version: 66.02
glider: 103
mission: 7
dive: 102
start: 11 28 107 17 10 3
data:
$ID,103
$MISSION,7
$DIVE,102
$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,-64110.137
$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,15
$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
$GPS1,170338,6151.601,-911.953,30,1.5,30,-9.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-57.2
$GPS2,170859,6151.593,-911.939,12,3.1,31,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,0.019
$KALMAN_X,-62510.7,-559.0,-888.2,30876.6,6905.4
$KALMAN_Y,80987.1,354.4,-906.3,-47831.4,-4221.1
$MHEAD_RNG_PITCHd_Wd,284.4,61960,-11.1,-6.000
$D_GRID,614
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.30,0.000,2,0.000,0.000,48,2895,3384
$GC,85,-1.10,-146.6,3.8,-9.7,3,107,11.90,2.65,-2.08,0.000,4,0.158,0.083,2163,1492,3501
$GC,359,-1.10,-146.6,31.6,-7.3,15,364,0.00,2.67,0.00,0.000,6,0.000,0.078,2163,2899,3501
$GC,686,-1.10,-146.6,57.4,-8.4,31,690,0.00,2.62,0.00,0.000,4,0.000,0.070,2163,1483,3501
$GC,711,-1.10,-146.6,59.5,-7.6,32,716,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2898,3501
$GC,1033,-1.10,-146.6,85.0,-8.8,48,1037,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1482,3501
$GC,1064,-1.10,-146.6,88.3,-10.0,49,1072,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2890,3501
$GC,1382,-1.10,-146.6,111.3,-6.5,65,1386,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1485,3501
$GC,1436,-1.10,-146.6,115.0,-6.3,67,1443,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2890,3501
$GC,1751,-1.10,-146.6,138.3,-7.3,83,1756,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1480,3501
$GC,1778,-1.10,-146.6,140.7,-8.8,84,1782,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2893,3501
$GC,2099,-1.10,-146.6,164.3,-7.1,100,2103,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1487,3501
$GC,2141,-1.10,-146.6,167.4,-7.0,102,2146,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2896,3501
$GC,2468,-1.10,-146.6,190.8,-7.5,118,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3501
$GC,2778,-1.10,-146.6,216.1,-8.1,133,2782,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1484,3501
$GC,2831,-1.10,-146.6,220.1,-7.6,135,2839,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2897,3501
$GC,3148,-1.10,-146.6,239.5,-6.1,151,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3501
$GC,3457,-1.10,-146.6,257.3,-5.3,166,3462,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1486,3501
$GC,3506,-1.10,-146.6,260.1,-5.2,168,3511,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2901,3501
$GC,3828,-1.10,-146.6,277.9,-5.8,184,3832,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1479,3501
$GC,3861,-1.10,-146.6,279.6,-5.0,185,3867,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2908,3501
$GC,4176,-1.10,-146.6,291.9,-3.3,201,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3501
$GC,4485,-1.10,-146.6,298.9,-1.3,216,4490,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1479,3501
$GC,4558,-1.10,-146.6,300.0,-1.9,219,4562,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2900,3501
