version: 66.02
glider: 103
mission: 7
dive: 134
start: 12 5 107 16 24 33
data:
$ID,103
$MISSION,7
$DIVE,134
$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,-64835.883
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,161728,6220.968,-1028.915,36,3.0,55,-10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-60.8
$GPS2,162329,6220.893,-1029.028,15,2.2,34,-10.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.037,0.215
$KALMAN_X,-147010.0,409.7,93.6,45430.5,-5811.2
$KALMAN_Y,6661.5,1307.0,471.4,78396.9,-12298.2
$MHEAD_RNG_PITCHd_Wd,19.9,16887,-11.1,-6.000
$D_GRID,712
$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,-146.6,0.0,0.0,0,89,0.00,0.00,-67.07,0.000,6,0.000,0.000,45,2906,3499
$GC,91,-1.10,-146.6,2.9,-8.0,3,113,12.05,2.67,0.00,0.000,4,0.161,0.067,2166,1490,3502
$GC,364,-1.10,-146.6,35.3,-7.6,15,369,0.00,2.70,0.00,0.000,6,0.000,0.081,2167,2900,3502
$GC,691,-1.10,-146.6,59.9,-7.5,31,696,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1491,3502
$GC,757,-1.10,-146.6,64.6,-7.6,34,762,0.00,2.65,0.00,0.000,6,0.000,0.076,2167,2902,3502
$GC,1084,-1.10,-146.6,87.2,-6.6,50,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,1393,-1.10,-146.6,107.6,-6.8,65,1398,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1491,3502
$GC,1437,-1.10,-146.6,110.7,-7.3,67,1441,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2896,3502
$GC,1764,-1.10,-146.6,134.6,-7.6,83,1768,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1491,3502
$GC,1795,-1.10,-146.6,137.3,-8.3,84,1802,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2893,3502
$GC,2111,-1.10,-146.6,162.0,-8.4,100,2115,0.00,2.60,0.00,0.000,4,0.000,0.068,2167,1493,3502
$GC,2149,-1.10,-146.6,164.8,-7.2,102,2153,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,2474,-1.10,-146.6,188.8,-6.9,118,2478,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1485,3502
$GC,2528,-1.10,-146.6,192.5,-6.6,120,2535,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2903,3502
$GC,2844,-1.10,-146.6,214.9,-8.1,136,2848,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1490,3502
$GC,2887,-1.10,-146.6,218.4,-7.8,138,2891,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2899,3502
$GC,3213,-1.10,-146.6,242.7,-7.3,154,3218,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1490,3502
$GC,3275,-1.10,-146.6,247.8,-8.3,157,3279,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2900,3502
$GC,3600,-1.10,-146.6,270.7,-6.7,173,3604,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1489,3502
$GC,3639,-1.10,-146.6,273.4,-6.6,175,3643,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2901,3502
$GC,3965,-1.10,-146.6,294.8,-6.4,191,3969,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1489,3502
$GC,4019,-1.10,-146.6,298.2,-5.3,193,4025,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2901,3502
$GC,4335,-1.10,-146.6,317.0,-5.5,209,4339,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3502
$GC,4395,-1.10,-146.6,320.4,-5.5,212,4400,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,4721,-1.10,-146.6,340.4,-6.4,228,4725,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1482,3502
$GC,4770,-1.10,-146.6,343.7,-6.1,230,4774,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,5092,-1.10,-146.6,363.0,-5.5,246,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,5400,-1.10,-146.6,381.1,-6.3,261,5404,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3502
$GC,5443,-1.10,-146.6,384.1,-6.8,263,5447,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2908,3502
$GC,5769,-1.10,-146.6,406.1,-7.3,279,5774,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1486,3502
$GC,5813,-1.10,-146.6,409.6,-8.7,281,5817,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2899,3502
$GC,6140,-1.10,-146.6,434.6,-7.9,297,6144,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1489,3502
$GC,6178,-1.10,-146.6,437.8,-9.4,299,6182,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2902,3502
$GC,6503,-1.10,-146.6,464.6,-7.7,315,6507,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1487,3502
$GC,6546,-1.10,-146.6,468.0,-7.6,317,6550,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2903,3502
$GC,6872,-1.10,-146.6,492.0,-7.3,333,6877,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1483,3502
$GC,6938,-1.10,-146.6,497.2,-8.4,336,6943,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2898,3502
$GC,7265,-1.10,-146.6,521.8,-7.0,352,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3502
$GC,7574,-1.10,-146.6,544.8,-7.8,367,7578,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1480,3502
$GC,7622,-1.10,-146.6,549.3,-8.9,369,7627,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2892,3502
$GC,7944,-1.10,-146.6,576.5,-8.6,385,7949,0.00,2.55,0.00,0.000,4,0.000,0.059,2167,1482,3502
$GC,8033,-1.10,-146.6,584.5,-9.2,389,8037,0.00,2.62,0.00,0.000,6,0.000,0.063,2167,2901,3502
$GC,8360,-1.10,-146.6,611.5,-8.7,405,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,8669,-1.10,-146.6,630.1,-4.4,420,8673,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1483,3502
$GC,8813,-1.10,-146.6,636.9,-4.8,426,8820,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2904,3502
$GC,9129,-1.10,-146.6,651.9,-5.0,442,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3502
$GC,9438,-1.10,-146.6,671.6,-6.7,457,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3502
