version: 66.02
glider: 103
mission: 7
dive: 116
start: 12 1 107 19 9 15
data:
$ID,103
$MISSION,7
$DIVE,116
$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,-64502.852
$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,23
$R_STBD_OVSHOOT,12
$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
$GPS1,185107,6210.699,-947.338,38,1.8,43,-9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-53.8
$GPS2,190808,6210.542,-947.692,12,1.8,17,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.173,0.133
$KALMAN_X,-101139.5,324.1,277.2,35900.4,-4278.6
$KALMAN_Y,61851.1,-185.3,-498.3,6517.1,-330.2
$MHEAD_RNG_PITCHd_Wd,62.4,17627,-11.1,-6.000
$D_GRID,686
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.47,0.000,2,0.000,0.000,38,2901,3441
$GC,85,-1.10,-146.6,3.9,-9.4,3,107,12.12,2.62,-1.00,0.000,4,0.163,0.075,2164,1493,3502
$GC,288,-1.10,-146.6,25.7,-7.3,12,292,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2899,3502
$GC,613,-1.10,-146.6,49.6,-6.6,28,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,922,-1.10,-146.6,68.4,-6.3,43,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,1232,-1.10,-146.6,89.2,-6.5,58,1236,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1484,3502
$GC,1286,-1.10,-146.6,93.0,-6.5,60,1294,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2893,3503
$GC,1602,-1.10,-146.6,116.5,-7.9,76,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3503
$GC,1911,-1.10,-146.6,142.3,-8.5,91,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3503
$GC,2220,-1.10,-146.6,168.2,-8.4,106,2225,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1488,3503
$GC,2259,-1.10,-146.6,171.3,-8.6,108,2264,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2906,3503
$GC,2585,-1.10,-146.6,196.8,-7.7,124,2589,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1491,3503
$GC,2624,-1.10,-146.6,200.0,-8.6,126,2629,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2904,3502
$GC,2950,-1.10,-146.6,225.1,-7.7,142,2954,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1494,3503
$GC,2976,-1.10,-146.6,227.4,-7.5,143,2981,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2902,3503
$GC,3297,-1.10,-146.6,251.6,-7.8,159,3301,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1493,3503
$GC,3340,-1.10,-146.6,255.1,-8.0,161,3345,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2898,3503
$GC,3667,-1.10,-146.6,280.4,-8.2,177,3671,0.00,2.55,0.00,0.000,4,0.000,0.065,2164,1493,3503
$GC,3716,-1.10,-146.6,284.5,-8.3,179,3721,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,4037,-1.10,-146.6,309.2,-7.8,195,4041,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1487,3502
$GC,4068,-1.10,-146.6,311.6,-7.5,196,4075,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2900,3503
$GC,4384,-1.10,-146.6,333.7,-6.5,212,4388,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1493,3502
$GC,4432,-1.10,-146.6,336.7,-6.0,214,4437,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,4753,-1.10,-146.6,357.7,-6.5,230,4758,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1489,3503
$GC,4797,-1.10,-146.6,360.6,-6.0,232,4801,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,5123,-1.10,-146.6,381.7,-6.5,248,5128,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1487,3502
$GC,5178,-1.10,-146.6,385.4,-6.2,250,5185,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2893,3503
$GC,5495,-1.10,-146.6,406.7,-6.7,266,5499,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1491,3503
$GC,5543,-1.10,-146.6,410.0,-6.6,268,5547,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2895,3502
