version: 66.02
glider: 103
mission: 7
dive: 123
start: 12 3 107 8 28 38
data:
$ID,103
$MISSION,7
$DIVE,123
$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,-64617.473
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,081738,6221.162,-951.185,40,1.6,40,-10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-54.6
$GPS2,082734,6221.029,-951.241,10,1.7,23,-10.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.121,0.182
$KALMAN_X,-119070.8,-283.2,500.8,51091.1,-3674.9
$KALMAN_Y,53342.2,129.0,-90.0,33715.4,-768.5
$MHEAD_RNG_PITCHd_Wd,336.3,37076,-11.1,-6.000
$D_GRID,625
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-62.38,0.000,2,0.000,0.000,43,2919,3409
$GC,86,-1.10,-146.6,3.2,-7.7,3,109,12.02,1.65,-1.73,0.000,4,0.160,0.107,2163,3772,3502
$GC,312,-1.10,-146.6,31.3,-4.1,13,315,0.00,1.50,0.00,0.000,6,0.000,0.033,2163,2899,3502
$GC,643,-1.10,-146.6,49.9,-6.2,29,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,953,-1.10,-146.6,66.7,-4.2,44,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3503
$GC,1262,-1.10,-146.6,87.6,-7.2,59,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,1571,-1.10,-146.6,110.2,-7.7,74,1575,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1490,3503
$GC,1597,-1.10,-146.6,112.4,-7.7,75,1602,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2887,3503
$GC,1918,-1.10,-146.6,133.5,-8.2,91,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2887,3503
$GC,2228,-1.10,-146.6,155.2,-7.3,106,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2887,3503
$GC,2537,-1.10,-146.6,182.9,-8.8,121,2541,0.00,2.55,0.00,0.000,4,0.000,0.066,2164,1500,3503
$GC,2569,-1.10,-146.6,185.6,-8.3,122,2577,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2895,3503
$GC,2885,-1.10,-146.6,210.4,-6.4,138,2889,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1491,3503
$GC,2918,-1.10,-146.6,212.6,-7.0,139,2924,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2900,3503
$GC,3232,-1.10,-146.6,235.9,-7.9,155,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3541,-1.10,-146.6,262.5,-8.7,170,3546,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1498,3503
$GC,3580,-1.10,-146.6,265.9,-8.9,172,3585,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2899,3503
$GC,3905,-1.10,-146.6,292.8,-7.9,188,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,4214,-1.10,-146.6,316.6,-6.8,203,4219,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1497,3503
$GC,4286,-1.10,-146.6,321.0,-5.3,206,4291,0.00,2.58,0.00,0.000,6,0.000,0.067,2164,2901,3503
$GC,4607,-1.10,-146.6,340.0,-5.9,222,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,4916,-1.10,-146.6,355.9,-6.2,237,4920,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1494,3503
$GC,4993,-1.10,-146.6,361.6,-7.5,240,5000,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2892,3503
$GC,5309,-1.10,-146.6,384.1,-6.7,256,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2892,3503
$GC,5619,-1.10,-146.6,405.3,-6.6,271,5623,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1498,3503
$GC,5645,-1.10,-146.6,407.3,-7.2,272,5650,0.00,2.58,0.00,0.000,6,0.000,0.066,2163,2900,3503
