version: 66.02
glider: 103
mission: 7
dive: 109
start: 11 30 107 4 5 30
data:
$ID,103
$MISSION,7
$DIVE,109
$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,-64378.828
$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,8
$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
$GPS1,035701,6157.249,-941.395,41,2.0,46,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.44
$_SM_ANGLEo,-49.3
$GPS2,040426,6157.342,-941.574,155,2.0,155,-9.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.005,0.218
$KALMAN_X,-83036.7,48.8,566.8,23183.4,-8458.8
$KALMAN_Y,65758.1,893.5,769.8,-24223.0,-4054.8
$MHEAD_RNG_PITCHd_Wd,11.1,42583,-11.1,-6.000
$D_GRID,718
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-72.47,0.000,6,0.000,0.000,45,2889,3501
$GC,96,-1.10,-146.6,2.4,-7.1,3,118,11.85,2.60,0.00,0.000,4,0.156,0.061,2163,1490,3502
$GC,369,-1.10,-146.6,42.3,-9.4,15,374,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2906,3503
$GC,696,-1.10,-146.6,84.1,-12.6,31,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3503
$GC,1006,-1.10,-146.6,115.2,-5.8,46,1010,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1483,3503
$GC,1044,-1.10,-146.6,118.1,-8.2,48,1049,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2902,3503
$GC,1370,-1.10,-146.6,141.7,-7.3,64,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,1679,-1.10,-146.6,168.6,-8.8,79,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,1988,-1.10,-146.6,196.9,-10.0,94,1992,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1482,3503
$GC,2032,-1.10,-146.6,200.6,-8.5,96,2036,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2903,3503
$GC,2351,-1.10,-146.6,226.9,-8.5,112,2355,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1490,3503
$GC,2389,-1.10,-146.6,230.1,-8.5,114,2393,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2899,3502
$GC,2714,-1.10,-146.6,255.5,-8.3,130,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,3023,-1.10,-146.6,281.0,-8.1,145,3028,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1483,3503
$GC,3066,-1.10,-146.6,284.8,-8.8,147,3071,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2895,3503
$GC,3393,-1.10,-146.6,313.1,-9.1,163,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2895,3503
$GC,3703,-1.10,-146.6,338.9,-7.8,178,3707,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1490,3503
$GC,3745,-1.10,-146.6,342.3,-7.7,180,3750,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2893,3503
$GC,4072,-1.10,-146.6,368.0,-7.9,196,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3503
$GC,4382,-1.10,-146.6,388.1,-6.1,211,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3503
$GC,4692,-1.10,-146.6,406.6,-5.9,226,4696,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1482,3503
$GC,4734,-1.10,-146.6,409.3,-5.9,228,4739,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2901,3503
$GC,5061,-1.10,-146.6,429.5,-6.4,244,5065,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1489,3503
$GC,5104,-1.10,-146.6,432.4,-7.0,246,5108,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2900,3503
$GC,5430,-1.10,-146.6,455.1,-7.5,262,5435,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1483,3503
$GC,5485,-1.10,-146.6,459.3,-7.7,264,5492,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2896,3503
$GC,5800,-1.10,-146.6,481.6,-6.8,280,5804,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1486,3503
