version: 66.02
glider: 103
mission: 7
dive: 115
start: 12 1 107 13 34 44
data:
$ID,103
$MISSION,7
$DIVE,115
$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,-64485.16
$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,20
$R_STBD_OVSHOOT,8
$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
$GPS1,132802,6210.653,-950.566,39,1.2,39,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-55.5
$GPS2,133339,6210.650,-950.615,11,1.9,11,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.198,0.095
$KALMAN_X,-99208.0,331.8,272.6,31398.5,-4629.3
$KALMAN_Y,63169.5,-92.3,506.4,4309.1,-2582.1
$MHEAD_RNG_PITCHd_Wd,74.3,17324,-11.0,-6.000
$D_GRID,700
$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,-61.05,0.000,2,0.000,0.000,48,2898,3376
$GC,85,-1.10,-146.6,3.7,-9.8,3,107,12.05,2.67,-2.20,0.000,4,0.161,0.094,2166,1492,3502
$GC,153,-1.10,-146.6,16.7,-9.3,6,158,0.00,2.70,0.00,0.000,6,0.000,0.081,2166,2903,3503
$GC,480,-1.10,-146.6,39.5,-6.8,22,484,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1489,3503
$GC,511,-1.10,-146.6,41.9,-7.4,23,518,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2900,3503
$GC,827,-1.10,-146.6,64.3,-7.1,39,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,1136,-1.10,-146.6,85.8,-7.0,54,1140,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1488,3503
$GC,1197,-1.10,-146.6,90.0,-6.5,57,1201,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2899,3503
$GC,1522,-1.10,-146.6,111.9,-6.7,73,1527,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1490,3503
$GC,1549,-1.10,-146.6,113.8,-6.3,74,1553,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2891,3503
$GC,1872,-1.10,-146.6,135.7,-6.9,90,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2891,3503
$GC,2179,-1.10,-146.6,158.1,-7.5,105,2183,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3503
$GC,2218,-1.10,-146.6,160.9,-7.6,107,2222,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2899,3503
$GC,2543,-1.10,-146.6,184.3,-7.4,123,2547,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1492,3503
$GC,2574,-1.10,-146.6,186.7,-7.3,124,2582,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2895,3503
$GC,2890,-1.10,-146.6,209.3,-7.1,140,2894,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1485,3503
$GC,2921,-1.10,-146.6,211.6,-7.2,141,2928,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2892,3503
$GC,3237,-1.10,-146.6,234.2,-7.4,157,3241,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1482,3503
$GC,3285,-1.10,-146.6,238.1,-7.5,159,3290,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2901,3503
$GC,3606,-1.10,-146.6,263.4,-8.3,175,3610,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1484,3503
$GC,3649,-1.10,-146.6,267.2,-8.9,177,3654,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2900,3503
$GC,3976,-1.10,-146.6,294.9,-8.4,193,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,4286,-1.10,-146.6,319.8,-7.5,208,4290,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1485,3503
$GC,4319,-1.10,-146.6,322.3,-7.6,209,4325,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2906,3503
$GC,4634,-1.10,-146.6,341.9,-5.8,225,4638,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1491,3503
$GC,4672,-1.10,-146.6,344.2,-6.1,227,4676,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2899,3503
$GC,4997,-1.10,-146.6,364.2,-6.3,243,5001,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1487,3503
$GC,5028,-1.10,-146.6,366.4,-6.4,244,5035,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2905,3503
$GC,5344,-1.10,-146.6,386.6,-6.3,260,5348,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1488,3503
