version: 66.02
glider: 103
mission: 7
dive: 90
start: 11 26 107 1 36 38
data:
$ID,103
$MISSION,7
$DIVE,90
$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,-63871.332
$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,20
$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
$GPS1,013056,6135.300,-855.847,41,1.1,41,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-61.4
$GPS2,013533,6135.273,-855.751,10,1.7,10,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.167,0.141
$KALMAN_X,-85728.1,1121.3,699.3,65065.7,1059.8
$KALMAN_Y,94430.7,-539.7,-385.2,-91145.9,2418.3
$MHEAD_RNG_PITCHd_Wd,319.5,36880,-11.1,-6.000
$D_GRID,738
$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,-61.75,0.000,6,0.000,0.000,45,2881,3501
$GC,85,-1.10,-146.6,4.3,-9.7,3,101,12.02,1.77,0.00,0.000,4,0.160,0.091,2166,3783,3503
$GC,352,-1.10,-146.6,34.9,-8.0,14,357,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2899,3502
$GC,679,-1.10,-146.6,57.9,-7.9,30,683,0.00,1.70,0.00,0.000,4,0.000,0.084,2166,3787,3503
$GC,725,-1.10,-146.6,61.4,-7.4,32,729,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2904,3502
$GC,1057,-1.10,-146.6,83.7,-7.0,48,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,1366,-1.10,-146.6,106.8,-7.5,63,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,1675,-1.10,-146.6,130.3,-8.0,78,1679,0.00,2.62,0.00,0.000,4,0.000,0.073,2166,1485,3502
$GC,1740,-1.10,-146.6,135.3,-7.5,81,1745,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2893,3503
$GC,2067,-1.10,-146.6,157.0,-5.8,97,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3502
$GC,2376,-1.10,-146.6,174.2,-6.5,112,2380,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1477,3502
$GC,2415,-1.10,-146.6,176.9,-6.7,114,2419,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2909,3503
$GC,2741,-1.10,-146.6,201.8,-7.8,130,2745,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1486,3502
$GC,2779,-1.10,-146.6,205.3,-9.6,132,2783,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2909,3503
$GC,3104,-1.10,-146.6,233.1,-9.2,148,3108,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1484,3503
$GC,3146,-1.10,-146.6,237.2,-9.3,150,3152,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2899,3502
$GC,3474,-1.10,-146.6,264.0,-7.7,166,3478,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3503
$GC,3539,-1.10,-146.6,269.4,-7.8,169,3544,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2904,3502
$GC,3865,-1.10,-146.6,296.1,-8.3,185,3870,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1487,3502
$GC,3898,-1.10,-146.6,298.8,-8.6,186,3905,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2901,3503
$GC,4213,-1.10,-146.6,324.3,-8.0,202,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4522,-1.10,-146.6,347.9,-7.4,217,4527,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1484,3503
$GC,4595,-1.10,-146.6,353.4,-7.9,220,4600,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2899,3503
$GC,4910,-1.10,-146.6,375.3,-6.9,235,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,5219,-1.10,-146.6,397.0,-7.0,250,5223,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1482,3503
$GC,5284,-1.10,-146.6,401.7,-7.4,253,5288,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2920,3503
$GC,5610,-1.10,-146.6,424.5,-7.4,269,5615,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1486,3502
$GC,5654,-1.10,-146.6,427.8,-7.9,271,5658,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2900,3502
$GC,5981,-1.10,-146.6,451.3,-6.8,287,5986,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1483,3502
$GC,6013,-1.10,-146.6,453.7,-7.4,288,6020,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2900,3502
