version: 66.02
glider: 103
mission: 7
dive: 254
start: 12 31 107 2 3 40
data:
$ID,103
$MISSION,7
$DIVE,254
$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,-1
$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,571.30371
$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,-67140.805
$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,19
$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
$GPS1,015140,6359.022,-1245.198,38,1.9,46,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-50.7
$GPS2,020237,6359.130,-1244.618,16,1.3,32,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,0.093
$KALMAN_X,-225146.9,2049.4,466.2,1980.5,4152.5
$KALMAN_Y,-219061.7,360.9,429.4,487069.8,-1836.6
$MHEAD_RNG_PITCHd_Wd,307.4,12592,-11.1,-6.000
$D_GRID,583
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,129,0.00,0.00,-102.28,0.000,2,0.000,0.000,44,2896,3334
$GC,132,-1.10,-146.6,3.2,-4.3,5,154,11.93,2.55,-3.00,0.000,4,0.156,0.065,2163,1487,3503
$GC,254,-1.10,-146.6,23.4,-9.0,10,259,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2903,3503
$GC,571,-1.10,-146.6,44.0,-4.5,25,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2903,3503
$GC,880,-1.10,-146.6,63.9,-8.4,40,884,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,1483,3503
$GC,911,-1.10,-146.6,65.9,-6.0,41,918,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2908,3503
$GC,1229,-1.10,-146.6,94.9,-8.3,57,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,1537,-1.10,-146.6,114.6,-5.4,72,1542,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1489,3503
$GC,1554,-1.10,-146.6,116.1,-7.5,73,1558,0.00,2.70,0.00,0.000,6,0.000,0.079,2163,2909,3502
$GC,1880,-1.10,-146.6,140.8,-7.0,89,1884,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1486,3503
$GC,1907,-1.10,-146.6,142.5,-5.5,90,1911,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2900,3503
$GC,2222,-1.10,-146.6,163.3,-7.8,105,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,2531,-1.10,-146.6,185.7,-6.6,120,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,2840,-1.10,-146.6,205.4,-7.7,135,2844,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1482,3503
$GC,2872,-1.10,-146.6,206.8,-4.0,136,2879,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2901,3503
$GC,3188,-1.10,-146.6,223.5,-5.6,152,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,3497,-1.10,-146.6,246.2,-9.7,167,3501,0.00,2.62,0.00,0.000,4,0.000,0.070,2163,1490,3503
$GC,3558,-1.10,-146.6,250.5,-8.3,170,3562,0.00,2.65,0.00,0.000,6,0.000,0.074,2162,2900,3503
$GC,3884,-1.10,-146.6,273.9,-7.2,186,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,4194,-1.10,-146.6,292.2,-5.0,201,4197,0.00,1.73,0.00,0.000,4,0.000,0.103,2163,3787,3503
$GC,4249,-1.10,-146.6,295.4,-6.1,203,4253,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2904,3503
$GC,4570,-1.10,-146.6,316.8,-6.5,219,4574,0.00,2.58,0.00,0.000,4,0.000,0.066,2163,1489,3503
$GC,4631,-1.10,-146.6,321.4,-8.2,222,4635,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2903,3503
$GC,4957,-1.10,-146.6,341.8,-4.5,238,4961,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1483,3503
$GC,4984,-1.10,-146.6,343.5,-6.3,239,4988,0.00,2.67,0.00,0.000,6,0.000,0.076,2162,2901,3503
$GC,5299,-1.10,-146.6,362.4,-6.5,254,5303,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1487,3503
