version: 66.02
glider: 103
mission: 7
dive: 94
start: 11 27 107 1 30 7
data:
$ID,103
$MISSION,7
$DIVE,94
$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,-63932.367
$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,18
$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
$GPS1,012408,6141.557,-906.175,31,1.3,31,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-58.9
$GPS2,012902,6141.572,-906.150,10,1.3,15,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.168,0.140
$KALMAN_X,-72788.0,-953.1,-3065.5,48883.4,3355.1
$KALMAN_Y,90068.7,36.7,889.2,-76972.0,-1041.3
$MHEAD_RNG_PITCHd_Wd,319.2,22531,-11.1,-6.000
$D_GRID,771
$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,-62.00,0.000,2,0.000,0.000,36,2900,3445
$GC,85,-1.10,-146.6,3.6,-8.2,3,107,12.02,2.65,-0.98,0.000,4,0.159,0.081,2166,1497,3502
$GC,291,-1.10,-146.6,27.1,-6.3,12,296,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2888,3502
$GC,619,-1.10,-146.6,49.9,-6.3,28,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2888,3503
$GC,928,-1.10,-146.6,71.8,-7.1,43,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2888,3503
$GC,1237,-1.10,-146.6,92.9,-6.8,58,1242,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1488,3503
$GC,1280,-1.10,-146.6,96.0,-6.7,60,1285,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2892,3503
$GC,1608,-1.10,-146.6,120.1,-7.8,76,1612,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1487,3503
$GC,1633,-1.10,-146.6,122.2,-7.8,77,1638,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2912,3503
$GC,1956,-1.10,-146.6,145.7,-6.8,93,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2912,3503
$GC,2264,-1.10,-146.6,165.6,-6.4,108,2268,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3503
$GC,2325,-1.10,-146.6,169.4,-5.9,111,2330,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2899,3503
$GC,2650,-1.10,-146.6,190.8,-7.0,127,2654,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1481,3503
$GC,2688,-1.10,-146.6,193.5,-7.3,128,2695,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2894,3503
$GC,3004,-1.10,-146.6,214.8,-6.5,144,3008,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1484,3503
$GC,3052,-1.10,-146.6,218.3,-7.3,146,3056,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2900,3503
$GC,3373,-1.10,-146.6,238.0,-5.3,162,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,3682,-1.10,-146.6,257.7,-7.2,177,3687,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1487,3503
$GC,3709,-1.10,-146.6,259.7,-7.7,178,3713,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2906,3503
$GC,4030,-1.10,-146.6,286.3,-9.0,194,4034,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1483,3503
$GC,4085,-1.10,-146.6,291.3,-9.1,196,4091,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2907,3503
$GC,4399,-1.10,-146.6,321.2,-9.3,212,4404,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1483,3503
$GC,4448,-1.10,-146.6,326.0,-9.8,214,4453,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2898,3503
$GC,4770,-1.10,-146.6,355.6,-8.7,230,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,5079,-1.10,-146.6,377.7,-6.5,245,5083,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1484,3503
$GC,5121,-1.10,-146.6,380.5,-6.2,247,5126,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2889,3503
$GC,5449,-1.10,-146.6,399.2,-5.8,263,5453,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1487,3503
$GC,5525,-1.10,-146.6,403.7,-6.7,266,5532,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,5841,-1.10,-146.6,419.2,-4.9,282,5845,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1483,3503
$GC,5884,-1.10,-146.6,421.6,-5.3,284,5888,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2900,3503
