version: 66.02
glider: 103
mission: 7
dive: 99
start: 11 28 107 3 57 21
data:
$ID,103
$MISSION,7
$DIVE,99
$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,120
$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,-64024.109
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,035137,6152.732,-910.426,37,0.9,43,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-60.3
$GPS2,035615,6152.702,-910.339,12,1.9,12,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.140,0.167
$KALMAN_X,-74028.8,1100.3,823.9,40396.3,-615.6
$KALMAN_Y,93196.3,-1023.2,-593.1,-56920.6,1590.9
$MHEAD_RNG_PITCHd_Wd,329.4,60985,-11.1,-6.000
$D_GRID,591
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,82,0.00,0.00,-61.72,0.000,2,0.000,0.000,36,2887,3433
$GC,84,-1.10,-146.6,4.0,-9.9,3,106,12.00,1.77,-1.15,0.000,4,0.158,0.116,2163,3783,3501
$GC,358,-1.10,-146.6,34.2,-7.4,15,362,0.00,1.52,0.00,0.000,6,0.000,0.036,2163,2905,3501
$GC,685,-1.10,-146.6,56.2,-6.9,31,688,0.00,1.70,0.00,0.000,4,0.000,0.084,2163,3791,3501
$GC,897,-1.10,-146.6,73.7,-7.8,40,901,0.00,1.55,0.00,0.000,6,0.000,0.035,2163,2896,3501
$GC,1218,-1.10,-146.6,97.8,-7.5,56,1222,0.00,2.60,0.00,0.000,4,0.000,0.073,2164,1492,3502
$GC,1279,-1.10,-146.6,102.0,-6.9,59,1283,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3502
$GC,1606,-1.10,-146.6,122.9,-6.4,75,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,1914,-1.10,-146.6,142.3,-5.9,90,1919,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1492,3502
$GC,1963,-1.10,-146.6,145.4,-6.1,92,1968,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2893,3502
$GC,2284,-1.10,-146.6,166.8,-6.8,108,2288,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1490,3502
$GC,2310,-1.10,-146.6,168.6,-6.5,109,2314,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2901,3502
$GC,2631,-1.10,-146.6,191.0,-7.2,125,2636,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1492,3502
$GC,2674,-1.10,-146.6,194.4,-7.3,127,2679,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2896,3502
$GC,3001,-1.10,-146.6,216.8,-6.9,143,3005,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1487,3502
$GC,3044,-1.10,-146.6,219.9,-7.4,145,3049,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2893,3502
$GC,3372,-1.10,-146.6,242.3,-6.9,161,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3502
$GC,3681,-1.10,-146.6,264.2,-6.9,176,3685,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1487,3502
$GC,3719,-1.10,-146.6,266.9,-6.9,178,3723,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2909,3502
$GC,4044,-1.10,-146.6,290.6,-7.5,194,4048,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1493,3502
$GC,4082,-1.10,-146.6,293.5,-7.5,196,4087,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2899,3502
$GC,4408,-1.10,-146.6,317.5,-7.3,212,4412,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1490,3502
$GC,4446,-1.10,-146.6,320.3,-7.8,214,4451,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2904,3502
$GC,4771,-1.10,-146.6,342.4,-6.6,230,4775,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1491,3502
$GC,4820,-1.10,-146.6,345.8,-7.1,232,4825,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2899,3502
