version: 66.02
glider: 103
mission: 7
dive: 114
start: 12 1 107 7 50 58
data:
$ID,103
$MISSION,7
$DIVE,114
$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,-64473.078
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,14
$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
$GPS1,073932,6209.355,-952.040,39,2.0,39,-9.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-59.6
$GPS2,074953,6209.263,-952.278,14,2.1,33,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.174,0.133
$KALMAN_X,-96335.9,274.4,93.7,27268.7,-3819.2
$KALMAN_Y,64862.5,92.5,-680.8,1042.4,428.4
$MHEAD_RNG_PITCHd_Wd,62.5,19981,-11.1,-6.000
$D_GRID,725
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-65.95,0.000,6,0.000,0.000,38,2898,3499
$GC,89,-1.10,-146.6,3.0,-7.6,3,110,12.12,2.65,0.00,0.000,4,0.163,0.064,2165,1490,3501
$GC,165,-1.10,-146.6,18.1,-7.8,6,170,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2892,3501
$GC,488,-1.10,-146.6,41.8,-7.7,22,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2892,3501
$GC,796,-1.10,-146.6,64.0,-6.9,37,800,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1484,3502
$GC,867,-1.10,-146.6,68.9,-7.2,40,871,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2902,3502
$GC,1188,-1.10,-146.6,91.7,-8.2,56,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,1497,-1.10,-146.6,115.2,-7.4,71,1502,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1484,3502
$GC,1562,-1.10,-146.6,119.9,-7.2,74,1567,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2895,3502
$GC,1890,-1.10,-146.6,143.1,-7.3,90,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3502
$GC,2198,-1.10,-146.6,163.9,-7.3,105,2203,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1484,3502
$GC,2242,-1.10,-146.6,167.0,-7.1,107,2246,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2899,3502
$GC,2569,-1.10,-146.6,191.4,-7.5,123,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,2878,-1.10,-146.6,215.3,-7.7,138,2882,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1492,3502
$GC,2909,-1.10,-146.6,217.7,-7.6,139,2916,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2895,3502
$GC,3225,-1.10,-146.6,239.0,-6.1,155,3229,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,3256,-1.10,-146.6,241.2,-6.3,156,3263,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2896,3502
$GC,3572,-1.10,-146.6,259.3,-5.5,172,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3502
$GC,3882,-1.10,-146.6,275.9,-5.5,187,3887,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,3948,-1.10,-146.6,279.8,-5.9,190,3953,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2905,3502
$GC,4276,-1.10,-146.6,297.5,-5.6,206,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3502
$GC,4585,-1.10,-146.6,314.9,-5.8,221,4589,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,4645,-1.10,-146.6,318.5,-6.1,224,4650,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2903,3502
$GC,4977,-1.10,-146.6,338.9,-6.4,240,4981,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1490,3502
$GC,5008,-1.10,-146.6,341.1,-6.7,241,5015,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,5324,-1.10,-146.6,363.7,-7.4,257,5328,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1491,3502
$GC,5362,-1.10,-146.6,366.5,-7.2,259,5366,0.00,2.60,0.00,0.000,6,0.000,0.068,2165,2901,3501
$GC,5687,-1.10,-146.6,388.6,-6.7,275,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,5996,-1.10,-146.6,408.9,-6.2,290,6000,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1490,3502
$GC,6079,-1.10,-146.6,414.4,-6.4,293,6086,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2891,3501
$GC,6394,-1.10,-146.6,437.3,-7.0,309,6399,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1490,3501
$GC,6449,-1.10,-146.6,441.2,-6.9,311,6456,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2900,3501