$GC,6330,-1.10,-146.6,475.6,-7.2,304,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,6638,-1.10,-146.6,496.4,-6.5,319,6642,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1484,3503
$GC,6664,-1.10,-146.6,498.3,-6.9,320,6668,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2893,3503
$GC,6986,-1.10,-146.6,520.4,-6.8,336,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3503
$GC,7295,-1.10,-146.6,540.8,-6.7,351,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3503
$GC,7604,-1.10,-146.6,559.5,-6.5,366,7608,0.00,2.53,0.00,0.000,4,0.000,0.058,2166,1481,3502
$GC,7642,-1.10,-146.6,562.0,-6.4,368,7646,0.00,2.58,0.00,0.000,6,0.000,0.063,2166,2901,3502
$GC,7967,-1.10,-146.6,580.2,-5.3,384,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,8276,-1.10,-146.6,596.8,-5.1,399,8281,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1480,3503
$GC,8349,-1.10,-146.6,600.2,-4.8,402,8354,0.00,2.60,0.00,0.000,6,0.000,0.062,2166,2901,3502
$GC,8664,-1.10,-146.6,616.1,-5.7,417,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,8973,-1.10,-146.6,637.5,-7.7,432,8977,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1477,3502
$GC,9033,-1.10,-146.6,641.8,-7.3,434,9040,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2899,3502
$GC,9348,-1.10,-146.6,664.4,-7.4,450,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,9658,-1.10,-146.6,685.2,-6.2,465,9662,0.00,2.50,0.00,0.000,4,0.000,0.051,2166,1477,3502
$GC,9700,-1.10,-146.6,688.2,-6.6,467,9705,0.00,2.60,0.00,0.000,6,0.000,0.058,2166,2899,3502
$GC,10027,-1.10,-146.6,709.2,-6.3,483,10031,0.00,2.50,0.00,0.000,4,0.000,0.049,2166,1475,3502
$GC,10082,-1.10,-146.6,712.6,-6.1,485,10086,0.00,2.58,0.00,0.000,6,0.000,0.058,2166,2899,3502
$GC,10403,-1.10,-146.6,735.3,-7.8,501,10407,0.00,2.53,0.00,0.000,4,0.000,0.048,2166,1469,3502
$GC,10441,-1.10,-146.6,737.7,-6.1,503,10445,0.00,2.17,0.00,0.000,3,0.000,0.055,2166,2687,3502
$STATE,10446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10446,begin apogee
$GC,10452,-0.42,0.0,738.1,6.2,503,10581,0.70,0.00,125.78,1.231,6,0.074,0.000,2316,1767,2901
$STATE,10582,end apogee,CONTROL_FINISHED_OK
$STATE,10582,begin climb
$GC,10583,1.10,146.6,743.3,0.0,509,10714,1.55,2.65,122.78,1.219,4,0.051,0.067,2651,374,2303
$GC,10967,1.10,146.6,725.2,8.3,526,10974,0.00,2.47,0.00,0.000,6,0.000,0.035,2651,1804,2303
$GC,11282,1.10,146.6,702.9,6.9,542,11286,0.00,2.45,0.00,0.000,4,0.000,0.059,2651,3161,2303
$GC,11409,1.10,146.6,693.9,7.8,547,11416,0.00,2.45,0.00,0.000,6,0.000,0.043,2651,1782,2302
$GC,11724,1.10,146.6,672.3,6.7,563,11729,0.00,2.53,0.00,0.000,4,0.000,0.059,2651,3168,2302
$GC,11858,1.12,158.9,663.7,5.7,569,11875,0.00,2.47,11.73,1.097,6,0.000,0.042,2651,1774,2253
$GC,12183,1.19,216.3,647.0,4.4,585,12238,0.00,2.65,48.72,1.175,4,0.000,0.062,2651,3161,2019
$GC,12372,1.19,220.2,636.0,5.9,593,12382,0.00,2.50,5.10,0.878,6,0.000,0.045,2651,1774,2003
$GC,12710,1.21,235.5,616.5,5.6,610,12733,0.10,2.62,14.00,1.101,4,0.047,0.062,2690,3154,1941
$GC,12850,1.21,235.5,607.9,6.6,616,12854,0.00,2.45,0.00,0.000,6,0.000,0.044,2690,1772,1941
$GC,13176,1.21,235.5,587.5,6.7,632,13180,0.00,2.55,0.00,0.000,4,0.000,0.062,2690,3161,1941
$GC,13252,1.21,235.5,582.3,6.7,635,13260,0.00,2.47,0.00,0.000,6,0.000,0.044,2690,1774,1941
$GC,13568,1.21,235.5,560.5,7.3,651,13572,0.00,2.58,0.00,0.000,4,0.000,0.063,2690,3167,1941
$GC,13656,1.21,235.5,553.0,8.9,655,13660,0.00,2.47,0.00,0.000,6,0.000,0.046,2690,1779,1941
$GC,13984,1.21,235.5,526.4,8.2,671,13988,0.00,2.55,0.00,0.000,4,0.000,0.064,2690,3166,1941