$GC,4873,-1.10,-146.6,308.4,-4.3,234,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,5182,-1.10,-146.6,330.0,-8.5,249,5186,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1486,3501
$GC,5230,-1.10,-146.6,334.8,-10.1,251,5235,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2894,3501
$GC,5551,-1.10,-146.6,368.3,-10.6,267,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2894,3501
$GC,5861,-1.10,-146.6,398.1,-9.1,282,5865,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1478,3501
$GC,5903,-1.10,-146.6,402.1,-9.5,284,5908,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2899,3501
$GC,6231,-1.10,-146.6,423.2,-5.2,300,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,6540,-1.10,-146.6,435.4,-3.7,315,6544,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1483,3501
$GC,6601,-1.10,-146.6,437.7,-3.6,318,6605,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2904,3501
$GC,6926,-1.10,-146.6,454.2,-6.4,334,6930,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1481,3501
$GC,6974,-1.10,-146.6,457.8,-7.4,336,6979,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2892,3501
$GC,7295,-1.10,-146.6,483.1,-8.3,352,7300,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1481,3501
$GC,7322,-1.10,-146.6,485.4,-8.5,353,7326,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2899,3501
$GC,7643,-1.10,-146.6,513.5,-8.4,369,7647,0.00,1.67,0.00,0.000,4,0.000,0.085,2163,3781,3501
$GC,7854,-1.10,-146.6,532.0,-8.5,378,7859,0.00,1.52,0.00,0.000,6,0.000,0.034,2163,2890,3501
$GC,8175,-1.10,-146.6,561.7,-10.5,394,8179,0.00,2.53,0.00,0.000,4,0.000,0.061,2162,1485,3501
$GC,8235,-1.10,-146.6,568.5,-11.2,396,8242,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2900,3501
$GC,8551,-1.10,-146.6,599.4,-8.9,412,8555,0.00,2.53,0.00,0.000,4,0.000,0.058,2162,1487,3501
$GC,8617,-1.10,-146.6,604.7,-8.0,415,8621,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2906,3501
$STATE,8796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8796,begin apogee
$GC,8802,-0.42,0.0,614.2,4.4,424,8930,0.75,0.00,124.85,1.139,6,0.086,0.000,2316,1772,2901
$STATE,8931,end apogee,CONTROL_FINISHED_OK
$STATE,8931,begin climb
$GC,8933,1.10,146.6,614.8,0.0,430,9064,1.55,2.70,121.75,1.111,4,0.057,0.063,2646,364,2303
$GC,9210,1.10,146.6,592.1,11.1,443,9215,0.00,2.50,0.00,0.000,6,0.000,0.037,2646,1797,2302
$GC,9536,1.10,146.6,564.0,6.4,459,9540,0.00,2.53,0.00,0.000,4,0.000,0.062,2646,3171,2303
$GC,9687,1.19,216.7,556.9,4.1,466,9752,0.10,2.50,58.70,1.081,6,0.048,0.045,2684,1767,2017
$GC,10078,1.19,216.7,536.8,7.1,485,10082,0.00,2.58,0.00,0.000,4,0.000,0.061,2684,3171,2016
$GC,10211,1.19,216.7,524.5,9.2,491,10216,0.00,2.50,0.00,0.000,6,0.000,0.043,2684,1776,2016
$GC,10538,1.19,216.7,494.2,9.4,507,10542,0.00,2.58,0.00,0.000,4,0.000,0.060,2684,3175,2016
$GC,10654,1.19,216.7,483.9,9.1,512,10658,0.00,2.50,0.00,0.000,6,0.000,0.043,2684,1761,2016
$GC,10975,1.19,216.7,456.7,8.2,528,10979,0.00,2.58,0.00,0.000,4,0.000,0.061,2684,3170,2015
$GC,11113,1.19,216.7,444.9,9.7,534,11118,0.00,2.47,0.00,0.000,6,0.000,0.044,2684,1780,2015
$GC,11434,1.19,216.7,414.1,10.5,550,11438,0.00,2.53,0.00,0.000,4,0.000,0.062,2684,3169,2015
