version: 66.02
glider: 103
mission: 7
dive: 112
start: 11 30 107 20 31 1
data:
$ID,103
$MISSION,7
$DIVE,112
$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,-64422.191
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,11
$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
$GPS1,202508,6204.535,-951.101,36,0.9,36,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-62.9
$GPS2,202956,6204.530,-951.132,11,1.6,11,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.068,0.208
$KALMAN_X,-93593.0,1205.7,270.0,24415.8,-7869.5
$KALMAN_Y,66600.3,-214.7,-709.0,-9129.0,1408.6
$MHEAD_RNG_PITCHd_Wd,28.0,28666,-11.1,-6.000
$D_GRID,737
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-65.50,0.000,6,0.000,0.000,50,2892,3502
$GC,89,-1.10,-146.6,2.7,-6.5,3,111,12.07,2.62,0.00,0.000,4,0.163,0.061,2165,1487,3503
$GC,362,-1.10,-146.6,31.6,-6.3,15,367,0.00,2.70,0.00,0.000,6,0.000,0.082,2165,2901,3503
$GC,689,-1.10,-146.6,54.3,-7.0,31,694,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,1488,3503
$GC,789,-1.10,-146.6,61.2,-7.5,35,796,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2899,3503
$GC,1106,-1.10,-146.6,82.0,-4.9,51,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,1414,-1.10,-146.6,103.3,-8.0,66,1418,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1486,3503
$GC,1468,-1.10,-146.6,107.4,-7.6,68,1476,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2896,3503
$GC,1784,-1.10,-146.6,131.0,-7.4,84,1788,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1481,3503
$GC,1815,-1.10,-146.6,133.6,-8.0,85,1822,0.00,2.67,0.00,0.000,6,0.000,0.070,2165,2900,3504
$GC,2131,-1.10,-146.6,157.8,-7.2,101,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3504
$GC,2440,-1.10,-146.6,180.1,-7.4,116,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3504
$GC,2750,-1.10,-146.6,201.7,-6.8,131,2754,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1488,3503
$GC,2815,-1.10,-146.6,206.8,-8.4,134,2819,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2908,3503
$GC,3141,-1.10,-146.6,233.3,-8.1,150,3146,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1484,3504
$GC,3196,-1.10,-146.6,237.8,-8.0,152,3203,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2898,3503
$GC,3511,-1.10,-146.6,262.8,-7.9,168,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,3821,-1.10,-146.6,287.4,-7.9,183,3825,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1479,3503
$GC,3869,-1.10,-146.6,291.3,-8.1,185,3874,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2898,3503
$GC,4191,-1.10,-146.6,316.1,-7.4,201,4195,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1488,3503
$GC,4239,-1.10,-146.6,319.7,-7.1,203,4244,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2898,3503
$GC,4560,-1.10,-146.6,341.2,-6.4,219,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,4869,-1.10,-146.6,360.6,-6.5,234,4874,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1488,3503
$GC,4918,-1.10,-146.6,363.8,-6.2,236,4923,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2899,3503
$GC,5239,-1.10,-146.6,383.8,-6.1,252,5244,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1483,3503
$GC,5294,-1.10,-146.6,387.0,-5.9,254,5301,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2908,3503
$GC,5609,-1.10,-146.6,407.1,-6.6,270,5613,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1479,3503
$GC,5652,-1.10,-146.6,409.9,-6.6,272,5657,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2917,3503
$GC,5979,-1.10,-146.6,431.0,-6.6,288,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2917,3503
$GC,6288,-1.10,-146.6,451.8,-6.8,303,6293,0.00,2.62,0.00,0.000,4,0.000,0.065,2165,1478,3503