$GC,5382,-1.10,-146.6,388.9,-6.6,262,5386,0.00,2.60,0.00,0.000,6,0.000,0.069,2167,2900,3503
$GC,5707,-1.10,-146.6,408.1,-6.1,278,5711,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1484,3503
$GC,5761,-1.10,-146.6,411.9,-7.6,280,5768,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,6077,-1.10,-146.6,433.6,-6.8,296,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,6387,-1.10,-146.6,452.0,-5.4,311,6391,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1491,3503
$GC,6441,-1.10,-146.6,455.1,-4.9,313,6448,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,6756,-1.10,-146.6,472.4,-6.1,329,6760,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1482,3503
$GC,6840,-1.10,-146.6,478.0,-7.1,333,6844,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2902,3503
$GC,7165,-1.10,-146.6,502.3,-8.1,349,7168,0.00,1.65,0.00,0.000,4,0.000,0.081,2166,3792,3503
$GC,7214,-1.10,-146.6,506.7,-9.3,351,7219,0.00,1.52,0.00,0.000,6,0.000,0.032,2166,2890,3503
$GC,7541,-1.10,-146.6,529.0,-6.2,367,7545,0.00,2.53,0.00,0.000,4,0.000,0.065,2166,1500,3503
$GC,7611,-1.10,-146.6,533.8,-6.5,370,7616,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2900,3503
$GC,7933,-1.10,-146.6,554.0,-6.2,386,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,8242,-1.10,-146.6,574.2,-7.0,401,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,8551,-1.10,-146.6,595.7,-6.8,416,8556,0.00,2.55,0.00,0.000,4,0.000,0.062,2166,1495,3503
$GC,8595,-1.10,-146.6,598.9,-7.4,418,8600,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2898,3503
$GC,8922,-1.10,-146.6,621.1,-6.6,434,8926,0.00,2.55,0.00,0.000,4,0.000,0.062,2166,1495,3503
$GC,9010,-1.10,-146.6,626.9,-5.9,438,9014,0.00,2.58,0.00,0.000,6,0.000,0.067,2166,2899,3503
$GC,9336,-1.10,-146.6,649.0,-7.1,454,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$STATE,9561,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9561,begin apogee
$GC,9567,-0.42,0.0,664.4,6.9,465,9696,0.75,0.00,125.32,1.187,6,0.084,0.000,2318,2006,2901
$STATE,9696,end apogee,CONTROL_FINISHED_OK
$STATE,9697,begin climb
$GC,9698,1.10,146.6,668.3,0.0,471,9829,1.52,2.67,121.85,1.173,4,0.053,0.061,2648,596,2302
$GC,9891,1.10,153.6,664.0,5.8,480,9908,0.00,2.50,7.70,0.966,6,0.000,0.038,2648,2016,2274
$GC,10216,1.10,153.6,644.6,6.5,496,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2016,2273
$GC,10526,1.11,154.9,624.9,6.0,511,10530,0.00,2.58,0.00,0.000,4,0.000,0.068,2648,3405,2272
$GC,10597,1.11,159.7,620.3,5.9,514,10609,0.00,2.50,6.22,0.941,6,0.000,0.042,2648,1994,2250
$GC,10917,1.11,159.7,601.2,6.1,530,10922,0.00,2.58,0.00,0.000,4,0.000,0.063,2648,588,2250
$GC,10979,1.17,205.2,597.9,4.8,533,11023,0.00,2.50,39.03,1.154,6,0.000,0.041,2648,1997,2064
$GC,11351,1.20,230.7,578.8,5.3,551,11381,0.10,2.72,22.15,1.109,4,0.051,0.071,2678,3399,1960
$GC,11504,1.20,230.7,569.2,6.2,558,11508,0.00,2.50,0.00,0.000,6,0.000,0.045,2678,1999,1960
$GC,11830,1.20,230.7,548.0,6.7,574,11834,0.00,2.62,0.00,0.000,4,0.000,0.069,2678,3406,1959
$GC,11885,1.20,230.7,544.1,7.1,576,11891,0.00,2.50,0.00,0.000,6,0.000,0.041,2679,2000,1959
$GC,12200,1.20,230.7,521.2,7.3,592,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2000,1959
$GC,12509,1.20,230.7,497.9,7.8,607,12513,0.00,2.65,0.00,0.000,4,0.000,0.069,2679,3412,1959
$GC,12580,1.20,230.7,492.0,8.2,610,12584,0.00,2.53,0.00,0.000,6,0.000,0.043,2679,1983,1959
$GC,12901,1.20,230.7,465.8,8.3,626,12906,0.00,2.65,0.00,0.000,4,0.000,0.069,2679,3406,1959
$GC,12933,1.20,230.7,462.9,8.7,627,12940,0.00,2.50,0.00,0.000,6,0.000,0.042,2678,2004,1959
$GC,13249,1.20,230.7,435.5,8.7,643,13253,0.00,2.62,0.00,0.000,4,0.000,0.068,2679,3409,1959
$GC,13287,1.20,230.7,432.1,8.9,645,13291,0.00,2.47,0.00,0.000,6,0.000,0.043,2679,2001,1959
