version: 66.02
glider: 103
mission: 7
dive: 95
start: 11 27 107 7 2 32
data:
$ID,103
$MISSION,7
$DIVE,95
$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,-63947.812
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,065631,6142.970,-913.546,37,1.2,42,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-58.4
$GPS2,070127,6142.971,-913.481,14,1.2,14,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.092,0.198
$KALMAN_X,-73563.2,-286.6,-5476.0,44922.5,8193.9
$KALMAN_Y,89105.2,46.3,843.4,-73372.5,-2058.9
$MHEAD_RNG_PITCHd_Wd,344.5,18622,-11.1,-6.000
$D_GRID,762
$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,17,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-64.88,0.000,6,0.000,0.000,48,2916,3500
$GC,88,-1.10,-146.6,1.9,-4.4,3,110,11.95,2.67,0.00,0.000,4,0.159,0.063,2164,1489,3501
$GC,137,-1.10,-146.6,18.1,-12.4,5,141,0.00,2.70,0.00,0.000,6,0.000,0.079,2164,2888,3502
$GC,464,-1.10,-146.6,41.5,-5.6,21,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2888,3502
$GC,773,-1.10,-146.6,62.0,-5.9,36,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2888,3502
$GC,1082,-1.10,-146.6,82.6,-6.8,51,1087,0.00,2.60,0.00,0.000,4,0.000,0.070,2165,1489,3502
$GC,1121,-1.10,-146.6,85.3,-7.0,53,1126,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2901,3502
$GC,1446,-1.10,-146.6,106.6,-7.3,69,1451,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1484,3501
$GC,1478,-1.10,-146.6,109.2,-7.9,70,1485,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2894,3502
$GC,1795,-1.10,-146.6,132.5,-7.3,86,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3502
$GC,2103,-1.10,-146.6,156.0,-7.7,101,2107,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1481,3502
$GC,2173,-1.10,-146.6,161.5,-7.7,104,2178,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2892,3502
$GC,2495,-1.10,-146.6,186.0,-7.5,120,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2892,3502
$GC,2804,-1.10,-146.6,208.0,-6.8,135,2808,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1483,3502
$GC,2846,-1.10,-146.6,210.9,-6.9,137,2851,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2899,3502
$GC,3173,-1.10,-146.6,233.1,-6.4,153,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,3483,-1.10,-146.6,249.1,-4.7,168,3487,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1480,3502
$GC,3570,-1.10,-146.6,253.4,-5.1,172,3575,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2908,3502
$GC,3897,-1.10,-146.6,269.9,-5.7,188,3901,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1481,3502
$GC,3935,-1.10,-146.6,272.4,-6.5,190,3939,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2899,3502
$GC,4260,-1.10,-146.6,294.6,-7.2,206,4265,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1486,3502
$GC,4299,-1.10,-146.6,297.6,-7.8,208,4303,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3502
$GC,4624,-1.10,-146.6,321.8,-7.5,224,4628,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1481,3502
$GC,4656,-1.10,-146.6,324.4,-8.1,225,4663,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2894,3502
$GC,4974,-1.10,-146.6,350.1,-8.2,241,4978,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1480,3502
$GC,5012,-1.10,-146.6,353.5,-8.7,243,5016,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2900,3502
$GC,5337,-1.10,-146.6,380.6,-8.4,259,5341,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1487,3502
$GC,5385,-1.10,-146.6,384.7,-8.4,261,5390,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2901,3502
$GC,5706,-1.10,-146.6,407.7,-6.3,277,5710,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1489,3502