$GC,11555,1.19,216.7,400.2,11.0,555,11563,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,1773,2015
$GC,11871,1.19,216.7,363.5,11.3,571,11875,0.00,2.58,0.00,0.000,4,0.000,0.063,2684,3169,2015
$GC,12000,1.19,216.7,349.3,10.1,577,12004,0.00,2.47,0.00,0.000,6,0.000,0.046,2684,1768,2015
$GC,12325,1.19,216.7,314.7,11.3,593,12329,0.00,2.58,0.00,0.000,4,0.000,0.064,2684,3176,2015
$GC,12386,1.19,216.7,307.6,11.4,596,12390,0.00,2.50,0.00,0.000,6,0.000,0.051,2684,1774,2015
$GC,12711,1.19,216.7,273.0,9.7,612,12716,0.00,2.58,0.00,0.000,4,0.000,0.066,2684,3171,2015
$GC,12817,1.19,216.7,262.8,8.6,617,12821,0.00,2.50,0.00,0.000,6,0.000,0.052,2684,1771,2015
$GC,13148,1.19,216.7,234.7,8.2,633,13153,0.00,2.58,0.00,0.000,4,0.000,0.067,2684,3169,2016
$GC,13242,1.19,216.7,226.7,7.8,637,13247,0.00,2.53,0.00,0.000,6,0.000,0.052,2684,1774,2016
$GC,13563,1.19,216.7,202.5,7.2,653,13568,0.00,2.58,0.00,0.000,4,0.000,0.070,2684,3172,2016
$GC,13659,1.19,216.7,195.5,7.3,657,13663,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,1766,2016
$GC,13973,1.19,216.7,172.4,7.6,672,13977,0.00,2.58,0.00,0.000,4,0.000,0.069,2684,3169,2017
$GC,14079,1.19,216.7,163.7,8.4,677,14084,0.00,2.50,0.00,0.000,6,0.000,0.053,2684,1768,2017
$GC,14406,1.19,216.7,137.5,8.0,693,14410,0.00,2.60,0.00,0.000,4,0.000,0.067,2684,3170,2017
$GC,14499,1.19,216.7,129.5,8.5,697,14504,0.00,2.50,0.00,0.000,6,0.000,0.052,2684,1782,2017
$GC,14821,1.19,216.7,103.7,7.2,713,14825,0.00,2.58,0.00,0.000,4,0.000,0.070,2684,3168,2017
$GC,14914,1.20,229.6,97.5,5.6,717,14931,0.00,2.47,11.70,0.774,6,0.000,0.051,2684,1777,1964
$GC,15252,1.20,229.6,72.8,8.7,734,15256,0.00,2.60,0.00,0.000,4,0.000,0.070,2684,3168,1964
$GC,15351,1.20,229.6,65.3,6.4,738,15358,0.00,2.50,0.00,0.000,6,0.000,0.050,2684,1780,1965
$GC,15667,1.24,260.6,48.9,5.1,754,15698,0.00,2.65,25.65,0.772,4,0.000,0.068,2684,3169,1838
$GC,15772,1.24,260.6,42.6,7.2,759,15777,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,1774,1838
$GC,16098,1.24,260.6,18.1,6.4,775,16103,0.00,2.60,0.00,0.000,4,0.000,0.069,2684,3168,1837
$GC,16192,1.24,260.6,11.3,9.8,779,16197,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,1776,1837
$STATE,16306,end climb,SURFACE_DEPTH_REACHED
$STATE,16306,begin surface coast
$FINISH,-0.1,1.027308
$STATE,16329,end surface coast,CONTROL_FINISHED_OK
$STATE,16329,begin surface
$SM_CCo,16350,32.80,0.716,1,0,1678,300.00
$SM_GC,-0.02,0.00,0.00,32.80,0.000,0.000,0.716,47,2886,1678,-10.87,-0.40,300.00
$IRIDIUM_FIX,6130.75,-914.24,281107,161622
$TT8_MAMPS,0.028379
$HUMID,2059
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.2,90.9
$24V_AH,23.5,21.446
$10V_AH,10.1,9.119
$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,25.875,183.150,342.650,32.800,0.000,39.849,36.029,138.732,5.250,0.000,0.000,32.394,1528.131,12215.696,523.658,2075.234,383.923,33.361,1552.979,0.000,2019.941,0.000,34.753
$DEVICE_MAMPS,158.002,85.137,1138.995,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.929,552.539,528.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37980,786
$CFSIZE,260165632,253079552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,1,0
$GPS,281107,214426,6149.671,-916.086,41,1.1,41,-9.5