version: 66.02
glider: 103
mission: 7
dive: 110
start: 11 30 107 9 29 8
data:
$ID,103
$MISSION,7
$DIVE,110
$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,-64395.301
$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,14
$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
$GPS1,092302,6159.336,-947.627,38,1.5,38,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.36
$_SM_ANGLEo,-61.9
$GPS2,092803,6159.311,-947.664,15,1.3,15,-9.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.035,0.216
$KALMAN_X,-88417.6,788.2,-65.1,23082.7,-8618.4
$KALMAN_Y,65456.7,742.3,-147.8,-19180.4,-2492.1
$MHEAD_RNG_PITCHd_Wd,18.9,38368,-11.1,-6.000
$D_GRID,741
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-61.70,0.000,2,0.000,0.000,46,2892,3358
$GC,85,-1.10,-146.6,3.1,-7.9,3,107,12.05,1.75,-2.65,0.000,4,0.162,0.114,2164,3780,3502
$GC,117,-1.10,-146.6,12.4,-21.2,4,122,0.00,1.55,0.00,0.000,6,0.000,0.032,2164,2889,3502
$GC,439,-1.10,-146.6,38.0,-7.9,20,442,0.00,1.70,0.00,0.000,4,0.000,0.081,2164,3783,3502
$GC,696,-1.10,-146.6,59.2,-7.6,31,700,0.00,1.52,0.00,0.000,6,0.000,0.034,2164,2901,3503
$GC,1017,-1.10,-146.6,83.3,-7.7,47,1021,0.00,1.67,0.00,0.000,4,0.000,0.080,2164,3786,3503
$GC,1246,-1.10,-146.6,103.4,-8.4,57,1251,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2900,3503
$GC,1573,-1.10,-146.6,134.4,-9.2,73,1578,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1490,3502
$GC,1622,-1.10,-146.6,138.7,-8.7,75,1626,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2895,3503
$GC,1943,-1.10,-146.6,166.8,-9.4,91,1947,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1497,3502
$GC,1991,-1.10,-146.6,171.6,-9.6,93,1996,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2906,3503
$GC,2313,-1.10,-146.6,201.3,-8.7,109,2318,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1492,3503
$GC,2339,-1.10,-146.6,203.6,-8.1,110,2344,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2899,3503
$GC,2662,-1.10,-146.6,228.7,-7.9,126,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2970,-1.10,-146.6,253.1,-8.2,141,2975,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1497,3503
$GC,3025,-1.10,-146.6,257.7,-7.9,143,3032,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2899,3502
$GC,3340,-1.10,-146.6,281.2,-7.3,159,3345,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1499,3503
$GC,3374,-1.10,-146.6,283.5,-7.0,160,3380,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2899,3503
$GC,3688,-1.10,-146.6,304.4,-7.0,176,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,3998,-1.10,-146.6,324.3,-6.3,191,4002,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1496,3503
$GC,4054,-1.10,-146.6,327.7,-6.0,193,4060,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2900,3503
$GC,4368,-1.10,-146.6,345.5,-5.4,209,4373,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1495,3503
$GC,4418,-1.10,-146.6,348.3,-5.9,211,4422,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,4739,-1.10,-146.6,366.8,-6.0,227,4743,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1497,3503
$GC,4792,-1.10,-146.6,370.4,-6.8,229,4800,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2901,3502
$GC,5108,-1.10,-146.6,390.0,-6.2,245,5112,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1496,3503
$GC,5151,-1.10,-146.6,392.6,-6.0,247,5155,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2899,3503
$GC,5478,-1.10,-146.6,410.5,-5.6,263,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,5787,-1.10,-146.6,427.1,-5.2,278,5792,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1492,3503
