version: 66.02
glider: 103
mission: 7
dive: 113
start: 12 1 107 2 12 3
data:
$ID,103
$MISSION,7
$DIVE,113
$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,-64437.961
$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,21
$R_STBD_OVSHOOT,16
$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
$GPS1,020555,6207.597,-951.704,25,1.7,42,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-59.8
$GPS2,021057,6207.605,-951.667,15,1.6,15,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,0.205
$KALMAN_X,-95289.1,423.3,951.1,25753.2,-7458.5
$KALMAN_Y,65651.0,-51.1,632.6,-3981.8,-1897.7
$MHEAD_RNG_PITCHd_Wd,29.7,23000,-11.1,-6.000
$D_GRID,733
$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,20,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-61.58,0.000,2,0.000,0.000,41,2899,3363
$GC,85,-1.10,-146.6,3.2,-8.7,3,107,12.02,1.70,-2.55,0.000,4,0.160,0.108,2163,3773,3502
$GC,359,-1.10,-146.6,29.9,-7.4,15,363,0.00,1.50,0.00,0.000,6,0.000,0.033,2163,2900,3502
$GC,686,-1.10,-146.6,53.3,-7.4,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,995,-1.10,-146.6,78.0,-8.8,46,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,1304,-1.10,-146.6,103.1,-8.0,61,1309,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1486,3503
$GC,1389,-1.10,-146.6,109.9,-8.9,65,1393,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2901,3503
$GC,1716,-1.10,-146.6,136.0,-8.4,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,2023,-1.10,-146.6,162.1,-8.8,96,2027,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1495,3503
$GC,2078,-1.10,-146.6,167.1,-9.1,98,2084,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2897,3503
$GC,2393,-1.10,-146.6,194.5,-8.4,114,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3503
$GC,2702,-1.10,-146.6,219.9,-8.1,129,2707,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1489,3503
$GC,2746,-1.10,-146.6,223.5,-8.2,131,2751,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2898,3503
$GC,3073,-1.10,-146.6,250.1,-8.4,147,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3503
$GC,3382,-1.10,-146.6,277.7,-9.0,162,3386,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1492,3503
$GC,3430,-1.10,-146.6,282.2,-9.2,164,3435,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2893,3503
$GC,3752,-1.10,-146.6,310.0,-8.3,180,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3503
$GC,4061,-1.10,-146.6,335.1,-8.1,195,4065,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1487,3503
$GC,4099,-1.10,-146.6,338.1,-8.1,197,4103,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2908,3503
$GC,4425,-1.10,-146.6,362.6,-7.4,213,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,4734,-1.10,-146.6,384.7,-7.0,228,4738,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1486,3503
$GC,4805,-1.10,-146.6,389.7,-6.7,231,4810,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2908,3503
$GC,5126,-1.10,-146.6,410.6,-6.6,247,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,5435,-1.10,-146.6,430.7,-6.1,262,5439,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1485,3503
$GC,5489,-1.10,-146.6,434.2,-6.6,264,5496,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2892,3503
$GC,5805,-1.10,-146.6,452.4,-5.5,280,5809,0.00,2.53,0.00,0.000,4,0.000,0.059,2163,1494,3503
$GC,5837,-1.10,-146.6,454.2,-5.6,281,5842,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2898,3503
$GC,6158,-1.10,-146.6,470.3,-5.0,297,6163,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1493,3503
$GC,6197,-1.10,-146.6,472.4,-5.6,299,6202,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2907,3503
