version: 66.02
glider: 103
mission: 7
dive: 111
start: 11 30 107 14 46 55
data:
$ID,103
$MISSION,7
$DIVE,111
$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,-64410.523
$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
$GPS1,144038,6202.873,-948.959,29,0.9,29,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-59.3
$GPS2,144550,6202.882,-948.944,9,0.9,14,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.063,0.209
$KALMAN_X,-91732.8,1342.3,1209.1,23418.0,-11261.0
$KALMAN_Y,66669.8,79.8,877.5,-14151.2,-2541.1
$MHEAD_RNG_PITCHd_Wd,26.7,31716,-11.1,-6.000
$D_GRID,726
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-61.67,0.000,2,0.000,0.000,44,2892,3334
$GC,85,-1.10,-146.6,3.3,-8.8,3,107,11.98,1.75,-3.05,0.000,4,0.159,0.113,2165,3776,3501
$GC,359,-1.10,-146.6,29.8,-8.0,15,364,0.00,1.50,0.00,0.000,6,0.000,0.034,2165,2902,3502
$GC,686,-1.10,-146.6,53.3,-6.4,31,689,0.00,1.67,0.00,0.000,4,0.000,0.083,2165,3788,3503
$GC,943,-1.10,-146.6,71.7,-8.1,42,947,0.00,1.52,0.00,0.000,6,0.000,0.033,2165,2900,3503
$GC,1264,-1.10,-146.6,92.1,-5.9,58,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,1573,-1.10,-146.6,115.1,-7.4,73,1578,0.00,2.60,0.00,0.000,4,0.000,0.070,2165,1490,3503
$GC,1635,-1.10,-146.6,120.1,-8.2,76,1639,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2903,3503
$GC,1960,-1.10,-146.6,140.8,-6.6,92,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2269,-1.10,-146.6,160.3,-6.0,107,2274,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1492,3503
$GC,2295,-1.10,-146.6,162.0,-6.4,108,2300,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2903,3503
$GC,2617,-1.10,-146.6,180.6,-6.0,124,2621,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1492,3503
$GC,2643,-1.10,-146.6,182.2,-5.5,125,2648,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2895,3503
$GC,2964,-1.10,-146.6,201.6,-6.4,141,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3503
$GC,3273,-1.10,-146.6,222.1,-6.5,156,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3503
$GC,3583,-1.10,-146.6,243.3,-6.7,171,3587,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1496,3503
$GC,3648,-1.10,-146.6,248.0,-6.9,174,3653,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2899,3503
$GC,3975,-1.10,-146.6,270.7,-6.9,190,3979,0.00,2.55,0.00,0.000,4,0.000,0.065,2165,1493,3503
$GC,4018,-1.10,-146.6,273.9,-7.3,192,4022,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2898,3503
$GC,4344,-1.10,-146.6,298.4,-7.4,208,4349,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1495,3503
$GC,4388,-1.10,-146.6,301.8,-7.9,210,4392,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2898,3503
$GC,4716,-1.10,-146.6,325.5,-7.0,226,4720,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1487,3503
$GC,4747,-1.10,-146.6,327.9,-7.1,227,4754,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2891,3503
$GC,5063,-1.10,-146.6,350.1,-7.1,243,5068,0.00,2.55,0.00,0.000,4,0.000,0.066,2165,1489,3503
$GC,5102,-1.10,-146.6,352.9,-7.0,245,5106,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2902,3503
$GC,5428,-1.10,-146.6,374.4,-6.2,261,5432,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1490,3503
$GC,5459,-1.10,-146.6,376.6,-6.3,262,5466,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2893,3503
$GC,5774,-1.10,-146.6,396.6,-6.4,278,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2893,3503
$GC,6084,-1.10,-146.6,417.9,-6.8,293,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2893,3503
$GC,6393,-1.10,-146.6,437.4,-6.1,308,6397,0.00,2.55,0.00,0.000,4,0.000,0.066,2165,1492,3503
