version: 66.02
glider: 103
mission: 7
dive: 96
start: 11 27 107 12 26 56
data:
$ID,103
$MISSION,7
$DIVE,96
$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,-63961.422
$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,11
$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
$GPS1,121738,6147.693,-915.083,25,2.0,25,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-56.4
$GPS2,122551,6147.723,-914.905,12,2.0,12,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.108,0.186
$KALMAN_X,-78802.1,-66.3,248.7,42939.3,-2591.0
$KALMAN_Y,93344.1,147.1,537.0,-68627.9,-215.6
$MHEAD_RNG_PITCHd_Wd,39.6,9774,-11.4,-6.000
$D_GRID,709
$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,19,begin dive
$GC,20,-1.12,-140.7,0.0,0.0,0,84,0.00,0.00,-61.97,0.000,2,0.000,0.000,45,2898,3385
$GC,86,-1.12,-140.7,3.2,-7.9,3,109,11.90,2.65,-1.70,0.000,4,0.158,0.084,2159,1494,3478
$GC,311,-1.12,-140.7,27.9,-7.5,13,315,0.00,2.62,0.00,0.000,6,0.000,0.071,2159,2899,3478
$GC,636,-1.12,-140.7,55.0,-8.4,29,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2899,3478
$GC,945,-1.12,-140.7,80.8,-8.3,44,950,0.00,2.60,0.00,0.000,4,0.000,0.064,2159,1487,3478
$GC,977,-1.12,-140.7,83.9,-9.0,45,984,0.00,2.65,0.00,0.000,6,0.000,0.069,2159,2897,3479
$GC,1295,-1.12,-140.7,114.4,-8.8,61,1299,0.00,2.60,0.00,0.000,4,0.000,0.067,2159,1489,3479
$GC,1326,-1.12,-140.7,117.3,-8.0,62,1334,0.00,2.65,0.00,0.000,6,0.000,0.071,2159,2894,3479
$GC,1642,-1.12,-140.7,141.3,-7.2,78,1647,0.00,2.60,0.00,0.000,4,0.000,0.066,2159,1482,3479
$GC,1674,-1.12,-140.7,143.5,-6.5,79,1681,0.00,2.65,0.00,0.000,6,0.000,0.071,2159,2890,3479
$GC,1990,-1.13,-146.6,162.1,-5.4,95,1995,0.00,2.58,-0.10,0.000,4,0.000,0.076,2159,1489,3506
$GC,2051,-1.13,-146.6,165.3,-5.5,98,2055,0.00,2.62,0.00,0.000,6,0.000,0.071,2159,2899,3506
$GC,2376,-1.13,-146.6,184.2,-6.1,114,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2899,3506
$GC,2685,-1.13,-146.6,207.5,-8.4,129,2689,0.00,2.58,0.00,0.000,4,0.000,0.065,2159,1484,3506
$GC,2740,-1.13,-146.6,212.1,-8.5,131,2747,0.00,2.65,0.00,0.000,6,0.000,0.069,2159,2899,3506
$GC,3055,-1.13,-146.6,237.9,-7.5,147,3060,0.00,2.60,0.00,0.000,4,0.000,0.064,2159,1483,3506
$GC,3098,-1.13,-146.6,240.9,-6.6,149,3103,0.00,2.65,0.00,0.000,6,0.000,0.068,2159,2899,3506
$GC,3425,-1.13,-146.6,263.6,-6.6,165,3429,0.00,2.58,0.00,0.000,4,0.000,0.066,2159,1482,3506
$GC,3465,-1.13,-146.6,265.9,-6.0,166,3471,0.00,2.62,0.00,0.000,6,0.000,0.067,2159,2900,3506
$GC,3779,-1.13,-146.6,284.3,-6.7,182,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2900,3506
