version: 66.02
glider: 103
mission: 7
dive: 103
start: 11 28 107 21 50 9
data:
$ID,103
$MISSION,7
$DIVE,103
$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,120
$USE_BATHY,-3
$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,300
$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,-64124.828
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,214426,6149.671,-916.086,41,1.1,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-56.5
$GPS2,214903,6149.702,-916.070,14,1.3,14,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.155,0.154
$KALMAN_X,-61798.6,-961.2,-697.9,26759.1,6009.8
$KALMAN_Y,75847.3,451.7,255.1,-47467.4,-8166.9
$MHEAD_RNG_PITCHd_Wd,324.2,63245,-11.1,-6.000
$D_GRID,675
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,82,0.00,0.00,-61.60,0.000,2,0.000,0.000,47,2887,3387
$GC,84,-1.10,-146.6,3.8,-9.7,3,106,11.98,2.62,-2.03,0.000,4,0.160,0.082,2164,1496,3502
$GC,358,-1.10,-146.6,30.5,-8.1,15,363,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2900,3502
$GC,685,-1.10,-146.6,63.6,-9.9,31,689,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1484,3502
$GC,791,-1.10,-146.6,71.1,-6.9,36,796,0.00,2.70,0.00,0.000,6,0.000,0.076,2164,2909,3502
$GC,1116,-1.10,-146.6,94.5,-7.0,52,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,1426,-1.10,-146.6,125.5,-9.9,67,1430,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1491,3503
$GC,1464,-1.10,-146.6,128.3,-8.1,69,1468,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2905,3502
$GC,1789,-1.10,-146.6,154.2,-7.9,85,1793,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1488,3503
$GC,1827,-1.10,-146.6,157.3,-8.3,87,1831,0.00,2.65,0.00,0.000,6,0.000,0.076,2164,2899,3503
$GC,2152,-1.10,-146.6,183.4,-8.0,103,2156,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1489,3503
$GC,2183,-1.10,-146.6,185.9,-7.7,104,2190,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2899,3503
$GC,2499,-1.10,-146.6,210.7,-8.0,120,2503,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1490,3503
$GC,2530,-1.10,-146.6,213.3,-8.3,121,2537,0.00,2.67,0.00,0.000,6,0.000,0.076,2164,2898,3503
$GC,2846,-1.10,-146.6,239.4,-8.4,137,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,3155,-1.10,-146.6,266.2,-8.7,152,3159,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1492,3503
$GC,3210,-1.10,-146.6,271.0,-9.1,154,3216,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2899,3503
$GC,3525,-1.10,-146.6,296.0,-7.6,170,3530,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1490,3503
$GC,3552,-1.10,-146.6,298.1,-8.0,171,3556,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2906,3503
$GC,3873,-1.10,-146.6,321.1,-7.0,187,3877,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1486,3503
$GC,3929,-1.10,-146.6,325.1,-7.5,189,3935,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2899,3503
$GC,4243,-1.10,-146.6,346.4,-6.4,205,4248,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1490,3503
$GC,4275,-1.10,-146.6,348.5,-6.3,206,4283,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2898,3503
$GC,4591,-1.10,-146.6,368.6,-6.5,222,4596,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1490,3503
$GC,4646,-1.10,-146.6,372.3,-6.5,224,4652,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2901,3503
$GC,4961,-1.10,-146.6,392.7,-6.7,240,4965,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1485,3503
$GC,5016,-1.10,-146.6,396.7,-7.5,242,5023,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2904,3503
$GC,5331,-1.10,-146.6,419.3,-7.0,258,5335,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1487,3503