$GC,6360,-1.10,-146.6,456.7,-7.1,306,6364,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2896,3503
$GC,6681,-1.10,-146.6,479.7,-7.7,322,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3503
$GC,6990,-1.10,-146.6,501.5,-6.7,337,6994,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1481,3503
$GC,7078,-1.10,-146.6,507.6,-7.0,341,7082,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2895,3503
$GC,7405,-1.10,-146.6,529.6,-6.8,357,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2894,3503
$GC,7716,-1.10,-146.6,550.5,-6.4,372,7720,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1483,3503
$GC,7755,-1.10,-146.6,553.1,-6.7,374,7759,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2899,3503
$GC,8080,-1.10,-146.6,574.6,-6.7,390,8084,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1482,3503
$GC,8150,-1.10,-146.6,579.8,-6.8,393,8155,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2896,3503
$GC,8474,-1.10,-146.6,601.2,-6.6,409,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3503
$GC,8781,-1.10,-146.6,622.1,-6.0,424,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2897,3503
$GC,9090,-1.10,-146.6,636.5,-4.4,439,9095,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1478,3503
$GC,9185,-1.10,-146.6,641.0,-5.5,443,9189,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2899,3503
$GC,9505,-1.10,-146.6,659.9,-6.8,459,9510,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1485,3503
$GC,9567,-1.10,-146.6,664.3,-7.4,462,9571,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2906,3503
$GC,9892,-1.10,-146.6,686.8,-7.3,478,9895,0.00,1.65,0.00,0.000,4,0.000,0.085,2165,3789,3503
$GC,9969,-1.10,-146.6,693.0,-7.4,481,9973,0.00,1.55,0.00,0.000,6,0.000,0.036,2165,2892,3503
$GC,10290,-1.10,-146.6,716.1,-6.7,497,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2891,3503
$STATE,10412,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10412,begin apogee
$GC,10418,-0.42,0.0,723.9,6.1,503,10547,0.75,0.00,125.45,1.237,6,0.085,0.000,2318,2007,2901
$STATE,10548,end apogee,CONTROL_FINISHED_OK
$STATE,10548,begin climb
$GC,10550,1.10,146.6,728.4,0.0,509,10681,1.52,2.70,122.85,1.205,4,0.050,0.064,2651,586,2303
$GC,10725,1.10,146.6,723.3,6.1,517,10730,0.00,2.55,0.00,0.000,6,0.000,0.041,2651,2002,2303
$GC,11047,1.11,154.6,706.0,5.8,533,11061,0.00,2.70,8.60,1.032,4,0.000,0.073,2651,3396,2270
$GC,11196,1.14,176.9,696.4,5.4,539,11223,0.00,2.55,20.25,1.151,6,0.000,0.049,2650,1986,2179
$GC,11531,1.14,179.9,675.1,5.9,556,11540,0.00,2.70,4.22,0.813,4,0.000,0.074,2651,3405,2167
$GC,11698,1.14,179.9,664.7,6.0,563,11703,0.00,2.53,0.00,0.000,6,0.000,0.049,2651,1996,2167
$GC,12013,1.18,207.9,647.2,5.2,578,12043,0.00,2.72,24.40,1.180,4,0.000,0.071,2651,3408,2053
$GC,12109,1.18,207.9,641.1,6.8,582,12116,0.00,2.55,0.00,0.000,6,0.000,0.048,2650,1990,2052
$GC,12424,1.18,207.9,620.0,6.7,598,12429,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3406,2052
$GC,12463,1.18,207.9,617.3,7.0,600,12467,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,1996,2052
$GC,12788,1.18,207.9,595.8,6.9,616,12793,0.00,2.67,0.00,0.000,4,0.000,0.072,2651,3413,2051
$GC,12905,1.18,207.9,587.2,8.0,621,12909,0.00,2.55,0.00,0.000,6,0.000,0.047,2650,2000,2052
$GC,13226,1.18,207.9,562.6,8.0,637,13230,0.00,2.65,0.00,0.000,4,0.000,0.072,2650,3407,2051
$GC,13296,1.18,207.9,556.7,8.0,640,13301,0.00,2.53,0.00,0.000,6,0.000,0.049,2650,2008,2051
$GC,13618,1.18,207.9,531.7,8.0,656,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2008,2051
$GC,13927,1.18,207.9,506.5,7.7,671,13931,0.00,2.65,0.00,0.000,4,0.000,0.077,2650,3406,2051
$GC,14010,1.18,207.9,500.2,7.0,675,14015,0.00,2.50,0.00,0.000,6,0.000,0.049,2651,1999,2051
