version: 66.02
glider: 103
mission: 7
dive: 93
start: 11 26 107 19 43 2
data:
$ID,103
$MISSION,7
$DIVE,93
$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,-63916.531
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,193607,6138.824,-900.686,38,1.2,38,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-56.0
$GPS2,194157,6138.876,-900.655,15,1.3,15,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.134,0.172
$KALMAN_X,-72180.1,-1678.0,-1204.6,51981.4,8552.2
$KALMAN_Y,90424.4,81.1,137.8,-81605.1,-1135.4
$MHEAD_RNG_PITCHd_Wd,331.4,29000,-11.1,-6.000
$D_GRID,821
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-63.25,0.000,6,0.000,0.000,50,2908,3499
$GC,87,-1.10,-146.6,1.9,-4.2,3,103,11.93,1.73,0.00,0.000,4,0.158,0.089,2165,3782,3500
$GC,355,-1.10,-146.6,32.4,-9.3,14,359,0.00,1.52,0.00,0.000,6,0.000,0.035,2165,2904,3501
$GC,682,-1.10,-146.6,57.9,-7.6,30,685,0.00,1.67,0.00,0.000,4,0.000,0.084,2165,3783,3501
$GC,939,-1.10,-146.6,78.4,-7.4,41,943,0.00,1.52,0.00,0.000,6,0.000,0.035,2165,2907,3501
$GC,1260,-1.10,-146.6,101.4,-7.0,57,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3501
$GC,1569,-1.10,-146.6,123.0,-7.0,72,1574,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1483,3501
$GC,1613,-1.10,-146.6,126.2,-6.8,74,1617,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2899,3501
$GC,1940,-1.10,-146.6,149.2,-7.4,90,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,2249,-1.10,-146.6,169.3,-5.9,105,2253,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1489,3501
$GC,2303,-1.10,-146.6,172.9,-6.9,107,2310,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2893,3501
$GC,2618,-1.10,-146.6,193.4,-6.3,123,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2894,3501
$GC,2928,-1.10,-146.6,215.1,-6.5,138,2932,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1484,3501
$GC,2970,-1.10,-146.6,218.2,-6.9,140,2975,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2897,3501
$GC,3298,-1.10,-146.6,240.8,-6.9,156,3302,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1483,3501
$GC,3346,-1.10,-146.6,244.3,-6.8,158,3351,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2891,3501
$GC,3667,-1.10,-146.6,266.8,-7.2,174,3671,0.00,2.55,0.00,0.000,4,0.000,0.067,2165,1489,3501
$GC,3705,-1.10,-146.6,269.6,-7.2,175,3712,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2899,3501
$GC,4021,-1.10,-146.6,293.7,-7.7,191,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,4330,-1.10,-146.6,318.3,-8.1,206,4334,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1489,3501
$GC,4378,-1.10,-146.6,322.6,-8.3,208,4383,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2891,3501
$GC,4699,-1.10,-146.6,348.0,-7.8,224,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2890,3501
$GC,5008,-1.10,-146.6,371.2,-7.6,239,5013,0.00,2.55,0.00,0.000,4,0.000,0.065,2165,1488,3501
$GC,5069,-1.10,-146.6,375.8,-7.8,242,5073,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2902,3501
$GC,5395,-1.10,-146.6,400.7,-7.8,258,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,5703,-1.10,-146.6,423.9,-7.3,273,5707,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1489,3501
$GC,5758,-1.10,-146.6,428.0,-7.3,275,5762,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2901,3501
$GC,6082,-1.10,-146.6,450.2,-6.7,291,6086,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1489,3501
$GC,6113,-1.10,-146.6,452.7,-7.5,292,6120,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2893,3501
$GC,6429,-1.10,-146.6,477.2,-8.2,308,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2893,3501
$GC,6738,-1.10,-146.6,500.6,-6.7,323,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2893,3501