$GC,6210,-1.10,-146.6,442.5,-7.3,300,6214,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1486,3503
$GC,6253,-1.10,-146.6,446.0,-8.5,302,6257,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2899,3503
$GC,6579,-1.10,-146.6,473.0,-8.1,318,6584,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1485,3503
$GC,6643,-1.10,-146.6,477.9,-8.1,321,6647,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2905,3503
$GC,6969,-1.10,-146.6,500.6,-6.3,337,6973,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1478,3503
$GC,7011,-1.10,-146.6,503.4,-6.2,339,7016,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2898,3503
$GC,7338,-1.10,-146.6,521.5,-5.5,355,7342,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1482,3503
$GC,7370,-1.10,-146.6,523.6,-6.6,356,7376,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2910,3503
$GC,7685,-1.10,-146.6,540.1,-4.3,372,7689,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1479,3503
$GC,7739,-1.10,-146.6,541.9,-3.3,374,7746,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2898,3503
$GC,8055,-1.10,-146.6,551.4,-4.8,390,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,8364,-1.10,-146.6,568.3,-5.3,405,8368,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1483,3503
$GC,8441,-1.10,-146.6,571.9,-4.7,408,8447,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2900,3503
$GC,8756,-1.10,-146.6,587.3,-5.0,424,8761,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1482,3503
$GC,8797,-1.10,-146.6,589.4,-6.0,426,8801,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2900,3503
$GC,9122,-1.10,-146.6,603.6,-5.4,442,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,9432,-1.10,-146.6,627.9,-4.6,457,9436,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1475,3503
$GC,9474,-1.10,-146.6,631.1,-7.5,459,9479,0.00,2.62,0.00,0.000,6,0.000,0.062,2166,2899,3503
$GC,9802,-1.10,-146.6,647.8,-3.5,475,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,10111,-1.10,-146.6,645.8,0.9,490,10115,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1481,3503
$GC,10172,-1.10,-146.6,647.5,-3.2,493,10176,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2907,3503
$GC,10497,-1.10,-146.6,674.2,-10.8,509,10501,0.00,2.53,0.00,0.000,4,0.000,0.048,2166,1477,3503
$GC,10756,-1.10,-146.6,675.2,-5.5,520,10761,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2898,3503
$GC,11070,-1.10,-146.6,712.5,-9.7,535,11074,0.00,1.67,0.00,0.000,4,0.000,0.089,2166,3786,3503
$GC,11209,-1.10,-146.6,723.0,-9.2,541,11214,0.00,1.55,0.00,0.000,6,0.000,0.035,2166,2884,3503
$GC,11536,-1.10,-146.6,747.9,-6.0,557,11540,0.00,2.53,0.00,0.000,4,0.000,0.069,2166,1499,3503
$GC,11629,-1.10,-146.6,753.3,-3.9,561,11634,0.00,2.62,0.00,0.000,6,0.000,0.073,2166,2910,3503
$STATE,11826,end dive,NO_VERTICAL_VELOCITY
$STATE,11826,begin apogee
$GC,11832,-0.42,0.0,753.8,0.0,571,11961,0.75,0.00,125.68,1.276,6,0.091,0.000,2317,1785,2901
$STATE,11962,end apogee,CONTROL_FINISHED_OK
$STATE,11962,begin climb
$GC,11963,1.10,146.6,755.2,0.0,577,12094,1.55,2.78,122.68,1.249,4,0.054,0.077,2650,365,2303
$GC,12348,1.16,193.8,747.6,4.7,594,12395,0.00,2.55,40.40,1.221,6,0.000,0.048,2650,1779,2111
$GC,12704,1.30,307.4,738.8,2.9,612,12807,0.15,2.75,94.50,1.270,4,0.041,0.074,2705,367,1647
$GC,12923,1.30,307.4,706.4,15.3,622,12928,0.00,2.58,0.00,0.000,6,0.000,0.048,2705,1773,1647
$GC,13250,1.30,307.4,662.4,11.7,638,13255,0.00,2.67,0.00,0.000,4,0.000,0.076,2705,3182,1645
$GC,13434,1.31,313.9,648.9,5.8,646,13447,0.00,2.60,6.70,1.016,6,0.000,0.053,2705,1766,1621
$GC,13754,1.31,313.9,617.1,13.8,662,13759,0.00,2.67,0.00,0.000,4,0.000,0.074,2705,3184,1620
