version: 66.02
glider: 103
mission: 7
dive: 121
start: 12 2 107 22 11 26
data:
$ID,103
$MISSION,7
$DIVE,121
$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,-64578.871
$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,9
$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
$GPS1,220108,6217.091,-948.358,32,1.6,32,-9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-55.0
$GPS2,221021,6216.962,-948.517,14,1.6,14,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.127,0.178
$KALMAN_X,-114642.6,630.4,-107.8,48748.6,-3552.6
$KALMAN_Y,54828.1,26.6,-679.5,25389.2,-111.1
$MHEAD_RNG_PITCHd_Wd,45.5,5768,-11.1,-6.000
$D_GRID,640
$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,-61.60,0.000,2,0.000,0.000,40,2896,3352
$GC,85,-1.10,-146.6,3.4,-8.7,3,108,12.00,2.62,-2.67,0.000,4,0.158,0.084,2167,1491,3502
$GC,269,-1.10,-146.6,26.2,-8.0,11,274,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2904,3502
$GC,598,-1.10,-146.6,57.8,-9.8,27,602,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1487,3502
$GC,646,-1.10,-146.6,62.8,-8.0,29,651,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,968,-1.10,-146.6,85.8,-7.6,45,972,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1492,3503
$GC,1007,-1.10,-146.6,88.4,-5.8,47,1011,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2906,3502
$GC,1332,-1.10,-146.6,110.4,-9.0,63,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,1641,-1.10,-146.6,130.4,-6.7,78,1646,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1492,3503
$GC,1713,-1.10,-146.6,135.2,-6.9,81,1717,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2899,3503
$GC,2034,-1.10,-146.6,154.0,-6.1,97,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,2343,-1.10,-146.6,179.5,-8.4,112,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,2653,-1.10,-146.6,199.0,-4.5,127,2657,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1492,3503
$GC,2731,-1.10,-146.6,202.3,-4.1,130,2737,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2899,3503
$GC,3045,-1.10,-146.6,219.7,-6.2,146,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,3355,-1.10,-146.6,239.3,-6.7,161,3360,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1492,3503
$GC,3398,-1.10,-146.6,242.4,-7.3,163,3403,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2891,3503
$GC,3725,-1.10,-146.6,264.5,-6.9,179,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2890,3503
$GC,4035,-1.10,-146.6,287.9,-7.9,194,4039,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1484,3503
$GC,4088,-1.10,-146.6,292.1,-8.0,196,4095,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2897,3503
$GC,4404,-1.10,-146.6,316.7,-7.5,212,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2897,3503
$GC,4713,-1.10,-146.6,338.3,-6.7,227,4718,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1486,3503
$GC,4768,-1.10,-146.6,342.1,-6.8,229,4775,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2890,3503
$GC,5083,-1.10,-146.6,363.3,-6.3,245,5088,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1491,3503
$GC,5127,-1.10,-146.6,366.2,-6.9,247,5131,0.00,2.58,0.00,0.000,6,0.000,0.065,2167,2899,3503
$GC,5453,-1.10,-146.6,387.7,-6.9,263,5458,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1488,3503
$GC,5497,-1.10,-146.6,390.9,-7.0,265,5501,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2901,3503
$GC,5824,-1.10,-146.6,411.9,-6.2,281,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,6133,-1.10,-146.6,431.4,-6.5,296,6137,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1488,3503