$GC,6447,-1.10,-146.6,440.6,-6.1,310,6454,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2900,3503
$GC,6764,-1.10,-146.6,457.3,-5.2,326,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,7073,-1.10,-146.6,475.4,-6.3,341,7078,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1492,3503
$GC,7162,-1.10,-146.6,481.2,-6.3,345,7166,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2904,3502
$GC,7489,-1.10,-146.6,502.0,-6.7,361,7493,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1489,3503
$GC,7550,-1.10,-146.6,506.5,-7.3,364,7554,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2904,3503
$GC,7875,-1.10,-146.6,529.8,-6.9,380,7879,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1486,3502
$GC,7951,-1.10,-146.6,535.2,-6.7,383,7958,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2904,3502
$GC,8267,-1.10,-146.6,555.8,-6.6,399,8271,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1491,3502
$GC,8337,-1.10,-146.6,560.7,-6.9,402,8342,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2910,3502
$GC,8659,-1.10,-146.6,579.9,-5.4,418,8663,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1488,3502
$GC,8709,-1.10,-146.6,582.7,-5.5,420,8713,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2901,3502
$GC,9030,-1.10,-146.6,600.0,-5.6,436,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,9338,-1.10,-146.6,621.1,-7.4,451,9342,0.00,2.53,0.00,0.000,4,0.000,0.057,2165,1489,3502
$GC,9427,-1.10,-146.6,628.0,-7.6,455,9431,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2902,3502
$GC,9752,-1.10,-146.6,652.9,-7.5,471,9757,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1492,3501
$GC,9813,-1.10,-146.6,657.7,-7.9,474,9818,0.00,2.60,0.00,0.000,6,0.000,0.069,2165,2900,3501
$GC,10139,-1.10,-146.6,679.8,-6.1,490,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,10449,-1.10,-146.6,695.6,-4.7,505,10453,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1492,3501
$GC,10480,-1.10,-146.6,697.1,-4.8,506,10487,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2904,3501
$GC,10796,-1.10,-146.6,711.4,-4.7,522,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3500
$STATE,11103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11104,begin apogee
$GC,11110,-0.42,0.0,726.7,5.2,537,11238,0.75,0.00,125.22,1.251,6,0.088,0.000,2317,1785,2901
$STATE,11239,end apogee,CONTROL_FINISHED_OK
$STATE,11239,begin climb
$GC,11241,1.10,146.6,729.5,0.0,543,11373,1.55,2.72,123.18,1.216,4,0.057,0.071,2647,365,2303
$GC,11484,1.10,146.6,720.1,7.3,554,11489,0.00,2.53,0.00,0.000,6,0.000,0.041,2647,1789,2302
$GC,11805,1.10,146.6,697.6,6.7,570,11810,0.00,2.58,0.00,0.000,4,0.000,0.068,2647,3174,2301
$GC,12062,1.18,206.0,684.3,4.4,581,12118,0.00,2.55,50.28,1.193,6,0.000,0.051,2647,1762,2061
$GC,12440,1.22,243.4,667.2,5.0,600,12483,0.12,2.75,32.62,1.173,4,0.043,0.065,2690,3181,1907
$GC,12640,1.22,243.4,649.9,9.2,609,12645,0.00,2.53,0.00,0.000,6,0.000,0.050,2690,1772,1906
$GC,12966,1.22,243.4,619.6,9.0,625,12970,0.00,2.60,0.00,0.000,4,0.000,0.063,2690,3182,1905
$GC,13065,1.22,243.4,610.5,9.3,629,13072,0.00,2.55,0.00,0.000,6,0.000,0.047,2690,1768,1905
$GC,13380,1.22,243.4,584.4,8.2,645,13385,0.00,2.60,0.00,0.000,4,0.000,0.062,2690,3183,1906
$GC,13491,1.22,243.4,574.8,8.5,650,13495,0.00,2.53,0.00,0.000,6,0.000,0.046,2690,1776,1905
$GC,13818,1.22,243.4,548.8,8.0,666,13822,0.00,2.58,0.00,0.000,4,0.000,0.061,2690,3176,1905
$GC,13894,1.22,243.4,542.1,8.0,669,13902,0.00,2.50,0.00,0.000,6,0.000,0.046,2690,1780,1905
$GC,14210,1.22,243.4,513.4,9.3,685,14214,0.00,2.55,0.00,0.000,4,0.000,0.064,2690,3176,1905
