version: 66.02
glider: 103
mission: 7
dive: 150
start: 12 9 107 5 51 40
data:
$ID,103
$MISSION,7
$DIVE,150
$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,-2
$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,-65120.934
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,15
$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
$GPS1,054508,6235.390,-1122.277,33,1.1,33,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-58.3
$GPS2,055033,6235.335,-1122.457,11,1.8,11,-10.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,0.185
$KALMAN_X,-208577.2,-295.8,-851.5,61546.2,-5663.0
$KALMAN_Y,-2378.9,-1764.2,-1056.9,118852.4,3271.0
$MHEAD_RNG_PITCHd_Wd,338.7,26188,-11.1,-6.000
$D_GRID,677
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-61.62,0.000,2,0.000,0.000,43,2900,3373
$GC,85,-1.10,-146.6,3.4,-8.7,3,107,12.05,1.75,-2.35,0.000,4,0.160,0.118,2167,3772,3502
$GC,248,-1.10,-146.6,24.3,-8.8,10,251,0.00,1.50,0.00,0.000,6,0.000,0.033,2167,2898,3503
$GC,574,-1.10,-146.6,53.0,-9.1,26,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3503
$GC,883,-1.10,-146.6,74.3,-7.6,41,887,0.00,2.60,0.00,0.000,4,0.000,0.073,2167,1498,3503
$GC,915,-1.10,-146.6,76.8,-7.5,42,922,0.00,2.62,0.00,0.000,6,0.000,0.070,2167,2889,3503
$GC,1232,-1.10,-146.6,102.5,-8.7,58,1235,0.00,1.67,0.00,0.000,4,0.000,0.078,2167,3790,3503
$GC,1314,-1.10,-146.6,110.1,-7.6,61,1322,0.00,1.52,0.00,0.000,6,0.000,0.031,2167,2894,3503
$GC,1631,-1.10,-146.6,124.0,-3.8,77,1635,0.00,2.55,0.00,0.000,4,0.000,0.070,2167,1504,3503
$GC,1663,-1.10,-146.6,125.5,-4.3,78,1670,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2898,3503
$GC,1980,-1.10,-146.6,138.2,-4.2,94,1985,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1503,3503
$GC,2013,-1.10,-146.6,139.8,-4.5,95,2020,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2902,3503
$GC,2329,-1.10,-146.6,151.9,-3.7,111,2333,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1502,3503
$GC,2355,-1.10,-146.6,153.2,-4.7,112,2359,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2899,3503
$GC,2676,-1.10,-146.6,170.8,-6.4,128,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,2985,-1.10,-146.6,193.9,-7.8,143,2989,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1505,3503
$GC,3011,-1.10,-146.6,196.0,-7.7,144,3015,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2895,3503
$GC,3332,-1.10,-146.6,216.1,-6.3,160,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3503
$GC,3641,-1.10,-146.6,233.2,-6.1,175,3645,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1500,3503
$GC,3684,-1.10,-146.6,236.0,-6.4,177,3688,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2889,3503
$GC,4011,-1.10,-146.6,254.5,-5.1,193,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2889,3503
$GC,4320,-1.10,-146.6,270.7,-5.0,208,4324,0.00,2.55,0.00,0.000,4,0.000,0.067,2167,1504,3503
$GC,4397,-1.10,-146.6,274.9,-5.3,211,4404,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2899,3503
$GC,4713,-1.10,-146.6,291.5,-5.3,227,4717,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1500,3503
$GC,4752,-1.10,-146.6,293.6,-5.2,229,4756,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,5077,-1.10,-146.6,311.8,-5.6,245,5081,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1500,3503
$GC,5120,-1.10,-146.6,314.0,-5.2,247,5125,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,5441,-1.10,-146.6,330.0,-4.8,263,5446,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1498,3503
$GC,5468,-1.10,-146.6,331.2,-4.5,264,5473,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,5784,-1.10,-146.6,346.1,-4.6,279,5788,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1500,3503