$GC,9747,-1.10,-146.6,692.5,-6.4,472,9751,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1483,3502
$GC,9790,-1.10,-146.6,695.1,-6.9,474,9794,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2899,3502
$STATE,10115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10115,begin apogee
$GC,10121,-0.42,0.0,712.7,5.8,490,10248,0.75,0.00,124.03,1.280,6,0.087,0.000,2318,2094,2901
$STATE,10249,end apogee,CONTROL_FINISHED_OK
$STATE,10249,begin climb
$GC,10251,1.10,146.6,716.4,0.0,496,10382,1.52,2.67,120.62,1.266,4,0.054,0.062,2648,689,2303
$GC,10477,1.11,149.9,711.6,5.9,506,10488,0.00,2.53,4.72,0.860,6,0.000,0.041,2648,2113,2289
$GC,10815,1.16,191.6,695.2,4.8,523,10857,0.00,2.67,35.80,1.202,4,0.000,0.071,2648,3507,2118
$GC,10940,1.16,191.6,686.8,6.7,528,10947,0.00,2.55,0.00,0.000,6,0.000,0.043,2648,2093,2119
$GC,11256,1.16,191.6,662.7,8.3,544,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2094,2117
$GC,11565,1.16,191.6,638.8,7.0,559,11569,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3505,2117
$GC,11630,1.16,191.6,633.9,7.2,562,11635,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2099,2116
$GC,11957,1.16,191.6,609.0,7.8,578,11961,0.00,2.58,0.00,0.000,4,0.000,0.064,2648,694,2115
$GC,12050,1.16,191.6,601.7,7.2,582,12055,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2099,2115
$GC,12371,1.16,191.6,580.8,6.3,598,12376,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3509,2114
$GC,12465,1.16,191.6,574.7,6.7,602,12469,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2096,2114
$GC,12786,1.21,234.0,558.5,4.8,618,12828,0.12,2.60,34.90,1.179,4,0.044,0.059,2687,695,1947
$GC,12884,1.21,234.0,551.3,7.5,622,12888,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,2104,1947
$GC,13204,1.21,234.0,528.0,7.3,638,13209,0.00,2.58,0.00,0.000,4,0.000,0.057,2687,694,1946
$GC,13272,1.21,234.0,523.0,7.6,641,13276,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,2102,1946
$GC,13591,1.21,234.0,497.1,8.0,657,13596,0.00,2.62,0.00,0.000,4,0.000,0.071,2687,3513,1946
$GC,13640,1.21,234.0,492.8,7.9,659,13645,0.00,2.53,0.00,0.000,6,0.000,0.042,2687,2098,1946
$GC,13961,1.21,234.0,467.0,8.1,675,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1946
$GC,14271,1.21,234.0,441.1,8.6,690,14272,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1946
$GC,14580,1.21,234.0,416.1,7.8,705,14581,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1947
$GC,14889,1.21,234.0,390.8,8.3,720,14890,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1947
$GC,15199,1.21,234.0,364.1,8.6,735,15200,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1948
$GC,15508,1.21,234.0,336.1,8.9,750,15512,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3513,1948
$GC,15539,1.21,234.0,333.2,9.0,751,15546,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2100,1948
$GC,15855,1.21,234.0,303.6,9.5,767,15856,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1948
$GC,16164,1.21,234.0,275.6,9.1,782,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1949
$GC,16473,1.21,234.0,248.2,8.2,797,16477,0.00,2.55,0.00,0.000,4,0.000,0.064,2687,693,1949
$GC,16527,1.21,234.0,243.4,8.8,799,16532,0.00,2.47,0.00,0.000,6,0.000,0.045,2687,2100,1949
$GC,16848,1.21,234.0,217.9,6.9,815,16849,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1949
$GC,17157,1.21,234.0,193.7,7.4,830,17161,0.00,2.58,0.00,0.000,4,0.000,0.061,2687,687,1949
$GC,17206,1.21,234.0,190.1,8.1,832,17211,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,2094,1949
$GC,17527,1.21,234.0,168.3,7.1,848,17529,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1949
$GC,17837,1.21,234.0,144.4,7.2,863,17838,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1950
$GC,18146,1.21,234.0,116.8,9.2,878,18147,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1950
$GC,18456,1.21,234.0,88.9,8.9,893,18460,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3516,1950
$GC,18510,1.21,234.0,83.8,9.3,895,18517,0.00,2.55,0.00,0.000,6,0.000,0.050,2687,2101,1950
$GC,18826,1.21,234.0,57.5,8.3,911,18827,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1951
$GC,19135,1.21,234.0,32.8,8.2,926,19139,0.00,2.65,0.00,0.000,4,0.000,0.075,2687,3511,1951
$GC,19206,1.21,234.0,26.4,9.7,929,19210,0.00,2.55,0.00,0.000,6,0.000,0.055,2687,2108,1951
$STATE,19507,end climb,SURFACE_DEPTH_REACHED
$STATE,19507,begin surface coast
$FINISH,-0.6,1.027259
$STATE,19527,end surface coast,CONTROL_FINISHED_OK
$STATE,19527,begin surface
$SM_CCo,19548,54.25,0.736,1,0,1678,300.00
$SM_GC,-0.65,0.00,0.00,54.25,0.000,0.000,0.736,32,2895,1678,-10.93,-0.14,300.00
$IRIDIUM_FIX,6202.67,-1030.33,051207,151554
$TT8_MAMPS,0.028379
$HUMID,2068
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$24V_AH,23.4,26.023
$10V_AH,10.1,11.889
$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,25.950,179.475,320.075,54.250,0.000,39.023,38.390,166.276,6.750,0.000,0.000,35.300,1734.695,15112.228,537.442,2152.853,446.057,33.367,1600.321,0.000,2091.678,0.000,43.868
$DEVICE_MAMPS,161.070,86.671,1280.123,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.499,657.259,564.295,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47371,945
$CFSIZE,260165632,250986496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,051207,215237,6220.771,-1031.189,38,1.6,43,-10.4