version: 66.02
glider: 103
mission: 7
dive: 119
start: 12 2 107 11 31 14
data:
$ID,103
$MISSION,7
$DIVE,119
$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,-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,-64548.336
$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,2000
$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
$GPS1,112256,6213.599,-950.655,38,1.6,38,-9.9
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,3
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-57.3
$GPS2,113009,6213.584,-950.676,13,1.2,13,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.156,0.152
$KALMAN_X,-111060.6,244.1,-419.9,43980.9,-3450.9
$KALMAN_Y,55452.4,548.7,-385.5,17699.0,-2208.0
$MHEAD_RNG_PITCHd_Wd,55.7,11897,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.11,-145.5,0.0,0.0,0,87,0.00,0.00,-65.62,0.000,6,0.000,0.000,40,2892,3495
$GC,89,-1.11,-145.5,3.0,-7.9,3,111,12.12,2.62,0.00,0.000,4,0.162,0.059,2166,1485,3498
$GC,351,-1.11,-145.5,34.4,-6.2,14,358,0.00,2.72,0.00,0.000,6,0.000,0.080,2166,2898,3498
$GC,667,-1.11,-145.5,57.3,-7.7,30,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3498
$GC,976,-1.11,-145.5,81.1,-7.3,45,980,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1484,3499
$GC,1052,-1.11,-145.5,86.5,-6.2,48,1060,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2903,3498
$GC,1370,-1.11,-145.5,108.2,-7.0,64,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3499
$GC,1678,-1.11,-145.5,131.0,-7.2,79,1682,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1481,3498
$GC,1704,-1.11,-145.5,133.0,-7.5,80,1708,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2904,3498
$GC,2025,-1.11,-145.5,157.3,-7.6,96,2030,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1491,3498
$GC,2074,-1.11,-145.5,161.2,-7.3,98,2079,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2900,3498
$GC,2395,-1.11,-145.5,185.7,-7.6,114,2399,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1490,3498
$GC,2427,-1.11,-145.5,188.1,-7.3,115,2434,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3498
$GC,2743,-1.11,-145.5,211.6,-7.5,131,2748,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1484,3498
$GC,2782,-1.11,-145.5,214.6,-8.3,133,2786,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2904,3498
$GC,3107,-1.11,-145.5,239.5,-7.4,149,3112,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1492,3499
$GC,3146,-1.11,-145.5,242.4,-7.6,151,3151,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3498
$GC,3472,-1.11,-145.5,264.9,-6.8,167,3476,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1489,3498
$GC,3498,-1.11,-145.5,266.9,-7.1,168,3502,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3499
$GC,3819,-1.11,-145.5,289.6,-7.0,184,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3499
$GC,4128,-1.11,-145.5,310.9,-6.8,199,4132,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1485,3498
$GC,4182,-1.11,-145.5,314.9,-7.5,201,4189,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2897,3498
$GC,4498,-1.11,-145.5,337.2,-6.9,217,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2897,3498
$GC,4807,-1.11,-145.5,359.0,-7.0,232,4811,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1485,3498
$GC,4867,-1.11,-145.5,363.5,-7.7,235,4872,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3498
$GC,5194,-1.11,-145.5,388.1,-7.4,251,5198,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1487,3498
$GC,5219,-1.11,-145.5,390.1,-7.1,252,5224,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2901,3498
$GC,5541,-1.11,-145.5,412.0,-6.2,268,5544,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1489,3498