$GC,6198,-1.10,-146.6,436.4,-7.9,299,6203,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2901,3503
$GC,6525,-1.10,-146.6,459.8,-7.7,315,6529,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1487,3503
$GC,6579,-1.10,-146.6,464.1,-8.2,317,6586,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2893,3503
$GC,6894,-1.10,-146.6,487.2,-7.1,333,6899,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1490,3503
$GC,6960,-1.10,-146.6,492.1,-7.4,336,6965,0.00,2.58,0.00,0.000,6,0.000,0.064,2167,2899,3503
$GC,7287,-1.10,-146.6,514.8,-7.0,352,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,7596,-1.10,-146.6,532.2,-5.2,367,7601,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1484,3503
$GC,7685,-1.10,-146.6,536.9,-5.7,371,7689,0.00,2.58,0.00,0.000,6,0.000,0.064,2167,2900,3503
$GC,8012,-1.10,-146.6,554.8,-5.9,387,8016,0.00,2.55,0.00,0.000,4,0.000,0.060,2167,1489,3503
$GC,8054,-1.10,-146.6,557.6,-6.5,389,8059,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2891,3503
$GC,8381,-1.10,-146.6,579.8,-7.2,405,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2891,3503
$GC,8690,-1.10,-146.6,600.1,-6.5,420,8695,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1489,3503
$GC,8722,-1.10,-146.6,602.2,-6.3,421,8729,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,9039,-1.10,-146.6,620.7,-5.5,437,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,9348,-1.10,-146.6,638.8,-5.8,452,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$STATE,9387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9387,begin apogee
$GC,9393,-0.42,0.0,641.1,5.8,454,9521,0.75,0.00,124.80,1.197,6,0.085,0.000,2320,1999,2901
$STATE,9522,end apogee,CONTROL_FINISHED_OK
$STATE,9522,begin climb
$GC,9524,1.10,146.6,645.8,0.0,460,9655,1.52,2.75,121.32,1.171,4,0.052,0.066,2650,3413,2304
$GC,9738,1.17,200.9,640.9,4.5,470,9790,0.00,2.53,46.45,1.124,6,0.000,0.043,2650,1994,2082
$GC,10102,1.17,200.9,618.4,6.8,487,10106,0.00,2.67,0.00,0.000,4,0.000,0.070,2650,3415,2081
$GC,10207,1.17,200.9,610.1,7.9,492,10211,0.00,2.53,0.00,0.000,6,0.000,0.045,2650,1999,2081
$GC,10532,1.17,200.9,587.4,7.2,508,10537,0.00,2.67,0.00,0.000,4,0.000,0.071,2650,3419,2079
$GC,10621,1.17,200.9,580.8,8.0,512,10625,0.00,2.55,0.00,0.000,6,0.000,0.046,2650,2008,2079
$GC,10947,1.17,200.9,557.3,6.8,528,10952,0.00,2.67,0.00,0.000,4,0.000,0.074,2650,3421,2077
$GC,11063,1.17,200.9,549.3,6.4,533,11068,0.00,2.55,0.00,0.000,6,0.000,0.048,2650,1997,2078
$GC,11384,1.17,200.9,529.2,6.5,549,11389,0.00,2.67,0.00,0.000,4,0.000,0.071,2650,3419,2077
$GC,11523,1.17,200.9,518.5,7.9,555,11528,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,1998,2076
$GC,11845,1.17,200.9,496.3,6.9,571,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1998,2076
$GC,12154,1.17,200.9,475.5,6.7,586,12159,0.00,2.65,0.00,0.000,4,0.000,0.072,2650,3414,2076
$GC,12226,1.17,200.9,470.2,7.1,589,12230,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,1998,2075
$GC,12547,1.17,200.9,447.1,7.3,605,12552,0.00,2.67,0.00,0.000,4,0.000,0.074,2650,3421,2076
$GC,12609,1.17,200.9,442.5,7.0,608,12613,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,2000,2075
$GC,12934,1.17,200.9,420.5,6.9,624,12938,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3413,2076
$GC,13021,1.17,200.9,413.6,7.7,628,13026,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,2007,2076
$GC,13348,1.17,200.9,391.6,6.6,644,13353,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3414,2076