$GC,4088,-1.13,-146.6,304.2,-6.5,197,4093,0.00,2.58,0.00,0.000,4,0.000,0.064,2159,1486,3506
$GC,4150,-1.13,-146.6,308.5,-7.3,200,4154,0.00,2.60,0.00,0.000,6,0.000,0.069,2159,2900,3506
$GC,4475,-1.13,-146.6,330.0,-6.8,216,4480,0.00,2.60,0.00,0.000,4,0.000,0.064,2159,1480,3506
$GC,4530,-1.13,-146.6,333.8,-7.3,218,4537,0.00,2.65,0.00,0.000,6,0.000,0.069,2159,2898,3506
$GC,4845,-1.13,-146.6,354.4,-6.2,234,4850,0.00,2.58,0.00,0.000,4,0.000,0.063,2159,1479,3506
$GC,4878,-1.13,-146.6,356.3,-6.0,235,4885,0.00,2.65,0.00,0.000,6,0.000,0.068,2159,2896,3506
$GC,5193,-1.13,-146.6,376.5,-6.5,251,5197,0.00,2.58,0.00,0.000,4,0.000,0.063,2159,1486,3506
$GC,5236,-1.13,-146.6,379.4,-6.8,253,5240,0.00,2.62,0.00,0.000,6,0.000,0.070,2159,2901,3506
$GC,5563,-1.13,-146.6,398.4,-5.6,269,5567,0.00,2.58,0.00,0.000,4,0.000,0.063,2159,1484,3506
$GC,5596,-1.13,-146.6,400.1,-6.0,270,5603,0.00,2.62,0.00,0.000,6,0.000,0.071,2159,2899,3506
$GC,5912,-1.13,-146.6,416.0,-5.8,286,5916,0.00,2.55,0.00,0.000,4,0.000,0.064,2159,1487,3506
$GC,5972,-1.13,-146.6,420.0,-6.9,289,5976,0.00,2.60,0.00,0.000,6,0.000,0.070,2159,2899,3506
$GC,6303,-1.13,-146.6,445.3,-8.6,305,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2899,3506
$GC,6612,-1.13,-146.6,471.4,-8.0,320,6617,0.00,2.55,0.00,0.000,4,0.000,0.061,2159,1482,3506
$GC,6667,-1.13,-146.6,475.3,-7.1,322,6674,0.00,2.65,0.00,0.000,6,0.000,0.069,2159,2897,3506
$GC,6982,-1.13,-146.6,496.5,-6.6,338,6986,0.00,2.55,0.00,0.000,4,0.000,0.063,2158,1482,3506
$GC,7026,-1.13,-146.6,499.6,-7.1,340,7031,0.00,2.60,0.00,0.000,6,0.000,0.068,2159,2900,3506
$GC,7352,-1.13,-146.6,523.3,-7.0,356,7356,0.00,2.58,0.00,0.000,4,0.000,0.062,2159,1486,3506
$GC,7400,-1.13,-146.6,526.7,-6.6,358,7405,0.00,2.62,0.00,0.000,6,0.000,0.067,2159,2893,3506
$GC,7721,-1.13,-146.6,545.8,-6.3,374,7726,0.00,2.58,0.00,0.000,4,0.000,0.061,2159,1480,3506
$GC,7820,-1.13,-146.6,552.4,-6.8,378,7827,0.00,2.65,0.00,0.000,6,0.000,0.066,2159,2902,3506
$GC,8136,-1.13,-146.6,573.6,-7.1,394,8140,0.00,2.55,0.00,0.000,4,0.000,0.060,2159,1486,3506
$GC,8189,-1.13,-146.6,577.9,-8.6,396,8196,0.00,2.62,0.00,0.000,6,0.000,0.067,2159,2900,3506
$GC,8509,-1.13,-146.6,600.2,-6.6,412,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2900,3506
$GC,8815,-1.13,-146.6,615.1,-4.6,427,8819,0.00,2.58,0.00,0.000,4,0.000,0.058,2159,1478,3506
$GC,8925,-1.13,-146.6,619.5,-3.6,432,8930,0.00,2.62,0.00,0.000,6,0.000,0.065,2159,2907,3506
$GC,9252,-1.13,-146.6,635.9,-5.7,448,9256,0.00,2.60,0.00,0.000,4,0.000,0.063,2159,1486,3506
