version: 66.02
glider: 103
mission: 7
dive: 118
start: 12 2 107 5 59 32
data:
$ID,103
$MISSION,7
$DIVE,118
$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,-64533.961
$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,20
$R_STBD_OVSHOOT,10
$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
$GPS1,054138,6212.336,-946.320,43,1.2,43,-9.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-59.3
$GPS2,055827,6212.325,-946.406,12,1.5,12,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.022,0.217
$KALMAN_X,-107545.3,-41.8,571.4,43521.0,-4900.5
$KALMAN_Y,57347.4,254.2,481.7,12889.9,-3100.8
$MHEAD_RNG_PITCHd_Wd,15.6,14546,-11.1,-6.000
$D_GRID,667
$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,-60.97,0.000,2,0.000,0.000,45,2897,3363
$GC,85,-1.10,-146.6,3.6,-9.5,3,108,12.02,2.60,-2.53,0.000,4,0.160,0.078,2164,1484,3502
$GC,162,-1.10,-146.6,16.1,-7.1,6,167,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2904,3503
$GC,485,-1.10,-146.6,39.3,-6.7,22,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,793,-1.10,-146.6,62.2,-7.1,37,798,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1491,3503
$GC,848,-1.10,-146.6,66.3,-7.5,39,855,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2900,3503
$GC,1164,-1.10,-146.6,87.8,-6.0,55,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,1473,-1.10,-146.6,109.2,-8.4,70,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,1782,-1.10,-146.6,139.2,-9.5,85,1787,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1487,3503
$GC,1848,-1.10,-146.6,145.7,-9.9,88,1853,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2893,3503
$GC,2175,-1.10,-146.6,167.1,-6.1,104,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3503
$GC,2484,-1.10,-146.6,184.2,-6.7,119,2488,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1491,3503
$GC,2539,-1.10,-146.6,188.1,-7.5,121,2545,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2904,3503
$GC,2854,-1.10,-146.6,207.5,-5.8,137,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,3163,-1.10,-146.6,227.1,-6.1,152,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$GC,3472,-1.10,-146.6,247.3,-6.6,167,3476,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1490,3503
$GC,3539,-1.10,-146.6,251.7,-6.0,170,3543,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2900,3503
$GC,3865,-1.10,-146.6,273.6,-6.7,186,3869,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1485,3503
$GC,3907,-1.10,-146.6,276.7,-6.7,188,3912,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2901,3503
$GC,4234,-1.10,-146.6,298.6,-6.7,204,4239,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1482,3503
$GC,4289,-1.10,-146.6,302.5,-7.1,206,4296,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2902,3503
$GC,4607,-1.10,-146.6,325.5,-7.4,222,4611,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1483,3503
$GC,4655,-1.10,-146.6,329.5,-7.6,224,4659,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2900,3503
$GC,4976,-1.10,-146.6,354.6,-7.9,240,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,5285,-1.10,-146.6,379.3,-7.8,255,5289,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1483,3503
$GC,5346,-1.10,-146.6,384.0,-7.7,258,5351,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2902,3503
$GC,5672,-1.10,-146.6,408.7,-7.5,274,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,5981,-1.10,-146.6,431.3,-7.2,289,5985,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1490,3503
$GC,6068,-1.10,-146.6,437.9,-7.6,293,6073,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2895,3503
$GC,6395,-1.10,-146.6,459.9,-6.8,309,6400,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1483,3503