$GC,5864,-1.10,-146.6,434.0,-8.0,284,5868,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1484,3503
$GC,5903,-1.10,-146.6,436.9,-8.5,286,5908,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2902,3503
$GC,6228,-1.10,-146.6,461.7,-7.4,302,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,6537,-1.10,-146.6,484.1,-6.9,317,6542,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1492,3502
$GC,6586,-1.10,-146.6,487.5,-7.0,319,6591,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2899,3502
$GC,6907,-1.10,-146.6,509.6,-6.9,335,6911,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1492,3502
$GC,6956,-1.10,-146.6,513.0,-6.6,337,6961,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2915,3502
$GC,7283,-1.10,-146.6,535.4,-6.8,353,7287,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1484,3502
$GC,7354,-1.10,-146.6,540.6,-7.1,356,7359,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2892,3502
$GC,7676,-1.10,-146.6,562.0,-6.7,372,7680,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1486,3502
$GC,7746,-1.10,-146.6,566.8,-6.5,375,7751,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2892,3502
$GC,8068,-1.10,-146.6,586.6,-5.5,391,8073,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1484,3502
$GC,8146,-1.10,-146.6,591.3,-5.1,394,8152,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2899,3502
$GC,8461,-1.10,-146.6,609.9,-6.0,410,8465,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1484,3502
$GC,8509,-1.10,-146.6,613.0,-6.5,412,8514,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2898,3502
$GC,8831,-1.10,-146.6,635.2,-6.9,428,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,9140,-1.10,-146.6,652.0,-5.1,443,9144,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1488,3502
$GC,9245,-1.10,-146.6,658.2,-6.1,447,9252,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2889,3502
$STATE,9538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9538,begin apogee
$GC,9544,-0.42,0.0,676.7,7.0,462,9673,0.77,0.00,125.12,1.226,6,0.093,0.000,2319,2004,2901
$STATE,9674,end apogee,CONTROL_FINISHED_OK
$STATE,9674,begin climb
$GC,9675,1.10,146.6,680.9,0.0,468,9806,1.52,2.72,122.05,1.198,4,0.055,0.069,2647,3406,2303
$GC,10026,1.22,244.4,667.4,3.3,484,10114,0.12,2.53,81.32,1.183,6,0.042,0.043,2687,1987,1904
$GC,10428,1.22,244.4,638.6,6.7,504,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1988,1902
$GC,10738,1.22,244.4,618.5,6.8,519,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1988,1901
$GC,11047,1.23,248.9,598.0,5.9,534,11057,0.00,2.70,4.78,0.861,4,0.000,0.070,2687,3416,1886
$GC,11086,1.23,248.9,595.7,6.0,536,11090,0.00,2.53,0.00,0.000,6,0.000,0.043,2687,1997,1886
$GC,11411,1.23,248.9,571.9,7.9,552,11415,0.00,2.67,0.00,0.000,4,0.000,0.071,2687,3418,1885
$GC,11444,1.23,248.9,569.0,9.4,553,11450,0.00,2.53,0.00,0.000,6,0.000,0.042,2687,1997,1885
$GC,11758,1.23,248.9,539.3,9.0,569,11759,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1997,1885
$GC,12067,1.23,248.9,512.7,8.7,584,12072,0.00,2.62,0.00,0.000,4,0.000,0.069,2687,3413,1884
$GC,12144,1.23,248.9,505.2,9.7,587,12151,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2004,1884
$GC,12460,1.23,248.9,475.3,9.0,603,12464,0.00,2.65,0.00,0.000,4,0.000,0.072,2687,3413,1885
$GC,12498,1.23,248.9,471.8,9.0,605,12502,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,1999,1885
$GC,12824,1.23,248.9,441.3,10.6,621,12828,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3412,1885
