version: 66.02
glider: 103
mission: 7
dive: 137
start: 12 6 107 8 10 26
data:
$ID,103
$MISSION,7
$DIVE,137
$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,-64872.512
$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,11
$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
$GPS1,080325,6219.012,-1035.770,24,1.3,42,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-56.1
$GPS2,080921,6218.957,-1035.805,13,1.3,13,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.085,0.201
$KALMAN_X,-159566.3,-10.4,732.3,51783.6,-9207.1
$KALMAN_Y,-9254.9,1006.3,1088.8,90395.2,-13257.5
$MHEAD_RNG_PITCHd_Wd,33.4,21045,-11.1,-6.000
$D_GRID,749
$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,21,-1.10,-146.6,0.0,0.0,0,104,0.00,0.00,-81.57,0.000,2,0.000,0.000,49,2899,3367
$GC,106,-1.10,-146.6,3.3,-6.3,4,125,12.05,1.77,-2.40,0.000,4,0.157,0.114,2163,3785,3501
$GC,186,-1.10,-146.6,17.2,-9.0,7,193,0.00,1.52,0.00,0.000,6,0.000,0.032,2163,2894,3502
$GC,503,-1.10,-146.6,42.0,-8.0,23,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3502
$GC,811,-1.10,-146.6,65.5,-7.8,38,816,0.00,2.55,0.00,0.000,4,0.000,0.068,2163,1499,3502
$GC,875,-1.10,-146.6,70.0,-6.6,41,879,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2903,3502
$GC,1200,-1.10,-146.6,92.9,-7.0,57,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,1509,-1.10,-146.6,114.2,-6.9,72,1514,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1496,3502
$GC,1553,-1.10,-146.6,117.2,-7.5,74,1557,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2901,3502
$GC,1880,-1.10,-146.6,138.7,-6.7,90,1884,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1492,3502
$GC,1906,-1.10,-146.6,140.5,-7.2,91,1910,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2897,3502
$GC,2227,-1.10,-146.6,162.0,-7.0,107,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3502
$GC,2536,-1.10,-146.6,183.1,-6.7,122,2540,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1493,3502
$GC,2591,-1.10,-146.6,187.2,-7.9,124,2598,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2893,3502
$GC,2906,-1.10,-146.6,209.9,-7.2,140,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3502
$GC,3216,-1.10,-146.6,233.4,-7.8,155,3220,0.00,2.55,0.00,0.000,4,0.000,0.063,2163,1501,3502
$GC,3258,-1.10,-146.6,237.1,-7.9,157,3263,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2898,3502
$GC,3585,-1.10,-146.6,263.1,-8.2,173,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2898,3502
$GC,3894,-1.10,-146.6,289.6,-9.1,188,3899,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1499,3502
$GC,3956,-1.10,-146.6,295.3,-9.4,191,3960,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2903,3502
$GC,4281,-1.10,-146.6,324.9,-9.2,207,4289,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1496,3502
$GC,4316,-1.10,-146.6,328.1,-9.5,208,4320,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2895,3502
$GC,4637,-1.10,-146.6,356.3,-8.6,224,4641,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1500,3502
$GC,4679,-1.10,-146.6,360.0,-8.4,226,4684,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2908,3502
$GC,5006,-1.10,-146.6,385.7,-7.9,242,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,5315,-1.10,-146.6,408.9,-7.3,257,5320,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1494,3502
$GC,5364,-1.10,-146.6,412.5,-7.2,259,5369,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2895,3502
$GC,5685,-1.10,-146.6,434.1,-6.3,275,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2895,3502