$GC,14309,1.22,243.4,503.8,9.8,689,14316,0.00,2.50,0.00,0.000,6,0.000,0.047,2690,1783,1905
$GC,14624,1.22,243.4,474.8,9.3,705,14628,0.00,2.58,0.00,0.000,4,0.000,0.064,2690,3181,1905
$GC,14712,1.22,243.4,466.5,9.1,709,14717,0.00,2.53,0.00,0.000,6,0.000,0.049,2690,1780,1905
$GC,15039,1.22,243.4,440.4,8.0,725,15043,0.00,2.58,0.00,0.000,4,0.000,0.065,2690,3175,1906
$GC,15145,1.22,243.4,432.7,7.3,730,15149,0.00,2.50,0.00,0.000,6,0.000,0.050,2690,1771,1906
$GC,15471,1.22,243.4,409.1,7.2,746,15475,0.00,2.60,0.00,0.000,4,0.000,0.064,2690,3180,1906
$GC,15581,1.22,243.4,400.0,8.7,751,15586,0.00,2.53,0.00,0.000,6,0.000,0.051,2690,1784,1906
$GC,15908,1.22,243.4,370.7,9.0,767,15912,0.00,2.58,0.00,0.000,4,0.000,0.064,2690,3178,1907
$GC,16036,1.22,243.4,358.8,10.1,773,16040,0.00,2.53,0.00,0.000,6,0.000,0.052,2690,1766,1907
$GC,16361,1.22,243.4,328.7,9.5,789,16365,0.00,2.60,0.00,0.000,4,0.000,0.066,2690,3182,1907
$GC,16454,1.22,243.4,319.5,9.7,793,16459,0.00,2.55,0.00,0.000,6,0.000,0.052,2690,1756,1908
$GC,16775,1.22,243.4,289.5,9.3,809,16780,0.00,2.62,0.00,0.000,4,0.000,0.066,2690,3176,1908
$GC,16904,1.22,243.4,276.9,11.1,815,16908,0.00,2.50,0.00,0.000,6,0.000,0.052,2690,1774,1908
$GC,17230,1.22,243.4,246.0,9.6,831,17234,0.00,2.58,0.00,0.000,4,0.000,0.067,2690,3177,1908
$GC,17312,1.22,243.4,238.1,9.8,835,17317,0.00,2.50,0.00,0.000,6,0.000,0.053,2690,1776,1908
$GC,17639,1.22,243.4,208.1,8.9,851,17643,0.00,2.60,0.00,0.000,4,0.000,0.067,2690,3181,1909
$GC,17749,1.22,243.4,198.2,9.1,856,17753,0.00,2.55,0.00,0.000,6,0.000,0.054,2690,1775,1909
$GC,18076,1.22,243.4,171.9,7.9,872,18080,0.00,2.60,0.00,0.000,4,0.000,0.067,2690,3178,1909
$GC,18191,1.22,243.4,162.5,7.8,877,18196,0.00,2.55,0.00,0.000,6,0.000,0.054,2690,1758,1909
$GC,18513,1.22,243.4,137.2,7.8,893,18517,0.00,2.62,0.00,0.000,4,0.000,0.068,2690,3176,1909
$GC,18596,1.22,243.4,130.3,8.5,897,18601,0.00,2.53,0.00,0.000,6,0.000,0.055,2690,1776,1909
$GC,18922,1.22,243.4,100.9,9.5,913,18927,0.00,2.60,0.00,0.000,4,0.000,0.069,2690,3178,1909
$GC,19039,1.22,243.4,89.0,10.2,918,19043,0.00,2.55,0.00,0.000,6,0.000,0.057,2690,1778,1909
$GC,19362,1.22,243.4,62.2,7.0,934,19366,0.00,2.58,0.00,0.000,4,0.000,0.069,2690,3176,1909
$GC,19445,1.22,243.4,54.9,8.0,938,19450,0.00,2.55,0.00,0.000,6,0.000,0.057,2690,1769,1910
$GC,19771,1.22,243.4,32.6,6.9,954,19775,0.00,2.62,0.00,0.000,4,0.000,0.070,2690,3181,1910
$GC,19859,1.22,243.4,25.8,9.0,958,19863,0.00,2.58,0.00,0.000,6,0.000,0.063,2690,1772,1910
$STATE,20122,end climb,SURFACE_DEPTH_REACHED
$STATE,20122,begin surface coast
$FINISH,-0.8,1.027234
$STATE,20144,end surface coast,CONTROL_FINISHED_OK
$STATE,20144,begin surface
$SM_CCo,20165,47.25,0.703,2,0,1678,300.00
$SM_GC,-0.62,0.00,0.00,47.25,0.000,0.000,0.703,50,2889,1678,-10.86,-0.31,300.00
$IRIDIUM_FIX,6135.28,-948.03,301107,131351
$TT8_MAMPS,0.029146
$HUMID,2067
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,651.4,96.4
$24V_AH,23.4,22.764
$10V_AH,10.1,9.902
$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,25.975,206.750,331.300,47.250,0.000,37.378,32.549,146.093,6.250,0.000,0.000,14.595,1850.953,15251.876,557.106,2482.223,405.787,33.356,1778.422,0.000,2435.113,0.000,38.012
$DEVICE_MAMPS,158.769,112.749,1250.977,702.572,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,691.285,693.181,584.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50602,972
$CFSIZE,260165632,252456960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,53,2,0
$GPS,301107,202508,6204.535,-951.101,36,0.9,36,-9.9