$GC,5966,-1.10,-146.6,430.0,-7.1,288,5970,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1500,3503
$GC,6037,-1.10,-146.6,435.3,-7.7,291,6041,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2903,3503
$GC,6358,-1.10,-146.6,455.6,-6.2,307,6362,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1491,3503
$GC,6402,-1.10,-146.6,457.9,-5.2,309,6406,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2901,3503
$GC,6727,-1.10,-146.6,480.7,-6.9,325,6732,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1491,3503
$GC,6788,-1.10,-146.6,484.5,-6.5,328,6793,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2899,3503
$GC,7114,-1.10,-146.6,505.4,-7.9,344,7118,0.00,2.53,0.00,0.000,4,0.000,0.061,2164,1500,3503
$GC,7191,-1.10,-146.6,511.2,-6.9,347,7198,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2903,3503
$GC,7506,-1.10,-146.6,530.1,-6.8,363,7510,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1498,3503
$GC,7599,-1.10,-146.6,538.4,-9.1,367,7604,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2905,3503
$GC,7921,-1.10,-146.6,560.8,-5.0,383,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$GC,8230,-1.10,-146.6,574.8,-7.0,398,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$GC,8539,-1.10,-146.6,597.4,-6.0,413,8543,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3778,3503
$GC,8633,-1.10,-146.6,603.3,-5.1,417,8638,0.00,1.50,0.00,0.000,6,0.000,0.036,2164,2899,3503
$GC,8960,-1.10,-146.6,618.8,-5.7,433,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3503
$STATE,9061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9061,begin apogee
$GC,9067,-0.42,0.0,625.6,6.7,438,9195,0.75,0.00,124.43,1.167,6,0.088,0.000,2316,2011,2901
$STATE,9196,end apogee,CONTROL_FINISHED_OK
$STATE,9196,begin climb
$GC,9197,1.10,146.6,628.6,0.0,444,9324,1.55,0.00,122.38,1.140,6,0.057,0.000,2646,2009,2303
$GC,9630,1.16,193.0,617.3,4.7,465,9672,0.00,0.00,39.67,1.112,6,0.000,0.000,2646,2010,2114
$GC,9977,1.16,193.0,591.1,7.5,482,9981,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3413,2113
$GC,10082,1.16,193.0,583.2,6.6,486,10089,0.00,2.58,0.00,0.000,6,0.000,0.047,2646,1996,2113
$GC,10398,1.16,197.2,565.4,5.9,502,10408,0.00,2.70,5.25,0.877,4,0.000,0.070,2646,3413,2096
$GC,10530,1.16,197.2,557.6,6.7,508,10535,0.00,2.55,0.00,0.000,6,0.000,0.046,2646,2003,2096
$GC,10858,1.21,237.2,539.8,4.9,524,10900,0.12,2.72,33.70,1.118,4,0.042,0.068,2681,3408,1934
$GC,10962,1.21,237.2,531.6,9.0,528,10968,0.00,2.55,0.00,0.000,6,0.000,0.044,2681,1991,1933
$GC,11277,1.21,237.2,503.4,9.1,544,11281,0.00,2.60,0.00,0.000,4,0.000,0.068,2681,587,1932
$GC,11319,1.21,237.2,499.9,9.0,546,11324,0.00,2.53,0.00,0.000,6,0.000,0.041,2681,2017,1932
$GC,11646,1.21,237.2,472.8,8.5,562,11650,0.00,2.58,0.00,0.000,4,0.000,0.067,2681,3412,1932
$GC,11730,1.21,237.2,465.6,8.7,566,11734,0.00,2.50,0.00,0.000,6,0.000,0.041,2681,1994,1932
$GC,12055,1.21,237.2,441.7,8.0,582,12060,0.00,2.62,0.00,0.000,4,0.000,0.064,2681,3412,1932
$GC,12109,1.21,237.2,437.1,8.0,584,12116,0.00,2.50,0.00,0.000,6,0.000,0.040,2681,2001,1932
$GC,12425,1.21,237.2,412.6,7.5,600,12429,0.00,2.60,0.00,0.000,4,0.000,0.065,2681,3411,1932