$GC,5738,-1.10,-146.6,409.6,-6.1,278,5745,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2892,3502
$GC,6054,-1.10,-146.6,429.1,-6.3,294,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2892,3502
$GC,6363,-1.10,-146.6,443.6,-4.8,309,6368,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1485,3502
$GC,6412,-1.10,-146.6,446.1,-4.9,311,6417,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2909,3502
$GC,6733,-1.10,-146.6,467.2,-7.8,327,6737,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1479,3502
$GC,6765,-1.10,-146.6,470.1,-8.5,328,6772,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,7081,-1.10,-146.6,497.0,-8.2,344,7085,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1486,3502
$GC,7123,-1.10,-146.6,500.7,-8.0,346,7128,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2899,3502
$GC,7450,-1.10,-146.6,523.3,-5.2,362,7455,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1484,3502
$GC,7483,-1.10,-146.6,524.7,-4.5,363,7490,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2904,3502
$GC,7798,-1.10,-146.6,538.7,-4.4,379,7802,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1485,3502
$GC,7846,-1.10,-146.6,541.4,-6.3,381,7851,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2900,3502
$GC,8167,-1.10,-146.6,567.5,-11.9,397,8172,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1478,3502
$GC,8210,-1.10,-146.6,571.3,-8.6,399,8215,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2897,3502
$GC,8538,-1.10,-146.6,584.2,-2.0,415,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3502
$GC,8847,-1.10,-146.6,596.4,-4.6,430,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3502
$GC,9156,-1.10,-146.6,618.2,-7.9,445,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,9465,-1.10,-146.6,641.8,-6.3,460,9469,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1474,3502
$GC,9520,-1.10,-146.6,645.0,-5.3,462,9527,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2900,3502
$GC,9835,-1.10,-146.6,656.9,-4.2,478,9840,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1485,3502
$GC,9879,-1.10,-146.6,659.1,-5.8,480,9883,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,10206,-1.10,-146.6,678.8,-4.6,496,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,10515,-1.10,-146.6,697.4,-8.6,511,10519,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1484,3501
$GC,10558,-1.10,-146.6,701.3,-9.5,513,10562,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2911,3501
$GC,10884,-1.10,-146.6,727.5,-9.6,529,10888,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1483,3501
$GC,11136,-1.10,-146.6,743.5,-4.0,540,11140,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2899,3501
$STATE,11208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11208,begin apogee
$GC,11214,-0.42,0.0,748.7,7.6,544,11342,0.75,0.00,125.22,1.257,6,0.087,0.000,2317,1774,2901
$STATE,11343,end apogee,CONTROL_FINISHED_OK
$STATE,11343,begin climb
$GC,11345,1.10,146.6,755.2,0.0,550,11477,1.55,2.72,123.78,1.209,4,0.053,0.072,2651,362,2303
$GC,11526,1.11,149.5,750.3,5.9,559,11536,0.00,2.58,4.43,0.787,6,0.000,0.046,2651,1778,2291
$GC,11863,1.14,173.0,732.9,5.3,576,11886,0.00,0.00,21.27,1.180,6,0.000,0.000,2652,1783,2195
$GC,12192,1.30,306.8,716.1,2.3,592,12315,0.17,2.78,111.50,1.237,4,0.044,0.070,2709,360,1650
$GC,12449,1.30,306.8,695.8,10.4,604,12454,0.00,2.55,0.00,0.000,6,0.000,0.047,2710,1779,1649
$GC,12775,1.30,306.8,652.5,12.5,620,12779,0.00,2.65,0.00,0.000,4,0.000,0.077,2709,3183,1648
$GC,12926,1.30,306.8,634.7,12.6,627,12930,0.00,2.55,0.00,0.000,6,0.000,0.053,2709,1770,1647