$GC,5579,-1.11,-146.6,414.3,-5.9,269,5585,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2906,3498
$GC,5894,-1.11,-146.6,433.0,-5.8,285,5898,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1486,3498
$GC,5948,-1.11,-146.6,436.3,-5.7,287,5955,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2902,3498
$GC,6263,-1.11,-146.6,454.9,-6.1,303,6268,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1483,3498
$GC,6313,-1.11,-146.6,458.0,-5.8,305,6317,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2900,3498
$GC,6634,-1.11,-146.6,478.3,-6.4,321,6639,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1489,3498
$GC,6683,-1.11,-146.6,481.6,-6.2,323,6688,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2901,3498
$GC,7004,-1.11,-146.6,502.9,-6.7,339,7008,0.00,2.55,0.00,0.000,4,0.000,0.064,2166,1489,3498
$GC,7071,-1.11,-146.6,507.4,-7.3,342,7075,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2906,3498
$GC,7396,-1.11,-146.6,529.5,-6.9,358,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3498
$GC,7706,-1.11,-146.6,549.4,-5.6,373,7710,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1489,3498
$GC,7782,-1.11,-146.6,554.2,-6.7,376,7789,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2901,3498
$GC,8097,-1.11,-146.6,578.4,-7.7,392,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3498
$GC,8407,-1.11,-146.6,596.6,-6.0,407,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3498
$GC,8716,-1.11,-146.6,614.7,-7.0,422,8720,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1487,3498
$GC,8759,-1.11,-146.6,618.0,-7.5,424,8763,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2893,3498
$GC,9085,-1.11,-146.6,644.3,-7.0,440,9090,0.00,2.55,0.00,0.000,4,0.000,0.063,2166,1482,3498
$STATE,9133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9133,begin apogee
$GC,9139,-0.42,0.0,647.5,6.8,442,9269,0.73,0.00,123.40,1.200,6,0.089,0.000,2315,2003,2901
$STATE,9270,end apogee,CONTROL_FINISHED_OK
$STATE,9270,begin climb
$GC,9272,1.11,146.6,653.0,0.0,449,9402,1.52,2.72,120.62,1.188,4,0.047,0.063,2651,587,2303
$GC,9656,1.20,218.0,643.5,4.0,466,9723,0.00,2.53,59.65,1.173,6,0.000,0.042,2651,2008,2012
$GC,10033,1.20,218.0,618.9,8.8,485,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2009,2010
$GC,10340,1.20,218.0,592.5,8.4,500,10345,0.00,2.62,0.00,0.000,4,0.000,0.074,2651,3406,2009
$GC,10536,1.20,218.0,574.3,9.5,509,10541,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,1998,2009
$GC,10862,1.20,218.0,545.3,8.6,525,10867,0.00,2.67,0.00,0.000,4,0.000,0.074,2651,3410,2008
$GC,11013,1.20,218.0,532.5,8.2,532,11018,0.00,2.53,0.00,0.000,6,0.000,0.049,2651,1996,2008
$GC,11339,1.20,218.0,507.6,7.6,548,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1996,2007
$GC,11648,1.20,218.0,485.9,6.8,563,11653,0.00,2.67,0.00,0.000,4,0.000,0.074,2651,3409,2007
$GC,11725,1.20,218.0,480.4,6.7,566,11732,0.00,2.53,0.00,0.000,6,0.000,0.050,2650,1998,2007
$GC,12041,1.20,218.0,460.5,6.3,582,12045,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3404,2007
$GC,12124,1.20,218.0,454.7,7.3,586,12128,0.00,2.50,0.00,0.000,6,0.000,0.049,2651,2001,2007
$GC,12450,1.20,218.0,434.2,6.0,602,12454,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3408,2007
$GC,12503,1.20,218.0,430.6,6.3,604,12510,0.00,2.53,0.00,0.000,6,0.000,0.050,2651,2008,2007
$GC,12819,1.20,218.0,411.2,6.3,620,12823,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3412,2007
$GC,12912,1.20,218.0,405.2,6.3,624,12917,0.00,2.55,0.00,0.000,6,0.000,0.049,2651,1980,2007
$GC,13233,1.20,218.0,385.9,6.2,640,13238,0.00,2.70,0.00,0.000,4,0.000,0.075,2651,3411,2007