$GC,6456,-1.10,-146.6,464.2,-6.8,312,6461,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2900,3503
$GC,6782,-1.10,-146.6,486.8,-7.0,328,6786,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1489,3503
$GC,6843,-1.10,-146.6,491.4,-7.9,331,6848,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2900,3503
$GC,7168,-1.10,-146.6,518.5,-8.7,347,7172,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1485,3503
$GC,7195,-1.10,-146.6,520.9,-9.4,348,7200,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,7510,-1.10,-146.6,548.2,-8.9,363,7514,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1482,3503
$GC,7565,-1.10,-146.6,552.9,-8.7,365,7571,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2904,3503
$GC,7880,-1.10,-146.6,574.7,-5.8,381,7884,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1486,3503
$GC,7923,-1.10,-146.6,577.0,-5.2,383,7928,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,8244,-1.10,-146.6,593.0,-4.7,399,8248,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1486,3503
$GC,8309,-1.10,-146.6,596.4,-5.6,402,8313,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2900,3503
$GC,8636,-1.10,-146.6,613.0,-5.7,418,8640,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1484,3503
$GC,8735,-1.10,-146.6,619.9,-5.8,422,8742,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2899,3503
$GC,9051,-1.10,-146.6,634.6,-4.6,438,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$STATE,9275,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9276,begin apogee
$GC,9281,-0.42,0.0,646.2,5.5,449,9409,0.75,0.00,124.30,1.203,6,0.087,0.000,2314,1994,2901
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9410,begin climb
$GC,9411,1.10,146.6,649.5,0.0,455,9543,1.55,2.67,121.68,1.163,4,0.057,0.064,2648,590,2303
$GC,9631,1.13,168.3,644.4,5.4,465,9657,0.00,2.53,19.80,1.072,6,0.000,0.040,2648,2016,2214
$GC,9973,1.13,168.3,619.1,7.1,482,9978,0.00,2.62,0.00,0.000,4,0.000,0.074,2648,3409,2213
$GC,10196,1.13,168.3,603.9,7.3,492,10201,0.00,2.55,0.00,0.000,6,0.000,0.048,2648,2002,2212
$GC,10523,1.13,168.3,583.2,6.3,508,10528,0.00,2.60,0.00,0.000,4,0.000,0.066,2648,589,2211
$GC,10607,1.13,168.3,577.6,7.1,512,10611,0.00,2.53,0.00,0.000,6,0.000,0.043,2648,2005,2211
$GC,10932,1.13,168.3,558.1,6.1,528,10936,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3408,2210
$GC,11003,1.13,168.3,553.5,6.4,531,11007,0.00,2.53,0.00,0.000,6,0.000,0.046,2648,1991,2209
$GC,11324,1.16,189.5,535.5,5.4,547,11348,0.00,2.72,17.73,1.091,4,0.000,0.068,2648,3402,2128
$GC,11434,1.16,189.5,528.2,6.6,552,11438,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,1998,2128
$GC,11759,1.16,189.5,507.0,6.8,568,11763,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3406,2128
$GC,11813,1.16,189.5,503.4,6.8,570,11820,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2001,2128
$GC,12129,1.16,189.5,483.1,6.5,586,12133,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3409,2128
$GC,12222,1.16,189.5,476.7,6.8,590,12227,0.00,2.53,0.00,0.000,6,0.000,0.048,2648,2006,2128
$GC,12544,1.16,196.0,456.8,5.8,606,12558,0.00,2.70,7.47,0.930,4,0.000,0.071,2648,3404,2101
$GC,12642,1.16,196.0,450.6,6.3,610,12646,0.00,2.55,0.00,0.000,6,0.000,0.051,2648,1985,2101
$GC,12964,1.16,196.0,429.5,6.8,626,12968,0.00,2.67,0.00,0.000,4,0.000,0.074,2648,3405,2101
$GC,13024,1.16,196.0,425.3,6.8,629,13029,0.00,2.53,0.00,0.000,6,0.000,0.051,2648,1997,2101
$GC,13350,1.16,196.0,403.8,6.5,645,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1997,2101
$GC,13659,1.16,196.0,385.1,6.2,660,13664,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3405,2101