$GC,13250,1.30,306.8,600.4,11.1,643,13255,0.00,2.62,0.00,0.000,4,0.000,0.070,2709,3183,1647
$GC,13345,1.30,306.8,588.8,13.3,647,13349,0.00,2.55,0.00,0.000,6,0.000,0.050,2709,1768,1647
$GC,13659,1.30,306.8,548.5,12.8,662,13664,0.00,2.65,0.00,0.000,4,0.000,0.070,2709,3185,1647
$GC,13752,1.30,306.8,537.2,11.9,666,13757,0.00,2.55,0.00,0.000,6,0.000,0.051,2709,1777,1647
$GC,14074,1.30,306.8,500.4,10.4,682,14078,0.00,2.62,0.00,0.000,4,0.000,0.071,2709,3185,1647
$GC,14157,1.30,306.8,491.7,10.3,686,14162,0.00,2.53,0.00,0.000,6,0.000,0.052,2709,1777,1647
$GC,14483,1.30,306.8,456.9,11.3,702,14487,0.00,2.62,0.00,0.000,4,0.000,0.072,2709,3183,1647
$GC,14554,1.30,306.8,448.5,12.0,705,14558,0.00,2.55,0.00,0.000,6,0.000,0.053,2709,1778,1647
$GC,14875,1.30,306.8,411.6,12.0,721,14879,0.00,2.62,0.00,0.000,4,0.000,0.071,2709,3184,1647
$GC,14929,1.30,306.8,405.2,11.4,723,14936,0.00,2.55,0.00,0.000,6,0.000,0.053,2709,1778,1648
$GC,15244,1.30,306.8,371.0,10.7,739,15249,0.00,2.65,0.00,0.000,4,0.000,0.074,2709,3188,1648
$GC,15328,1.30,306.8,362.5,9.4,743,15332,0.00,2.53,0.00,0.000,6,0.000,0.054,2710,1776,1648
$GC,15653,1.30,306.8,334.1,8.9,759,15657,0.00,2.65,0.00,0.000,4,0.000,0.075,2709,3186,1648
$GC,15729,1.30,306.8,326.8,8.9,762,15736,0.00,2.55,0.00,0.000,6,0.000,0.054,2709,1782,1648
$GC,16045,1.30,306.8,296.8,10.0,778,16049,0.00,2.62,0.00,0.000,4,0.000,0.074,2709,3184,1648
$GC,16150,1.30,306.8,285.1,11.1,783,16155,0.00,2.55,0.00,0.000,6,0.000,0.056,2709,1768,1649
$GC,16476,1.30,306.8,247.3,11.2,799,16480,0.00,2.65,0.00,0.000,4,0.000,0.074,2710,3185,1649
$GC,16569,1.30,306.8,236.3,11.3,803,16574,0.00,2.58,0.00,0.000,6,0.000,0.058,2710,1777,1649
$GC,16890,1.30,306.8,203.6,9.8,819,16895,0.00,2.65,0.00,0.000,4,0.000,0.075,2710,3188,1649
$GC,16962,1.30,306.8,196.4,10.5,822,16966,0.00,2.58,0.00,0.000,6,0.000,0.057,2710,1775,1649
$GC,17283,1.30,306.8,162.8,10.4,838,17287,0.00,2.62,0.00,0.000,4,0.000,0.077,2709,3182,1650
$GC,17348,1.30,306.8,155.8,10.5,841,17352,0.00,2.58,0.00,0.000,6,0.000,0.058,2710,1773,1650
$GC,17675,1.30,306.8,118.4,11.4,857,17679,0.00,2.65,0.00,0.000,4,0.000,0.076,2710,3182,1650
$GC,17760,1.30,306.8,109.1,11.5,861,17764,0.00,2.55,0.00,0.000,6,0.000,0.058,2710,1772,1650
$GC,18085,1.30,306.8,72.9,11.1,877,18089,0.00,2.65,0.00,0.000,4,0.000,0.076,2709,3182,1651
$GC,18161,1.30,306.8,63.8,11.8,880,18169,0.00,2.58,0.00,0.000,6,0.000,0.058,2710,1773,1650
$GC,18477,1.30,306.8,32.8,9.1,896,18482,0.00,2.65,0.00,0.000,4,0.000,0.075,2710,3182,1650
$GC,18565,1.30,306.8,23.3,9.2,900,18570,0.00,2.58,0.00,0.000,6,0.000,0.058,2710,1773,1651
$STATE,18747,end climb,SURFACE_DEPTH_REACHED
$STATE,18747,begin surface coast
$FINISH,-0.8,1.002247
$STATE,18769,end surface coast,CONTROL_FINISHED_OK
$STATE,18769,begin surface
$SM_CCo,18849,0.00,0.000,0,0,1651,306.62
$SM_GC,0.21,11.55,0.00,0.00,0.023,0.000,0.000,45,2895,1651,-10.80,-0.14,306.62
$IRIDIUM_FIX,6117.23,-901.66,271107,050555
$TT8_MAMPS,0.028379
$HUMID,2099
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,675.0,82.2
$24V_AH,23.4,20.548
$10V_AH,10.1,8.544
$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,25.975,207.850,386.200,0.000,0.000,37.892,28.222,134.077,6.250,0.000,0.000,14.818,1715.381,14343.629,553.055,2173.831,369.329,33.371,1655.961,0.000,2128.985,0.000,39.598
$DEVICE_MAMPS,158.769,89.739,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,646.099,643.704,533.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47448,910
$CFSIZE,260165632,253489152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
$GPS,271107,121738,6147.693,-915.083,25,2.0,25,-9.5