version: 66.02
glider: 103
mission: 7
dive: 255
start: 12 31 107 7 17 51
data:
$ID,103
$MISSION,7
$DIVE,255
$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,-67153.484
$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,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
$GPS1,065952,6359.754,-1240.570,39,2.4,58,-12.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-48.6
$GPS2,071645,6359.740,-1239.961,12,1.6,12,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.161,0.148
$KALMAN_X,-216211.7,652.2,1025.4,-2017.4,3012.1
$KALMAN_Y,-219839.0,724.6,202.9,488823.4,-2756.1
$MHEAD_RNG_PITCHd_Wd,324.9,16276,-11.1,-6.000
$D_GRID,558
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,127,0.00,0.00,-102.00,0.000,2,0.000,0.000,47,2896,3352
$GC,130,-1.10,-146.6,3.3,-4.4,5,152,11.95,2.58,-2.65,0.000,4,0.159,0.074,2165,1490,3500
$GC,258,-1.10,-146.6,20.8,-10.3,10,265,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2903,3500
$GC,576,-1.10,-146.6,44.1,-8.8,26,580,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1487,3500
$GC,602,-1.10,-146.6,46.1,-6.9,27,607,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2901,3500
$GC,918,-1.10,-146.6,68.4,-8.2,42,922,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1490,3500
$GC,973,-1.10,-146.6,73.7,-7.1,44,979,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2901,3500
$GC,1288,-1.10,-146.6,95.5,-6.3,60,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3500
$GC,1599,-1.10,-146.6,116.1,-6.6,75,1603,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1482,3500
$GC,1642,-1.10,-146.6,119.5,-8.1,77,1647,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2903,3500
$GC,1963,-1.10,-146.6,141.2,-6.7,93,1967,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1489,3500
$GC,1995,-1.10,-146.6,143.4,-6.9,94,2002,0.00,2.67,0.00,0.000,6,0.000,0.080,2165,2902,3500
$GC,2311,-1.10,-146.6,164.7,-7.1,110,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3500
$GC,2620,-1.10,-146.6,187.1,-6.8,125,2624,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1488,3500
$GC,2663,-1.10,-146.6,190.1,-6.2,127,2667,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2902,3500
$GC,2984,-1.10,-146.6,209.0,-6.8,143,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3500
$GC,3294,-1.10,-146.6,226.7,-5.6,158,3298,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1487,3500
$GC,3349,-1.10,-146.6,230.1,-6.2,160,3355,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2906,3500
$GC,3667,-1.10,-146.6,250.2,-6.4,176,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3500
$GC,3974,-1.10,-146.6,271.0,-6.9,191,3978,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1489,3500
$GC,4012,-1.10,-146.6,273.8,-7.2,193,4017,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2901,3500
$GC,4338,-1.10,-146.6,297.1,-7.3,209,4343,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1487,3500
$GC,4371,-1.10,-146.6,299.7,-7.7,210,4378,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2896,3500
$GC,4687,-1.10,-146.6,322.7,-7.4,226,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3500
$GC,4996,-1.10,-146.6,346.3,-7.5,241,5001,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1487,3500
$GC,5046,-1.10,-146.6,350.3,-7.8,243,5051,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2900,3500
$GC,5361,-1.10,-146.6,373.4,-7.4,258,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3500
$GC,5671,-1.10,-146.6,396.7,-7.7,273,5675,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1487,3500
$GC,5710,-1.10,-146.6,399.8,-8.0,275,5714,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2906,3500
$GC,6042,-1.10,-146.6,425.9,-7.6,291,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3500
$GC,6351,-1.10,-146.6,447.3,-7.2,306,6355,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1484,3500
$GC,6473,-1.10,-146.6,456.1,-7.6,311,6479,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2904,3500
$GC,6788,-1.10,-146.6,479.8,-7.7,327,6792,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1483,3500
$GC,6865,-1.10,-146.6,485.5,-6.6,330,6872,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2902,3500
$GC,7181,-1.10,-146.6,506.6,-6.2,346,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3500
$GC,7491,-1.10,-146.6,526.1,-6.1,361,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3500
$GC,7800,-1.10,-146.6,544.0,-4.8,376,7804,0.00,1.67,0.00,0.000,4,0.000,0.094,2165,3786,3500
$GC,7872,-1.10,-146.6,548.1,-6.0,379,7876,0.00,1.55,0.00,0.000,6,0.000,0.040,2165,2894,3500
$STATE,8031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8032,begin apogee
$GC,8039,-0.42,0.0,558.1,6.5,387,8166,0.75,0.00,124.07,1.180,6,0.087,0.000,2317,2093,2901
$STATE,8167,end apogee,CONTROL_FINISHED_OK
$STATE,8167,begin climb
$GC,8169,1.10,146.6,562.2,0.0,393,8299,1.55,2.58,120.55,1.143,4,0.057,0.051,2650,693,2302