$GC,13766,1.16,196.0,378.0,6.3,665,13770,0.00,2.53,0.00,0.000,6,0.000,0.052,2648,1997,2101
$GC,14092,1.16,196.0,356.6,6.5,681,14096,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3407,2101
$GC,14185,1.16,196.0,350.3,6.3,685,14189,0.00,2.55,0.00,0.000,6,0.000,0.052,2648,2002,2102
$GC,14506,1.16,196.0,329.7,6.5,701,14511,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3407,2102
$GC,14600,1.16,196.0,323.0,6.8,705,14605,0.00,2.55,0.00,0.000,6,0.000,0.052,2648,1999,2102
$GC,14922,1.16,196.0,302.8,6.1,721,14927,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3407,2102
$GC,15029,1.16,196.0,295.8,7.0,726,15033,0.00,2.53,0.00,0.000,6,0.000,0.054,2648,1998,2103
$GC,15354,1.16,196.0,273.9,6.8,742,15358,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3410,2103
$GC,15424,1.16,196.0,268.6,7.8,745,15429,0.00,2.55,0.00,0.000,6,0.000,0.053,2648,1989,2103
$GC,15746,1.16,196.0,245.9,7.2,761,15750,0.00,2.67,0.00,0.000,4,0.000,0.074,2648,3407,2103
$GC,15816,1.16,196.0,240.6,7.2,764,15821,0.00,2.55,0.00,0.000,6,0.000,0.054,2648,2003,2103
$GC,16138,1.16,196.0,217.4,7.5,780,16143,0.00,2.62,0.00,0.000,4,0.000,0.073,2648,3404,2103
$GC,16181,1.16,196.0,213.9,8.2,782,16186,0.00,2.55,0.00,0.000,6,0.000,0.052,2648,1996,2104
$GC,16508,1.16,196.0,188.8,7.8,798,16513,0.00,2.62,0.00,0.000,4,0.000,0.074,2648,3404,2104
$GC,16580,1.16,196.0,183.0,7.6,801,16584,0.00,2.50,0.00,0.000,6,0.000,0.051,2648,2000,2104
$GC,16901,1.16,196.0,158.2,7.8,817,16905,0.00,2.62,0.00,0.000,4,0.000,0.075,2648,3404,2104
$GC,16972,1.16,196.0,152.5,7.6,820,16976,0.00,2.53,0.00,0.000,6,0.000,0.052,2648,1994,2104
$GC,17293,1.16,196.0,127.5,7.8,836,17298,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3403,2104
$GC,17359,1.16,196.0,121.9,8.7,839,17364,0.00,2.50,0.00,0.000,6,0.000,0.050,2648,1998,2104
$GC,17686,1.16,196.0,98.0,6.6,855,17691,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3409,2104
$GC,17771,1.16,196.0,91.9,7.3,859,17775,0.00,2.53,0.00,0.000,6,0.000,0.052,2648,1998,2104
$GC,18096,1.16,196.0,69.3,6.7,875,18100,0.00,2.65,0.00,0.000,4,0.000,0.075,2648,3410,2104
$GC,18180,1.16,196.0,63.6,6.6,879,18184,0.00,2.53,0.00,0.000,6,0.000,0.053,2648,1999,2104
$GC,18505,1.16,196.0,44.6,6.0,895,18510,0.00,2.65,0.00,0.000,4,0.000,0.077,2648,3406,2104
$GC,18567,1.17,200.1,40.5,5.9,898,18578,0.00,2.53,5.68,0.662,6,0.000,0.053,2648,1994,2085
$GC,18893,1.22,245.5,27.7,4.7,914,18937,0.12,2.67,36.67,0.779,4,0.048,0.067,2683,3404,1900
$GC,19004,1.22,245.5,19.4,7.9,919,19009,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,1999,1899
$STATE,19247,end climb,SURFACE_DEPTH_REACHED
$STATE,19247,begin surface coast
$FINISH,-0.5,1.027287
$STATE,19268,end surface coast,CONTROL_FINISHED_OK
$STATE,19268,begin surface
$SM_CCo,19289,42.08,0.736,0,0,1678,300.00
$SM_GC,-0.13,0.00,0.00,42.08,0.000,0.000,0.736,39,2890,1678,-10.91,-0.28,300.00
$IRIDIUM_FIX,6144.36,-1034.35,021207,090957
$TT8_MAMPS,0.029146
$HUMID,2063
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.2,80.6
$24V_AH,23.5,23.754
$10V_AH,10.1,10.540
$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,25.975,211.150,333.325,42.075,0.000,151.713,170.501,388.990,5.250,0.000,0.000,12.343,1766.267,14847.176,536.617,2270.774,932.818,33.361,1674.078,0.000,2238.494,0.000,33.104
$DEVICE_MAMPS,160.303,82.836,1203.423,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.041,668.677,591.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47460,932
$CFSIZE,260165632,251985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,021207,112256,6213.599,-950.655,38,1.6,38,-9.9