version: 66.02
glider: 103
mission: 7
dive: 98
start: 11 27 107 23 18 36
data:
$ID,103
$MISSION,7
$DIVE,98
$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,-64011.23
$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,24
$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
$GPS1,231137,6151.815,-912.341,36,1.2,36,-9.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-61.0
$GPS2,231732,6151.851,-912.222,14,1.2,31,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.056,0.211
$KALMAN_X,-76997.5,642.8,1284.7,41714.2,-1384.4
$KALMAN_Y,94155.0,-238.7,515.0,-61351.3,-357.1
$MHEAD_RNG_PITCHd_Wd,354.5,61426,-11.1,-6.000
$D_GRID,617
$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,-62.33,0.000,2,0.000,0.000,46,2893,3472
$GC,86,-1.10,-146.6,4.1,-9.7,3,108,12.00,1.77,-0.50,0.000,4,0.160,0.111,2164,3787,3501
$GC,332,-1.10,-146.6,31.0,-7.1,14,336,0.00,1.55,0.00,0.000,6,0.000,0.035,2164,2898,3502
$GC,664,-1.10,-146.6,51.9,-6.5,30,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,974,-1.10,-146.6,74.1,-7.1,45,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,1283,-1.10,-146.6,97.7,-8.9,60,1287,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1484,3502
$GC,1353,-1.10,-146.6,104.0,-8.5,63,1358,0.00,2.70,0.00,0.000,6,0.000,0.074,2164,2901,3503
$GC,1675,-1.10,-146.6,131.9,-8.3,79,1679,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1492,3503
$GC,1706,-1.10,-146.6,134.8,-8.3,80,1714,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2906,3503
$GC,2022,-1.10,-146.6,157.5,-7.2,96,2026,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1493,3503
$GC,2048,-1.10,-146.6,159.5,-7.1,97,2052,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2893,3503
$GC,2369,-1.10,-146.6,179.2,-5.3,113,2373,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1492,3503
$GC,2395,-1.10,-146.6,181.0,-7.0,114,2399,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2893,3503
$GC,2717,-1.10,-146.6,200.5,-5.9,130,2722,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1492,3503
$GC,2760,-1.10,-146.6,203.4,-6.1,132,2765,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2894,3503
$GC,3087,-1.10,-146.6,221.6,-5.7,148,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3503
$GC,3396,-1.10,-146.6,240.9,-6.4,163,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3503
$GC,3706,-1.10,-146.6,258.5,-5.3,178,3710,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1493,3503
$GC,3783,-1.10,-146.6,262.7,-5.5,181,3789,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2902,3503
$GC,4098,-1.10,-146.6,281.7,-6.4,197,4102,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1487,3503
$GC,4158,-1.10,-146.6,285.9,-7.1,200,4163,0.00,2.62,0.00,0.000,6,0.000,0.073,2164,2900,3503
$GC,4484,-1.10,-146.6,308.1,-7.0,216,4489,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1493,3503
$GC,4511,-1.10,-146.6,310.2,-7.1,217,4515,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2904,3503
$GC,4832,-1.10,-146.6,333.4,-7.2,233,4836,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1490,3503
$GC,4870,-1.10,-146.6,336.2,-7.0,235,4874,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2902,3503