$GC,7047,-1.10,-146.6,519.6,-6.0,338,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2893,3501
$GC,7357,-1.10,-146.6,536.2,-5.2,353,7361,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1480,3501
$GC,7440,-1.10,-146.6,540.5,-5.5,357,7444,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2901,3501
$GC,7765,-1.10,-146.6,559.5,-5.8,373,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,8074,-1.10,-146.6,580.6,-7.2,388,8079,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1485,3501
$GC,8129,-1.10,-146.6,584.4,-7.2,390,8137,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2894,3501
$GC,8445,-1.10,-146.6,604.0,-6.1,406,8449,0.00,2.53,0.00,0.000,4,0.000,0.058,2165,1484,3501
$GC,8505,-1.10,-146.6,608.0,-6.8,409,8510,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2899,3501
$GC,8831,-1.10,-146.6,630.3,-7.4,425,8835,0.00,2.53,0.00,0.000,4,0.000,0.056,2165,1480,3501
$GC,8879,-1.10,-146.6,634.0,-7.7,427,8884,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2892,3501
$GC,9200,-1.10,-146.6,658.0,-7.5,443,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2892,3501
$GC,9509,-1.10,-146.6,679.0,-6.1,458,9514,0.00,2.50,0.00,0.000,4,0.000,0.055,2165,1483,3501
$GC,9586,-1.10,-146.6,683.7,-6.5,461,9594,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2899,3501
$GC,9902,-1.10,-146.6,704.7,-7.9,477,9906,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1489,3501
$GC,9934,-1.10,-146.6,707.6,-9.3,478,9941,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2893,3501
$GC,10250,-1.10,-146.6,735.5,-9.2,494,10254,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1489,3500
$GC,10321,-1.10,-146.6,738.8,-3.9,497,10325,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2900,3500
$GC,10642,-1.10,-146.6,752.0,-6.6,513,10646,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1482,3500
$GC,10703,-1.10,-146.6,755.8,-5.0,516,10708,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2899,3500
$GC,11028,-1.10,-146.6,766.4,-6.5,532,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3500
$GC,11337,-1.10,-146.6,787.5,-6.9,547,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3500
$STATE,11645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11645,begin apogee
$GC,11652,-0.42,0.0,821.3,17.5,562,11782,0.75,0.00,126.68,1.334,6,0.085,0.000,2319,1769,2901
$STATE,11782,end apogee,CONTROL_FINISHED_OK
$STATE,11783,begin climb
$GC,11784,1.10,146.6,826.3,0.0,568,11916,1.55,2.75,124.12,1.296,4,0.058,0.081,2648,366,2303
$GC,11927,1.10,146.6,815.6,16.0,575,11932,0.00,2.62,0.00,0.000,6,0.000,0.051,2648,1780,2303
$GC,12255,1.10,146.6,788.6,12.4,591,12259,0.00,2.67,0.00,0.000,4,0.000,0.082,2648,3181,2300
$GC,12325,1.10,146.6,781.5,6.9,594,12330,0.00,2.65,0.00,0.000,6,0.000,0.063,2648,1768,2300
$GC,12647,1.10,146.6,755.3,10.8,610,12651,0.00,2.72,0.00,0.000,4,0.000,0.083,2648,3185,2299
$GC,12903,1.28,289.8,742.5,2.0,621,13032,0.17,2.62,118.62,1.302,6,0.038,0.066,2698,1776,1719
$GC,13339,1.28,289.8,701.0,7.6,643,13343,0.00,2.67,0.00,0.000,4,0.000,0.076,2698,363,1718
$GC,13462,1.28,289.8,689.5,8.9,648,13466,0.00,2.55,0.00,0.000,6,0.000,0.048,2698,1771,1718
$GC,13782,1.28,289.8,660.9,9.7,664,13786,0.00,2.65,0.00,0.000,4,0.000,0.077,2698,3182,1717
$GC,13849,1.28,289.8,654.0,9.9,667,13854,0.00,2.55,0.00,0.000,6,0.000,0.056,2698,1773,1716
$GC,14175,1.28,289.8,620.1,10.8,683,14179,0.00,2.65,0.00,0.000,4,0.000,0.071,2698,3182,1717
$GC,14246,1.28,289.8,611.9,11.2,686,14251,0.00,2.58,0.00,0.000,6,0.000,0.054,2698,1773,1717
$GC,14566,1.28,289.8,578.1,9.8,702,14571,0.00,2.65,0.00,0.000,4,0.000,0.069,2698,3187,1718
$GC,14638,1.28,289.8,571.0,9.7,705,14642,0.00,2.55,0.00,0.000,6,0.000,0.052,2698,1779,1718
