version: 66.02
glider: 103
mission: 7
dive: 71
start: 11 23 107 1 17 13
data:
$ID,103
$MISSION,7
$DIVE,71
$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,120
$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,-63476.488
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,010837,6141.991,-901.387,33,1.1,33,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-55.8
$GPS2,011608,6141.897,-901.362,9,2.0,9,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,-0.132
$KALMAN_X,-99635.5,-728.7,-270.7,76870.4,4556.8
$KALMAN_Y,105736.8,-1297.2,-1386.4,-88398.9,4016.4
$MHEAD_RNG_PITCHd_Wd,242.0,40572,-11.1,-6.000
$D_GRID,789
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,82,0.00,0.00,-62.08,0.000,2,0.000,0.000,43,2889,3470
$GC,84,-1.10,-146.6,4.2,-10.5,3,106,12.12,1.75,-0.50,0.000,4,0.163,0.106,2167,3786,3502
$GC,173,-1.10,-146.6,19.0,-6.5,7,177,0.00,1.55,0.00,0.000,6,0.000,0.039,2167,2905,3502
$GC,505,-1.10,-146.6,45.6,-6.8,23,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3502
$GC,814,-1.10,-146.6,65.5,-7.1,38,818,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1489,3502
$GC,845,-1.10,-146.6,67.7,-6.5,39,852,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2893,3502
$GC,1162,-1.10,-146.6,90.9,-7.3,55,1167,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1489,3502
$GC,1190,-1.10,-146.6,92.9,-7.0,56,1194,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2901,3502
$GC,1505,-1.10,-146.6,116.6,-7.5,71,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,1814,-1.10,-146.6,137.7,-6.4,86,1818,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1483,3503
$GC,1874,-1.10,-146.6,141.4,-6.1,89,1879,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2904,3502
$GC,2200,-1.10,-146.6,159.9,-5.6,105,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,2509,-1.10,-146.6,176.4,-5.2,120,2513,0.00,2.60,0.00,0.000,4,0.000,0.068,2167,1489,3503
$GC,2552,-1.10,-146.6,178.8,-5.2,122,2556,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2900,3503
$GC,2879,-1.10,-146.6,194.5,-4.6,138,2883,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1487,3503
$GC,2917,-1.10,-146.6,196.4,-5.4,140,2921,0.00,2.62,0.00,0.000,6,0.000,0.070,2167,2901,3503
$GC,3243,-1.10,-146.6,213.8,-5.5,156,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,3552,-1.10,-146.6,230.4,-5.3,171,3556,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1489,3502
$GC,3600,-1.10,-146.6,233.4,-5.8,173,3605,0.00,2.62,0.00,0.000,6,0.000,0.070,2167,2901,3503
$GC,3921,-1.10,-146.6,252.5,-5.8,189,3926,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1489,3503
$GC,3955,-1.10,-146.6,254.7,-6.4,190,3961,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2901,3502
$GC,4270,-1.10,-146.6,275.1,-6.8,206,4274,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1483,3503
$GC,4318,-1.10,-146.6,278.4,-7.2,208,4323,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2894,3503
$GC,4640,-1.10,-146.6,301.2,-7.6,224,4644,0.00,2.60,0.00,0.000,4,0.000,0.073,2167,1489,3503
$GC,4679,-1.10,-146.6,304.4,-7.8,226,4684,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2901,3503
$GC,5004,-1.10,-146.6,330.0,-8.1,242,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,5313,-1.10,-146.6,356.5,-8.4,257,5317,0.00,2.60,0.00,0.000,4,0.000,0.069,2167,1483,3503
$GC,5356,-1.10,-146.6,360.2,-8.2,259,5361,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2900,3503
$GC,5683,-1.10,-146.6,388.3,-8.8,275,5688,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1485,3503
$GC,5709,-1.10,-146.6,390.9,-9.0,276,5714,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2899,3503
