version: 66.02
glider: 103
mission: 7
dive: 128
start: 12 4 107 10 5 52
data:
$ID,103
$MISSION,7
$DIVE,128
$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,-64687.691
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$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
$GPS1,095532,6221.570,-1019.354,66,1.1,66,-10.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.50
$_SM_ANGLEo,-46.8
$GPS2,100445,6221.508,-1019.626,10,1.5,10,-10.3
$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,-129809.4,-826.6,-1.0,37855.6,-2543.2
$KALMAN_Y,34956.7,288.9,-526.0,53270.7,-4775.4
$MHEAD_RNG_PITCHd_Wd,43.9,18056,-11.1,-6.000
$D_GRID,704
$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,-146.6,0.0,0.0,0,103,0.00,0.00,-81.03,0.000,6,0.000,0.000,48,2892,3500
$GC,105,-1.10,-146.6,2.5,-4.4,4,121,11.93,1.75,0.00,0.000,4,0.157,0.090,2164,3779,3501
$GC,356,-1.10,-146.6,34.0,-7.3,14,360,0.00,1.52,0.00,0.000,6,0.000,0.034,2164,2891,3503
$GC,678,-1.10,-146.6,61.4,-8.3,30,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2889,3503
$GC,987,-1.10,-146.6,84.8,-7.3,45,991,0.00,2.55,0.00,0.000,4,0.000,0.070,2164,1498,3503
$GC,1041,-1.10,-146.6,88.6,-7.1,47,1049,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2893,3503
$GC,1357,-1.10,-146.6,111.9,-7.8,63,1361,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1493,3503
$GC,1395,-1.10,-146.6,114.8,-7.9,65,1400,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2899,3503
$GC,1721,-1.10,-146.6,138.3,-7.5,81,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2031,-1.10,-146.6,163.7,-7.9,96,2035,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1491,3503
$GC,2070,-1.10,-146.6,166.1,-5.2,98,2074,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2907,3503
$GC,2395,-1.10,-146.6,187.9,-7.5,114,2399,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1497,3503
$GC,2433,-1.10,-146.6,190.9,-8.1,116,2438,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2903,3503
$GC,2759,-1.10,-146.6,219.2,-9.4,132,2762,0.00,1.62,0.00,0.000,4,0.000,0.080,2164,3783,3503
$GC,2808,-1.10,-146.6,223.4,-7.9,134,2812,0.00,1.50,0.00,0.000,6,0.000,0.032,2164,2899,3503
$GC,3134,-1.10,-146.6,245.1,-7.1,150,3139,0.00,2.53,0.00,0.000,4,0.000,0.066,2164,1504,3503
$GC,3173,-1.10,-146.6,247.4,-5.4,152,3178,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2905,3503
$GC,3499,-1.10,-146.6,264.7,-4.5,168,3504,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1499,3503
$GC,3554,-1.10,-146.6,267.5,-5.1,170,3561,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2896,3503
$GC,3870,-1.10,-146.6,285.1,-6.2,186,3874,0.00,2.53,0.00,0.000,4,0.000,0.065,2164,1503,3503
$GC,3902,-1.10,-146.6,287.4,-7.0,187,3906,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2904,3503
$GC,4223,-1.10,-146.6,309.1,-6.6,203,4227,0.00,2.55,0.00,0.000,4,0.000,0.065,2164,1503,3503
$GC,4261,-1.10,-146.6,311.8,-7.3,205,4266,0.00,2.58,0.00,0.000,6,0.000,0.067,2164,2899,3503
$GC,4588,-1.10,-146.6,335.4,-7.1,221,4592,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1503,3503
$GC,4626,-1.10,-146.6,338.2,-7.3,223,4630,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2905,3503
$GC,4951,-1.10,-146.6,360.0,-6.2,239,4955,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1502,3503
$GC,4991,-1.10,-146.6,362.3,-6.2,241,4995,0.00,2.58,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,5316,-1.10,-146.6,381.3,-5.8,257,5320,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1499,3503
$GC,5343,-1.10,-146.6,382.9,-5.9,258,5347,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2900,3502
$GC,5657,-1.10,-146.6,402.2,-6.4,273,5662,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1498,3503
$GC,5720,-1.10,-146.6,405.9,-5.8,276,5724,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2900,3503