$GC,13786,1.31,313.9,612.7,13.3,663,13793,0.00,2.55,0.00,0.000,6,0.000,0.050,2705,1780,1621
$GC,14101,1.31,313.9,575.1,11.6,679,14106,0.00,2.62,0.00,0.000,4,0.000,0.071,2705,3187,1621
$GC,14162,1.31,313.9,568.2,10.6,682,14167,0.00,2.53,0.00,0.000,6,0.000,0.050,2705,1776,1621
$GC,14488,1.31,313.9,533.6,10.7,698,14492,0.00,2.62,0.00,0.000,4,0.000,0.071,2705,3188,1621
$GC,14576,1.31,313.9,523.7,12.0,702,14581,0.00,2.55,0.00,0.000,6,0.000,0.052,2705,1784,1621
$GC,14902,1.31,313.9,484.2,13.1,718,14907,0.00,2.62,0.00,0.000,4,0.000,0.070,2705,3185,1621
$GC,14996,1.31,313.9,472.9,11.0,722,15001,0.00,2.55,0.00,0.000,6,0.000,0.051,2705,1778,1621
$GC,15317,1.31,313.9,440.5,10.0,738,15322,0.00,2.60,0.00,0.000,4,0.000,0.071,2705,3184,1621
$GC,15413,1.31,313.9,430.5,11.2,742,15417,0.00,2.55,0.00,0.000,6,0.000,0.053,2705,1772,1621
$GC,15727,1.31,313.9,397.4,11.0,757,15731,0.00,2.62,0.00,0.000,4,0.000,0.071,2705,3182,1621
$GC,15815,1.31,313.9,387.2,11.5,761,15819,0.00,2.55,0.00,0.000,6,0.000,0.053,2705,1775,1622
$GC,16141,1.31,313.9,347.8,12.0,777,16146,0.00,2.62,0.00,0.000,4,0.000,0.073,2705,3183,1623
$GC,16235,1.31,313.9,336.5,11.7,781,16240,0.00,2.55,0.00,0.000,6,0.000,0.054,2705,1782,1623
$GC,16556,1.31,313.9,301.0,11.1,797,16561,0.00,2.65,0.00,0.000,4,0.000,0.073,2705,3188,1623
$GC,16649,1.31,313.9,290.3,10.6,801,16654,0.00,2.58,0.00,0.000,6,0.000,0.055,2705,1777,1623
$GC,16970,1.31,313.9,257.6,9.1,817,16975,0.00,2.62,0.00,0.000,4,0.000,0.073,2705,3183,1623
$GC,17042,1.31,313.9,250.4,10.2,820,17046,0.00,2.58,0.00,0.000,6,0.000,0.057,2705,1774,1624
$GC,17363,1.31,313.9,220.0,9.6,836,17368,0.00,2.65,0.00,0.000,4,0.000,0.074,2705,3182,1624
$GC,17435,1.31,313.9,212.6,10.7,839,17439,0.00,2.58,0.00,0.000,6,0.000,0.058,2705,1776,1624
$GC,17755,1.31,313.9,179.2,10.6,855,17760,0.00,2.62,0.00,0.000,4,0.000,0.074,2705,3183,1624
$GC,17861,1.31,313.9,167.6,10.7,860,17866,0.00,2.55,0.00,0.000,6,0.000,0.057,2705,1768,1624
$GC,18189,1.31,313.9,133.2,10.7,876,18193,0.00,2.67,0.00,0.000,4,0.000,0.074,2705,3187,1626
$GC,18272,1.31,313.9,123.8,10.6,880,18276,0.00,2.58,0.00,0.000,6,0.000,0.058,2705,1766,1626
$GC,18597,1.31,313.9,89.0,10.6,896,18602,0.00,2.67,0.00,0.000,4,0.000,0.074,2705,3185,1626
$GC,18704,1.31,313.9,79.6,7.9,901,18708,0.00,2.55,0.00,0.000,6,0.000,0.058,2705,1775,1625
$GC,19029,1.31,313.9,45.8,11.2,917,19034,0.00,2.65,0.00,0.000,4,0.000,0.075,2705,3184,1626
$GC,19101,1.31,313.9,37.4,12.3,920,19106,0.00,2.58,0.00,0.000,6,0.000,0.060,2705,1783,1626
$GC,19422,1.31,313.9,2.2,12.4,936,19426,0.00,2.12,0.00,0.000,3,0.000,0.079,2705,2914,1627
$STATE,19427,end climb,SURFACE_DEPTH_REACHED
$STATE,19427,begin surface coast
$FINISH,1.3,1.027232
$STATE,19431,end surface coast,CONTROL_FINISHED_OK
$STATE,19431,begin surface
$SM_CCo,19510,0.00,0.000,0,0,1625,313.00
$SM_GC,-0.03,11.98,0.00,0.00,0.044,0.000,0.000,48,2914,1625,-10.79,0.40,313.00
$IRIDIUM_FIX,6112.75,-856.47,261107,232301
$TT8_MAMPS,0.028379
$HUMID,2086
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,19.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,726.2,68.5
$24V_AH,23.4,20.401
$10V_AH,10.1,8.458
$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,26.450,216.325,389.950,0.000,0.000,37.258,26.753,135.063,6.750,0.000,0.000,15.208,1799.970,14715.950,544.406,2364.849,388.130,33.368,1735.229,0.000,2320.764,0.000,42.801
$DEVICE_MAMPS,158.769,88.972,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.738,661.370,542.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47431,936
$CFSIZE,260165632,253554688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,61,0,0
$GPS,271107,065631,6142.970,-913.546,37,1.2,42,-9.4