$GC,12878,1.23,248.9,435.2,11.7,623,12885,0.00,2.55,0.00,0.000,6,0.000,0.050,2687,1998,1885
$GC,13193,1.23,248.9,402.9,9.8,639,13198,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3415,1885
$GC,13236,1.23,248.9,398.4,10.2,641,13241,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,2003,1885
$GC,13563,1.23,248.9,366.9,9.9,657,13568,0.00,2.65,0.00,0.000,4,0.000,0.076,2687,3412,1885
$GC,13617,1.23,248.9,361.3,10.3,659,13625,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,2004,1885
$GC,13933,1.23,248.9,331.3,9.4,675,13937,0.00,2.65,0.00,0.000,4,0.000,0.075,2687,3412,1885
$GC,13971,1.23,248.9,327.4,10.7,677,13976,0.00,2.53,0.00,0.000,6,0.000,0.051,2687,1996,1885
$GC,14297,1.23,248.9,295.6,9.7,693,14301,0.00,2.67,0.00,0.000,4,0.000,0.075,2687,3417,1886
$GC,14362,1.23,248.9,289.3,9.6,696,14367,0.00,2.53,0.00,0.000,6,0.000,0.051,2687,2003,1886
$GC,14688,1.23,248.9,260.5,8.6,712,14690,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2003,1887
$GC,14998,1.23,248.9,233.7,8.6,727,15002,0.00,2.65,0.00,0.000,4,0.000,0.075,2687,3416,1887
$GC,15036,1.23,248.9,230.4,9.4,729,15041,0.00,2.55,0.00,0.000,6,0.000,0.053,2687,1993,1887
$GC,15362,1.23,248.9,204.2,7.6,745,15363,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1993,1887
$GC,15671,1.23,248.9,180.9,7.9,760,15676,0.00,2.67,0.00,0.000,4,0.000,0.075,2687,3413,1887
$GC,15742,1.23,248.9,175.1,8.3,763,15746,0.00,2.53,0.00,0.000,6,0.000,0.054,2687,2000,1887
$GC,16063,1.23,248.9,149.7,7.7,779,16067,0.00,2.65,0.00,0.000,4,0.000,0.076,2687,3412,1887
$GC,16106,1.23,248.9,146.4,7.7,781,16110,0.00,2.53,0.00,0.000,6,0.000,0.054,2687,2000,1888
$GC,16433,1.23,248.9,122.7,6.3,797,16437,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3417,1888
$GC,16487,1.23,248.9,118.7,8.5,799,16494,0.00,2.58,0.00,0.000,6,0.000,0.055,2687,2003,1888
$GC,16803,1.23,248.9,97.1,6.7,815,16807,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3418,1888
$GC,16864,1.23,248.9,92.6,6.4,818,16868,0.00,2.58,0.00,0.000,6,0.000,0.056,2687,1996,1888
$GC,17189,1.23,248.9,67.9,8.5,834,17194,0.00,2.67,0.00,0.000,4,0.000,0.074,2687,3416,1889
$GC,17228,1.23,248.9,64.3,8.9,836,17233,0.00,2.55,0.00,0.000,6,0.000,0.057,2687,2001,1889
$GC,17555,1.23,248.9,33.9,9.1,852,17559,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3417,1889
$GC,17593,1.23,248.9,30.4,9.2,854,17597,0.00,2.55,0.00,0.000,6,0.000,0.055,2687,2000,1889
$GC,17918,1.23,248.9,3.7,9.5,870,17923,0.00,2.65,0.00,0.000,4,0.000,0.072,2687,3414,1889
$STATE,17937,end climb,SURFACE_DEPTH_REACHED
$STATE,17937,begin surface coast
$FINISH,-0.3,1.027269
$STATE,17962,end surface coast,CONTROL_FINISHED_OK
$STATE,17962,begin surface
$SM_CCo,17982,43.20,0.704,2,0,1678,300.00
$SM_GC,-0.67,0.00,0.00,43.20,0.000,0.000,0.704,49,2887,1678,-10.86,-0.37,300.00
$IRIDIUM_FIX,6144.36,-938.34,011207,232314
$TT8_MAMPS,0.029146
$HUMID,2083
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,19.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.2,61.3
$24V_AH,23.4,23.472
$10V_AH,10.1,10.353
$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,26.075,197.775,333.275,43.200,0.000,153.460,153.680,411.657,6.000,0.000,0.000,17.061,1622.266,13933.201,553.315,2017.199,947.018,33.366,1574.276,0.000,1984.691,0.000,39.259
$DEVICE_MAMPS,162.604,78.234,1226.433,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,616.179,627.658,553.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44231,872
$CFSIZE,260165632,252133376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,2,0
$GPS,021207,001107,6210.703,-947.941,37,1.0,42,-9.9