$GC,13419,1.17,200.9,386.5,7.2,647,13424,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,2006,2077
$GC,13741,1.17,200.9,365.8,6.8,663,13745,0.00,2.65,0.00,0.000,4,0.000,0.072,2650,3421,2077
$GC,13802,1.17,200.9,361.4,7.1,666,13807,0.00,2.53,0.00,0.000,6,0.000,0.046,2650,1995,2077
$GC,14128,1.17,200.9,339.0,6.8,682,14132,0.00,2.67,0.00,0.000,4,0.000,0.072,2650,3420,2077
$GC,14182,1.17,200.9,335.1,7.0,684,14189,0.00,2.55,0.00,0.000,6,0.000,0.048,2650,2004,2077
$GC,14498,1.17,200.9,314.6,6.4,700,14502,0.00,2.65,0.00,0.000,4,0.000,0.075,2650,3414,2077
$GC,14551,1.17,200.9,310.9,6.4,702,14558,0.00,2.58,0.00,0.000,6,0.000,0.054,2650,1996,2077
$GC,14867,1.17,200.9,288.9,7.2,718,14871,0.00,2.65,0.00,0.000,4,0.000,0.075,2650,3414,2078
$GC,14943,1.17,200.9,282.9,7.1,721,14950,0.00,2.53,0.00,0.000,6,0.000,0.049,2650,1993,2078
$GC,15259,1.17,200.9,260.8,7.1,737,15263,0.00,2.65,0.00,0.000,4,0.000,0.075,2650,3416,2078
$GC,15335,1.17,200.9,255.0,6.9,740,15342,0.00,2.55,0.00,0.000,6,0.000,0.051,2650,2002,2078
$GC,15651,1.17,200.9,233.2,6.8,756,15656,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3420,2079
$GC,15723,1.17,200.9,228.0,7.4,759,15727,0.00,2.55,0.00,0.000,6,0.000,0.051,2650,2007,2079
$GC,16044,1.17,202.3,207.5,6.0,775,16049,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3412,2079
$GC,16121,1.17,202.3,202.4,6.7,778,16128,0.00,2.55,0.00,0.000,6,0.000,0.052,2650,2002,2079
$GC,16437,1.18,206.0,183.5,5.9,794,16448,0.00,2.70,5.68,0.709,4,0.000,0.074,2650,3420,2061
$GC,16514,1.18,206.0,178.5,6.6,797,16521,0.00,2.55,0.00,0.000,6,0.000,0.052,2650,1999,2061
$GC,16829,1.19,217.0,161.0,5.7,813,16845,0.00,2.72,10.48,0.792,4,0.000,0.075,2650,3418,2016
$GC,16922,1.19,217.0,154.4,6.6,816,16927,0.00,2.58,0.00,0.000,6,0.000,0.051,2650,2003,2016
$GC,17244,1.19,217.0,131.4,7.1,832,17249,0.00,2.67,0.00,0.000,4,0.000,0.075,2650,3417,2015
$GC,17332,1.19,217.0,124.7,7.1,836,17336,0.00,2.55,0.00,0.000,6,0.000,0.052,2650,1996,2016
$GC,17659,1.19,217.0,101.4,6.9,852,17663,0.00,2.67,0.00,0.000,4,0.000,0.075,2650,3412,2016
$GC,17747,1.22,239.3,96.3,5.4,856,17773,0.12,2.53,18.98,0.798,6,0.045,0.052,2691,1998,1925
$GC,18095,1.22,239.3,67.9,8.9,873,18096,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1998,1925
$GC,18403,1.22,239.3,42.5,9.0,888,18408,0.00,2.67,0.00,0.000,4,0.000,0.074,2691,3415,1925
$GC,18458,1.22,239.3,37.5,9.5,890,18465,0.00,2.55,0.00,0.000,6,0.000,0.052,2691,2008,1925
$GC,18774,1.22,239.3,6.5,10.4,906,18775,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2008,1925
$STATE,18835,end climb,SURFACE_DEPTH_REACHED
$STATE,18835,begin surface coast
$FINISH,-0.7,1.027321
$STATE,18856,end surface coast,CONTROL_FINISHED_OK
$STATE,18856,begin surface
$SM_CCo,18876,49.17,0.732,1,0,1678,300.00
$SM_GC,-0.18,0.00,0.00,49.17,0.000,0.000,0.732,40,2906,1678,-10.90,0.17,300.00
$IRIDIUM_FIX,6153.50,-950.56,031207,020257
$TT8_MAMPS,0.029146
$HUMID,2068
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,551.0,100.3
$24V_AH,23.5,24.175
$10V_AH,10.1,10.810
$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,25.975,195.825,327.700,49.175,0.000,79.389,74.897,234.346,5.000,0.000,0.000,14.571,1707.604,14474.622,551.770,2152.890,611.616,33.365,1636.958,0.000,2128.314,0.000,31.545
$DEVICE_MAMPS,158.002,84.370,1197.287,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.462,643.659,560.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47466,910
$CFSIZE,260165632,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,1,0
$GPS,031207,032808,6218.959,-948.934,37,1.1,37,-10.0