$GC,5363,-1.10,-146.6,421.6,-6.6,259,5370,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2900,3503
$GC,5679,-1.10,-146.6,445.8,-7.7,275,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,5988,-1.10,-146.6,472.7,-9.5,290,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6298,-1.10,-146.6,500.1,-8.1,305,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6607,-1.10,-146.6,524.8,-7.7,320,6614,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1484,3503
$GC,6653,-1.10,-146.6,528.6,-9.1,322,6658,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2901,3503
$GC,6979,-1.10,-146.6,547.4,-4.7,338,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,7289,-1.10,-146.6,562.2,-4.7,353,7293,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1485,3503
$GC,7327,-1.10,-146.6,564.1,-5.4,355,7332,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2905,3503
$GC,7653,-1.10,-146.6,580.4,-5.4,371,7658,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1486,3503
$GC,7685,-1.10,-146.6,582.4,-5.9,372,7692,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2899,3503
$GC,8001,-1.10,-146.6,603.9,-7.1,388,8005,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1480,3503
$GC,8072,-1.10,-146.6,609.0,-7.2,391,8076,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2900,3503
$GC,8392,-1.10,-146.6,632.1,-7.0,407,8397,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1480,3503
$GC,8477,-1.10,-146.6,638.1,-6.9,411,8481,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2906,3503
$GC,8802,-1.10,-146.6,661.8,-6.5,427,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$STATE,9027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9027,begin apogee
$GC,9033,-0.42,0.0,676.0,6.2,438,9162,0.75,0.00,125.50,1.205,6,0.084,0.000,2316,1776,2901
$STATE,9162,end apogee,CONTROL_FINISHED_OK
$STATE,9162,begin climb
$GC,9164,1.10,146.6,680.1,0.0,444,9295,1.55,2.72,121.75,1.177,4,0.055,0.070,2649,371,2303
$GC,9423,1.10,146.6,669.7,7.9,456,9428,0.00,2.55,0.00,0.000,6,0.000,0.044,2649,1782,2303
$GC,9750,1.12,161.0,648.9,5.6,472,9772,0.00,2.70,13.62,1.091,4,0.000,0.073,2649,3171,2245
$GC,10023,1.12,161.0,634.3,6.1,484,10028,0.00,2.58,0.00,0.000,6,0.000,0.056,2649,1776,2243
$GC,10350,1.12,161.0,613.1,6.8,500,10354,0.00,2.65,0.00,0.000,4,0.000,0.073,2649,3179,2242
$GC,10437,1.12,161.0,606.9,7.0,504,10442,0.00,2.58,0.00,0.000,6,0.000,0.055,2649,1779,2242
$GC,10765,1.12,162.9,587.4,5.9,520,10769,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3177,2241
$GC,10848,1.14,175.0,582.7,5.7,524,10869,0.00,2.55,12.68,1.127,6,0.000,0.054,2649,1766,2187
$GC,11177,1.14,175.0,561.8,6.0,540,11181,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3180,2186
$GC,11261,1.14,175.0,556.6,6.6,544,11265,0.00,2.53,0.00,0.000,6,0.000,0.054,2649,1776,2186
$GC,11591,1.14,175.0,534.5,6.2,560,11596,0.00,2.60,0.00,0.000,4,0.000,0.068,2649,3181,2186
$GC,11771,1.14,175.0,523.0,6.2,568,11775,0.00,2.53,0.00,0.000,6,0.000,0.050,2649,1777,2186
$GC,12090,1.14,175.0,501.4,6.9,584,12095,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3184,2186
$GC,12224,1.14,175.0,492.3,6.6,590,12228,0.00,2.55,0.00,0.000,6,0.000,0.053,2649,1778,2186
$GC,12551,1.14,175.0,471.6,6.0,606,12555,0.00,2.60,0.00,0.000,4,0.000,0.068,2649,3179,2186
$GC,12694,1.14,176.2,462.9,6.0,612,12701,0.00,2.53,0.00,0.000,6,0.000,0.052,2649,1767,2186
$GC,13010,1.14,176.2,442.0,6.7,628,13014,0.00,2.60,0.00,0.000,4,0.000,0.069,2649,3179,2187
$GC,13131,1.14,176.2,433.3,7.1,633,13138,0.00,2.55,0.00,0.000,6,0.000,0.053,2649,1776,2187