$GC,8417,1.10,146.6,554.1,6.3,404,8423,0.00,2.47,0.00,0.000,6,0.000,0.033,2650,2122,2301
$GC,8732,1.10,146.6,536.1,6.1,420,8737,0.00,2.53,0.00,0.000,4,0.000,0.063,2650,3499,2301
$GC,8929,1.11,152.4,525.5,5.8,429,8942,0.00,2.45,6.35,0.924,6,0.000,0.035,2650,2088,2279
$GC,9258,1.14,179.2,507.9,5.3,445,9288,0.00,2.70,23.42,1.112,4,0.000,0.067,2650,3491,2170
$GC,9345,1.14,179.2,503.0,6.4,449,9349,0.00,2.42,0.00,0.000,6,0.000,0.038,2650,2101,2170
$GC,9677,1.14,179.2,482.8,6.0,465,9681,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3505,2169
$GC,9765,1.14,179.2,477.3,6.6,469,9770,0.00,2.45,0.00,0.000,6,0.000,0.039,2650,2102,2169
$GC,10093,1.16,189.2,457.9,5.7,485,10107,0.00,2.58,9.77,1.019,4,0.000,0.056,2650,698,2129
$GC,10146,1.16,189.2,454.4,6.1,486,10152,0.00,2.45,0.00,0.000,6,0.000,0.038,2650,2096,2129
$GC,10461,1.16,189.2,436.3,6.3,502,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2095,2129
$GC,10771,1.16,189.2,417.4,6.1,517,10775,0.00,2.62,0.00,0.000,4,0.000,0.073,2650,3507,2128
$GC,10939,1.16,189.2,406.2,6.7,524,10945,0.00,2.47,0.00,0.000,6,0.000,0.041,2650,2102,2129
$GC,11254,1.16,189.2,386.4,6.5,540,11258,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3514,2128
$GC,11303,1.16,189.2,382.8,7.2,542,11307,0.00,2.50,0.00,0.000,6,0.000,0.042,2650,2110,2128
$GC,11624,1.16,189.2,359.5,7.2,558,11625,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2110,2128
$GC,11933,1.16,189.2,337.4,7.4,573,11938,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3510,2128
$GC,11983,1.16,189.2,333.8,6.8,575,11987,0.00,2.47,0.00,0.000,6,0.000,0.043,2650,2096,2128
$GC,12304,1.16,189.2,310.9,7.3,591,12309,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3512,2128
$GC,12337,1.16,189.2,308.6,6.7,592,12343,0.00,2.47,0.00,0.000,6,0.000,0.043,2650,2101,2129
$GC,12653,1.16,189.2,288.7,6.6,608,12657,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3504,2129
$GC,12691,1.16,189.2,285.9,7.1,610,12696,0.00,2.47,0.00,0.000,6,0.000,0.045,2650,2103,2129
$GC,13018,1.16,189.2,265.4,6.3,626,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2103,2129
$GC,13327,1.16,189.2,245.9,6.9,641,13331,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3508,2129
$GC,13399,1.17,204.9,240.9,5.6,644,13418,0.00,2.50,14.38,0.923,6,0.000,0.046,2650,2100,2066
$GC,13741,1.21,231.5,221.6,5.3,661,13770,0.10,2.75,22.67,0.931,4,0.051,0.077,2684,3505,1957
$GC,13798,1.21,231.5,217.7,7.1,663,13805,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,2100,1957
$GC,14113,1.21,231.5,193.4,8.4,679,14117,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,687,1957
$GC,14157,1.21,231.5,189.3,9.3,681,14161,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2097,1957
$GC,14477,1.22,241.6,167.4,5.7,697,14492,0.00,2.72,9.62,0.843,4,0.000,0.078,2684,3515,1916
$GC,14537,1.22,241.6,163.1,7.6,699,14542,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2101,1916
$GC,14864,1.22,241.6,136.3,9.1,715,14869,0.00,2.58,0.00,0.000,4,0.000,0.062,2684,685,1916
$GC,14904,1.22,241.6,132.5,8.9,717,14908,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2101,1916
$GC,15231,1.22,241.6,102.9,9.1,733,15235,0.00,2.65,0.00,0.000,4,0.000,0.076,2684,3512,1916
$GC,15279,1.22,241.6,98.4,8.6,735,15283,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,2095,1916
$GC,15601,1.22,241.6,74.6,8.1,751,15602,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1916
$GC,15910,1.22,241.6,46.9,8.9,766,15915,0.00,2.67,0.00,0.000,4,0.000,0.075,2684,3511,1916
$GC,15949,1.22,241.6,42.9,9.7,768,15954,0.00,2.50,0.00,0.000,6,0.000,0.050,2684,2100,1916
$GC,16276,1.26,274.8,16.4,5.1,784,16311,0.00,2.65,27.55,0.807,4,0.000,0.058,2683,694,1780
$GC,16341,1.26,274.8,11.2,8.7,787,16346,0.00,2.53,0.00,0.000,6,0.000,0.049,2684,2099,1780
$STATE,16459,end climb,SURFACE_DEPTH_REACHED
$STATE,16459,begin surface coast
$FINISH,-0.9,1.027617
$STATE,16481,end surface coast,CONTROL_FINISHED_OK
$STATE,16481,begin surface
$SM_CCo,16503,232.40,0.766,1,0,572,571.30
$SM_GC,-0.47,0.00,0.00,232.40,0.000,0.000,0.766,37,2902,572,-10.91,0.06,571.30
$IRIDIUM_FIX,6332.30,-1235.45,311207,111122
$TT8_MAMPS,0.029146
$HUMID,1990
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.1,78.6
$24V_AH,23.4,45.217
$10V_AH,10.1,22.041
$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,25.950,166.650,358.400,232.400,0.000,158.068,213.402,338.201,4.500,0.000,0.000,12.045,1480.318,12713.850,764.239,1841.800,968.230,33.373,1718.105,0.000,1814.554,0.000,28.255
$DEVICE_MAMPS,158.769,94.341,1179.646,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.288,555.982,525.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41077,794
$CFSIZE,260165632,243605504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,311207,115807,6400.013,-1238.249,39,1.2,39,-12.2