$GC,5195,-1.10,-146.6,359.3,-7.1,251,5200,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1489,3503
$GC,5244,-1.10,-146.6,362.8,-6.8,253,5249,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,5565,-1.10,-146.6,383.3,-6.1,269,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,5875,-1.10,-146.6,399.4,-4.6,284,5879,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1493,3503
$GC,5936,-1.10,-146.6,402.1,-4.5,287,5940,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2900,3503
$GC,6261,-1.10,-146.6,415.1,-3.9,303,6265,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1492,3503
$GC,6327,-1.10,-146.6,417.8,-4.1,306,6331,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2904,3503
$GC,6653,-1.10,-146.6,436.8,-7.4,322,6657,0.00,2.55,0.00,0.000,4,0.000,0.065,2164,1490,3503
$GC,6707,-1.10,-146.6,440.7,-7.0,324,6714,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2914,3503
$GC,7023,-1.10,-146.6,458.8,-5.1,340,7027,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1490,3503
$GC,7078,-1.10,-146.6,461.5,-4.9,342,7084,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,7392,-1.10,-146.6,482.5,-7.5,358,7397,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1483,3503
$GC,7454,-1.10,-146.6,487.1,-8.2,361,7459,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,7780,-1.10,-146.6,509.5,-6.1,377,7784,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1490,3503
$GC,7841,-1.10,-146.6,513.1,-5.9,380,7845,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2903,3503
$GC,8166,-1.10,-146.6,540.5,-8.3,396,8170,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1485,3503
$GC,8282,-1.10,-146.6,549.4,-7.8,401,8286,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2894,3503
$GC,8603,-1.10,-146.6,573.3,-6.0,417,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3503
$STATE,8725,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8725,begin apogee
$GC,8732,-0.42,0.0,580.8,6.2,423,8859,0.75,0.00,123.90,1.126,6,0.084,0.000,2317,1778,2901
$STATE,8859,end apogee,CONTROL_FINISHED_OK
$STATE,8860,begin climb
$GC,8861,1.10,146.6,585.6,0.0,429,8993,1.58,2.72,121.90,1.096,4,0.062,0.069,2648,370,2303
$GC,9194,1.10,146.6,574.6,7.2,444,9198,0.00,2.55,0.00,0.000,6,0.000,0.041,2648,1788,2302
$GC,9515,1.23,251.1,557.3,3.1,460,9608,0.12,2.62,86.65,1.102,4,0.041,0.066,2694,3174,1877
$GC,9703,1.23,251.1,545.8,7.9,469,9708,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,1774,1877
$GC,10029,1.23,251.1,521.1,7.0,485,10033,0.00,2.60,0.00,0.000,4,0.000,0.067,2694,3174,1875
$GC,10113,1.23,251.1,515.5,6.7,489,10117,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,1766,1875
$GC,10438,1.23,251.1,492.5,6.8,505,10442,0.00,2.60,0.00,0.000,4,0.000,0.064,2694,3176,1874
$GC,10549,1.23,251.1,484.6,6.4,510,10554,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,1774,1874
$GC,10870,1.23,251.1,460.9,7.3,526,10874,0.00,2.60,0.00,0.000,4,0.000,0.066,2694,3179,1873
$GC,10940,1.23,251.1,455.4,8.0,529,10945,0.00,2.53,0.00,0.000,6,0.000,0.049,2694,1780,1873
$GC,11262,1.24,260.4,434.8,5.7,545,11276,0.00,2.65,8.85,0.917,4,0.000,0.064,2694,3178,1839
