version: 66.02
glider: 103
mission: 7
dive: 124
start: 12 3 107 13 22 8
data:
$ID,103
$MISSION,7
$DIVE,124
$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,-64631.082
$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,22
$R_STBD_OVSHOOT,9
$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
$GPS1,131507,6221.940,-957.029,47,1.4,47,-10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-54.7
$GPS2,132102,6221.907,-957.055,12,1.4,12,-10.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.127,0.177
$KALMAN_X,-121324.0,237.8,-328.1,48531.3,-2294.2
$KALMAN_Y,51387.5,221.6,-412.1,37543.9,-1214.1
$MHEAD_RNG_PITCHd_Wd,334.3,31912,-11.1,-6.000
$D_GRID,644
$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,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-65.68,0.000,6,0.000,0.000,41,2893,3499
$GC,89,-1.10,-146.6,2.6,-5.8,3,110,12.07,1.77,0.00,0.000,4,0.161,0.095,2164,3786,3501
$GC,362,-1.10,-146.6,37.9,-11.2,15,366,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2898,3501
$GC,689,-1.10,-146.6,57.3,-6.0,31,692,0.00,1.70,0.00,0.000,4,0.000,0.081,2164,3792,3501
$GC,923,-1.10,-146.6,75.8,-9.0,41,927,0.00,1.52,0.00,0.000,6,0.000,0.031,2164,2899,3501
$GC,1245,-1.10,-146.6,97.6,-6.7,57,1249,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1492,3501
$GC,1271,-1.10,-146.6,99.8,-7.7,58,1276,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2904,3501
$GC,1592,-1.10,-146.6,121.4,-7.3,74,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3501
$GC,1902,-1.10,-146.6,147.7,-9.1,89,1906,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1500,3501
$GC,1933,-1.10,-146.6,150.6,-9.5,90,1941,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2900,3501
$GC,2249,-1.10,-146.6,180.7,-9.2,106,2253,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1497,3501
$GC,2287,-1.10,-146.6,184.3,-9.8,108,2292,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2907,3501
$GC,2613,-1.10,-146.6,212.9,-8.6,124,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3501
$GC,2922,-1.10,-146.6,237.2,-7.7,139,2926,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1500,3501
$GC,2987,-1.10,-146.6,242.4,-7.5,142,2992,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2891,3501
$GC,3314,-1.10,-146.6,266.5,-7.1,158,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2891,3501
$GC,3623,-1.10,-146.6,289.4,-7.3,173,3627,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1495,3501
$GC,3650,-1.10,-146.6,291.5,-7.4,174,3655,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2891,3501
$GC,3971,-1.10,-146.6,316.6,-8.3,190,3975,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1499,3501
$GC,4009,-1.10,-146.6,319.8,-9.0,192,4013,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2899,3501
$GC,4334,-1.10,-146.6,346.6,-7.7,208,4338,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1502,3501
$GC,4372,-1.10,-146.6,349.4,-7.4,210,4377,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2906,3501
$GC,4698,-1.10,-146.6,373.7,-7.3,226,4703,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1495,3501
$GC,4742,-1.10,-146.6,376.8,-6.4,228,4746,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2898,3501
$GC,5069,-1.10,-146.6,397.9,-6.3,244,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3501
$GC,5378,-1.10,-146.6,417.8,-6.2,259,5382,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1500,3501
$GC,5466,-1.10,-146.6,423.3,-5.8,263,5470,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2904,3501
$GC,5792,-1.10,-146.6,444.0,-6.9,279,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3501
$GC,6101,-1.10,-146.6,465.7,-6.3,294,6106,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1500,3501
$GC,6151,-1.10,-146.6,468.8,-5.9,296,6155,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2908,3501
$GC,6472,-1.10,-146.6,487.6,-6.6,312,6476,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1500,3501
$GC,6537,-1.10,-146.6,492.3,-7.2,315,6541,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2893,3501
$GC,6864,-1.10,-146.6,513.6,-6.5,331,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2893,3501
$GC,7174,-1.10,-146.6,532.6,-5.1,346,7178,0.00,2.53,0.00,0.000,4,0.000,0.059,2165,1500,3501
$GC,7217,-1.10,-146.6,534.8,-5.3,348,7221,0.00,2.55,0.00,0.000,6,0.000,0.064,2165,2898,3501
$GC,7543,-1.10,-146.6,553.5,-6.4,364,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3501
$GC,7852,-1.10,-146.6,571.7,-6.2,379,7856,0.00,1.65,0.00,0.000,4,0.000,0.082,2165,3786,3501
$GC,7920,-1.10,-146.6,576.4,-7.1,382,7923,0.00,1.52,0.00,0.000,6,0.000,0.035,2165,2894,3501
$GC,8251,-1.10,-146.6,598.0,-6.4,398,8255,0.00,2.50,0.00,0.000,4,0.000,0.061,2164,1502,3501
$GC,8356,-1.10,-146.6,604.7,-6.2,402,8363,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3501