$GC,6045,-1.10,-146.6,423.8,-5.0,292,6049,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1503,3503
$GC,6078,-1.10,-146.6,425.6,-5.6,293,6084,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2906,3503
$GC,6393,-1.10,-146.6,441.9,-5.0,309,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,6702,-1.10,-146.6,458.8,-5.4,324,6707,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1497,3503
$GC,6764,-1.10,-146.6,462.1,-5.3,327,6769,0.00,2.58,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,7090,-1.10,-146.6,480.4,-5.5,343,7094,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1501,3503
$GC,7144,-1.10,-146.6,483.5,-5.8,345,7151,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,7460,-1.10,-146.6,498.8,-4.5,361,7464,0.00,2.55,0.00,0.000,4,0.000,0.062,2164,1501,3503
$GC,7515,-1.10,-146.6,501.4,-4.6,363,7520,0.00,2.55,0.00,0.000,6,0.000,0.065,2164,2899,3503
$GC,7837,-1.10,-146.6,516.0,-4.9,379,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,8146,-1.10,-146.6,532.1,-5.2,394,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,8455,-1.10,-146.6,548.6,-5.5,409,8459,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1497,3503
$GC,8526,-1.10,-146.6,553.1,-6.3,412,8530,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2904,3503
$GC,8847,-1.10,-146.6,576.7,-7.6,428,8851,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1497,3503
$GC,8908,-1.10,-146.6,581.2,-7.3,431,8913,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2903,3503
$GC,9234,-1.10,-146.6,606.5,-8.3,447,9238,0.00,2.53,0.00,0.000,4,0.000,0.057,2164,1500,3503
$GC,9384,-1.10,-146.6,620.8,-9.4,453,9392,0.00,2.58,0.00,0.000,6,0.000,0.063,2164,2897,3503
$GC,9700,-1.10,-146.6,647.3,-7.6,469,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3503
$GC,10009,-1.10,-146.6,665.9,-5.3,484,10014,0.00,2.53,0.00,0.000,4,0.000,0.062,2164,1501,3503
$GC,10064,-1.10,-146.6,668.7,-4.9,486,10071,0.00,2.58,0.00,0.000,6,0.000,0.069,2164,2899,3503
$GC,10380,-1.10,-146.6,684.5,-5.0,502,10384,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1499,3502
$GC,10423,-1.10,-146.6,686.6,-4.7,504,10427,0.00,2.60,0.00,0.000,6,0.000,0.070,2164,2903,3502
$STATE,10727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10727,begin apogee
$GC,10733,-0.42,0.0,704.0,6.2,519,10861,0.75,0.00,125.00,1.247,6,0.084,0.000,2317,2068,2901
$STATE,10862,end apogee,CONTROL_FINISHED_OK
$STATE,10862,begin climb
$GC,10864,1.10,146.6,709.3,0.0,525,10996,1.52,2.72,122.05,1.210,4,0.054,0.064,2647,639,2303
$GC,11121,1.17,200.2,706.2,4.5,537,11175,0.00,2.53,46.40,1.176,6,0.000,0.042,2646,2057,2084
$GC,11491,1.23,248.5,688.6,4.7,555,11538,0.15,2.72,41.25,1.195,4,0.038,0.077,2700,3457,1886
$GC,11644,1.23,248.5,676.0,9.2,562,11649,0.12,2.55,0.00,0.000,6,0.089,0.048,2677,2044,1885
$GC,11970,1.23,248.5,646.5,9.6,578,11974,0.00,2.70,0.00,0.000,4,0.000,0.073,2677,3464,1885
$GC,12012,1.23,248.5,641.7,10.8,580,12017,0.00,2.58,0.00,0.000,6,0.000,0.047,2677,2044,1884
$GC,12340,1.23,248.5,608.9,9.4,596,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2044,1883
$GC,12649,1.23,248.5,582.7,8.0,611,12653,0.00,2.58,0.00,0.000,4,0.000,0.064,2676,640,1882
$GC,12720,1.23,248.5,576.9,7.2,614,12724,0.00,2.47,0.00,0.000,6,0.000,0.041,2676,2051,1883
$GC,13035,1.23,248.5,554.2,7.1,629,13039,0.00,2.62,0.00,0.000,4,0.000,0.073,2676,3457,1882
$GC,13078,1.23,248.5,551.1,7.4,631,13082,0.00,2.53,0.00,0.000,6,0.000,0.044,2676,2051,1882
$GC,13405,1.23,248.5,530.5,6.3,647,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2051,1882
$GC,13714,1.23,248.5,511.5,6.2,662,13718,0.00,2.65,0.00,0.000,4,0.000,0.071,2676,3460,1882
$GC,13767,1.23,248.5,508.1,6.1,664,13774,0.00,2.53,0.00,0.000,6,0.000,0.044,2676,2047,1882
$GC,14083,1.26,278.4,490.4,5.2,680,14113,0.00,2.70,24.73,1.085,4,0.000,0.071,2676,3459,1766
