version: 66.02
glider: 103
mission: 7
dive: 143
start: 12 7 107 18 13 50
data:
$ID,103
$MISSION,7
$DIVE,143
$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,-64995.348
$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,13
$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
$GPS1,180237,6224.849,-1036.125,34,1.0,34,-10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-62.5
$GPS2,181245,6224.965,-1036.151,15,1.0,15,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,0.039
$KALMAN_X,-181388.4,974.4,137.2,72894.7,-6226.5
$KALMAN_Y,-14415.3,1803.8,1067.4,105868.4,-3304.4
$MHEAD_RNG_PITCHd_Wd,90.0,10706,-11.1,-6.000
$D_GRID,673
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-61.97,0.000,2,0.000,0.000,44,2901,3360
$GC,86,-1.10,-146.6,3.3,-8.2,3,109,11.98,2.60,-2.60,0.000,4,0.159,0.080,2165,1492,3501
$GC,225,-1.10,-146.6,20.4,-6.6,9,230,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2899,3501
$GC,553,-1.10,-146.6,45.4,-8.0,25,557,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1487,3501
$GC,578,-1.10,-146.6,47.5,-6.6,26,583,0.00,2.67,0.00,0.000,6,0.000,0.068,2165,2905,3501
$GC,901,-1.10,-146.6,70.6,-7.7,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3501
$GC,1209,-1.10,-146.6,92.2,-6.4,57,1214,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1490,3502
$GC,1258,-1.10,-146.6,96.2,-7.1,59,1263,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2906,3501
$GC,1580,-1.10,-146.6,120.5,-7.2,75,1584,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1486,3501
$GC,1623,-1.10,-146.6,123.6,-7.0,77,1627,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2907,3501
$GC,1950,-1.10,-146.6,146.1,-7.4,93,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3501
$GC,2259,-1.10,-146.6,167.1,-6.4,108,2263,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1484,3501
$GC,2312,-1.10,-146.6,170.6,-6.7,110,2320,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2889,3502
$GC,2628,-1.10,-146.6,189.9,-6.0,126,2633,0.00,2.55,0.00,0.000,4,0.000,0.066,2165,1491,3501
$GC,2660,-1.10,-146.6,192.0,-6.1,127,2667,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2898,3501
$GC,2976,-1.10,-146.6,212.2,-6.3,143,2980,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1483,3501
$GC,3009,-1.10,-146.6,214.4,-6.7,144,3015,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3501
$GC,3323,-1.10,-146.6,234.6,-6.5,160,3328,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1486,3501
$GC,3362,-1.10,-146.6,237.1,-7.0,162,3367,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3502
$GC,3687,-1.10,-146.6,258.3,-6.5,178,3692,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1488,3501
$GC,3714,-1.10,-146.6,260.2,-7.1,179,3718,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3501
$GC,4035,-1.10,-146.6,281.5,-6.8,195,4039,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1486,3501
$GC,4078,-1.10,-146.6,284.4,-6.8,197,4082,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,4404,-1.10,-146.6,305.7,-6.6,213,4409,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1489,3501
$GC,4436,-1.10,-146.6,308.0,-6.8,214,4443,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2894,3501
$GC,4752,-1.10,-146.6,327.5,-6.0,230,4756,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1485,3501
$GC,4784,-1.10,-146.6,329.3,-5.6,231,4790,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,5099,-1.10,-146.6,347.0,-6.0,247,5103,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1488,3501