$GC,5141,-1.10,-146.6,365.8,-6.4,248,5145,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1486,3502
$GC,5172,-1.10,-146.6,368.1,-7.4,249,5179,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2893,3502
$GC,5488,-1.10,-146.6,389.5,-7.1,265,5492,0.00,2.55,0.00,0.000,4,0.000,0.066,2164,1492,3502
$GC,5531,-1.10,-146.6,392.8,-7.4,267,5535,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2916,3502
$GC,5857,-1.10,-146.6,416.8,-7.9,283,5862,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1490,3502
$GC,5919,-1.10,-146.6,421.9,-8.4,286,5923,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2899,3502
$GC,6244,-1.10,-146.6,449.3,-8.5,302,6248,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1490,3502
$GC,6298,-1.10,-146.6,454.2,-8.9,304,6304,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2892,3502
$GC,6613,-1.10,-146.6,479.3,-7.4,320,6618,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1482,3502
$GC,6662,-1.10,-146.6,482.7,-6.4,322,6667,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2899,3502
$GC,6983,-1.10,-146.6,504.2,-7.4,338,6987,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1487,3502
$GC,7032,-1.10,-146.6,507.9,-7.8,340,7037,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2901,3502
$GC,7353,-1.10,-146.6,532.5,-7.5,356,7358,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1483,3502
$GC,7402,-1.10,-146.6,536.1,-7.5,358,7407,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,7723,-1.10,-146.6,557.3,-6.4,374,7728,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1482,3502
$GC,7807,-1.10,-146.6,563.0,-7.6,378,7811,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,8132,-1.10,-146.6,584.8,-8.3,394,8136,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1483,3502
$GC,8175,-1.10,-146.6,588.5,-8.1,396,8179,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2893,3502
$STATE,8211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8211,begin apogee
$GC,8217,-0.42,0.0,591.2,7.4,398,8345,0.75,0.00,124.35,1.106,6,0.081,0.000,2318,1779,2901
$STATE,8346,end apogee,CONTROL_FINISHED_OK
$STATE,8346,begin climb
$GC,8347,1.10,146.6,596.0,0.0,404,8478,1.55,2.70,122.05,1.083,4,0.054,0.066,2650,377,2302
$GC,8579,1.15,182.7,587.5,5.0,415,8616,0.00,2.47,31.35,1.035,6,0.000,0.039,2650,1791,2156
$GC,8925,1.18,209.2,570.6,5.3,431,8954,0.00,2.65,23.15,1.034,4,0.000,0.066,2650,3168,2048
$GC,9102,1.22,239.1,560.9,5.2,439,9136,0.12,2.50,26.25,1.045,6,0.042,0.047,2693,1770,1926
$GC,9451,1.22,239.1,538.4,6.3,456,9456,0.00,2.60,0.00,0.000,4,0.000,0.062,2693,3172,1925
$GC,9523,1.22,239.1,533.7,6.5,459,9527,0.00,2.50,0.00,0.000,6,0.000,0.044,2693,1778,1925
$GC,9844,1.22,239.1,512.0,7.6,475,9848,0.00,2.58,0.00,0.000,4,0.000,0.062,2693,3179,1924
$GC,9943,1.22,239.1,503.6,9.1,479,9950,0.00,2.53,0.00,0.000,6,0.000,0.045,2693,1757,1924
$GC,10258,1.22,239.1,470.8,10.9,495,10262,0.00,2.60,0.00,0.000,4,0.000,0.063,2693,3175,1924
$GC,10358,1.22,239.1,459.0,12.2,499,10365,0.00,2.53,0.00,0.000,6,0.000,0.048,2692,1776,1924
$GC,10673,1.22,239.1,422.0,11.6,515,10678,0.00,2.58,0.00,0.000,4,0.000,0.066,2693,3172,1924
$GC,10795,1.22,239.1,408.0,11.2,520,10802,0.00,2.53,0.00,0.000,6,0.000,0.050,2693,1776,1923