$GC,5994,-1.10,-146.6,453.0,-6.0,290,5999,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1492,3502
$GC,6033,-1.10,-146.6,455.3,-6.2,292,6038,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2899,3502
$GC,6359,-1.10,-146.6,472.0,-4.9,308,6364,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1499,3502
$GC,6414,-1.10,-146.6,474.9,-5.0,310,6425,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2901,3502
$GC,6730,-1.10,-146.6,492.2,-6.0,326,6734,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1497,3502
$GC,6795,-1.10,-146.6,496.6,-6.6,329,6800,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2900,3502
$GC,7122,-1.10,-146.6,518.7,-6.9,345,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,7431,-1.10,-146.6,539.7,-6.4,360,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,7740,-1.10,-146.6,560.5,-7.1,375,7745,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1498,3502
$GC,7806,-1.10,-146.6,565.3,-7.3,378,7811,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2898,3502
$GC,8133,-1.10,-146.6,586.7,-6.8,394,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,8442,-1.10,-146.6,608.2,-6.6,409,8446,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1496,3502
$GC,8518,-1.10,-146.6,613.7,-6.7,412,8525,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2899,3502
$GC,8834,-1.10,-146.6,637.7,-7.8,428,8838,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1496,3502
$GC,8922,-1.10,-146.6,644.2,-6.6,432,8926,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2899,3502
$GC,9249,-1.10,-146.6,661.3,-4.3,448,9253,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1497,3502
$GC,9298,-1.10,-146.6,664.0,-5.4,450,9302,0.00,2.58,0.00,0.000,6,0.000,0.067,2163,2898,3502
$GC,9619,-1.10,-146.6,682.5,-6.4,466,9623,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1492,3502
$GC,9685,-1.10,-146.6,688.2,-9.1,469,9689,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2900,3502
$GC,10011,-1.10,-146.6,720.8,-12.3,485,10014,0.00,1.67,0.00,0.000,4,0.000,0.090,2163,3789,3502
$GC,10072,-1.10,-146.6,722.3,-2.4,487,10078,0.00,1.52,0.00,0.000,6,0.000,0.038,2163,2899,3502
$STATE,10344,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10345,begin apogee
$GC,10351,-0.42,0.0,748.8,8.4,501,10479,0.77,0.00,125.20,1.302,6,0.087,0.000,2319,2110,2901
$STATE,10480,end apogee,CONTROL_FINISHED_OK
$STATE,10480,begin climb
$GC,10482,1.10,146.6,755.5,0.0,507,10609,1.55,0.00,122.30,1.275,6,0.057,0.000,2651,2108,2303
$GC,10929,1.25,268.5,735.0,2.6,529,11039,0.15,2.72,101.25,1.267,4,0.041,0.075,2699,3513,1805
$GC,11105,1.25,268.5,722.1,10.8,537,11110,0.00,2.58,0.00,0.000,6,0.000,0.045,2699,2094,1804
$GC,11427,1.25,268.5,675.7,14.4,553,11428,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,1804
$GC,11736,1.25,268.5,631.7,14.8,568,11740,0.00,2.58,0.00,0.000,4,0.000,0.064,2699,691,1802
$GC,11835,1.25,268.5,617.6,13.5,572,11840,0.00,2.53,0.00,0.000,6,0.000,0.045,2699,2109,1802
$GC,12156,1.25,268.5,578.7,11.6,588,12160,0.00,2.60,0.00,0.000,4,0.000,0.061,2699,695,1801
$GC,12217,1.25,268.5,571.6,11.5,591,12221,0.00,2.50,0.00,0.000,6,0.000,0.045,2699,2099,1801
$GC,12548,1.25,268.5,537.7,9.1,607,12552,0.00,2.65,0.00,0.000,4,0.000,0.076,2699,3509,1800
$GC,12591,1.25,268.5,534.0,8.0,609,12595,0.00,2.53,0.00,0.000,6,0.000,0.046,2699,2108,1800
$GC,12917,1.26,276.1,512.9,5.8,625,12926,0.00,0.00,7.00,0.982,6,0.000,0.000,2699,2108,1775
$GC,13227,1.26,276.1,493.4,6.4,640,13231,0.00,2.55,0.00,0.000,4,0.000,0.058,2699,695,1775