$GC,6764,-1.10,-146.6,462.8,-6.7,327,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,7074,-1.10,-146.6,485.8,-7.4,342,7078,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1484,3501
$GC,7105,-1.10,-146.6,488.3,-7.1,343,7112,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2901,3501
$GC,7421,-1.10,-146.6,511.0,-7.1,359,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,7730,-1.10,-146.6,534.2,-7.9,374,7734,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1488,3501
$GC,7773,-1.10,-146.6,537.6,-8.0,376,7777,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2901,3501
$GC,8099,-1.10,-146.6,560.5,-6.4,392,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,8409,-1.10,-146.6,578.6,-5.9,407,8413,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1488,3501
$GC,8508,-1.10,-146.6,584.4,-6.4,411,8515,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2895,3501
$GC,8824,-1.10,-146.6,602.4,-5.9,427,8828,0.00,2.53,0.00,0.000,4,0.000,0.058,2165,1484,3501
$GC,8884,-1.10,-146.6,606.2,-6.9,430,8889,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2899,3501
$GC,9211,-1.10,-146.6,623.8,-4.9,446,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,9520,-1.10,-146.6,641.2,-5.5,461,9525,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1487,3501
$GC,9559,-1.10,-146.6,643.5,-5.6,463,9564,0.00,2.60,0.00,0.000,6,0.000,0.068,2165,2898,3501
$GC,9884,-1.10,-146.6,663.5,-6.1,479,9889,0.00,2.53,0.00,0.000,4,0.000,0.062,2165,1486,3501
$GC,10001,-1.10,-146.6,671.5,-6.7,484,10005,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3501
$GC,10322,-1.10,-146.6,690.8,-5.8,500,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,10631,-1.10,-146.6,709.1,-6.5,515,10635,0.00,1.65,0.00,0.000,4,0.000,0.085,2165,3784,3501
$STATE,10652,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10652,begin apogee
$GC,10660,-0.42,0.0,710.6,6.5,516,10788,0.75,0.00,125.05,1.236,6,0.094,0.000,2314,1997,2901
$STATE,10789,end apogee,CONTROL_FINISHED_OK
$STATE,10789,begin climb
$GC,10791,1.10,146.6,714.5,0.0,522,10922,1.55,2.67,122.72,1.200,4,0.054,0.063,2649,586,2303
$GC,11085,1.12,157.7,704.5,5.7,535,11101,0.00,2.55,11.07,1.051,6,0.000,0.040,2649,2007,2258
$GC,11416,1.12,157.7,684.2,6.5,552,11420,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3410,2257
$GC,11503,1.12,157.7,677.7,7.4,556,11508,0.00,2.55,0.00,0.000,6,0.000,0.044,2649,1996,2257
$GC,11830,1.12,157.7,654.5,6.9,572,11834,0.00,2.65,0.00,0.000,4,0.000,0.069,2649,3407,2256
$GC,11862,1.13,166.6,652.4,5.8,573,11877,0.00,2.50,9.10,1.052,6,0.000,0.043,2649,1997,2221
$GC,12198,1.17,199.9,635.0,5.1,590,12233,0.00,2.67,28.65,1.156,4,0.000,0.063,2649,590,2086
$GC,12334,1.18,210.7,627.0,5.7,596,12351,0.00,2.50,11.00,1.066,6,0.000,0.042,2649,2001,2041
$GC,12659,1.18,210.7,607.4,6.8,612,12663,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3409,2040
$GC,12764,1.18,210.7,599.6,7.6,617,12769,0.00,2.50,0.00,0.000,6,0.000,0.047,2649,1998,2040
$GC,13090,1.18,210.7,576.8,7.0,633,13094,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3407,2040
$GC,13144,1.18,210.7,572.8,6.9,635,13151,0.00,2.53,0.00,0.000,6,0.000,0.048,2649,2010,2040
$GC,13459,1.18,210.7,547.8,7.9,651,13464,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3407,2040
$GC,13508,1.18,210.7,543.9,7.8,653,13513,0.00,2.55,0.00,0.000,6,0.000,0.048,2649,1998,2039
$GC,13829,1.18,210.7,521.8,6.5,669,13834,0.00,2.62,0.00,0.000,4,0.000,0.072,2649,3407,2039
$GC,13951,1.18,210.7,513.1,7.2,674,13958,0.00,2.53,0.00,0.000,6,0.000,0.048,2649,1986,2039
$GC,14266,1.18,210.7,492.5,6.2,690,14267,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1986,2039
$GC,14575,1.18,210.7,472.2,7.1,705,14580,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3406,2039