$GC,12479,1.21,237.2,408.4,7.6,602,12485,0.00,2.50,0.00,0.000,6,0.000,0.041,2681,2001,1932
$GC,12794,1.21,237.2,385.1,7.6,618,12798,0.00,2.58,0.00,0.000,4,0.000,0.066,2681,3407,1932
$GC,12861,1.21,237.2,379.7,8.2,621,12865,0.00,2.47,0.00,0.000,6,0.000,0.041,2681,1999,1932
$GC,13186,1.21,237.2,354.4,7.6,637,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1999,1933
$GC,13495,1.21,237.2,331.3,7.4,652,13499,0.00,2.60,0.00,0.000,4,0.000,0.065,2681,3407,1933
$GC,13528,1.21,237.2,328.8,7.5,653,13534,0.00,2.50,0.00,0.000,6,0.000,0.042,2681,1996,1933
$GC,13843,1.21,237.2,304.4,7.7,669,13847,0.00,2.60,0.00,0.000,4,0.000,0.067,2681,3407,1933
$GC,13881,1.21,237.2,301.2,8.4,671,13886,0.00,2.47,0.00,0.000,6,0.000,0.042,2681,1999,1934
$GC,14207,1.21,237.2,276.1,7.9,687,14211,0.00,2.62,0.00,0.000,4,0.000,0.069,2681,3409,1934
$GC,14268,1.21,237.2,271.1,8.9,690,14272,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,1997,1934
$GC,14593,1.21,237.2,242.1,9.4,706,14597,0.00,2.62,0.00,0.000,4,0.000,0.070,2681,3407,1934
$GC,14631,1.21,237.2,238.2,9.7,708,14636,0.00,2.53,0.00,0.000,6,0.000,0.051,2681,1992,1935
$GC,14957,1.21,237.2,206.9,9.7,724,14961,0.00,2.62,0.00,0.000,4,0.000,0.072,2681,3407,1935
$GC,15018,1.21,237.2,200.9,10.0,727,15022,0.00,2.50,0.00,0.000,6,0.000,0.050,2681,2000,1935
$GC,15343,1.21,237.2,165.3,11.9,743,15347,0.00,2.62,0.00,0.000,4,0.000,0.073,2681,3407,1935
$GC,15391,1.21,237.2,159.7,10.4,745,15396,0.00,2.53,0.00,0.000,6,0.000,0.050,2681,2002,1935
$GC,15713,1.21,237.2,125.3,9.9,761,15717,0.00,2.65,0.00,0.000,4,0.000,0.074,2681,3414,1935
$GC,15752,1.21,237.2,121.0,11.6,763,15756,0.00,2.50,0.00,0.000,6,0.000,0.050,2681,2000,1935
$GC,16083,1.21,237.2,88.0,9.5,779,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2000,1936
$GC,16392,1.21,237.2,57.9,9.9,794,16394,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2000,1936
$GC,16702,1.21,237.2,28.3,9.0,809,16706,0.00,2.60,0.00,0.000,4,0.000,0.069,2681,3407,1936
$GC,16808,1.21,237.2,19.7,7.9,814,16812,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2000,1936
$STATE,17008,end climb,SURFACE_DEPTH_REACHED
$STATE,17008,begin surface coast
$FINISH,-0.5,1.027316
$STATE,17030,end surface coast,CONTROL_FINISHED_OK
$STATE,17030,begin surface
$SM_CCo,17051,51.72,0.719,1,0,1677,300.00
$SM_GC,-0.12,0.00,0.00,51.72,0.000,0.000,0.719,41,2892,1677,-10.90,-0.23,300.00
$IRIDIUM_FIX,6158.08,-946.79,031207,121223
$TT8_MAMPS,0.029913
$HUMID,2078
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.7,111.8
$24V_AH,23.5,24.451
$10V_AH,10.1,10.972
$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,26.125,153.850,325.425,51.725,0.000,79.054,75.070,234.494,4.750,0.000,0.000,23.740,1530.972,13166.778,546.296,1849.510,625.887,33.372,1463.147,0.000,1821.483,0.000,29.959
$DEVICE_MAMPS,160.303,106.613,1167.374,719.446,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,591.659,586.763,523.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41145,825
$CFSIZE,260165632,251695104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,031207,131507,6221.940,-957.029,47,1.4,47,-10.0