$GC,5816,-1.10,-146.6,347.7,-5.0,280,5822,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2898,3503
$GC,6132,-1.10,-146.6,363.0,-5.6,296,6136,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1497,3503
$GC,6165,-1.10,-146.6,365.1,-6.8,297,6171,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,6480,-1.10,-146.6,385.6,-6.4,313,6484,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1494,3503
$GC,6512,-1.10,-146.6,387.7,-6.1,314,6518,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2906,3503
$GC,6828,-1.10,-146.6,405.3,-5.2,330,6832,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1502,3503
$GC,6859,-1.10,-146.6,406.9,-5.3,331,6866,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,7175,-1.10,-146.6,421.6,-4.6,347,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,7484,-1.10,-146.6,440.7,-7.1,362,7488,0.00,2.55,0.00,0.000,4,0.000,0.066,2167,1501,3503
$GC,7549,-1.10,-146.6,445.6,-7.8,365,7554,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2903,3503
$GC,7877,-1.10,-146.6,471.8,-8.0,381,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3503
$GC,8186,-1.10,-146.6,495.9,-8.3,396,8190,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1496,3503
$GC,8241,-1.10,-146.6,500.7,-8.4,398,8247,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2901,3503
$GC,8557,-1.10,-146.6,525.2,-6.8,414,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,8865,-1.10,-146.6,552.8,-9.9,429,8869,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1500,3503
$GC,8926,-1.10,-146.6,559.0,-10.5,432,8930,0.00,2.58,0.00,0.000,6,0.000,0.066,2167,2901,3503
$GC,9251,-1.10,-146.6,586.9,-7.8,448,9255,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1500,3503
$GC,9318,-1.10,-146.6,591.6,-7.0,451,9322,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,9643,-1.10,-146.6,614.8,-7.8,467,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,9953,-1.10,-146.6,630.4,-3.7,482,9957,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1498,3503
$GC,10014,-1.10,-146.6,632.8,-4.4,485,10019,0.00,2.58,0.00,0.000,6,0.000,0.068,2167,2902,3503
$GC,10340,-1.10,-146.6,653.0,-6.9,501,10344,0.00,2.55,0.00,0.000,4,0.000,0.062,2167,1500,3503
$GC,10405,-1.10,-146.6,657.6,-7.2,504,10410,0.00,2.60,0.00,0.000,6,0.000,0.071,2167,2899,3503
$GC,10726,-1.10,-146.6,676.6,-5.9,520,10730,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1496,3503
$STATE,10735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10735,begin apogee
$GC,10740,-0.42,0.0,677.2,5.7,520,10868,0.73,0.00,124.53,1.233,6,0.095,0.000,2315,2104,2901
$STATE,10869,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10871,1.10,146.6,683.1,0.0,527,11002,1.58,2.70,120.72,1.210,4,0.057,0.062,2650,701,2303
$GC,11227,1.15,184.4,670.9,5.0,543,11266,0.00,2.50,32.83,1.166,6,0.000,0.042,2650,2109,2149
$GC,11589,1.15,184.4,648.3,7.0,561,11594,0.00,2.60,0.00,0.000,4,0.000,0.064,2650,707,2147
$GC,11633,1.15,184.4,645.1,7.4,563,11637,0.00,2.50,0.00,0.000,6,0.000,0.045,2650,2104,2147
$GC,11960,1.16,196.2,625.1,5.7,579,11980,0.00,2.65,11.20,1.090,4,0.000,0.064,2650,704,2100
$GC,11996,1.16,196.9,623.0,6.0,580,12003,0.00,2.53,0.00,0.000,6,0.000,0.045,2650,2092,2101
$GC,12312,1.17,205.2,603.8,5.8,596,12326,0.00,2.72,9.15,1.068,4,0.000,0.075,2650,3508,2064
$GC,12383,1.17,205.2,599.5,7.0,599,12387,0.00,2.53,0.00,0.000,6,0.000,0.047,2650,2109,2063
$GC,12703,1.22,244.9,580.1,4.9,615,12745,0.12,2.75,33.65,1.169,4,0.044,0.074,2690,3512,1902
$GC,12790,1.22,244.9,575.1,6.1,619,12794,0.00,2.55,0.00,0.000,6,0.000,0.044,2690,2092,1902
$GC,13115,1.22,244.9,554.2,7.6,635,13119,0.00,2.55,0.00,0.000,4,0.000,0.060,2690,688,1901