$GC,13612,1.20,230.7,405.6,8.0,661,13617,0.00,2.62,0.00,0.000,4,0.000,0.068,2678,3407,1959
$GC,13656,1.20,230.7,401.9,8.5,663,13660,0.00,2.50,0.00,0.000,6,0.000,0.043,2679,2000,1959
$GC,13982,1.20,230.7,376.4,7.9,679,13987,0.00,2.60,0.00,0.000,4,0.000,0.068,2678,3406,1959
$GC,14022,1.20,230.7,373.3,8.0,681,14026,0.00,2.47,0.00,0.000,6,0.000,0.043,2679,2000,1959
$GC,14347,1.20,230.7,347.5,7.6,697,14351,0.00,2.62,0.00,0.000,4,0.000,0.068,2678,3413,1959
$GC,14395,1.20,230.7,343.5,8.6,699,14400,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2009,1960
$GC,14716,1.20,230.7,316.8,8.4,715,14717,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2008,1960
$GC,15026,1.20,230.7,289.3,9.2,730,15030,0.00,2.60,0.00,0.000,4,0.000,0.069,2679,3409,1960
$GC,15096,1.20,230.7,282.5,9.7,733,15101,0.00,2.53,0.00,0.000,6,0.000,0.044,2679,1996,1960
$GC,15418,1.20,230.7,254.2,8.0,749,15422,0.00,2.62,0.00,0.000,4,0.000,0.068,2679,3407,1961
$GC,15483,1.20,230.7,248.7,8.9,752,15487,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,1997,1961
$GC,15809,1.20,230.7,224.1,7.6,768,15810,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1997,1961
$GC,16119,1.20,230.7,200.3,7.9,783,16123,0.00,2.60,0.00,0.000,4,0.000,0.068,2678,3408,1961
$GC,16180,1.20,230.7,195.1,8.1,786,16185,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,2000,1961
$GC,16506,1.20,230.7,168.6,8.1,802,16510,0.00,2.60,0.00,0.000,4,0.000,0.068,2678,3407,1961
$GC,16549,1.20,230.7,164.7,8.8,804,16553,0.00,2.50,0.00,0.000,6,0.000,0.045,2679,2007,1961
$GC,16876,1.20,230.7,139.0,7.6,820,16880,0.00,2.60,0.00,0.000,4,0.000,0.068,2678,3407,1962
$GC,16924,1.20,230.7,135.1,7.8,822,16929,0.00,2.50,0.00,0.000,6,0.000,0.045,2679,2007,1962
$GC,17246,1.20,230.7,112.7,6.7,838,17250,0.00,2.60,0.00,0.000,4,0.000,0.070,2679,3407,1962
$GC,17307,1.20,230.7,108.6,6.4,841,17311,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,1997,1962
$GC,17632,1.20,230.7,86.6,7.0,857,17636,0.00,2.62,0.00,0.000,4,0.000,0.067,2679,3413,1962
$GC,17693,1.20,230.7,82.2,7.2,860,17698,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,1992,1962
$GC,18021,1.20,230.7,61.3,6.5,876,18025,0.00,2.62,0.00,0.000,4,0.000,0.069,2679,3406,1962
$GC,18091,1.20,230.7,55.5,8.1,879,18096,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,1999,1962
$GC,18413,1.20,230.7,33.2,6.4,895,18414,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1999,1962
$GC,18722,1.20,230.7,9.5,10.2,910,18727,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3412,1962
$GC,18761,1.20,230.7,5.2,11.1,912,18765,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,1998,1962
$STATE,18804,end climb,SURFACE_DEPTH_REACHED
$STATE,18804,begin surface coast
$FINISH,-1.0,1.027530
$STATE,18824,end surface coast,CONTROL_FINISHED_OK
$STATE,18825,begin surface
$SM_CCo,18845,55.85,0.737,1,0,1678,300.00
$SM_GC,-0.41,0.00,0.00,55.85,0.000,0.000,0.737,38,2901,1678,-10.91,0.03,300.00
$IRIDIUM_FIX,6144.36,-956.48,011207,111110
$TT8_MAMPS,0.029146
$HUMID,2046
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.7,98.3
$24V_AH,23.5,23.311
$10V_AH,10.1,10.262
$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,25.725,208.150,322.275,55.850,0.000,38.978,40.530,160.700,5.000,0.000,0.000,11.452,1705.659,14481.384,557.477,2072.334,438.683,33.359,1616.682,0.000,2038.929,0.000,33.154
$DEVICE_MAMPS,161.070,93.574,1187.316,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,650.191,655.389,586.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47478,915
$CFSIZE,260165632,252198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,1,0
$GPS,011207,185107,6210.699,-947.338,38,1.8,43,-9.9