$GC,8672,-1.10,-146.6,623.6,-6.2,418,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,8981,-1.10,-146.6,643.2,-5.7,433,8986,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1503,3501
$STATE,8996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8996,begin apogee
$GC,9002,-0.42,0.0,644.4,6.3,434,9130,0.75,0.00,125.07,1.197,6,0.087,0.000,2317,2009,2901
$STATE,9131,end apogee,CONTROL_FINISHED_OK
$STATE,9131,begin climb
$GC,9132,1.10,146.6,649.9,0.0,440,9264,1.55,2.67,122.50,1.158,4,0.053,0.066,2650,609,2303
$GC,9517,1.17,202.4,634.9,4.5,457,9572,0.00,2.47,47.47,1.131,6,0.000,0.043,2650,2005,2076
$GC,9894,1.17,202.4,609.8,6.8,476,9898,0.00,2.62,0.00,0.000,4,0.000,0.073,2650,3407,2075
$GC,10022,1.19,216.8,601.7,5.6,482,10044,0.00,2.50,13.23,1.083,6,0.000,0.046,2650,2007,2017
$GC,10352,1.21,234.8,583.1,5.5,498,10373,0.10,0.00,16.55,1.093,6,0.054,0.000,2678,2007,1943
$GC,10681,1.21,234.8,557.9,8.4,514,10686,0.00,2.60,0.00,0.000,4,0.000,0.071,2678,3404,1942
$GC,10753,1.21,234.8,551.4,9.4,517,10757,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,1994,1942
$GC,11074,1.21,234.8,527.0,7.6,533,11078,0.00,2.62,0.00,0.000,4,0.000,0.069,2678,3405,1942
$GC,11189,1.21,234.8,517.4,8.3,538,11194,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,2007,1941
$GC,11510,1.21,234.8,491.6,8.2,554,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2007,1941
$GC,11820,1.21,234.8,466.2,8.8,569,11824,0.00,2.60,0.00,0.000,4,0.000,0.068,2678,3404,1941
$GC,11868,1.21,234.8,461.5,8.9,571,11873,0.00,2.50,0.00,0.000,6,0.000,0.042,2678,1998,1941
$GC,12189,1.21,234.8,433.4,9.2,587,12194,0.00,2.60,0.00,0.000,4,0.000,0.067,2678,3406,1941
$GC,12244,1.21,234.8,428.2,9.5,589,12250,0.00,2.50,0.00,0.000,6,0.000,0.041,2678,1999,1941
$GC,12559,1.21,234.8,400.7,8.7,605,12563,0.00,2.58,0.00,0.000,4,0.000,0.067,2678,3406,1941
$GC,12608,1.21,234.8,396.1,9.9,607,12613,0.00,2.50,0.00,0.000,6,0.000,0.043,2678,2001,1941
$GC,12929,1.21,234.8,371.0,7.8,623,12934,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3407,1942
$GC,13013,1.21,234.8,364.0,8.3,627,13017,0.00,2.47,0.00,0.000,6,0.000,0.045,2678,2000,1942
$GC,13338,1.21,234.8,336.3,8.6,643,13342,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3410,1942
$GC,13381,1.21,234.8,332.1,8.9,645,13385,0.00,2.53,0.00,0.000,6,0.000,0.046,2678,1997,1942
$GC,13708,1.21,234.8,304.1,8.0,661,13713,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3410,1942
$GC,13740,1.21,234.8,301.4,8.0,662,13747,0.00,2.53,0.00,0.000,6,0.000,0.045,2678,1998,1942
$GC,14056,1.21,234.8,273.1,9.2,678,14057,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1998,1942
$GC,14365,1.21,234.8,241.6,10.6,693,14369,0.00,2.62,0.00,0.000,4,0.000,0.073,2678,3406,1943
$GC,14430,1.21,234.8,234.4,11.3,696,14435,0.00,2.50,0.00,0.000,6,0.000,0.047,2678,1994,1943
$GC,14757,1.21,234.8,199.5,9.5,712,14761,0.00,2.62,0.00,0.000,4,0.000,0.072,2678,3406,1943
$GC,14822,1.21,234.8,193.2,9.1,715,14827,0.00,2.47,0.00,0.000,6,0.000,0.046,2678,2001,1943
$GC,15149,1.21,234.8,160.5,11.5,731,15154,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3412,1944
$GC,15192,1.21,234.8,155.2,12.0,733,15197,0.00,2.50,0.00,0.000,6,0.000,0.045,2678,2008,1944
$GC,15522,1.29,300.7,127.6,4.2,749,15585,0.00,2.72,53.20,0.837,4,0.000,0.075,2678,3398,1675
$GC,15645,1.29,300.7,122.0,8.8,754,15652,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,2005,1674
$GC,15963,1.29,300.7,96.7,8.5,770,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2006,1674
$GC,16271,1.29,300.7,67.8,10.1,785,16275,0.00,2.65,0.00,0.000,4,0.000,0.075,2678,3407,1674
$GC,16325,1.29,300.7,62.1,10.0,787,16332,0.00,2.50,0.00,0.000,6,0.000,0.041,2678,2001,1674
$GC,16641,1.29,300.7,25.8,12.0,803,16645,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3407,1675
$GC,16689,1.29,300.7,19.9,10.9,805,16693,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,1993,1674
$STATE,16885,end climb,SURFACE_DEPTH_REACHED
$STATE,16885,begin surface coast
$FINISH,-0.6,1.027332
$STATE,16907,end surface coast,CONTROL_FINISHED_OK
$STATE,16907,begin surface
$SM_CCo,16988,0.00,0.000,0,0,1673,301.47
$SM_GC,-0.09,11.60,0.00,0.00,0.031,0.000,0.000,48,2890,1673,-10.79,-0.28,301.47
$IRIDIUM_FIX,6158.08,-955.92,031207,121224
$TT8_MAMPS,0.028379
$HUMID,2067
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.1,54.5
$24V_AH,23.4,24.586
$10V_AH,10.1,11.053
$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,26.075,163.875,378.025,0.000,0.000,38.959,35.790,180.811,5.750,0.000,0.000,12.979,1539.903,12889.049,512.681,1969.941,445.394,33.366,1512.456,0.000,1938.531,0.000,37.577
$DEVICE_MAMPS,161.070,95.108,1196.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.044,578.035,511.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41088,816
$CFSIZE,260165632,251633664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,031207,180626,6223.620,-959.557,38,1.4,38,-10.1