$GC,9396,-1.13,-146.6,645.5,-6.4,454,9402,0.00,2.62,0.00,0.000,6,0.000,0.071,2159,2901,3506
$GC,9711,-1.13,-146.6,666.6,-7.4,470,9715,0.00,2.58,0.00,0.000,4,0.000,0.065,2159,1487,3506
$GC,9773,-1.13,-146.6,670.9,-6.3,473,9777,0.00,2.65,0.00,0.000,6,0.000,0.074,2159,2901,3506
$STATE,10035,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10035,begin apogee
$GC,10041,-0.42,0.0,690.4,9.4,486,10168,0.77,0.00,124.38,1.238,6,0.087,0.000,2317,1773,2901
$STATE,10169,end apogee,CONTROL_FINISHED_OK
$STATE,10169,begin climb
$GC,10171,1.13,146.6,692.8,0.0,492,10302,1.62,2.78,122.62,1.187,4,0.072,0.077,2651,3192,2303
$GC,10556,1.16,176.0,679.5,5.2,509,10587,0.00,2.58,25.88,1.157,6,0.000,0.054,2651,1772,2183
$GC,10908,1.16,176.0,657.7,7.1,527,10912,0.00,2.72,0.00,0.000,4,0.000,0.077,2652,3191,2182
$GC,11120,1.17,183.6,642.1,5.8,536,11135,0.00,2.60,7.80,1.029,6,0.000,0.063,2651,1778,2152
$GC,11456,1.17,183.6,623.1,7.8,553,11460,0.00,2.67,0.00,0.000,4,0.000,0.077,2651,3187,2151
$GC,11504,1.17,183.6,619.8,6.0,555,11509,0.00,2.62,0.00,0.000,6,0.000,0.060,2652,1776,2150
$GC,11826,1.26,257.8,604.0,3.9,571,11896,0.15,2.75,61.70,1.206,4,0.040,0.071,2703,367,1849
$GC,11957,1.26,257.8,596.6,7.2,577,11961,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,1784,1849
$GC,12283,1.26,257.8,571.1,9.1,593,12288,0.00,2.62,0.00,0.000,4,0.000,0.074,2703,3179,1847
$GC,12338,1.26,257.8,565.3,10.1,595,12346,0.00,2.58,0.00,0.000,6,0.000,0.054,2703,1774,1847
$GC,12654,1.26,257.8,527.7,12.3,611,12658,0.00,2.65,0.00,0.000,4,0.000,0.071,2703,3185,1847
$GC,12719,1.26,257.8,519.9,11.4,614,12723,0.00,2.55,0.00,0.000,6,0.000,0.051,2703,1769,1847
$GC,13045,1.26,257.8,489.6,8.0,630,13050,0.00,2.62,0.00,0.000,4,0.000,0.071,2703,3181,1847
$GC,13129,1.26,257.8,483.2,7.3,634,13134,0.00,2.53,0.00,0.000,6,0.000,0.051,2703,1773,1847
$GC,13455,1.26,257.8,455.4,9.6,650,13459,0.00,2.65,0.00,0.000,4,0.000,0.071,2703,3183,1848
$GC,13531,1.26,257.8,447.8,10.1,653,13538,0.00,2.55,0.00,0.000,6,0.000,0.052,2703,1777,1848
$GC,13847,1.26,257.8,417.8,9.1,669,13851,0.00,2.62,0.00,0.000,4,0.000,0.070,2703,3179,1848
$GC,13934,1.26,257.8,409.9,8.3,673,13939,0.00,2.55,0.00,0.000,6,0.000,0.053,2703,1776,1848
$GC,14261,1.26,257.8,380.5,9.8,689,14265,0.00,2.62,0.00,0.000,4,0.000,0.072,2703,3184,1849
$GC,14368,1.26,257.8,369.7,9.7,694,14372,0.00,2.55,0.00,0.000,6,0.000,0.054,2703,1766,1849
$GC,14692,1.26,257.8,338.0,9.0,710,14697,0.00,2.65,0.00,0.000,4,0.000,0.073,2703,3185,1849
$GC,14815,1.26,257.8,327.7,7.7,715,14823,0.00,2.58,0.00,0.000,6,0.000,0.055,2703,1773,1849
