
$GC,6389,-1.11,-146.6,521.0,-7.2,305,6394,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1479,3492
$GC,6467,-1.11,-146.6,527.0,-7.4,308,6473,0.00,2.60,0.00,0.000,6,0.000,0.062,2164,2903,3492
$GC,6785,-1.11,-146.6,550.4,-7.7,324,6789,0.00,2.55,0.00,0.000,4,0.000,0.052,2163,1477,3492
$GC,6817,-1.11,-146.6,553.1,-6.9,325,6824,0.00,2.62,0.00,0.000,6,0.000,0.062,2163,2893,3492
$GC,7133,-1.11,-146.6,574.8,-6.7,341,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3492
$GC,7442,-1.11,-146.6,598.2,-8.3,356,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3492
$GC,7752,-1.11,-146.6,620.4,-5.7,371,7756,0.00,2.50,0.00,0.000,4,0.000,0.047,2164,1474,3492
$GC,7829,-1.11,-146.6,624.6,-5.0,374,7835,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2899,3492
$GC,8145,-1.11,-146.6,640.1,-5.2,390,8149,0.00,2.53,0.00,0.000,4,0.000,0.045,2164,1467,3492
$GC,8171,-1.11,-146.6,641.8,-6.3,391,8175,0.00,2.60,0.00,0.000,6,0.000,0.058,2164,2900,3492
$STATE,8346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8346,begin apogee
$GC,8353,-0.42,0.0,652.3,6.3,400,8479,0.75,0.00,123.00,1.210,6,0.077,0.000,2319,2083,2901
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8482,1.11,146.6,656.4,0.0,406,8613,1.52,2.58,121.32,1.181,4,0.051,0.053,2650,708,2303
$GC,8867,1.21,223.6,643.4,3.8,423,8938,0.10,2.45,64.88,1.171,6,0.047,0.034,2688,2118,1989
$GC,9259,1.21,223.6,614.8,8.8,443,9263,0.00,2.58,0.00,0.000,4,0.000,0.052,2688,700,1987
$GC,9320,1.21,223.6,608.7,10.3,446,9325,0.00,2.42,0.00,0.000,6,0.000,0.034,2688,2098,1987
$GC,9646,1.21,223.6,580.6,7.7,462,9651,0.00,2.58,0.00,0.000,4,0.000,0.060,2688,3510,1987
$GC,9731,1.21,223.6,573.9,8.3,466,9736,0.00,2.45,0.00,0.000,6,0.000,0.033,2688,2091,1987
$GC,10057,1.21,223.6,547.0,8.8,482,10062,0.00,2.60,0.00,0.000,4,0.000,0.061,2688,3502,1986
$GC,10107,1.21,223.6,542.5,8.7,484,10111,0.00,2.42,0.00,0.000,6,0.000,0.033,2688,2099,1986
$GC,10428,1.21,223.6,513.1,9.7,500,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1985
$GC,10737,1.21,223.6,481.7,9.9,515,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1985
$GC,11046,1.21,223.6,455.9,7.3,530,11051,0.00,2.62,0.00,0.000,4,0.000,0.067,2688,3508,1985
$GC,11079,1.21,223.6,453.5,7.2,531,11085,0.00,2.45,0.00,0.000,6,0.000,0.038,2688,2106,1985
$GC,11395,1.21,226.6,434.4,5.9,547,11399,0.00,2.58,0.00,0.000,4,0.000,0.067,2688,3501,1985
$GC,11427,1.21,226.6,432.3,6.0,548,11433,0.00,2.45,0.00,0.000,6,0.000,0.041,2688,2100,1985
$GC,11742,1.21,226.6,412.8,6.6,564,11743,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1985
$GC,12052,1.21,226.6,389.1,8.4,579,12056,0.00,2.62,0.00,0.000,4,0.000,0.072,2688,3501,1985
$GC,12091,1.21,226.6,385.6,9.0,581,12095,0.00,2.47,0.00,0.000,6,0.000,0.046,2688,2102,1985
$GC,12416,1.21,226.6,354.8,10.3,597,12422,0.00,0.00,3.67,0.670,6,0.000,0.000,2688,2102,1977
$GC,12726,1.21,226.6,324.6,9.4,612,12730,0.00,2.65,0.00,0.000,4,0.000,0.075,2688,3507,1977
$GC,12771,1.21,226.6,320.4,9.6,614,12775,0.00,2.53,0.00,0.000,6,0.000,0.046,2688,2091,1977
$GC,13090,1.21,226.6,292.3,8.6,630,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2091,1978
$GC,13400,1.21,226.6,265.9,8.4,645,13404,0.00,2.65,0.00,0.000,4,0.000,0.076,2688,3500,1977
$GC,13443,1.21,226.6,262.1,9.3,647,13448,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2097,1978
$GC,13770,1.21,226.6,233.1,9.0,663,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1978
$GC,14079,1.21,226.6,206.7,8.9,678,14084,0.00,2.65,0.00,0.000,4,0.000,0.075,2688,3501,1977
$GC,14119,1.21,226.6,203.2,8.7,680,14123,0.00,2.50,0.00,0.000,6,0.000,0.049,2688,2095,1978
$GC,14445,1.21,226.6,177.0,7.7,696,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2095,1978
$GC,14755,1.21,226.6,153.7,7.4,711,14759,0.00,2.65,0.00,0.000,4,0.000,0.075,2688,3501,1978
$GC,14798,1.21,226.6,150.1,8.5,713,14802,0.00,2.47,0.00,0.000,6,0.000,0.049,2688,2100,1978
$GC,15126,1.21,226.6,124.2,8.4,729,15130,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3504,1978
$GC,15169,1.21,226.6,120.1,8.7,731,15174,0.00,2.50,0.00,0.000,6,0.000,0.049,2688,2096,1978
$GC,15490,1.21,226.6,93.3,8.6,747,15491,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1978
$GC,15800,1.21,226.6,69.7,7.4,762,15801,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1978
$GC,16109,1.21,226.6,46.0,7.3,777,16114,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3508,1978
$GC,16158,1.21,226.6,42.1,7.7,779,16163,0.00,2.50,0.00,0.000,6,0.000,0.052,2688,2102,1978
$GC,16480,1.21,226.6,16.3,8.7,795,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1978
$STATE,16684,end climb,SURFACE_DEPTH_REACHED
$STATE,16684,begin surface coast
$FINISH,-0.6,1.027330
$STATE,16706,end surface coast,CONTROL_FINISHED_OK
$STATE,16706,begin surface
$SM_CCo,16728,270.60,0.742,1,0,572,571.30
$SM_GC,-0.77,0.00,0.00,270.60,0.000,0.000,0.742,46,2892,572,-10.87,-0.23,571.30
$IRIDIUM_FIX,6322.64,-1254.94,261207,212136
$TT8_MAMPS,0.029146
$HUMID,1995
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,601.5,86.0
$24V_AH,23.4,40.910
$10V_AH,10.1,20.198
$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,25.850,122.825,312.875,270.600,0.000,79.097,164.953,148.111,5.500,0.000,0.000,32.715,1461.346,12999.944,749.025,1769.915,611.018,33.369,1625.414,0.000,1726.053,0.000,34.739
$DEVICE_MAMPS,158.769,95.875,1209.559,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.796,567.470,513.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41230,806
$CFSIZE,260165632,244940800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,261207,220502,6347.188,-1301.717,43,1.4,43,-12.4