$GC,5143,-1.10,-146.6,349.8,-6.7,249,5148,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2908,3501
$GC,5469,-1.10,-146.6,369.1,-5.8,265,5473,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1490,3501
$GC,5495,-1.10,-146.6,370.9,-6.1,266,5499,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2898,3501
$GC,5816,-1.10,-146.6,393.2,-7.1,282,5821,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1490,3501
$GC,5882,-1.10,-146.6,398.1,-7.2,285,5886,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2903,3502
$GC,6209,-1.10,-146.6,423.1,-8.0,301,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3501
$GC,6519,-1.10,-146.6,446.0,-7.0,316,6523,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1481,3501
$GC,6595,-1.10,-146.6,451.9,-8.4,319,6602,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2916,3501
$GC,6913,-1.10,-146.6,476.1,-8.4,335,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2916,3501
$GC,7220,-1.10,-146.6,502.9,-8.7,350,7224,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1486,3501
$GC,7313,-1.10,-146.6,511.5,-9.1,354,7318,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2898,3501
$GC,7634,-1.10,-146.6,539.1,-8.1,370,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3501
$GC,7944,-1.10,-146.6,558.8,-6.0,385,7949,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1483,3501
$GC,8016,-1.10,-146.6,563.4,-6.4,388,8020,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2908,3501
$GC,8337,-1.10,-146.6,581.4,-5.4,404,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,8647,-1.10,-146.6,598.6,-5.5,419,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,8956,-1.10,-146.6,617.1,-5.9,434,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,9265,-1.10,-146.6,636.7,-6.2,449,9269,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1490,3501
$GC,9296,-1.10,-146.6,638.8,-6.5,450,9304,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2899,3501
$STATE,9548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9548,begin apogee
$GC,9554,-0.42,0.0,653.8,5.9,463,9682,0.77,0.00,124.62,1.225,6,0.094,0.000,2319,2101,2901
$STATE,9683,end apogee,CONTROL_FINISHED_OK
$STATE,9683,begin climb
$GC,9685,1.10,146.6,657.3,0.0,469,9816,1.52,2.70,121.12,1.193,4,0.055,0.067,2647,689,2303
$GC,9963,1.14,178.1,647.8,5.1,482,9997,0.00,2.55,27.08,1.170,6,0.000,0.044,2647,2112,2175
$GC,10313,1.14,178.1,626.7,6.4,499,10317,0.00,2.65,0.00,0.000,4,0.000,0.078,2647,3505,2174
$GC,10373,1.14,178.1,622.8,6.4,502,10378,0.00,2.55,0.00,0.000,6,0.000,0.048,2648,2086,2174
$GC,10700,1.20,225.6,606.6,4.7,518,10746,0.10,2.78,39.95,1.208,4,0.054,0.074,2680,3511,1981
$GC,10807,1.21,230.5,600.2,5.9,523,10818,0.00,2.58,5.90,0.946,6,0.000,0.048,2680,2091,1961
$GC,11127,1.21,230.5,581.2,6.3,538,11132,0.00,2.70,0.00,0.000,4,0.000,0.074,2680,3512,1959
$GC,11159,1.21,230.5,578.9,6.9,539,11165,0.00,2.58,0.00,0.000,6,0.000,0.049,2680,2099,1959
$GC,11474,1.21,230.5,555.8,6.7,555,11478,0.00,2.67,0.00,0.000,4,0.000,0.076,2680,3507,1958
$GC,11505,1.21,230.5,553.2,7.6,556,11512,0.00,2.55,0.00,0.000,6,0.000,0.049,2680,2105,1958
$GC,11821,1.21,230.5,529.9,7.9,572,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2105,1957
$GC,12130,1.21,230.5,504.7,7.9,587,12135,0.00,2.65,0.00,0.000,4,0.000,0.073,2680,3515,1957
$GC,12179,1.21,230.5,500.5,9.2,589,12184,0.00,2.55,0.00,0.000,6,0.000,0.047,2680,2101,1957
$GC,12501,1.21,230.5,475.5,8.4,605,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1957