$GC,6523,-1.10,-146.6,489.3,-5.3,315,6527,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1493,3503
$GC,6594,-1.10,-146.6,493.0,-4.9,318,6598,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,6914,-1.10,-146.6,511.1,-6.0,334,6919,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1487,3503
$GC,6969,-1.10,-146.6,514.7,-6.7,336,6976,0.00,2.60,0.00,0.000,6,0.000,0.062,2163,2900,3503
$GC,7285,-1.10,-146.6,535.7,-7.0,352,7289,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1489,3503
$GC,7372,-1.10,-146.6,541.9,-6.6,356,7377,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2899,3503
$GC,7699,-1.10,-146.6,561.3,-5.5,372,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,8009,-1.10,-146.6,576.1,-4.2,387,8013,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1482,3503
$GC,8052,-1.10,-146.6,577.9,-3.9,389,8056,0.00,2.58,0.00,0.000,6,0.000,0.063,2163,2901,3503
$GC,8378,-1.10,-146.6,591.9,-4.5,405,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,8688,-1.10,-146.6,607.7,-5.7,420,8692,0.00,2.53,0.00,0.000,4,0.000,0.054,2163,1489,3502
$GC,8731,-1.10,-146.6,610.4,-6.3,422,8735,0.00,2.58,0.00,0.000,6,0.000,0.063,2163,2901,3502
$GC,9057,-1.10,-146.6,628.9,-5.3,438,9062,0.00,2.53,0.00,0.000,4,0.000,0.053,2163,1489,3502
$GC,9101,-1.10,-146.6,631.1,-5.1,440,9105,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2902,3502
$GC,9428,-1.10,-146.6,647.6,-6.1,456,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,9741,-1.10,-146.6,676.1,-9.6,471,9746,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1483,3502
$GC,9790,-1.10,-146.6,681.0,-9.1,473,9795,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2893,3501
$GC,10111,-1.10,-146.6,704.9,-6.6,489,10116,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1488,3501
$GC,10200,-1.10,-146.6,710.4,-5.9,493,10204,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2898,3501
$STATE,10216,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10216,begin apogee
$GC,10221,-0.42,0.0,711.8,7.7,494,10349,0.75,0.00,124.55,1.238,6,0.080,0.000,2318,1997,2901
$STATE,10350,end apogee,CONTROL_FINISHED_OK
$STATE,10350,begin climb
$GC,10352,1.10,146.6,716.4,0.0,500,10484,1.52,2.65,122.80,1.200,4,0.053,0.061,2649,587,2303
$GC,10617,1.10,146.6,707.1,6.2,512,10622,0.00,2.55,0.00,0.000,6,0.000,0.041,2649,2007,2303
$GC,10938,1.10,146.6,686.6,6.8,528,10943,0.00,2.60,0.00,0.000,4,0.000,0.070,2649,3405,2302
$GC,10977,1.10,146.6,683.8,7.5,530,10981,0.00,2.53,0.00,0.000,6,0.000,0.045,2649,1987,2302
$GC,11302,1.20,225.4,665.2,3.8,546,11371,0.10,0.00,66.32,1.211,6,0.048,0.000,2687,1987,1982
$GC,11671,1.20,225.4,643.5,7.6,564,11676,0.00,2.67,0.00,0.000,4,0.000,0.067,2687,3410,1981
$GC,11765,1.20,225.4,635.4,8.5,568,11770,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,1998,1981
$GC,12086,1.20,225.4,606.8,8.8,584,12091,0.00,2.62,0.00,0.000,4,0.000,0.068,2687,3408,1980
$GC,12126,1.20,225.4,603.4,9.0,586,12130,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,1994,1980
$GC,12450,1.20,225.4,576.6,7.9,602,12455,0.00,2.62,0.00,0.000,4,0.000,0.068,2687,3406,1980
$GC,12504,1.20,225.4,572.1,8.3,604,12511,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,2004,1980
$GC,12820,1.20,225.4,545.7,8.9,620,12825,0.00,2.62,0.00,0.000,4,0.000,0.068,2687,3410,1979
$GC,12859,1.20,225.4,541.8,9.2,622,12863,0.00,2.47,0.00,0.000,6,0.000,0.041,2687,1999,1979
$GC,13184,1.20,225.4,511.8,9.1,638,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1999,1979
$GC,13493,1.20,225.4,481.9,10.1,653,13495,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1999,1979
$GC,13802,1.20,225.4,450.1,10.6,668,13807,0.00,2.62,0.00,0.000,4,0.000,0.070,2687,3406,1979