$GC,5864,-1.10,-146.6,431.0,-4.8,281,5871,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,6180,-1.10,-146.6,446.3,-5.0,297,6184,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1492,3502
$GC,6224,-1.10,-146.6,448.5,-4.8,299,6228,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2903,3502
$GC,6550,-1.10,-146.6,465.0,-5.2,315,6555,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1488,3502
$GC,6600,-1.10,-146.6,467.7,-5.6,317,6604,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,6915,-1.10,-146.6,488.7,-7.9,332,6919,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1493,3502
$GC,6957,-1.10,-146.6,492.6,-9.1,334,6962,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2901,3502
$GC,7284,-1.10,-146.6,520.4,-8.2,350,7289,0.00,2.53,0.00,0.000,4,0.000,0.057,2164,1491,3503
$GC,7328,-1.10,-146.6,523.9,-7.7,352,7332,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2904,3503
$GC,7654,-1.10,-146.6,547.0,-7.3,368,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,7964,-1.10,-146.6,569.6,-6.9,383,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,8273,-1.10,-146.6,591.3,-6.4,398,8277,0.00,2.53,0.00,0.000,4,0.000,0.053,2164,1490,3502
$GC,8360,-1.10,-146.6,597.2,-6.3,402,8365,0.00,2.58,0.00,0.000,6,0.000,0.060,2164,2898,3503
$GC,8687,-1.10,-146.6,619.7,-7.8,418,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,8997,-1.10,-146.6,642.8,-5.8,433,9002,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1489,3502
$GC,9137,-1.10,-146.6,650.0,-4.5,439,9142,0.00,2.55,0.00,0.000,6,0.000,0.059,2164,2900,3502
$GC,9458,-1.10,-146.6,660.9,-3.3,455,9461,0.00,2.50,0.00,0.000,4,0.000,0.050,2164,1487,3502
$GC,9512,-1.10,-146.6,663.2,-4.1,457,9517,0.00,2.55,0.00,0.000,6,0.000,0.058,2164,2901,3502
$GC,9833,-1.10,-146.6,680.0,-6.1,473,9837,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1489,3501
$GC,9899,-1.10,-146.6,685.3,-7.9,476,9903,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2898,3502
$GC,10226,-1.10,-146.6,708.5,-5.8,492,10229,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3783,3501
$GC,10281,-1.10,-146.6,712.4,-6.9,494,10285,0.00,1.52,0.00,0.000,6,0.000,0.037,2164,2900,3501
$GC,10602,-1.10,-146.6,735.3,-8.8,510,10606,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1492,3501
$GC,10678,-1.10,-146.6,739.2,-6.0,513,10685,0.00,2.60,0.00,0.000,6,0.000,0.072,2164,2898,3501
$STATE,10724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10724,begin apogee
$GC,10731,-0.42,0.0,742.1,6.1,516,10860,0.75,0.00,125.82,1.256,6,0.087,0.000,2317,1785,2901
$STATE,10861,end apogee,CONTROL_FINISHED_OK
$STATE,10861,begin climb
$GC,10862,1.10,146.6,746.2,0.0,522,10994,1.55,2.75,123.22,1.222,4,0.054,0.072,2649,360,2303
$GC,11117,1.26,274.6,737.6,2.5,534,11231,0.15,2.55,106.65,1.206,6,0.038,0.043,2699,1795,1781
$GC,11539,1.26,274.6,697.7,11.9,554,11543,0.00,2.60,0.00,0.000,4,0.000,0.072,2700,3174,1780
$GC,11717,1.26,274.6,676.4,11.0,562,11722,0.00,2.55,0.00,0.000,6,0.000,0.051,2700,1762,1779
$GC,12037,1.26,274.6,649.8,7.9,578,12042,0.00,2.65,0.00,0.000,4,0.000,0.065,2700,3183,1777
$GC,12148,1.26,274.6,640.0,9.8,583,12152,0.00,2.55,0.00,0.000,6,0.000,0.048,2700,1775,1777
$GC,12475,1.26,274.6,606.3,10.3,599,12479,0.00,2.60,0.00,0.000,4,0.000,0.064,2700,3175,1777
$GC,12568,1.26,274.6,596.5,10.0,603,12573,0.00,2.50,0.00,0.000,6,0.000,0.046,2700,1770,1776
$GC,12889,1.26,274.6,564.8,9.7,619,12893,0.00,2.60,0.00,0.000,4,0.000,0.061,2700,3181,1776