$GC,5347,-1.10,-146.6,365.7,-6.6,256,5352,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2900,3503
$GC,5669,-1.10,-146.6,384.5,-6.1,272,5673,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1482,3503
$GC,5712,-1.10,-146.6,387.6,-7.2,274,5716,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2908,3503
$GC,6039,-1.10,-146.6,411.7,-7.2,290,6043,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1486,3503
$GC,6065,-1.10,-146.6,413.6,-7.0,291,6070,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2908,3503
$GC,6381,-1.10,-146.6,432.5,-6.1,306,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,6692,-1.10,-146.6,450.8,-6.1,321,6697,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1484,3503
$GC,6732,-1.10,-146.6,453.5,-7.0,323,6736,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2900,3503
$GC,7058,-1.10,-146.6,475.2,-6.6,339,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,7367,-1.10,-146.6,493.4,-5.7,354,7371,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1476,3503
$GC,7422,-1.10,-146.6,496.9,-6.4,356,7428,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2909,3503
$GC,7737,-1.10,-146.6,516.6,-6.3,372,7741,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1482,3503
$GC,7802,-1.10,-146.6,520.9,-6.9,375,7807,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,8130,-1.10,-146.6,542.0,-6.5,391,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,8439,-1.10,-146.6,562.5,-6.6,406,8443,0.00,2.53,0.00,0.000,4,0.000,0.052,2163,1477,3503
$GC,8488,-1.10,-146.6,565.9,-7.2,408,8492,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2899,3503
$STATE,8765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8765,begin apogee
$GC,8773,-0.42,0.0,583.5,6.3,422,8901,0.75,0.00,124.85,1.190,6,0.082,0.000,2316,2094,2901
$STATE,8901,end apogee,CONTROL_FINISHED_OK
$STATE,8902,begin climb
$GC,8904,1.10,146.6,588.3,0.0,428,9032,1.55,2.58,120.22,1.180,4,0.054,0.051,2651,695,2303
$GC,9196,1.11,154.0,578.0,5.8,441,9211,0.00,2.47,7.70,1.017,6,0.000,0.034,2651,2126,2273
$GC,9533,1.11,154.0,559.1,6.0,458,9537,0.00,2.53,0.00,0.000,4,0.000,0.063,2651,3495,2272
$GC,9644,1.11,154.0,551.8,6.7,463,9648,0.00,2.45,0.00,0.000,6,0.000,0.035,2651,2085,2272
$GC,9964,1.14,178.1,534.6,5.3,479,9990,0.00,2.67,21.10,1.172,4,0.000,0.063,2651,3495,2173
$GC,10121,1.14,178.1,524.0,7.2,486,10125,0.00,2.45,0.00,0.000,6,0.000,0.037,2651,2100,2173
$GC,10441,1.14,180.1,503.1,5.9,502,10446,0.00,2.53,0.00,0.000,4,0.000,0.055,2651,697,2173
$GC,10558,1.14,180.1,495.9,6.7,507,10563,0.00,2.42,0.00,0.000,6,0.000,0.036,2651,2091,2172
$GC,10874,1.14,180.1,472.6,7.9,522,10878,0.00,2.62,0.00,0.000,4,0.000,0.069,2651,3504,2171
$GC,10951,1.14,180.1,466.5,8.4,525,10957,0.00,2.47,0.00,0.000,6,0.000,0.040,2651,2106,2171
$GC,11267,1.15,181.3,446.5,6.0,541,11276,0.00,2.62,3.90,0.787,4,0.000,0.067,2651,3510,2161
$GC,11349,1.15,185.2,441.5,5.9,544,11359,0.00,2.47,4.88,0.876,6,0.000,0.042,2651,2102,2146
$GC,11687,1.19,215.4,424.8,5.2,561,11721,0.00,2.70,26.27,1.113,4,0.000,0.070,2651,3502,2021
$GC,11779,1.19,215.4,418.4,7.6,565,11783,0.00,2.50,0.00,0.000,6,0.000,0.043,2651,2100,2021
$GC,12099,1.19,215.4,394.6,7.4,581,12103,0.00,2.65,0.00,0.000,4,0.000,0.071,2651,3506,2021
$GC,12131,1.19,215.4,392.2,7.2,582,12138,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2094,2021
$GC,12447,1.19,215.4,374.7,6.0,598,12451,0.00,2.53,0.00,0.000,4,0.000,0.060,2651,695,2021