$GC,5849,-1.10,-146.6,485.2,-7.1,282,5854,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2892,3503
$GC,6170,-1.10,-146.6,505.7,-6.3,298,6175,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1487,3503
$GC,6277,-1.10,-146.6,512.6,-7.0,303,6281,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2900,3503
$GC,6602,-1.10,-146.6,532.8,-6.0,319,6606,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1487,3502
$GC,6678,-1.10,-146.6,539.4,-9.3,322,6685,0.00,2.58,0.00,0.000,6,0.000,0.063,2163,2900,3502
$GC,6993,-1.10,-146.6,562.3,-6.8,338,6998,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1484,3503
$GC,7037,-1.10,-146.6,565.3,-6.9,340,7041,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2894,3503
$GC,7364,-1.10,-146.6,586.7,-6.3,356,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2894,3503
$GC,7673,-1.10,-146.6,606.9,-7.2,371,7677,0.00,2.50,0.00,0.000,4,0.000,0.054,2163,1483,3503
$GC,7756,-1.10,-146.6,612.9,-7.2,375,7761,0.00,2.58,0.00,0.000,6,0.000,0.061,2163,2902,3503
$GC,8082,-1.10,-146.6,634.6,-6.8,391,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,8393,-1.10,-146.6,651.1,-5.3,406,8397,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1486,3502
$GC,8526,-1.10,-146.6,658.2,-5.8,412,8530,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2902,3503
$GC,8852,-1.10,-146.6,679.5,-7.6,428,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,9161,-1.10,-146.6,702.6,-6.8,443,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$STATE,9407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9407,begin apogee
$GC,9413,-0.42,0.0,718.3,6.8,455,9542,0.75,0.00,125.50,1.229,6,0.083,0.000,2317,1771,2901
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9545,1.10,146.6,721.1,0.0,461,9676,1.52,2.70,122.82,1.193,4,0.054,0.070,2647,362,2303
$GC,9904,1.10,146.6,710.0,6.1,477,9912,0.00,2.55,0.00,0.000,6,0.000,0.041,2647,1786,2302
$GC,10220,1.13,169.1,692.8,5.4,493,10246,0.00,2.62,20.20,1.147,4,0.000,0.065,2647,3175,2211
$GC,10497,1.13,169.1,673.8,7.1,505,10505,0.00,2.55,0.00,0.000,6,0.000,0.049,2647,1774,2211
$GC,10814,1.18,209.0,654.4,4.9,521,10855,0.00,2.67,34.45,1.178,4,0.000,0.066,2647,3177,2048
$GC,10923,1.20,222.3,648.6,5.6,526,10945,0.10,2.55,12.68,1.088,6,0.048,0.050,2684,1765,1994
$GC,11253,1.20,222.3,622.1,8.9,542,11257,0.00,2.58,0.00,0.000,4,0.000,0.058,2684,3178,1993
$GC,11336,1.20,222.3,615.1,7.9,546,11340,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,1772,1993
$GC,11661,1.20,222.3,588.9,8.1,562,11665,0.00,2.58,0.00,0.000,4,0.000,0.060,2684,3184,1993
$GC,11836,1.20,222.3,573.9,8.3,570,11840,0.00,2.50,0.00,0.000,6,0.000,0.042,2684,1768,1992
$GC,12161,1.20,222.3,544.1,9.7,586,12165,0.00,2.58,0.00,0.000,4,0.000,0.058,2684,3178,1992
$GC,12290,1.20,222.3,531.0,10.1,592,12295,0.00,2.47,0.00,0.000,6,0.000,0.042,2684,1774,1992
$GC,12616,1.20,222.3,500.4,9.0,608,12620,0.00,2.58,0.00,0.000,4,0.000,0.060,2684,3178,1992
$GC,12699,1.20,222.3,493.0,8.8,612,12704,0.00,2.47,0.00,0.000,6,0.000,0.045,2684,1776,1992
$GC,13025,1.20,222.3,464.3,8.6,628,13029,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,3177,1992
$GC,13108,1.20,222.3,457.3,9.0,632,13112,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,1771,1992
$GC,13433,1.20,222.3,429.8,8.6,648,13437,0.00,2.60,0.00,0.000,4,0.000,0.062,2684,3182,1992