$GC,6031,-1.10,-146.6,418.1,-8.2,292,6035,0.00,2.55,0.00,0.000,4,0.000,0.065,2167,1489,3503
$GC,6080,-1.10,-146.6,422.1,-8.0,294,6084,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2899,3503
$GC,6406,-1.10,-146.6,446.9,-7.5,310,6411,0.00,2.60,0.00,0.000,4,0.000,0.069,2167,1484,3503
$GC,6446,-1.10,-146.6,450.1,-8.2,312,6450,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2900,3502
$GC,6772,-1.10,-146.6,476.7,-8.5,328,6776,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1484,3502
$GC,6803,-1.10,-146.6,479.6,-8.5,329,6810,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2891,3503
$GC,7119,-1.10,-146.6,505.7,-8.1,345,7123,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1482,3503
$GC,7145,-1.10,-146.6,507.9,-8.2,346,7149,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2900,3503
$GC,7466,-1.10,-146.6,532.4,-7.5,362,7470,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1484,3503
$GC,7514,-1.10,-146.6,536.2,-7.7,364,7519,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2898,3503
$GC,7835,-1.10,-146.6,558.1,-6.7,380,7840,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1481,3503
$GC,7867,-1.10,-146.6,560.4,-6.6,381,7874,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2898,3503
$GC,8183,-1.10,-146.6,581.5,-7.1,397,8187,0.00,1.67,0.00,0.000,4,0.000,0.084,2167,3780,3503
$GC,8237,-1.10,-146.6,586.1,-8.1,399,8242,0.00,1.52,0.00,0.000,6,0.000,0.036,2167,2894,3503
$GC,8558,-1.10,-146.6,612.5,-8.2,415,8562,0.00,1.67,0.00,0.000,4,0.000,0.085,2167,3783,3503
$GC,8686,-1.10,-146.6,622.6,-7.5,420,8693,0.00,1.50,0.00,0.000,6,0.000,0.035,2167,2902,3503
$GC,9002,-1.10,-146.6,639.3,-5.0,436,9006,0.00,2.53,0.00,0.000,4,0.000,0.061,2167,1496,3503
$GC,9085,-1.10,-146.6,644.2,-6.0,440,9089,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2898,3503
$GC,9411,-1.10,-146.6,670.9,-9.4,456,9415,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1493,3503
$GC,9465,-1.10,-146.6,676.2,-9.4,458,9472,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2899,3503
$GC,9780,-1.10,-146.6,709.3,-10.4,474,9784,0.00,1.67,0.00,0.000,4,0.000,0.088,2167,3783,3503
$GC,9896,-1.10,-146.6,722.0,-10.8,479,9901,0.00,1.52,0.00,0.000,6,0.000,0.038,2167,2905,3503
$GC,10223,-1.10,-146.6,751.3,-5.9,495,10228,0.00,2.58,0.00,0.000,4,0.000,0.068,2167,1491,3503
$GC,10267,-1.10,-146.6,752.8,-3.3,497,10271,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2906,3503
$GC,10594,-1.10,-146.6,752.4,-1.2,513,10598,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1483,3502
$GC,10627,-1.10,-146.6,753.6,-4.1,514,10633,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2900,3502
$GC,10941,-1.10,-146.6,771.4,-4.4,530,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,11251,-1.10,-146.6,783.0,-5.7,545,11255,0.00,2.65,0.00,0.000,4,0.000,0.076,2167,1490,3500
$GC,11334,-1.10,-146.6,788.3,-6.4,549,11338,0.00,2.65,0.00,0.000,6,0.000,0.078,2167,2899,3499
$STATE,11348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11348,begin apogee
$GC,11354,-0.42,0.0,789.2,6.6,550,11484,0.73,0.00,126.35,1.365,6,0.071,0.000,2319,1778,2901
$STATE,11484,end apogee,CONTROL_FINISHED_OK
$STATE,11485,begin climb
$GC,11486,1.10,146.6,791.2,0.0,556,11614,1.55,0.00,123.40,1.345,6,0.056,0.000,2649,1778,2303
$GC,11916,1.10,146.6,770.6,10.3,577,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1778,2301
$GC,12226,1.18,207.4,752.5,4.3,592,12287,0.00,2.88,51.17,1.373,4,0.000,0.099,2649,3184,2055
$GC,12422,1.36,353.5,743.2,2.0,601,12553,0.25,2.65,122.78,1.365,6,0.034,0.069,2713,1776,1459
$GC,12874,1.36,353.5,703.5,11.2,623,12878,0.00,2.67,0.00,0.000,4,0.000,0.074,2713,3188,1458