$GC,11111,1.22,239.1,375.3,10.2,536,11116,0.00,2.60,0.00,0.000,4,0.000,0.069,2693,3179,1923
$GC,11199,1.22,239.1,366.8,8.7,540,11203,0.00,2.53,0.00,0.000,6,0.000,0.051,2693,1778,1924
$GC,11526,1.22,239.1,342.4,6.5,556,11530,0.00,2.60,0.00,0.000,4,0.000,0.070,2693,3172,1924
$GC,11619,1.22,239.1,336.0,6.9,560,11624,0.00,2.53,0.00,0.000,6,0.000,0.053,2693,1778,1924
$GC,11941,1.22,239.1,314.9,6.4,576,11945,0.00,2.60,0.00,0.000,4,0.000,0.072,2693,3171,1924
$GC,12062,1.22,240.2,307.2,6.0,581,12069,0.00,2.50,0.00,0.000,6,0.000,0.054,2693,1776,1924
$GC,12377,1.22,240.2,287.5,6.5,597,12382,0.00,2.60,0.00,0.000,4,0.000,0.072,2693,3172,1924
$GC,12494,1.22,240.2,279.4,7.5,602,12498,0.00,2.53,0.00,0.000,6,0.000,0.058,2693,1774,1924
$GC,12815,1.22,240.2,254.9,8.2,618,12819,0.00,2.62,0.00,0.000,4,0.000,0.073,2693,3172,1924
$GC,12908,1.22,240.2,246.9,8.1,622,12912,0.00,2.55,0.00,0.000,6,0.000,0.058,2693,1777,1924
$GC,13229,1.22,240.2,222.4,7.3,638,13233,0.00,2.60,0.00,0.000,4,0.000,0.074,2693,3172,1924
$GC,13334,1.22,240.2,215.3,6.8,643,13339,0.00,2.53,0.00,0.000,6,0.000,0.058,2693,1774,1924
$GC,13660,1.22,240.2,192.2,7.8,659,13665,0.00,2.62,0.00,0.000,4,0.000,0.076,2693,3179,1924
$GC,13737,1.22,240.2,185.4,8.7,662,13744,0.00,2.55,0.00,0.000,6,0.000,0.058,2693,1780,1924
$GC,14053,1.22,240.2,155.7,9.8,678,14057,0.00,2.60,0.00,0.000,4,0.000,0.074,2693,3172,1925
$GC,14163,1.22,240.2,144.8,9.6,683,14167,0.00,2.55,0.00,0.000,6,0.000,0.058,2693,1779,1925
$GC,14490,1.22,240.2,113.6,9.7,699,14495,0.00,2.62,0.00,0.000,4,0.000,0.074,2693,3172,1925
$GC,14574,1.22,240.2,105.5,9.6,703,14579,0.00,2.55,0.00,0.000,6,0.000,0.059,2693,1768,1925
$GC,14900,1.22,240.2,74.3,9.4,719,14905,0.00,2.65,0.00,0.000,4,0.000,0.075,2693,3176,1925
$GC,14994,1.22,240.2,65.5,8.7,723,14999,0.00,2.53,0.00,0.000,6,0.000,0.058,2693,1777,1925
$GC,15316,1.22,240.2,37.3,8.4,739,15320,0.00,2.62,0.00,0.000,4,0.000,0.074,2693,3174,1925
$GC,15364,1.22,240.2,33.4,7.8,741,15368,0.00,2.55,0.00,0.000,6,0.000,0.062,2693,1776,1925
$GC,15685,1.22,241.5,8.1,6.0,757,15695,0.00,2.65,3.72,0.541,4,0.000,0.074,2693,3169,1916
$STATE,15743,end climb,SURFACE_DEPTH_REACHED
$STATE,15743,begin surface coast
$FINISH,0.1,1.027242
$STATE,15766,end surface coast,CONTROL_FINISHED_OK
$STATE,15767,begin surface
$SM_CCo,15786,45.78,0.729,0,0,1678,300.00
$SM_GC,0.30,0.00,0.00,45.78,0.000,0.000,0.729,48,2885,1678,-10.87,-0.42,300.00
$IRIDIUM_FIX,6121.73,-749.80,281107,030335
$TT8_MAMPS,0.028379
$HUMID,2053
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,19.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.8,111.1
$24V_AH,23.5,21.072
$10V_AH,10.1,8.885
$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,26.300,193.100,330.875,45.775,0.000,37.420,30.027,121.697,4.500,0.000,0.000,12.251,1495.054,11736.184,528.537,2009.820,357.989,33.362,1548.465,0.000,1977.736,0.000,28.334
$DEVICE_MAMPS,158.002,115.817,1106.014,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,536.692,544.370,497.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37970,760
$CFSIZE,260165632,253255680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,281107,082237,6152.272,-911.717,39,1.4,50,-9.5