$GC,12486,1.19,215.4,372.1,6.9,600,12491,0.00,2.45,0.00,0.000,6,0.000,0.040,2651,2097,2021
$GC,12813,1.19,215.4,347.2,8.6,616,12818,0.00,2.62,0.00,0.000,4,0.000,0.072,2651,3508,2021
$GC,12857,1.19,215.4,343.1,9.0,618,12861,0.00,2.47,0.00,0.000,6,0.000,0.044,2651,2102,2021
$GC,13184,1.19,215.4,318.0,7.4,634,13188,0.00,2.62,0.00,0.000,4,0.000,0.072,2651,3507,2021
$GC,13223,1.19,215.4,315.2,7.3,636,13228,0.00,2.50,0.00,0.000,6,0.000,0.045,2651,2092,2021
$GC,13549,1.19,215.4,289.7,8.0,652,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2092,2021
$GC,13859,1.19,215.4,263.1,7.8,667,13863,0.00,2.67,0.00,0.000,4,0.000,0.073,2651,3512,2021
$GC,13953,1.19,215.4,254.4,8.7,671,13957,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2093,2022
$GC,14268,1.19,215.4,226.3,7.8,686,14273,0.00,2.67,0.00,0.000,4,0.000,0.073,2651,3512,2022
$GC,14318,1.19,215.4,222.2,8.6,688,14322,0.00,2.50,0.00,0.000,6,0.000,0.045,2651,2093,2022
$GC,14633,1.19,215.4,199.4,6.7,703,14638,0.00,2.65,0.00,0.000,4,0.000,0.071,2651,3507,2022
$GC,14705,1.19,215.4,194.6,6.3,706,14709,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2096,2022
$GC,15026,1.19,215.4,169.8,7.9,722,15030,0.00,2.65,0.00,0.000,4,0.000,0.071,2651,3510,2022
$GC,15069,1.19,215.4,166.0,9.0,724,15073,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,2096,2023
$GC,15398,1.19,215.4,137.4,9.9,740,15402,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3507,2023
$GC,15464,1.19,215.4,130.6,9.1,743,15468,0.00,2.47,0.00,0.000,6,0.000,0.044,2651,2100,2023
$GC,15784,1.19,215.4,105.8,7.6,759,15789,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3508,2023
$GC,15839,1.19,215.4,101.7,6.7,761,15846,0.00,2.50,0.00,0.000,6,0.000,0.045,2651,2081,2022
$GC,16156,1.19,215.4,79.7,7.0,777,16160,0.00,2.67,0.00,0.000,4,0.000,0.073,2651,3507,2023
$GC,16187,1.19,215.4,76.9,8.3,778,16194,0.00,2.50,0.00,0.000,6,0.000,0.045,2651,2107,2023
$GC,16505,1.19,215.4,57.8,6.3,794,16506,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2107,2023
$GC,16813,1.19,215.4,35.2,6.6,809,16818,0.00,2.62,0.00,0.000,4,0.000,0.072,2651,3508,2023
$GC,16876,1.19,215.4,31.6,6.2,812,16880,0.00,2.50,0.00,0.000,6,0.000,0.048,2651,2100,2023
$GC,17202,1.22,240.7,11.2,5.3,828,17226,0.12,0.00,21.42,0.828,6,0.044,0.000,2687,2098,1919
$STATE,17364,end climb,SURFACE_DEPTH_REACHED
$STATE,17364,begin surface coast
$FINISH,-1.0,1.027356
$STATE,17386,end surface coast,CONTROL_FINISHED_OK
$STATE,17386,begin surface
$SM_CCo,17408,258.98,0.774,2,0,572,571.30
$SM_GC,-0.78,0.00,0.00,258.98,0.000,0.000,0.774,47,2896,572,-10.87,-0.11,571.30
$IRIDIUM_FIX,6332.30,-1246.08,311207,050543
$TT8_MAMPS,0.029146
$HUMID,1991
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.8,97.0
$24V_AH,23.4,45.020
$10V_AH,10.1,21.953
$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,26.025,182.100,330.350,258.975,0.000,77.109,69.204,311.298,4.500,0.000,0.000,32.571,1567.358,13327.587,781.998,1951.019,717.733,33.370,1765.746,0.000,1901.898,0.000,28.297
$DEVICE_MAMPS,156.468,102.778,1189.617,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.883,586.460,557.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41097,837
$CFSIZE,260165632,243666944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
$GPS,311207,065952,6359.754,-1240.570,39,2.4,58,-12.2