$GC,13017,1.26,274.6,551.8,10.6,625,13021,0.00,2.47,0.00,0.000,6,0.000,0.044,2700,1774,1776
$GC,13342,1.26,274.6,515.5,11.5,641,13346,0.00,2.55,0.00,0.000,4,0.000,0.060,2700,3177,1776
$GC,13419,1.26,274.6,506.6,11.6,644,13424,0.00,2.50,0.00,0.000,6,0.000,0.044,2700,1777,1777
$GC,13741,1.26,274.6,472.1,10.1,660,13745,0.00,2.55,0.00,0.000,4,0.000,0.061,2700,3175,1777
$GC,13851,1.26,274.6,461.1,10.4,665,13855,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,1774,1777
$GC,14178,1.26,274.6,429.6,9.4,681,14182,0.00,2.60,0.00,0.000,4,0.000,0.064,2700,3181,1777
$GC,14284,1.26,274.6,419.1,10.6,686,14289,0.00,2.50,0.00,0.000,6,0.000,0.050,2700,1776,1778
$GC,14610,1.26,274.6,385.4,10.7,702,14614,0.00,2.55,0.00,0.000,4,0.000,0.064,2700,3179,1778
$GC,14721,1.26,274.6,373.3,10.9,707,14725,0.00,2.50,0.00,0.000,6,0.000,0.050,2700,1776,1778
$GC,15046,1.26,274.6,338.5,10.7,723,15050,0.00,2.60,0.00,0.000,4,0.000,0.066,2700,3180,1779
$GC,15139,1.26,274.6,328.4,10.8,727,15144,0.00,2.53,0.00,0.000,6,0.000,0.051,2700,1778,1778
$GC,15461,1.26,274.6,297.8,9.0,743,15465,0.00,2.58,0.00,0.000,4,0.000,0.066,2700,3174,1779
$GC,15544,1.26,274.6,290.3,8.9,747,15548,0.00,2.50,0.00,0.000,6,0.000,0.050,2700,1767,1779
$GC,15870,1.26,274.6,263.1,8.1,763,15874,0.00,2.62,0.00,0.000,4,0.000,0.067,2700,3182,1779
$GC,15975,1.26,274.6,253.2,10.7,768,15979,0.00,2.53,0.00,0.000,6,0.000,0.052,2700,1768,1779
$GC,16300,1.26,274.6,218.4,11.0,784,16304,0.00,2.60,0.00,0.000,4,0.000,0.067,2700,3176,1780
$GC,16406,1.26,274.6,206.7,10.8,789,16410,0.00,2.50,0.00,0.000,6,0.000,0.052,2700,1776,1780
$GC,16731,1.26,274.6,172.8,10.0,805,16735,0.00,2.58,0.00,0.000,4,0.000,0.067,2700,3177,1780
$GC,16824,1.26,274.6,163.0,9.5,809,16829,0.00,2.50,0.00,0.000,6,0.000,0.051,2700,1774,1781
$GC,17147,1.26,274.6,133.2,8.9,825,17152,0.00,2.60,0.00,0.000,4,0.000,0.068,2700,3178,1781
$GC,17269,1.26,274.6,120.9,10.0,830,17276,0.00,2.55,0.00,0.000,6,0.000,0.054,2700,1776,1781
$GC,17587,1.26,274.6,91.7,9.3,846,17591,0.00,2.60,0.00,0.000,4,0.000,0.067,2700,3174,1781
$GC,17693,1.26,274.6,80.4,9.7,851,17697,0.00,2.53,0.00,0.000,6,0.000,0.054,2700,1775,1781
$GC,18019,1.26,274.6,50.1,9.1,867,18023,0.00,2.62,0.00,0.000,4,0.000,0.070,2700,3182,1782
$GC,18095,1.26,274.6,43.8,7.0,870,18103,0.00,2.55,0.00,0.000,6,0.000,0.055,2700,1777,1782
$GC,18411,1.26,274.6,14.7,9.2,886,18415,0.00,2.60,0.00,0.000,4,0.000,0.067,2700,3179,1782
$GC,18510,1.26,274.6,4.5,9.9,890,18517,0.00,2.50,0.00,0.000,6,0.000,0.048,2700,1780,1782
$STATE,18556,end climb,SURFACE_DEPTH_REACHED
$STATE,18556,begin surface coast
$FINISH,-1.2,1.027227
$STATE,18578,end surface coast,CONTROL_FINISHED_OK
$STATE,18578,begin surface
$SM_CCo,18599,22.45,0.691,1,0,1677,300.00
$SM_GC,-0.32,0.00,0.00,22.45,0.000,0.000,0.691,44,2889,1677,-10.88,-0.31,300.00
$IRIDIUM_FIX,6135.28,-943.53,301107,070746
$TT8_MAMPS,0.029146
$HUMID,2056
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,725.0,29.5
$24V_AH,23.4,22.626
$10V_AH,10.1,9.807
$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,26.200,207.525,355.700,22.450,0.000,38.481,29.322,137.262,6.750,0.000,0.000,15.844,1729.275,13931.933,539.800,2328.104,411.396,33.359,1709.193,0.000,2286.076,0.000,45.522
$DEVICE_MAMPS,161.837,113.516,1255.579,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.483,631.550,523.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44328,894
$CFSIZE,260165632,252538880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,1,0
$GPS,301107,144038,6202.873,-948.959,29,0.9,29,-9.9