$GC,15130,1.26,257.8,302.1,8.9,731,15135,0.00,2.62,0.00,0.000,4,0.000,0.072,2703,3179,1850
$GC,15185,1.26,257.8,297.0,9.6,733,15192,0.00,2.55,0.00,0.000,6,0.000,0.054,2703,1776,1851
$GC,15500,1.26,257.8,268.3,9.1,749,15505,0.00,2.65,0.00,0.000,4,0.000,0.073,2703,3184,1851
$GC,15584,1.26,257.8,260.6,8.9,753,15588,0.00,2.53,0.00,0.000,6,0.000,0.055,2703,1776,1851
$GC,15909,1.26,257.8,232.9,8.3,769,15913,0.00,2.62,0.00,0.000,4,0.000,0.073,2703,3184,1852
$GC,16008,1.26,257.8,224.2,8.8,773,16015,0.00,2.55,0.00,0.000,6,0.000,0.055,2703,1782,1852
$GC,16323,1.26,257.8,195.0,9.1,789,16328,0.00,2.62,0.00,0.000,4,0.000,0.075,2703,3185,1852
$GC,16407,1.26,257.8,187.1,9.5,793,16411,0.00,2.53,0.00,0.000,6,0.000,0.055,2703,1776,1852
$GC,16732,1.26,257.8,155.9,9.8,809,16737,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,3186,1852
$GC,16826,1.26,257.8,146.6,9.5,813,16831,0.00,2.55,0.00,0.000,6,0.000,0.056,2703,1784,1853
$GC,17148,1.26,257.8,116.8,9.2,829,17152,0.00,2.62,0.00,0.000,4,0.000,0.075,2703,3183,1853
$GC,17247,1.26,257.8,107.2,9.4,833,17255,0.00,2.58,0.00,0.000,6,0.000,0.056,2703,1771,1853
$GC,17563,1.26,257.8,76.8,9.5,849,17567,0.00,2.65,0.00,0.000,4,0.000,0.074,2703,3181,1854
$GC,17656,1.26,257.8,67.8,8.7,853,17661,0.00,2.55,0.00,0.000,6,0.000,0.057,2703,1768,1854
$GC,17977,1.26,257.8,37.0,10.7,869,17982,0.00,2.65,0.00,0.000,4,0.000,0.073,2703,3186,1854
$GC,18084,1.26,257.8,25.7,11.0,874,18088,0.00,2.55,0.00,0.000,6,0.000,0.055,2703,1774,1854
$STATE,18346,end climb,SURFACE_DEPTH_REACHED
$STATE,18346,begin surface coast
$FINISH,-0.9,1.027285
$STATE,18368,end surface coast,CONTROL_FINISHED_OK
$STATE,18368,begin surface
$SM_CCo,18389,36.88,0.680,2,0,1678,300.00
$SM_GC,-0.06,0.00,0.00,36.88,0.000,0.000,0.680,48,2890,1678,-10.87,-0.28,300.00
$IRIDIUM_FIX,6121.73,-917.27,271107,161626
$TT8_MAMPS,0.029146
$HUMID,2071
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.6,73.5
$24V_AH,23.4,20.692
$10V_AH,10.1,8.633
$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,26.125,218.000,342.375,36.875,0.000,81.093,55.365,199.753,6.000,0.000,0.000,12.984,1693.060,13885.658,575.391,2245.984,542.638,33.378,1717.359,0.000,2215.375,0.000,39.273
$DEVICE_MAMPS,158.002,84.370,1237.938,679.562,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,640.360,629.108,523.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44132,888
$CFSIZE,260165632,253427712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,57,2,0
$GPS,271107,173525,6150.024,-912.074,39,1.2,39,-9.4