$GC,14174,1.26,278.4,485.0,6.7,684,14179,0.00,2.50,0.00,0.000,6,0.000,0.043,2676,2050,1766
$GC,14501,1.26,278.4,463.6,6.9,700,14505,0.00,2.65,0.00,0.000,4,0.000,0.072,2677,3458,1766
$GC,14556,1.26,278.4,459.6,7.9,702,14562,0.00,2.50,0.00,0.000,6,0.000,0.043,2676,2049,1766
$GC,14871,1.26,278.4,437.5,7.1,718,14875,0.00,2.65,0.00,0.000,4,0.000,0.073,2676,3457,1767
$GC,14896,1.26,278.4,435.6,6.8,719,14901,0.00,2.53,0.00,0.000,6,0.000,0.044,2676,2050,1767
$GC,15218,1.26,278.4,413.0,7.3,735,15219,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2050,1767
$GC,15527,1.26,278.4,390.2,7.4,750,15531,0.00,2.65,0.00,0.000,4,0.000,0.073,2676,3457,1767
$GC,15598,1.26,278.4,384.5,8.0,753,15602,0.00,2.50,0.00,0.000,6,0.000,0.042,2676,2053,1767
$GC,15919,1.26,278.4,357.2,8.9,769,15923,0.00,2.65,0.00,0.000,4,0.000,0.071,2676,3461,1767
$GC,16007,1.26,278.4,349.0,8.9,773,16011,0.00,2.50,0.00,0.000,6,0.000,0.041,2676,2053,1768
$GC,16333,1.26,278.4,318.3,9.6,789,16338,0.00,2.65,0.00,0.000,4,0.000,0.074,2676,3457,1769
$GC,16395,1.26,278.4,312.4,9.7,792,16399,0.00,2.47,0.00,0.000,6,0.000,0.042,2676,2051,1769
$GC,16720,1.26,278.4,283.4,8.9,808,16724,0.00,2.62,0.00,0.000,4,0.000,0.071,2677,3457,1769
$GC,16785,1.26,278.4,276.9,9.8,811,16789,0.00,2.50,0.00,0.000,6,0.000,0.041,2676,2051,1769
$GC,17112,1.26,278.4,246.7,9.0,827,17116,0.00,2.65,0.00,0.000,4,0.000,0.073,2676,3460,1769
$GC,17160,1.26,278.4,242.2,8.0,829,17165,0.00,2.50,0.00,0.000,6,0.000,0.041,2676,2054,1769
$GC,17482,1.26,278.4,217.0,7.0,845,17483,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2054,1769
$GC,17791,1.26,278.4,195.5,7.4,860,17795,0.00,2.62,0.00,0.000,4,0.000,0.072,2676,3458,1770
$GC,17851,1.26,278.4,190.7,7.3,863,17856,0.00,2.47,0.00,0.000,6,0.000,0.041,2676,2046,1770
$GC,18177,1.26,278.4,166.3,7.4,879,18182,0.00,2.65,0.00,0.000,4,0.000,0.074,2676,3457,1770
$GC,18209,1.26,278.4,163.7,7.8,880,18217,0.00,2.47,0.00,0.000,6,0.000,0.041,2676,2057,1770
$GC,18525,1.26,278.4,140.3,7.3,896,18530,0.00,2.62,0.00,0.000,4,0.000,0.072,2677,3457,1770
$GC,18557,1.26,278.4,137.5,7.5,897,18565,0.00,2.50,0.00,0.000,6,0.000,0.041,2676,2048,1770
$GC,18875,1.26,278.4,115.5,6.6,913,18876,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2048,1770
$GC,19183,1.26,278.4,93.8,7.2,928,19187,0.00,2.65,0.00,0.000,4,0.000,0.072,2677,3460,1770
$GC,19231,1.26,278.4,90.0,7.8,930,19236,0.00,2.50,0.00,0.000,6,0.000,0.042,2677,2051,1770
$GC,19553,1.26,278.4,65.4,7.8,946,19554,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2051,1770
$GC,19862,1.26,278.4,46.2,6.4,961,19863,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2051,1770
$GC,20171,1.26,278.4,23.0,9.4,976,20176,0.00,2.65,0.00,0.000,4,0.000,0.073,2676,3463,1770
$GC,20211,1.26,278.4,19.5,9.8,978,20215,0.00,2.45,0.00,0.000,6,0.000,0.042,2676,2050,1770
$STATE,20417,end climb,SURFACE_DEPTH_REACHED
$STATE,20417,begin surface coast
$FINISH,-1.1,1.027291
$STATE,20440,end surface coast,CONTROL_FINISHED_OK
$STATE,20441,begin surface
$SM_CCo,20461,20.05,0.716,1,0,1678,300.00
$SM_GC,-0.13,0.00,0.00,20.05,0.000,0.000,0.716,44,2902,1678,-10.88,0.08,300.00
$IRIDIUM_FIX,6158.08,-1005.85,041207,131322
$TT8_MAMPS,0.029146
$HUMID,2078
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,650.1,97.1
$24V_AH,23.4,25.168
$10V_AH,10.1,11.405
$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,25.975,215.575,359.425,20.050,0.000,77.510,75.885,241.143,6.000,0.000,0.000,10.545,1841.979,15742.235,557.213,2279.904,634.509,33.365,1721.227,0.000,2248.655,0.000,38.013
$DEVICE_MAMPS,157.235,89.739,1247.142,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,709.922,698.095,591.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50655,989
$CFSIZE,260165632,251334656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,48,1,0
$GPS,041207,154831,6221.765,-1020.544,38,1.8,38,-10.3