$GC,14123,1.21,235.5,515.1,7.9,677,14127,0.00,2.47,0.00,0.000,6,0.000,0.048,2690,1776,1941
$GC,14438,1.21,235.5,490.1,7.9,692,14442,0.00,2.55,0.00,0.000,4,0.000,0.065,2690,3161,1941
$GC,14559,1.21,235.5,479.9,8.7,697,14566,0.00,2.50,0.00,0.000,6,0.000,0.051,2690,1776,1941
$GC,14874,1.21,235.5,454.6,7.7,713,14879,0.00,2.55,0.00,0.000,4,0.000,0.069,2690,3161,1941
$GC,14974,1.21,235.5,446.4,8.4,717,14981,0.00,2.47,0.00,0.000,6,0.000,0.054,2690,1776,1940
$GC,15289,1.21,235.5,420.3,8.7,733,15293,0.00,2.55,0.00,0.000,4,0.000,0.070,2690,3161,1941
$GC,15410,1.21,235.5,409.5,9.3,738,15417,0.00,2.50,0.00,0.000,6,0.000,0.056,2690,1784,1941
$GC,15726,1.21,235.5,383.0,8.3,754,15730,0.00,2.55,0.00,0.000,4,0.000,0.071,2690,3160,1941
$GC,15813,1.21,235.5,375.3,8.7,758,15818,0.00,2.53,0.00,0.000,6,0.000,0.057,2690,1776,1941
$GC,16140,1.21,235.5,347.3,8.7,774,16144,0.00,2.58,0.00,0.000,4,0.000,0.071,2690,3164,1941
$GC,16234,1.21,235.5,339.1,9.0,778,16239,0.00,2.53,0.00,0.000,6,0.000,0.058,2690,1780,1941
$GC,16555,1.21,235.5,313.1,7.8,794,16559,0.00,2.58,0.00,0.000,4,0.000,0.072,2690,3161,1941
$GC,16631,1.21,235.5,307.0,8.7,797,16638,0.00,2.53,0.00,0.000,6,0.000,0.058,2690,1776,1941
$GC,16947,1.21,235.5,280.6,8.6,813,16951,0.00,2.58,0.00,0.000,4,0.000,0.074,2690,3161,1941
$GC,17052,1.21,235.5,271.5,8.1,818,17057,0.00,2.50,0.00,0.000,6,0.000,0.060,2690,1775,1941
$GC,17378,1.21,235.5,245.6,7.8,834,17382,0.00,2.60,0.00,0.000,4,0.000,0.075,2690,3164,1941
$GC,17477,1.21,235.5,237.2,9.3,838,17484,0.00,2.53,0.00,0.000,6,0.000,0.058,2690,1778,1941
$GC,17792,1.21,235.5,211.3,8.2,854,17797,0.00,2.58,0.00,0.000,4,0.000,0.073,2690,3164,1941
$GC,17869,1.21,235.5,204.9,7.8,857,17876,0.00,2.55,0.00,0.000,6,0.000,0.059,2690,1770,1942
$GC,18185,1.21,235.5,179.5,8.4,873,18189,0.00,2.60,0.00,0.000,4,0.000,0.073,2690,3159,1942
$GC,18283,1.21,235.5,170.8,9.4,877,18290,0.00,2.55,0.00,0.000,6,0.000,0.061,2690,1771,1942
$GC,18600,1.21,235.5,140.8,10.6,893,18604,0.00,2.60,0.00,0.000,4,0.000,0.075,2690,3158,1942
$GC,18721,1.21,235.5,127.8,9.8,898,18729,0.00,2.53,0.00,0.000,6,0.000,0.061,2690,1780,1942
$GC,19037,1.21,235.5,101.1,7.9,914,19041,0.00,2.58,0.00,0.000,4,0.000,0.073,2690,3160,1942
$GC,19130,1.22,240.9,94.7,5.9,918,19143,0.00,2.50,6.30,0.729,6,0.000,0.060,2690,1775,1919
$GC,19452,1.22,240.9,68.8,8.6,934,19457,0.00,2.60,0.00,0.000,4,0.000,0.074,2690,3158,1919
$GC,19536,1.22,240.9,61.3,7.2,938,19541,0.00,2.53,0.00,0.000,6,0.000,0.061,2690,1770,1919
$GC,19862,1.22,240.9,30.5,10.0,954,19867,0.00,2.62,0.00,0.000,4,0.000,0.074,2690,3165,1919
$GC,19950,1.22,240.9,22.6,8.3,958,19955,0.00,2.53,0.00,0.000,6,0.000,0.057,2690,1776,1919
$STATE,20214,end climb,SURFACE_DEPTH_REACHED
$STATE,20214,begin surface coast
$FINISH,-0.6,1.007501
$STATE,20236,end surface coast,CONTROL_FINISHED_OK
$STATE,20236,begin surface
$SM_CCo,20257,49.12,0.713,2,0,1678,300.00
$SM_GC,0.28,0.00,0.00,49.12,0.000,0.000,0.713,47,2880,1678,-10.87,-0.57,300.00
$IRIDIUM_FIX,6108.28,-859.53,261107,000004
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,675.9,112.2
$24V_AH,23.4,19.806
$10V_AH,10.1,8.074
$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,26.050,210.150,334.400,49.125,0.000,38.587,25.697,124.389,6.250,0.000,0.000,10.674,1855.538,15351.846,573.203,2446.692,380.414,33.361,1790.227,0.000,2408.769,0.000,39.676
$DEVICE_MAMPS,160.303,90.506,1231.035,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.066,693.863,569.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50622,972
$CFSIZE,260165632,253833216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,60,2,0
$GPS,261107,071631,6136.344,-854.779,37,1.2,43,-9.2