version: 66.02
glider: 103
mission: 7
dive: 256
start: 12 31 107 12 4 55
data:
$ID,103
$MISSION,7
$DIVE,256
$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,-67168.227
$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,22
$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
$GPS1,115807,6400.013,-1238.249,39,1.2,39,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.36
$_SM_ANGLEo,-47.3
$GPS2,120351,6400.016,-1238.008,14,1.3,14,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.021
$KALMAN_X,-207806.6,-1057.3,-893.3,-5059.5,10351.8
$KALMAN_Y,-220707.8,163.9,-590.6,491561.7,-383.5
$MHEAD_RNG_PITCHd_Wd,287.8,17855,-11.1,-6.000
$D_GRID,551
$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,-146.6,0.0,0.0,0,126,0.00,0.00,-101.75,0.000,2,0.000,0.000,38,2902,3436
$GC,129,-1.10,-146.6,4.0,-5.0,5,145,12.20,0.00,-1.10,0.000,6,0.162,0.000,2165,2902,3501
$GC,455,-1.10,-146.6,40.5,-10.3,21,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,764,-1.10,-146.6,60.3,-5.5,36,768,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1491,3501
$GC,786,-1.10,-146.6,61.9,-7.2,37,790,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2903,3501
$GC,1106,-1.10,-146.6,79.6,-4.5,53,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3501
$GC,1417,-1.10,-146.6,95.9,-5.8,68,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3501
$GC,1725,-1.10,-146.6,113.4,-5.4,83,1729,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1482,3501
$GC,1757,-1.10,-146.6,115.2,-4.8,84,1764,0.00,2.67,0.00,0.000,6,0.000,0.080,2165,2902,3502
$GC,2075,-1.10,-146.6,133.5,-6.0,100,2079,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1490,3501
$GC,2114,-1.10,-146.6,135.9,-6.0,102,2118,0.00,2.70,0.00,0.000,6,0.000,0.080,2166,2903,3502
$GC,2439,-1.10,-146.6,156.1,-6.1,118,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,2749,-1.10,-146.6,177.1,-7.4,133,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,3058,-1.10,-146.6,196.2,-7.0,148,3062,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1491,3502
$GC,3096,-1.10,-146.6,198.9,-6.8,150,3101,0.00,2.67,0.00,0.000,6,0.000,0.080,2165,2899,3501
$GC,3423,-1.10,-146.6,219.1,-7.1,166,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,3732,-1.10,-146.6,238.2,-6.7,181,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,4041,-1.10,-146.6,258.8,-6.5,196,4045,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1482,3501
$GC,4090,-1.10,-146.6,262.5,-7.9,198,4095,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2907,3501
$GC,4405,-1.10,-146.6,285.9,-7.7,213,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3501
$GC,4715,-1.10,-146.6,304.1,-5.8,228,4719,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1491,3501
$GC,4764,-1.10,-146.6,307.6,-8.9,230,4769,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2900,3502
$GC,5079,-1.10,-146.6,332.6,-6.9,245,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5389,-1.10,-146.6,353.1,-5.8,260,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,5698,-1.10,-146.6,374.0,-6.2,275,5702,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1489,3501
$GC,5737,-1.10,-146.6,376.2,-5.6,277,5741,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2907,3502
$GC,6063,-1.10,-146.6,397.6,-6.8,293,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3501
$GC,6372,-1.10,-146.6,419.2,-7.0,308,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,6681,-1.10,-146.6,438.4,-6.4,323,6684,0.00,1.67,0.00,0.000,4,0.000,0.095,2165,3786,3502
$GC,6730,-1.10,-146.6,441.5,-6.6,325,6734,0.00,1.55,0.00,0.000,6,0.000,0.045,2165,2902,3502
$GC,7058,-1.10,-146.6,460.5,-5.5,341,7062,0.00,2.53,0.00,0.000,4,0.000,0.056,2165,1483,3501
$GC,7102,-1.10,-146.6,463.1,-5.8,343,7106,0.00,2.58,0.00,0.000,6,0.000,0.061,2165,2900,3502
$GC,7423,-1.10,-146.6,480.5,-5.9,359,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,7734,-1.10,-146.6,500.8,-7.0,374,7738,0.00,2.53,0.00,0.000,4,0.000,0.052,2165,1480,3501
$GC,7862,-1.10,-146.6,509.6,-7.0,379,7868,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2902,3501
$GC,8178,-1.10,-146.6,529.2,-6.6,395,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$STATE,8443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8444,begin apogee
$GC,8451,-0.42,0.0,546.1,6.4,408,8579,0.75,0.00,124.68,1.166,6,0.086,0.000,2319,2094,2901
$STATE,8579,end apogee,CONTROL_FINISHED_OK
$STATE,8579,begin climb
$GC,8582,1.10,146.6,549.5,0.0,414,8711,1.52,2.58,120.20,1.140,4,0.054,0.052,2649,691,2303
$GC,8773,1.17,200.1,542.5,4.5,423,8824,0.00,2.47,45.47,1.108,6,0.000,0.034,2648,2119,2085