$GC,14692,1.18,210.7,462.6,7.8,710,14696,0.00,2.53,0.00,0.000,6,0.000,0.049,2649,2004,2039
$GC,15014,1.18,210.7,437.0,8.4,726,15018,0.00,2.65,0.00,0.000,4,0.000,0.075,2649,3407,2039
$GC,15084,1.18,210.7,431.5,8.1,729,15089,0.00,2.55,0.00,0.000,6,0.000,0.051,2649,1998,2039
$GC,15406,1.18,210.7,407.9,6.8,745,15410,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3407,2040
$GC,15484,1.18,210.7,402.7,6.6,748,15489,0.00,2.55,0.00,0.000,6,0.000,0.051,2649,1993,2040
$GC,15798,1.21,237.4,385.1,5.3,764,15828,0.12,2.75,22.85,1.002,4,0.046,0.073,2690,3404,1933
$GC,15866,1.21,237.4,380.7,6.6,767,15871,0.00,2.55,0.00,0.000,6,0.000,0.051,2690,1994,1933
$GC,16193,1.21,237.4,356.0,8.0,783,16197,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3407,1933
$GC,16231,1.21,237.4,352.6,8.4,785,16235,0.00,2.53,0.00,0.000,6,0.000,0.051,2690,1999,1933
$GC,16557,1.21,237.4,323.6,9.4,801,16561,0.00,2.65,0.00,0.000,4,0.000,0.073,2690,3410,1933
$GC,16617,1.21,237.4,317.4,11.1,804,16621,0.00,2.53,0.00,0.000,6,0.000,0.052,2690,1996,1933
$GC,16943,1.21,237.4,286.3,9.5,820,16947,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3407,1933
$GC,16991,1.21,237.4,281.3,9.6,822,16996,0.00,2.55,0.00,0.000,6,0.000,0.051,2690,1999,1933
$GC,17312,1.21,237.4,248.6,10.3,838,17317,0.00,2.65,0.00,0.000,4,0.000,0.075,2690,3408,1933
$GC,17339,1.21,237.4,245.7,10.5,839,17343,0.00,2.53,0.00,0.000,6,0.000,0.050,2690,1990,1933
$GC,17660,1.21,237.4,212.2,10.3,855,17664,0.00,2.67,0.00,0.000,4,0.000,0.076,2690,3408,1933
$GC,17698,1.21,237.4,208.2,11.2,857,17702,0.00,2.53,0.00,0.000,6,0.000,0.052,2690,2000,1933
$GC,18023,1.21,237.4,175.6,10.0,873,18028,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3407,1934
$GC,18050,1.21,237.4,173.0,10.0,874,18055,0.00,2.55,0.00,0.000,6,0.000,0.053,2690,2003,1933
$GC,18373,1.21,237.4,141.9,9.3,890,18377,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3407,1934
$GC,18415,1.21,237.4,137.8,9.7,892,18420,0.00,2.55,0.00,0.000,6,0.000,0.054,2690,2003,1934
$GC,18743,1.21,237.4,110.6,8.1,908,18747,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3408,1934
$GC,18804,1.21,237.4,105.5,8.6,911,18808,0.00,2.55,0.00,0.000,6,0.000,0.054,2690,1996,1934
$GC,19130,1.21,237.4,77.6,8.7,927,19134,0.00,2.67,0.00,0.000,4,0.000,0.076,2690,3412,1934
$GC,19172,1.21,237.4,73.9,8.3,929,19177,0.00,2.55,0.00,0.000,6,0.000,0.054,2690,2006,1934
$GC,19499,1.21,237.4,47.5,8.3,945,19504,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3409,1934
$GC,19554,1.21,237.4,42.8,8.6,947,19561,0.00,2.55,0.00,0.000,6,0.000,0.054,2690,2004,1934
$GC,19870,1.21,237.4,16.5,8.3,963,19874,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3414,1934
$GC,19913,1.21,237.4,11.9,10.5,965,19917,0.00,2.55,0.00,0.000,6,0.000,0.056,2690,1994,1934
$STATE,20052,end climb,SURFACE_DEPTH_REACHED
$STATE,20053,begin surface coast
$FINISH,-1.1,1.027293
$STATE,20075,end surface coast,CONTROL_FINISHED_OK
$STATE,20075,begin surface
$SM_CCo,20095,50.95,0.729,1,0,1678,300.00
$SM_GC,-0.25,0.00,0.00,50.95,0.000,0.000,0.729,48,2895,1678,-10.87,-0.14,300.00
$IRIDIUM_FIX,6144.36,-951.95,011207,111120
$TT8_MAMPS,0.029146
$HUMID,2051
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.3,44.1
$24V_AH,23.4,23.178
$10V_AH,10.1,10.175
$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,26.075,219.350,330.450,50.950,0.000,77.199,74.786,253.712,6.500,0.000,0.000,34.491,1814.139,15482.615,571.924,2270.438,646.425,33.363,1710.525,0.000,2211.645,0.000,43.295
$DEVICE_MAMPS,162.604,87.438,1236.404,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,690.537,699.516,581.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50645,973
$CFSIZE,260165632,252252160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,53,1,0
$GPS,011207,132802,6210.653,-950.566,39,1.2,39,-9.9