$GC,13292,1.26,276.1,488.6,6.9,643,13296,0.00,2.50,0.00,0.000,6,0.000,0.044,2699,2093,1775
$GC,13618,1.26,276.1,467.5,6.1,659,13623,0.00,2.65,0.00,0.000,4,0.000,0.072,2699,3513,1775
$GC,13645,1.30,308.8,466.0,5.1,660,13678,0.00,2.50,28.15,1.086,6,0.000,0.044,2699,2100,1642
$GC,13986,1.30,308.8,442.2,7.6,677,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1642
$GC,14295,1.30,308.8,417.6,8.0,692,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1643
$GC,14604,1.30,308.8,394.1,7.5,707,14605,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1643
$GC,14913,1.30,308.8,370.1,8.0,722,14917,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3511,1643
$GC,14939,1.30,308.8,367.6,9.3,723,14944,0.00,2.53,0.00,0.000,6,0.000,0.046,2699,2105,1644
$GC,15260,1.30,308.8,339.9,8.6,739,15261,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2105,1644
$GC,15569,1.30,308.8,313.1,8.7,754,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2105,1644
$GC,15879,1.30,308.8,286.4,8.6,769,15883,0.00,2.67,0.00,0.000,4,0.000,0.077,2699,3518,1645
$GC,15910,1.30,308.8,283.5,9.2,770,15917,0.00,2.55,0.00,0.000,6,0.000,0.049,2699,2104,1645
$GC,16226,1.30,308.8,256.4,8.7,786,16227,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2104,1645
$GC,16535,1.30,308.8,228.7,9.0,801,16536,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2104,1646
$GC,16844,1.30,308.8,200.8,9.1,816,16849,0.00,2.65,0.00,0.000,4,0.000,0.079,2699,3511,1646
$GC,16876,1.30,308.8,197.9,8.8,817,16883,0.00,2.53,0.00,0.000,6,0.000,0.049,2699,2092,1646
$GC,17191,1.30,308.8,171.1,8.8,833,17195,0.00,2.53,0.00,0.000,4,0.000,0.064,2699,691,1646
$GC,17223,1.30,308.8,168.0,11.0,834,17228,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,2099,1646
$GC,17547,1.30,308.8,139.2,8.4,850,17551,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3518,1646
$GC,17595,1.30,308.8,135.1,7.2,852,17599,0.00,2.55,0.00,0.000,6,0.000,0.048,2699,2098,1646
$GC,17916,1.30,308.8,106.1,8.6,868,17918,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2098,1646
$GC,18226,1.30,308.8,76.6,11.9,883,18230,0.00,2.55,0.00,0.000,4,0.000,0.065,2699,693,1646
$GC,18246,1.30,308.8,74.5,10.5,884,18251,0.00,2.53,0.00,0.000,6,0.000,0.050,2699,2095,1646
$GC,18574,1.30,308.8,44.4,10.5,900,18578,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3515,1647
$GC,18605,1.30,308.8,40.7,12.2,901,18612,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,2107,1647
$GC,18921,1.30,308.8,8.9,10.2,917,18922,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2106,1647
$STATE,18981,end climb,SURFACE_DEPTH_REACHED
$STATE,18981,begin surface coast
$FINISH,-0.6,1.027345
$STATE,19003,end surface coast,CONTROL_FINISHED_OK
$STATE,19003,begin surface
$SM_CCo,19084,0.00,0.000,0,0,1646,307.85
$SM_GC,-0.39,11.62,0.00,0.00,0.028,0.000,0.000,34,2894,1646,-10.81,-0.17,307.85
$IRIDIUM_FIX,6158.08,-1038.60,061207,070726
$TT8_MAMPS,0.028379
$HUMID,2081
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.0,82.2
$24V_AH,23.4,26.499
$10V_AH,10.1,12.136
$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,26.150,164.150,383.900,0.000,0.000,39.054,37.551,179.911,6.250,0.000,0.000,13.688,1664.732,14823.188,541.716,1963.558,459.800,33.364,1544.055,0.000,1934.654,0.000,39.602
$DEVICE_MAMPS,157.235,114.283,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.158,645.201,554.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47419,921
$CFSIZE,260165632,250806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,061207,132938,6218.928,-1038.985,36,2.0,36,-10.4