$GC,9146,1.19,214.2,521.7,5.6,442,9168,0.00,2.62,13.18,1.041,4,0.000,0.061,2649,3498,2027
$GC,9258,1.19,214.2,514.3,6.9,447,9262,0.00,2.45,0.00,0.000,6,0.000,0.035,2648,2093,2026
$GC,9584,1.19,214.2,494.4,6.2,463,9588,0.00,2.50,0.00,0.000,4,0.000,0.054,2649,701,2025
$GC,9627,1.19,214.2,491.2,7.6,465,9632,0.00,2.42,0.00,0.000,6,0.000,0.037,2648,2092,2025
$GC,9955,1.19,214.2,467.4,7.6,481,9959,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3507,2024
$GC,10043,1.19,214.2,460.2,7.6,485,10047,0.00,2.45,0.00,0.000,6,0.000,0.038,2648,2100,2024
$GC,10364,1.19,214.2,436.9,6.9,501,10368,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3504,2023
$GC,10413,1.19,214.2,433.2,7.7,503,10418,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2099,2023
$GC,10735,1.19,214.2,412.3,6.3,519,10739,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3503,2023
$GC,10834,1.19,214.2,405.1,7.6,523,10841,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2097,2023
$GC,11150,1.19,214.2,383.0,7.1,539,11154,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3506,2023
$GC,11227,1.19,214.2,377.2,7.7,542,11233,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2100,2023
$GC,11542,1.19,214.2,354.3,7.6,558,11546,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3507,2023
$GC,11596,1.19,214.2,349.9,7.9,560,11604,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2102,2024
$GC,11913,1.19,214.2,326.2,7.6,576,11917,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3504,2023
$GC,11961,1.19,214.2,322.1,8.4,578,11966,0.00,2.47,0.00,0.000,6,0.000,0.045,2648,2098,2024
$GC,12283,1.19,214.2,297.1,7.5,594,12287,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3506,2024
$GC,12322,1.19,214.2,294.3,7.6,596,12327,0.00,2.50,0.00,0.000,6,0.000,0.046,2648,2092,2024
$GC,12648,1.19,214.2,270.4,7.1,612,12653,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3503,2024
$GC,12692,1.19,214.2,267.1,7.7,614,12696,0.00,2.47,0.00,0.000,6,0.000,0.046,2649,2101,2024
$GC,13019,1.19,214.2,243.8,7.3,630,13024,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3508,2024
$GC,13068,1.19,214.2,239.8,8.1,632,13072,0.00,2.50,0.00,0.000,6,0.000,0.047,2649,2093,2024
$GC,13389,1.19,214.2,215.4,7.0,648,13393,0.00,2.65,0.00,0.000,4,0.000,0.072,2649,3510,2025
$GC,13438,1.19,214.2,211.6,8.1,650,13443,0.00,2.50,0.00,0.000,6,0.000,0.046,2649,2102,2025
$GC,13753,1.19,214.2,187.4,7.5,665,13758,0.00,2.62,0.00,0.000,4,0.000,0.072,2649,3508,2024
$GC,13786,1.19,214.2,184.5,8.7,666,13792,0.00,2.50,0.00,0.000,6,0.000,0.046,2648,2093,2025
$GC,14102,1.23,248.0,163.7,5.1,682,14133,0.12,0.00,28.05,0.897,6,0.047,0.000,2683,2092,1889
$GC,14432,1.23,248.0,135.0,11.2,698,14437,0.00,2.67,0.00,0.000,4,0.000,0.076,2683,3502,1888
$GC,14476,1.23,248.0,130.3,11.1,700,14480,0.00,2.55,0.00,0.000,6,0.000,0.053,2683,2095,1888
$GC,14797,1.26,272.4,107.8,5.3,716,14825,0.00,2.65,20.92,0.849,4,0.000,0.062,2683,692,1790
$GC,14842,1.28,289.7,105.0,5.5,718,14862,0.00,2.50,15.10,0.816,6,0.000,0.045,2684,2092,1720
$GC,15191,1.37,366.1,89.4,3.9,735,15259,0.12,2.78,61.45,0.844,4,0.048,0.080,2714,3515,1407
$GC,15293,1.37,366.1,82.4,9.4,740,15298,0.00,2.55,0.00,0.000,6,0.000,0.051,2714,2096,1406
$GC,15620,1.37,366.1,53.6,8.9,756,15625,0.00,2.72,0.00,0.000,4,0.000,0.080,2714,3514,1406
$GC,15637,1.37,366.1,52.0,9.2,757,15641,0.00,2.55,0.00,0.000,6,0.000,0.053,2714,2102,1406
$GC,15963,1.37,366.1,15.2,13.5,773,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2101,1406
$STATE,16063,end climb,SURFACE_DEPTH_REACHED
$STATE,16064,begin surface coast
$FINISH,-0.7,1.026925
$STATE,16085,end surface coast,CONTROL_FINISHED_OK
$STATE,16086,begin surface
$SM_CCo,16108,161.30,0.777,1,0,571,571.30
$SM_GC,-0.44,0.00,0.00,161.30,0.000,0.000,0.777,44,2901,571,-10.88,0.03,571.30
$IRIDIUM_FIX,6332.30,-1246.08,311207,111130
$TT8_MAMPS,0.029146
$HUMID,2025
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.8,54.2
$24V_AH,23.4,45.394
$10V_AH,10.1,22.120
$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,26.400,145.850,429.050,161.300,0.000,39.893,35.398,158.512,4.500,0.000,0.000,14.118,1422.718,12299.951,730.034,1707.467,471.501,33.369,1616.270,0.000,1684.904,0.000,28.182
$DEVICE_MAMPS,161.837,95.108,1165.840,776.971,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.222,543.190,540.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37940,779
$CFSIZE,260165632,243564544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,311207,163725,6400.342,-1232.597,40,1.4,40,-12.2