$GC,14959,1.28,289.8,539.0,10.5,721,14964,0.00,2.62,0.00,0.000,4,0.000,0.071,2698,3187,1718
$GC,15024,1.28,289.8,531.6,11.1,724,15029,0.00,2.53,0.00,0.000,6,0.000,0.053,2698,1776,1718
$GC,15351,1.28,289.8,496.0,10.4,740,15355,0.00,2.62,0.00,0.000,4,0.000,0.070,2698,3185,1718
$GC,15427,1.28,289.8,487.8,9.9,743,15434,0.00,2.55,0.00,0.000,6,0.000,0.054,2698,1782,1719
$GC,15743,1.28,289.8,457.6,9.3,759,15747,0.00,2.62,0.00,0.000,4,0.000,0.071,2698,3188,1720
$GC,15819,1.28,289.8,450.0,9.6,762,15826,0.00,2.55,0.00,0.000,6,0.000,0.053,2698,1784,1720
$GC,16135,1.28,289.8,420.2,9.7,778,16139,0.00,2.60,0.00,0.000,4,0.000,0.071,2698,3182,1721
$GC,16228,1.28,289.8,410.4,10.1,782,16233,0.00,2.55,0.00,0.000,6,0.000,0.054,2698,1782,1721
$GC,16549,1.28,289.8,376.5,10.8,798,16553,0.00,2.62,0.00,0.000,4,0.000,0.073,2698,3186,1721
$GC,16626,1.28,289.8,368.1,10.7,801,16633,0.00,2.58,0.00,0.000,6,0.000,0.056,2698,1776,1721
$GC,16942,1.28,289.8,337.0,9.6,817,16946,0.00,2.65,0.00,0.000,4,0.000,0.073,2698,3185,1722
$GC,17002,1.28,289.8,330.7,10.0,820,17007,0.00,2.55,0.00,0.000,6,0.000,0.057,2698,1770,1722
$GC,17328,1.28,289.8,297.4,10.1,836,17333,0.00,2.65,0.00,0.000,4,0.000,0.074,2698,3182,1723
$GC,17428,1.28,289.8,287.0,10.0,840,17435,0.00,2.58,0.00,0.000,6,0.000,0.056,2698,1775,1723
$GC,17744,1.28,289.8,253.9,10.7,856,17748,0.00,2.65,0.00,0.000,4,0.000,0.074,2698,3187,1723
$GC,17820,1.28,289.8,245.8,10.8,859,17827,0.00,2.55,0.00,0.000,6,0.000,0.058,2698,1776,1723
$GC,18135,1.28,289.8,212.0,11.4,875,18139,0.00,2.62,0.00,0.000,4,0.000,0.075,2698,3182,1724
$GC,18218,1.28,289.8,202.6,10.2,878,18225,0.00,2.58,0.00,0.000,6,0.000,0.058,2698,1776,1724
$GC,18534,1.28,289.8,167.7,10.8,894,18538,0.00,2.65,0.00,0.000,4,0.000,0.074,2698,3182,1724
$GC,18621,1.28,289.8,159.3,8.9,898,18626,0.00,2.58,0.00,0.000,6,0.000,0.058,2698,1776,1724
$GC,18949,1.28,289.8,131.6,8.1,914,18953,0.00,2.67,0.00,0.000,4,0.000,0.076,2698,3188,1724
$GC,19032,1.28,289.8,124.0,10.0,918,19037,0.00,2.58,0.00,0.000,6,0.000,0.059,2698,1770,1725
$GC,19357,1.28,289.8,94.6,9.7,934,19362,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3185,1725
$GC,19441,1.28,289.8,86.0,11.7,938,19445,0.00,2.55,0.00,0.000,6,0.000,0.058,2698,1775,1725
$GC,19766,1.28,289.8,55.4,8.8,954,19771,0.00,2.65,0.00,0.000,4,0.000,0.076,2698,3182,1725
$GC,19860,1.28,289.8,46.9,8.6,958,19865,0.00,2.58,0.00,0.000,6,0.000,0.060,2698,1778,1726
$GC,20182,1.28,289.8,16.0,9.7,974,20186,0.00,2.65,0.00,0.000,4,0.000,0.074,2698,3186,1726
$GC,20243,1.28,289.8,9.6,10.6,977,20247,0.00,2.55,0.00,0.000,6,0.000,0.058,2698,1775,1726
$STATE,20340,end climb,SURFACE_DEPTH_REACHED
$STATE,20340,begin surface coast
$FINISH,-0.9,1.012853
$STATE,20363,end surface coast,CONTROL_FINISHED_OK
$STATE,20363,begin surface
$SM_CCo,20384,11.62,0.615,1,0,1678,300.00
$SM_GC,-0.05,0.00,0.00,11.62,0.000,0.000,0.615,36,2899,1678,-10.92,-0.03,300.00
$IRIDIUM_FIX,6112.75,-855.07,261107,171713
$TT8_MAMPS,0.029146
$HUMID,2088
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,725.9,100.8
$24V_AH,23.4,20.249
$10V_AH,10.1,8.367
$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,26.000,208.700,369.425,11.625,0.000,38.479,33.711,180.439,6.750,0.000,0.000,15.756,1852.529,15507.768,552.265,2393.427,455.893,33.366,1753.464,0.000,2354.639,0.000,42.881
$DEVICE_MAMPS,158.002,88.972,1333.813,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,705.651,696.225,566.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50545,983
$CFSIZE,260165632,253616128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,58,1,0
$GPS,271107,012408,6141.557,-906.175,31,1.3,31,-9.3