$GC,13203,1.22,244.9,546.1,10.1,639,13207,0.00,2.50,0.00,0.000,6,0.000,0.043,2690,2100,1901
$GC,13530,1.22,244.9,520.6,6.5,655,13534,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3512,1901
$GC,13606,1.22,244.9,515.4,7.5,658,13613,0.00,2.50,0.00,0.000,6,0.000,0.044,2690,2097,1901
$GC,13921,1.22,244.9,487.6,9.9,674,13926,0.00,2.55,0.00,0.000,4,0.000,0.059,2690,690,1900
$GC,13977,1.22,244.9,482.0,10.6,676,13983,0.00,2.50,0.00,0.000,6,0.000,0.043,2690,2099,1900
$GC,14292,1.22,244.9,452.9,8.5,692,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1901
$GC,14601,1.22,244.9,428.5,8.2,707,14605,0.00,2.62,0.00,0.000,4,0.000,0.074,2690,3511,1901
$GC,14639,1.22,244.9,424.9,9.9,709,14643,0.00,2.50,0.00,0.000,6,0.000,0.044,2690,2095,1901
$GC,14965,1.22,244.9,395.8,9.2,725,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2095,1902
$GC,15274,1.22,244.9,367.5,9.2,740,15279,0.00,2.67,0.00,0.000,4,0.000,0.074,2690,3516,1902
$GC,15317,1.22,244.9,363.5,9.1,742,15321,0.00,2.55,0.00,0.000,6,0.000,0.047,2690,2098,1902
$GC,15644,1.22,244.9,335.0,8.7,758,15645,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2098,1902
$GC,15953,1.22,244.9,308.9,8.4,773,15957,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3511,1903
$GC,15996,1.22,244.9,304.9,8.1,775,16000,0.00,2.53,0.00,0.000,6,0.000,0.047,2690,2102,1903
$GC,16323,1.22,244.9,277.0,8.6,791,16328,0.00,2.65,0.00,0.000,4,0.000,0.075,2690,3511,1903
$GC,16357,1.22,244.9,274.0,9.1,792,16363,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2099,1903
$GC,16671,1.22,244.9,245.9,9.1,808,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1904
$GC,16981,1.22,244.9,218.0,9.2,823,16985,0.00,2.65,0.00,0.000,4,0.000,0.075,2690,3511,1904
$GC,17029,1.22,244.9,213.2,10.2,825,17033,0.00,2.50,0.00,0.000,6,0.000,0.046,2690,2092,1904
$GC,17350,1.22,244.9,183.3,9.2,841,17352,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1903
$GC,17660,1.22,244.9,155.2,9.3,856,17661,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1904
$GC,17970,1.22,244.9,126.2,8.8,871,17971,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1904
$GC,18278,1.22,244.9,96.4,10.0,886,18279,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1904
$GC,18587,1.22,244.9,66.5,10.3,901,18592,0.00,2.65,0.00,0.000,4,0.000,0.072,2690,3511,1905
$GC,18614,1.22,244.9,63.5,10.8,902,18618,0.00,2.50,0.00,0.000,6,0.000,0.048,2690,2099,1905
$GC,18936,1.22,244.9,33.9,8.4,918,18937,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1905
$GC,19245,1.22,244.9,9.2,9.6,933,19249,0.00,2.58,0.00,0.000,4,0.000,0.069,2690,694,1905
$GC,19299,1.22,244.9,3.4,9.6,935,19306,0.00,2.50,0.00,0.000,6,0.000,0.047,2690,2095,1905
$STATE,19324,end climb,SURFACE_DEPTH_REACHED
$STATE,19325,begin surface coast
$FINISH,-0.9,1.027341
$STATE,19348,end surface coast,CONTROL_FINISHED_OK
$STATE,19348,begin surface
$SM_CCo,19369,45.67,0.736,1,0,1678,300.00
$SM_GC,-0.24,0.00,0.00,45.67,0.000,0.000,0.736,43,2895,1678,-10.89,-0.17,300.00
$IRIDIUM_FIX,6211.90,-1107.60,091207,040429
$TT8_MAMPS,0.028379
$HUMID,2075
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.9,90.4
$24V_AH,23.4,28.353
$10V_AH,10.1,13.256
$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,26.050,192.200,332.075,45.675,0.000,37.051,32.877,159.138,5.250,0.000,0.000,11.742,1733.729,14953.722,555.735,2080.833,439.025,33.363,1614.938,0.000,2045.706,0.000,34.760
$DEVICE_MAMPS,160.303,118.118,1233.336,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,677.284,647.426,576.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47411,938
$CFSIZE,260165632,249958400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,091207,111637,6236.542,-1130.900,38,1.2,43,-11.0