$GC,13299,1.20,218.0,381.5,7.1,643,13304,0.00,2.53,0.00,0.000,6,0.000,0.048,2651,2006,2007
$GC,13626,1.20,218.0,360.5,6.7,659,13630,0.00,2.62,0.00,0.000,4,0.000,0.072,2651,3406,2008
$GC,13674,1.20,218.0,356.9,7.3,661,13679,0.00,2.53,0.00,0.000,6,0.000,0.048,2651,2001,2008
$GC,13995,1.20,218.0,334.4,7.2,677,14000,0.00,2.62,0.00,0.000,4,0.000,0.073,2651,3406,2008
$GC,14083,1.20,218.0,327.7,8.3,681,14088,0.00,2.53,0.00,0.000,6,0.000,0.051,2651,2005,2008
$GC,14409,1.20,218.0,304.9,7.0,697,14414,0.00,2.62,0.00,0.000,4,0.000,0.074,2651,3410,2008
$GC,14481,1.20,218.0,299.6,6.6,700,14486,0.00,2.53,0.00,0.000,6,0.000,0.051,2651,1992,2008
$GC,14803,1.20,218.0,278.6,6.1,716,14807,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3406,2009
$GC,14908,1.20,218.0,271.5,7.0,721,14913,0.00,2.50,0.00,0.000,6,0.000,0.051,2651,1997,2009
$GC,15234,1.20,218.0,249.0,7.2,737,15239,0.00,2.65,0.00,0.000,4,0.000,0.075,2651,3406,2009
$GC,15318,1.20,218.0,242.6,7.3,741,15323,0.00,2.53,0.00,0.000,6,0.000,0.053,2651,1997,2009
$GC,15644,1.20,218.0,220.4,6.4,757,15648,0.00,2.62,0.00,0.000,4,0.000,0.074,2651,3405,2009
$GC,15727,1.20,218.0,214.8,6.8,761,15732,0.00,2.50,0.00,0.000,6,0.000,0.051,2651,1999,2010
$GC,16053,1.20,218.0,193.6,6.9,777,16057,0.00,2.62,0.00,0.000,4,0.000,0.074,2651,3406,2010
$GC,16129,1.20,218.0,187.6,7.5,780,16137,0.00,2.55,0.00,0.000,6,0.000,0.053,2650,2000,2010
$GC,16446,1.20,218.0,162.4,8.2,796,16450,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3406,2010
$GC,16523,1.20,218.0,156.0,7.8,799,16529,0.00,2.53,0.00,0.000,6,0.000,0.053,2651,2000,2010
$GC,16840,1.20,218.0,133.8,7.2,815,16844,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3409,2010
$GC,16923,1.20,218.0,127.2,7.6,819,16928,0.00,2.53,0.00,0.000,6,0.000,0.054,2651,2001,2010
$GC,17249,1.20,218.0,102.7,6.8,835,17254,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3409,2010
$GC,17334,1.20,220.7,97.1,5.9,839,17343,0.00,2.53,4.07,0.595,6,0.000,0.051,2651,1996,2000
$GC,17664,1.20,222.5,76.8,6.0,855,17669,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3404,2000
$GC,17741,1.20,222.5,71.7,6.2,858,17749,0.00,2.55,0.00,0.000,6,0.000,0.053,2651,2000,2000
$GC,18058,1.23,244.8,51.4,5.4,874,18083,0.12,2.70,19.90,0.763,4,0.045,0.075,2690,3406,1903
$GC,18117,1.23,244.8,47.2,8.5,877,18122,0.00,2.58,0.00,0.000,6,0.000,0.055,2691,1991,1903
$GC,18443,1.23,244.8,18.8,7.6,893,18447,0.00,2.67,0.00,0.000,4,0.000,0.077,2691,3406,1903
$GC,18482,1.23,244.8,15.0,10.2,895,18486,0.00,2.55,0.00,0.000,6,0.000,0.059,2691,1994,1903
$STATE,18642,end climb,SURFACE_DEPTH_REACHED
$STATE,18642,begin surface coast
$FINISH,-0.8,1.027289
$STATE,18662,end surface coast,CONTROL_FINISHED_OK
$STATE,18662,begin surface
$SM_CCo,18683,43.12,0.742,0,0,1678,300.00
$SM_GC,-0.31,0.00,0.00,43.12,0.000,0.000,0.742,49,2897,1678,-10.86,-0.08,300.00
$IRIDIUM_FIX,6148.92,-1039.73,021207,090945
$TT8_MAMPS,0.028379
$HUMID,2043
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.4,82.0
$24V_AH,23.4,23.892
$10V_AH,10.1,10.630
$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,26.100,208.350,327.650,43.125,0.000,39.711,34.319,259.188,5.250,0.000,0.000,13.749,1709.729,14155.070,545.626,2221.101,539.670,33.364,1669.080,0.000,2189.835,0.000,33.110
$DEVICE_MAMPS,161.837,95.875,1199.588,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,639.296,657.522,569.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47372,904
$CFSIZE,260165632,251924480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,021207,164433,6216.043,-947.495,38,1.8,39,-9.9