$GC,12810,1.21,230.5,450.6,7.8,620,12814,0.00,2.55,0.00,0.000,4,0.000,0.061,2680,690,1957
$GC,12841,1.21,230.5,448.1,7.9,621,12848,0.00,2.50,0.00,0.000,6,0.000,0.042,2680,2093,1957
$GC,13157,1.21,230.5,424.2,7.4,637,13161,0.00,2.65,0.00,0.000,4,0.000,0.073,2680,3513,1958
$GC,13222,1.21,230.5,418.8,8.0,640,13226,0.00,2.53,0.00,0.000,6,0.000,0.046,2680,2102,1958
$GC,13549,1.21,230.5,392.8,8.1,656,13550,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2102,1958
$GC,13859,1.21,230.5,366.7,8.6,671,13863,0.00,2.65,0.00,0.000,4,0.000,0.071,2680,3516,1959
$GC,13884,1.21,230.5,364.3,8.5,672,13889,0.00,2.53,0.00,0.000,6,0.000,0.044,2680,2103,1959
$GC,14206,1.21,230.5,336.4,8.8,688,14207,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,1959
$GC,14515,1.21,230.5,309.8,8.2,703,14519,0.00,2.55,0.00,0.000,4,0.000,0.062,2680,687,1960
$GC,14564,1.21,230.5,306.1,7.3,705,14568,0.00,2.47,0.00,0.000,6,0.000,0.042,2680,2101,1960
$GC,14891,1.21,230.5,279.8,8.0,721,14895,0.00,2.62,0.00,0.000,4,0.000,0.073,2680,3512,1960
$GC,14939,1.21,230.5,275.5,8.6,723,14943,0.00,2.50,0.00,0.000,6,0.000,0.046,2680,2101,1961
$GC,15260,1.21,230.5,250.5,7.8,739,15261,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1961
$GC,15569,1.21,230.5,227.1,7.5,754,15574,0.00,2.65,0.00,0.000,4,0.000,0.071,2680,3519,1961
$GC,15602,1.21,230.5,224.5,7.6,755,15609,0.00,2.55,0.00,0.000,6,0.000,0.048,2680,2102,1961
$GC,15917,1.21,230.5,199.8,7.9,771,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,1962
$GC,16229,1.21,230.5,175.2,7.7,786,16233,0.00,2.65,0.00,0.000,4,0.000,0.071,2680,3516,1962
$GC,16267,1.21,230.5,172.0,8.0,788,16272,0.00,2.53,0.00,0.000,6,0.000,0.048,2680,2093,1962
$GC,16593,1.21,230.5,147.1,7.8,804,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2093,1962
$GC,16903,1.21,230.5,123.6,7.7,819,16907,0.00,2.65,0.00,0.000,4,0.000,0.071,2680,3512,1963
$GC,16934,1.21,230.5,120.9,7.7,820,16941,0.00,2.53,0.00,0.000,6,0.000,0.048,2680,2103,1963
$GC,17252,1.21,230.5,95.9,7.9,836,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,1963
$GC,17560,1.21,230.5,72.9,7.3,851,17561,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2104,1963
$GC,17869,1.21,230.5,50.5,7.8,866,17870,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,1963
$GC,18178,1.21,230.5,26.9,7.6,881,18182,0.00,2.65,0.00,0.000,4,0.000,0.072,2680,3516,1963
$GC,18209,1.21,230.5,24.1,8.2,882,18217,0.00,2.58,0.00,0.000,6,0.000,0.056,2680,2103,1963
$STATE,18503,end climb,SURFACE_DEPTH_REACHED
$STATE,18503,begin surface coast
$FINISH,-0.3,1.027338
$STATE,18526,end surface coast,CONTROL_FINISHED_OK
$STATE,18527,begin surface
$SM_CCo,18548,56.30,0.764,1,0,1677,300.00
$SM_GC,-0.28,0.00,0.00,56.30,0.000,0.000,0.764,42,2895,1677,-10.89,-0.17,300.00
$IRIDIUM_FIX,6202.67,-1044.88,071207,222237
$TT8_MAMPS,0.029146
$HUMID,2065
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.9,62.3
$24V_AH,23.4,27.401
$10V_AH,10.1,12.676
$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,25.925,180.125,318.675,56.300,0.000,70.779,91.553,277.818,5.750,0.000,0.000,15.784,1642.673,14454.358,545.504,1936.938,653.186,33.379,1529.954,0.000,1906.207,0.000,37.613
$DEVICE_MAMPS,158.769,83.603,1224.899,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.323,625.360,566.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44312,898
$CFSIZE,260165632,250404864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,071207,232526,6227.049,-1032.512,33,1.0,52,-10.4