$GC,13002,1.36,353.5,688.2,12.2,629,13006,0.00,2.58,0.00,0.000,6,0.000,0.053,2713,1765,1458
$GC,13333,1.36,353.5,644.6,13.2,645,13338,0.00,2.65,0.00,0.000,4,0.000,0.069,2713,3188,1458
$GC,13432,1.36,353.5,629.5,15.5,649,13440,0.00,2.58,0.00,0.000,6,0.000,0.050,2713,1774,1457
$GC,13748,1.36,353.5,590.9,10.8,665,13752,0.00,2.62,0.00,0.000,4,0.000,0.070,2713,3187,1458
$GC,13847,1.36,353.5,578.2,12.9,669,13854,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,1778,1458
$GC,14163,1.36,353.5,541.0,12.7,685,14167,0.00,2.62,0.00,0.000,4,0.000,0.069,2713,3188,1458
$GC,14250,1.36,353.5,529.1,13.6,689,14255,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,1776,1458
$GC,14577,1.36,353.5,491.7,11.1,705,14582,0.00,2.62,0.00,0.000,4,0.000,0.067,2713,3192,1458
$GC,14671,1.36,353.5,480.9,10.9,709,14676,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,1777,1458
$GC,14992,1.36,353.5,436.9,14.4,725,14996,0.00,2.60,0.00,0.000,4,0.000,0.067,2713,3188,1459
$GC,15104,1.36,353.5,421.3,12.9,730,15108,0.00,2.55,0.00,0.000,6,0.000,0.049,2713,1768,1459
$GC,15424,1.36,353.5,376.9,12.7,746,15428,0.00,2.65,0.00,0.000,4,0.000,0.067,2713,3192,1459
$GC,15517,1.36,353.5,364.0,13.5,750,15521,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,1776,1460
$GC,15839,1.36,353.5,320.8,14.0,766,15843,0.00,2.62,0.00,0.000,4,0.000,0.070,2713,3188,1460
$GC,15909,1.36,353.5,310.6,13.3,769,15914,0.00,2.55,0.00,0.000,6,0.000,0.049,2713,1777,1460
$GC,16230,1.36,353.5,270.0,12.1,785,16235,0.00,2.62,0.00,0.000,4,0.000,0.071,2713,3186,1460
$GC,16318,1.36,353.5,259.6,12.0,789,16323,0.00,2.55,0.00,0.000,6,0.000,0.053,2713,1778,1461
$GC,16645,1.36,353.5,222.0,8.4,805,16649,0.00,2.62,0.00,0.000,4,0.000,0.073,2713,3188,1462
$GC,16762,1.36,353.5,207.4,14.9,810,16766,0.00,2.55,0.00,0.000,6,0.000,0.054,2713,1769,1462
$GC,17083,1.36,353.5,167.1,13.8,826,17087,0.00,2.67,0.00,0.000,4,0.000,0.073,2713,3189,1462
$GC,17188,1.36,353.5,151.1,11.5,831,17193,0.00,2.55,0.00,0.000,6,0.000,0.054,2713,1770,1462
$GC,17514,1.36,353.5,114.9,10.0,847,17519,0.00,2.67,0.00,0.000,4,0.000,0.074,2713,3188,1463
$GC,17576,1.36,353.5,107.8,12.8,850,17580,0.00,2.55,0.00,0.000,6,0.000,0.057,2713,1776,1463
$GC,17901,1.36,353.5,69.6,12.0,866,17905,0.00,2.67,0.00,0.000,4,0.000,0.075,2713,3188,1463
$GC,17972,1.36,353.5,60.7,11.7,869,17976,0.00,2.58,0.00,0.000,6,0.000,0.058,2713,1776,1463
$GC,18293,1.36,353.5,21.0,12.6,885,18297,0.00,2.67,0.00,0.000,4,0.000,0.076,2713,3191,1463
$GC,18386,1.36,353.5,9.2,12.4,889,18391,0.00,2.55,0.00,0.000,6,0.000,0.051,2713,1780,1463
$STATE,18459,end climb,SURFACE_DEPTH_REACHED
$STATE,18459,begin surface coast
$FINISH,-0.7,1.027261
$STATE,18481,end surface coast,CONTROL_FINISHED_OK
$STATE,18481,begin surface
$SM_CCo,18561,0.00,0.000,0,0,1463,352.50
$SM_GC,0.06,11.52,0.00,0.00,0.021,0.000,0.000,29,2897,1463,-10.79,-0.08,352.50
$IRIDIUM_FIX,6117.23,-906.13,231107,050514
$TT8_MAMPS,0.028379
$HUMID,2076
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,726.1,98.2
$24V_AH,23.3,17.442
$10V_AH,10.1,6.781
$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,26.175,210.500,423.700,0.000,0.000,79.088,54.235,172.462,6.750,0.000,0.000,9.966,1702.329,14087.649,575.703,2189.059,473.359,33.393,1699.052,0.000,2149.594,0.000,42.870
$DEVICE_MAMPS,162.604,105.846,1372.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.799,624.285,521.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44327,894
$CFSIZE,260165632,254795776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
$GPS,231107,062738,6139.214,-906.700,33,1.3,33,-9.3