$GC,13908,1.20,225.4,438.8,11.2,673,13912,0.00,2.50,0.00,0.000,6,0.000,0.047,2687,1991,1979
$GC,14233,1.20,225.4,405.8,10.3,689,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1991,1979
$GC,14542,1.20,225.4,376.9,8.9,704,14547,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3404,1980
$GC,14626,1.20,225.4,369.6,8.7,708,14630,0.00,2.50,0.00,0.000,6,0.000,0.050,2687,1996,1980
$GC,14951,1.20,225.4,345.4,6.8,724,14955,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3404,1980
$GC,14982,1.20,225.4,343.3,6.6,725,14990,0.00,2.53,0.00,0.000,6,0.000,0.050,2687,2004,1980
$GC,15299,1.21,233.1,324.7,5.8,741,15313,0.00,2.67,7.80,0.848,4,0.000,0.073,2687,3398,1950
$GC,15364,1.21,233.1,320.4,7.3,744,15369,0.00,2.53,0.00,0.000,6,0.000,0.052,2687,1996,1950
$GC,15690,1.21,233.1,299.3,6.9,760,15694,0.00,2.65,0.00,0.000,4,0.000,0.075,2687,3405,1951
$GC,15733,1.21,233.1,296.2,7.1,762,15737,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,1998,1951
$GC,16059,1.21,233.1,273.5,6.8,778,16064,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3407,1951
$GC,16098,1.21,233.1,270.8,7.1,780,16102,0.00,2.53,0.00,0.000,6,0.000,0.051,2687,1994,1951
$GC,16424,1.21,233.1,247.8,7.6,796,16428,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3404,1950
$GC,16489,1.21,233.1,242.6,7.1,799,16493,0.00,2.53,0.00,0.000,6,0.000,0.053,2687,1994,1951
$GC,16815,1.21,233.1,218.3,7.9,815,16816,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1994,1951
$GC,17125,1.21,233.1,194.1,8.1,830,17129,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3407,1951
$GC,17190,1.21,233.1,188.5,8.4,833,17194,0.00,2.55,0.00,0.000,6,0.000,0.052,2687,2001,1951
$GC,17517,1.21,233.1,162.0,7.9,849,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2001,1951
$GC,17828,1.21,233.1,136.7,9.3,864,17833,0.00,2.65,0.00,0.000,4,0.000,0.075,2687,3410,1952
$GC,17899,1.21,233.1,130.8,7.4,867,17903,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,1999,1951
$GC,18220,1.21,233.1,102.6,8.4,883,18225,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3406,1952
$GC,18252,1.21,233.1,99.6,9.0,884,18259,0.00,2.53,0.00,0.000,6,0.000,0.052,2687,2007,1952
$GC,18570,1.21,233.1,74.3,8.2,900,18571,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2007,1952
$GC,18878,1.21,233.1,49.6,8.3,915,18882,0.00,2.62,0.00,0.000,4,0.000,0.075,2687,3406,1952
$GC,18949,1.21,233.1,43.5,8.4,918,18953,0.00,2.55,0.00,0.000,6,0.000,0.054,2687,1982,1953
$GC,19270,1.21,233.1,18.1,7.8,934,19274,0.00,2.67,0.00,0.000,4,0.000,0.073,2687,3410,1952
$GC,19314,1.21,233.1,14.3,8.8,936,19319,0.00,2.53,0.00,0.000,6,0.000,0.052,2687,2001,1952
$STATE,19468,end climb,SURFACE_DEPTH_REACHED
$STATE,19468,begin surface coast
$FINISH,0.2,1.027283
$STATE,19489,end surface coast,CONTROL_FINISHED_OK
$STATE,19489,begin surface
$SM_CCo,19510,55.25,0.713,2,0,1678,300.00
$SM_GC,-0.46,0.00,0.00,55.25,0.000,0.000,0.713,37,2894,1678,-10.91,-0.17,300.00
$IRIDIUM_FIX,6139.81,-945.85,011207,000057
$TT8_MAMPS,0.027612
$HUMID,2046
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,676.1,45.7
$24V_AH,23.4,23.032
$10V_AH,10.1,10.080
$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,26.050,187.225,321.475,55.250,0.000,40.960,31.625,133.015,6.250,0.000,0.000,15.142,1755.961,15045.189,556.695,2138.414,394.868,33.363,1619.654,0.000,2098.415,0.000,42.431
$DEVICE_MAMPS,160.303,108.147,1237.938,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.968,675.572,565.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47499,945
$CFSIZE,260165632,252329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,2,0
$GPS,011207,073932,6209.355,-952.040,39,2.0,39,-9.9