$GC,14336,1.18,207.9,477.6,6.9,691,14341,0.00,2.62,0.00,0.000,4,0.000,0.072,2651,3405,2051
$GC,14430,1.18,207.9,470.6,6.8,695,14435,0.00,2.50,0.00,0.000,6,0.000,0.050,2650,1999,2052
$GC,14752,1.18,207.9,447.4,7.2,711,14756,0.00,2.62,0.00,0.000,4,0.000,0.073,2651,3405,2052
$GC,14805,1.18,207.9,443.5,6.9,713,14812,0.00,2.55,0.00,0.000,6,0.000,0.051,2651,1998,2052
$GC,15121,1.18,207.9,422.2,6.3,729,15125,0.00,2.62,0.00,0.000,4,0.000,0.072,2650,3407,2052
$GC,15163,1.18,207.9,419.4,6.4,731,15168,0.00,2.55,0.00,0.000,6,0.000,0.051,2651,1999,2052
$GC,15490,1.20,229.3,400.8,5.4,747,15515,0.10,2.67,18.73,0.999,4,0.050,0.067,2688,3410,1966
$GC,15565,1.20,229.3,395.6,7.5,750,15569,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,1995,1966
$GC,15886,1.20,229.3,372.1,7.5,766,15887,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1995,1966
$GC,16195,1.20,229.3,346.1,9.0,781,16200,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3409,1966
$GC,16250,1.20,229.3,340.4,9.9,783,16257,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,2001,1966
$GC,16565,1.20,229.3,307.8,11.3,799,16570,0.00,2.60,0.00,0.000,4,0.000,0.073,2688,3406,1966
$GC,16626,1.20,229.3,300.8,11.5,802,16631,0.00,2.53,0.00,0.000,6,0.000,0.052,2688,1996,1966
$GC,16952,1.20,229.3,266.0,10.7,818,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1996,1966
$GC,17261,1.20,229.3,234.6,9.8,833,17266,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3406,1967
$GC,17345,1.20,229.3,226.0,9.1,837,17349,0.00,2.53,0.00,0.000,6,0.000,0.053,2688,1996,1966
$GC,17670,1.20,229.3,195.3,9.4,853,17675,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3404,1967
$GC,17702,1.20,229.3,192.1,9.4,854,17709,0.00,2.55,0.00,0.000,6,0.000,0.054,2688,2000,1967
$GC,18018,1.20,229.3,163.8,8.8,870,18022,0.00,2.62,0.00,0.000,4,0.000,0.073,2687,3409,1967
$GC,18073,1.20,229.3,158.8,9.7,872,18079,0.00,2.55,0.00,0.000,6,0.000,0.054,2688,1999,1967
$GC,18388,1.20,229.3,131.6,8.6,888,18392,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3405,1967
$GC,18431,1.20,229.3,127.7,8.8,890,18435,0.00,2.53,0.00,0.000,6,0.000,0.054,2688,1999,1967
$GC,18758,1.20,229.3,99.5,8.5,906,18759,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1999,1967
$GC,19068,1.20,229.3,73.5,8.5,921,19070,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1999,1968
$GC,19376,1.20,229.3,45.3,8.7,936,19381,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3407,1968
$GC,19442,1.20,229.3,40.0,6.9,939,19447,0.00,2.55,0.00,0.000,6,0.000,0.059,2688,1998,1968
$GC,19769,1.20,229.3,12.3,8.1,955,19770,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1998,1968
$STATE,19912,end climb,SURFACE_DEPTH_REACHED
$STATE,19912,begin surface coast
$FINISH,-0.8,1.027234
$STATE,19934,end surface coast,CONTROL_FINISHED_OK
$STATE,19934,begin surface
$SM_CCo,19955,57.60,0.729,1,0,1678,300.00
$SM_GC,-0.30,0.00,0.00,57.60,0.000,0.000,0.729,41,2896,1678,-10.90,-0.11,300.00
$IRIDIUM_FIX,6135.28,-949.59,301107,181830
$TT8_MAMPS,0.027612
$HUMID,2060
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,650.6,82.6
$24V_AH,23.4,22.898
$10V_AH,10.1,9.992
$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,25.925,194.400,324.500,57.600,0.000,38.649,24.957,131.364,6.250,0.000,0.000,11.039,1795.510,15331.338,557.234,2238.829,395.054,33.361,1678.246,0.000,2205.481,0.000,40.923
$DEVICE_MAMPS,163.371,85.137,1237.171,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.249,697.999,574.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47486,963
$CFSIZE,260165632,252395520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,1,0
$GPS,011207,020555,6207.597,-951.704,25,1.7,42,-9.9