$GC,13543,1.20,222.3,419.7,8.6,653,13548,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,1780,1992
$GC,13870,1.20,222.3,391.5,8.4,669,13874,0.00,2.58,0.00,0.000,4,0.000,0.063,2684,3178,1993
$GC,13993,1.20,222.3,380.9,8.3,674,13999,0.00,2.50,0.00,0.000,6,0.000,0.049,2684,1777,1993
$GC,14307,1.20,222.3,355.1,8.1,690,14311,0.00,2.58,0.00,0.000,4,0.000,0.063,2684,3178,1993
$GC,14407,1.20,222.3,347.0,8.3,694,14413,0.00,2.50,0.00,0.000,6,0.000,0.049,2684,1774,1994
$GC,14722,1.20,222.3,322.8,7.7,710,14726,0.00,2.58,0.00,0.000,4,0.000,0.064,2684,3177,1994
$GC,14833,1.20,222.3,314.1,8.9,715,14838,0.00,2.50,0.00,0.000,6,0.000,0.050,2684,1775,1994
$GC,15159,1.20,222.3,288.6,7.6,731,15164,0.00,2.58,0.00,0.000,4,0.000,0.064,2684,3175,1994
$GC,15304,1.20,222.3,276.4,8.6,737,15311,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,1777,1994
$GC,15619,1.20,222.3,250.4,8.5,753,15624,0.00,2.55,0.00,0.000,4,0.000,0.064,2684,3175,1995
$GC,15725,1.20,222.3,241.3,8.2,758,15730,0.00,2.50,0.00,0.000,6,0.000,0.052,2684,1774,1995
$GC,16051,1.20,222.3,214.8,7.8,774,16056,0.00,2.60,0.00,0.000,4,0.000,0.066,2683,3180,1995
$GC,16180,1.20,222.3,204.7,7.9,780,16184,0.00,2.53,0.00,0.000,6,0.000,0.053,2684,1766,1995
$GC,16506,1.20,222.3,181.0,6.9,796,16510,0.00,2.60,0.00,0.000,4,0.000,0.066,2684,3176,1995
$GC,16627,1.20,222.3,171.8,8.1,801,16634,0.00,2.50,0.00,0.000,6,0.000,0.053,2684,1776,1995
$GC,16943,1.20,222.3,147.7,7.2,817,16947,0.00,2.58,0.00,0.000,4,0.000,0.065,2684,3175,1995
$GC,17105,1.20,222.3,135.0,7.7,824,17109,0.00,2.50,0.00,0.000,6,0.000,0.051,2684,1773,1996
$GC,17420,1.20,222.3,111.7,6.7,839,17424,0.00,2.60,0.00,0.000,4,0.000,0.067,2684,3183,1996
$GC,17513,1.20,222.3,104.7,6.7,843,17517,0.00,2.53,0.00,0.000,6,0.000,0.054,2684,1775,1996
$GC,17836,1.20,222.3,86.3,6.0,859,17840,0.00,2.60,0.00,0.000,4,0.000,0.067,2684,3179,1996
$GC,17942,1.24,262.0,80.0,4.9,864,17984,0.00,2.53,32.83,0.775,6,0.000,0.051,2684,1770,1832
$GC,18294,1.24,262.0,53.8,8.1,881,18299,0.00,2.60,0.00,0.000,4,0.000,0.066,2684,3177,1832
$GC,18405,1.24,262.0,44.1,9.5,886,18410,0.00,2.55,0.00,0.000,6,0.000,0.052,2684,1773,1831
$GC,18734,1.24,262.0,16.2,8.4,902,18738,0.00,2.62,0.00,0.000,4,0.000,0.068,2684,3181,1831
$GC,18832,1.24,262.0,7.2,7.8,906,18840,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,1778,1831
$STATE,18899,end climb,SURFACE_DEPTH_REACHED
$STATE,18900,begin surface coast
$FINISH,0.3,1.027244
$STATE,18921,end surface coast,CONTROL_FINISHED_OK
$STATE,18922,begin surface
$SM_CCo,18943,31.58,0.700,1,0,1678,300.00
$SM_GC,0.28,0.00,0.00,31.58,0.000,0.000,0.700,46,2889,1678,-10.87,-0.31,300.00
$IRIDIUM_FIX,6130.75,-929.24,301107,020214
$TT8_MAMPS,0.028379
$HUMID,2057
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.2,72.1
$24V_AH,23.4,22.484
$10V_AH,10.1,9.719
$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,26.075,189.225,348.475,31.575,0.000,38.649,27.665,143.349,6.250,0.000,0.000,155.774,1745.939,14224.971,551.925,2512.388,403.667,33.361,1720.989,0.000,2324.891,0.000,39.568
$DEVICE_MAMPS,156.468,77.467,1228.734,699.504,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.708,646.201,535.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47403,911
$CFSIZE,260165632,252604416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,301107,092302,6159.336,-947.627,38,1.5,38,-9.8