$GC,13447,1.14,176.2,410.8,6.7,649,13451,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3186,2187
$GC,13608,1.14,176.2,399.7,6.8,656,13612,0.00,2.53,0.00,0.000,6,0.000,0.054,2649,1774,2188
$GC,13928,1.14,176.2,378.7,6.9,672,13933,0.00,2.60,0.00,0.000,4,0.000,0.068,2649,3184,2188
$GC,14057,1.14,176.2,369.4,7.8,678,14062,0.00,2.53,0.00,0.000,6,0.000,0.054,2649,1776,2188
$GC,14383,1.14,176.2,347.1,6.9,694,14387,0.00,2.60,0.00,0.000,4,0.000,0.069,2649,3182,2189
$GC,14516,1.14,176.2,338.1,6.4,700,14520,0.00,2.53,0.00,0.000,6,0.000,0.054,2649,1777,2189
$GC,14843,1.14,178.3,317.9,5.9,716,14853,0.00,2.60,4.85,0.729,4,0.000,0.067,2649,3178,2174
$GC,15003,1.14,178.3,307.9,6.6,723,15008,0.00,2.55,0.00,0.000,6,0.000,0.052,2649,1769,2174
$GC,15324,1.14,178.3,287.2,7.1,739,15329,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3179,2174
$GC,15447,1.18,210.5,278.9,5.1,744,15482,0.00,2.53,27.45,0.918,6,0.000,0.054,2649,1774,2041
$GC,15803,1.18,210.5,256.5,6.3,762,15807,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3178,2042
$GC,15977,1.18,212.2,245.7,6.0,770,15981,0.00,2.55,0.00,0.000,6,0.000,0.056,2649,1774,2042
$GC,16302,1.18,212.2,225.5,6.3,786,16306,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3179,2042
$GC,16435,1.18,212.2,216.7,6.9,792,16439,0.00,2.55,0.00,0.000,6,0.000,0.055,2649,1766,2042
$GC,16761,1.18,212.2,194.7,6.5,808,16765,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3183,2042
$GC,16912,1.18,212.2,184.6,6.0,815,16917,0.00,2.55,0.00,0.000,6,0.000,0.054,2649,1765,2042
$GC,17238,1.18,212.2,162.8,7.0,831,17243,0.00,2.65,0.00,0.000,4,0.000,0.069,2649,3186,2042
$GC,17406,1.18,212.2,152.1,6.3,838,17412,0.00,2.55,0.00,0.000,6,0.000,0.054,2649,1765,2042
$GC,17721,1.18,212.2,131.8,6.5,854,17726,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3181,2042
$GC,17889,1.19,216.1,120.7,5.9,861,17901,0.00,2.50,6.55,0.707,6,0.000,0.054,2649,1777,2019
$GC,18221,1.19,216.1,97.5,7.2,878,18226,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3179,2019
$GC,18450,1.19,216.1,82.5,6.3,888,18454,0.00,2.55,0.00,0.000,6,0.000,0.054,2649,1778,2019
$GC,18772,1.19,216.1,61.1,7.0,904,18776,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3181,2019
$GC,18922,1.19,216.1,49.4,8.3,911,18927,0.00,2.55,0.00,0.000,6,0.000,0.055,2649,1766,2019
$GC,19248,1.19,216.1,25.9,7.6,927,19253,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3177,2019
$GC,19399,1.19,216.1,15.4,6.4,934,19404,0.00,2.53,0.00,0.000,6,0.000,0.056,2649,1776,2019
$STATE,19642,end climb,SURFACE_DEPTH_REACHED
$STATE,19642,begin surface coast
$FINISH,0.1,1.027254
$STATE,19662,end surface coast,CONTROL_FINISHED_OK
$STATE,19663,begin surface
$SM_CCo,19684,67.00,0.724,1,0,1678,300.00
$SM_GC,-0.15,0.00,0.00,67.00,0.000,0.000,0.724,51,2898,1678,-10.85,-0.08,300.00
$IRIDIUM_FIX,6126.23,-904.52,281107,212128
$TT8_MAMPS,0.029146
$HUMID,2057
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.0,94.4
$24V_AH,23.5,21.574
$10V_AH,10.1,9.213
$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,25.900,212.300,312.400,67.000,0.000,40.506,26.221,120.331,5.250,0.000,0.000,14.063,1839.005,14702.808,573.009,2552.311,382.934,33.369,1818.188,0.000,2506.937,0.000,34.775
$DEVICE_MAMPS,160.303,82.069,1204.957,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,677.381,669.607,581.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47390,947
$CFSIZE,260165632,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,56,1,0
$GPS,291107,032038,6150.239,-919.072,39,1.4,39,-9.5