$GC,11378,1.24,260.4,427.5,7.0,550,11382,0.00,2.53,0.00,0.000,6,0.000,0.049,2694,1776,1839
$GC,11697,1.24,260.4,403.7,8.3,566,11702,0.00,2.60,0.00,0.000,4,0.000,0.064,2694,3180,1839
$GC,11781,1.24,260.4,396.3,8.2,570,11785,0.00,2.50,0.00,0.000,6,0.000,0.050,2694,1775,1839
$GC,12107,1.24,260.4,367.6,9.0,586,12111,0.00,2.60,0.00,0.000,4,0.000,0.064,2694,3181,1839
$GC,12196,1.24,260.4,359.1,9.5,590,12200,0.00,2.53,0.00,0.000,6,0.000,0.050,2694,1776,1839
$GC,12515,1.24,260.4,328.3,9.3,606,12520,0.00,2.60,0.00,0.000,4,0.000,0.066,2694,3177,1839
$GC,12622,1.24,260.4,318.1,9.4,611,12626,0.00,2.50,0.00,0.000,6,0.000,0.049,2694,1768,1839
$GC,12947,1.24,260.4,289.7,8.3,627,12951,0.00,2.60,0.00,0.000,4,0.000,0.065,2694,3182,1839
$GC,13030,1.24,260.4,282.5,8.8,631,13035,0.00,2.53,0.00,0.000,6,0.000,0.051,2694,1770,1840
$GC,13356,1.24,260.4,255.4,8.4,647,13360,0.00,2.58,0.00,0.000,4,0.000,0.067,2695,3177,1839
$GC,13433,1.24,260.4,248.6,8.8,650,13437,0.00,2.53,0.00,0.000,6,0.000,0.050,2694,1776,1840
$GC,13755,1.24,260.4,221.7,8.7,666,13759,0.00,2.60,0.00,0.000,4,0.000,0.068,2695,3176,1840
$GC,13854,1.24,260.4,212.7,8.9,670,13861,0.00,2.53,0.00,0.000,6,0.000,0.053,2694,1778,1840
$GC,14170,1.24,260.4,185.8,8.5,686,14174,0.00,2.60,0.00,0.000,4,0.000,0.069,2695,3175,1841
$GC,14240,1.24,260.4,179.6,8.6,689,14245,0.00,2.53,0.00,0.000,6,0.000,0.052,2694,1776,1841
$GC,14561,1.24,260.4,152.9,8.5,705,14566,0.00,2.60,0.00,0.000,4,0.000,0.071,2694,3182,1841
$GC,14661,1.24,260.4,144.1,9.1,709,14668,0.00,2.55,0.00,0.000,6,0.000,0.056,2694,1778,1841
$GC,14977,1.24,260.4,115.0,9.5,725,14981,0.00,2.60,0.00,0.000,4,0.000,0.071,2694,3174,1841
$GC,15070,1.24,260.4,105.8,9.5,729,15074,0.00,2.53,0.00,0.000,6,0.000,0.054,2694,1780,1841
$GC,15393,1.24,260.4,77.5,8.8,745,15397,0.00,2.60,0.00,0.000,4,0.000,0.071,2694,3174,1841
$GC,15486,1.24,260.4,68.9,9.1,749,15491,0.00,2.55,0.00,0.000,6,0.000,0.055,2694,1774,1841
$GC,15808,1.24,260.4,37.7,9.7,765,15812,0.00,2.62,0.00,0.000,4,0.000,0.074,2695,3175,1842
$GC,15895,1.24,260.4,29.6,9.1,769,15900,0.00,2.55,0.00,0.000,6,0.000,0.057,2694,1777,1842
$STATE,16221,end climb,SURFACE_DEPTH_REACHED
$STATE,16221,begin surface coast
$FINISH,-0.7,1.027239
$STATE,16244,end surface coast,CONTROL_FINISHED_OK
$STATE,16244,begin surface
$SM_CCo,16265,33.88,0.704,1,0,1678,300.00
$SM_GC,0.36,0.00,0.00,33.88,0.000,0.000,0.704,36,2886,1678,-10.92,-0.40,300.00
$IRIDIUM_FIX,6126.23,-914.24,271107,212119
$TT8_MAMPS,0.029146
$HUMID,2082
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.2,89.7
$24V_AH,23.5,20.949
$10V_AH,10.1,8.807
$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,25.975,183.575,341.300,33.875,0.000,41.344,38.270,163.052,4.500,0.000,0.000,31.405,1519.181,12213.634,520.873,2012.441,404.063,33.357,1525.670,0.000,1958.408,0.000,28.277
$DEVICE_MAMPS,159.536,111.215,1125.956,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,558.466,556.656,499.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41139,786
$CFSIZE,260165632,253308928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,1,0
$GPS,281107,035137,6152.732,-910.426,37,0.9,43,-9.4