version: 66.02
glider: 103
mission: 7
dive: 151
start: 12 9 107 11 23 22
data:
$ID,103
$MISSION,7
$DIVE,151
$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,300
$USE_BATHY,-2
$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,-65134.402
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,6
$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
$GPS1,111637,6236.542,-1130.900,38,1.2,43,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-53.6
$GPS2,112215,6236.520,-1131.006,12,1.2,12,-11.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.027,0.217
$KALMAN_X,-215761.7,139.3,1013.7,58880.9,-10416.6
$KALMAN_Y,-6105.1,-1417.0,59.7,123291.0,171.8
$MHEAD_RNG_PITCHd_Wd,3.9,19684,-11.1,-6.000
$D_GRID,689
$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,20,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-65.50,0.000,6,0.000,0.000,43,2895,3499
$GC,90,-1.10,-146.6,2.8,-6.9,3,106,11.98,1.75,0.00,0.000,4,0.159,0.090,2165,3790,3501
$GC,251,-1.10,-146.6,24.0,-7.8,9,255,0.00,1.52,0.00,0.000,6,0.000,0.033,2165,2899,3503
$GC,572,-1.10,-146.6,52.2,-9.7,25,576,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1495,3502
$GC,620,-1.10,-146.6,56.6,-7.6,27,625,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2909,3502
$GC,942,-1.10,-146.6,78.5,-8.2,43,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,1251,-1.10,-146.6,104.0,-9.4,58,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,1560,-1.10,-146.6,128.7,-7.4,73,1565,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1494,3503
$GC,1586,-1.10,-146.6,130.7,-7.2,74,1591,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,1908,-1.10,-146.6,149.7,-4.7,90,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,2217,-1.10,-146.6,174.7,-9.4,105,2224,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1495,3503
$GC,2253,-1.10,-146.6,177.5,-8.4,106,2257,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2905,3502
$GC,2568,-1.10,-146.6,204.3,-9.1,121,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3503
$GC,2877,-1.10,-146.6,228.3,-7.7,136,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3503
$GC,3187,-1.10,-146.6,251.9,-7.7,151,3191,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1500,3503
$GC,3225,-1.10,-146.6,255.0,-8.4,153,3229,0.00,2.60,0.00,0.000,6,0.000,0.069,2165,2899,3503
$GC,3550,-1.10,-146.6,280.2,-7.2,169,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,3860,-1.10,-146.6,303.8,-7.2,184,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,4169,-1.10,-146.6,327.7,-7.0,199,4173,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1500,3503
$GC,4201,-1.10,-146.6,330.1,-6.9,200,4208,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2900,3503
$GC,4519,-1.10,-146.6,351.1,-6.6,216,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,4826,-1.10,-146.6,373.4,-7.2,231,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5135,-1.10,-146.6,394.8,-6.8,246,5139,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1496,3503
$GC,5178,-1.10,-146.6,397.6,-6.7,248,5182,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2914,3503
$GC,5505,-1.10,-146.6,421.5,-7.4,264,5509,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1494,3503
$GC,5570,-1.10,-146.6,426.5,-7.4,267,5575,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3503
$GC,5898,-1.10,-146.6,450.5,-7.5,283,5902,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1491,3503
$GC,5959,-1.10,-146.6,455.3,-8.0,286,5963,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3503
$GC,6284,-1.10,-146.6,481.5,-8.1,302,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,6594,-1.10,-146.6,503.7,-6.6,317,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,6903,-1.10,-146.6,524.8,-7.0,332,6908,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1493,3502
$GC,6969,-1.10,-146.6,529.7,-6.9,335,6974,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2903,3503
$GC,7296,-1.10,-146.6,552.6,-6.4,351,7299,0.00,1.62,0.00,0.000,4,0.000,0.080,2165,3785,3503
$GC,7356,-1.10,-146.6,556.4,-6.4,353,7363,0.00,1.50,0.00,0.000,6,0.000,0.032,2165,2898,3503
$GC,7672,-1.10,-146.6,572.3,-4.8,369,7676,0.00,2.50,0.00,0.000,4,0.000,0.062,2165,1503,3503
$GC,7739,-1.10,-146.6,575.3,-5.0,372,7743,0.00,2.58,0.00,0.000,6,0.000,0.067,2165,2901,3503
$GC,8064,-1.10,-146.6,591.1,-4.6,388,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,8373,-1.10,-146.6,608.6,-6.8,403,8378,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1492,3503
$GC,8435,-1.10,-146.6,613.2,-7.7,406,8440,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2905,3502
$GC,8761,-1.10,-146.6,636.4,-6.7,422,8765,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1500,3503
$GC,8809,-1.10,-146.6,639.5,-6.3,424,8814,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2897,3503
$GC,9130,-1.10,-146.6,660.5,-6.8,440,9135,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1500,3503
$GC,9169,-1.10,-146.6,663.5,-7.5,442,9174,0.00,2.60,0.00,0.000,6,0.000,0.071,2165,2899,3503
$GC,9495,-1.10,-146.6,685.6,-6.1,458,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$STATE,9555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9555,begin apogee
$GC,9562,-0.42,0.0,689.6,6.5,461,9690,0.75,0.00,125.07,1.239,6,0.091,0.000,2316,2118,2901
$STATE,9691,end apogee,CONTROL_FINISHED_OK
$STATE,9691,begin climb
$GC,9693,1.10,146.6,692.8,0.0,467,9824,1.55,2.72,121.80,1.202,4,0.054,0.062,2649,685,2303
$GC,10015,1.15,186.8,679.6,4.9,482,10057,0.00,2.55,34.53,1.155,6,0.000,0.043,2648,2113,2139
$GC,10365,1.15,186.8,660.2,6.7,499,10369,0.00,2.62,0.00,0.000,4,0.000,0.074,2648,3511,2138
$GC,10430,1.15,186.8,655.2,7.3,502,10434,0.00,2.55,0.00,0.000,6,0.000,0.043,2648,2094,2138
$GC,10757,1.15,186.8,634.8,6.2,518,10761,0.00,2.67,0.00,0.000,4,0.000,0.074,2649,3507,2138
$GC,10782,1.15,186.8,633.0,7.2,519,10787,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2105,2137
$GC,11104,1.17,198.0,614.1,5.7,535,11116,0.00,0.00,10.62,1.108,6,0.000,0.000,2648,2105,2093
$GC,11413,1.17,198.0,594.9,6.6,550,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2105,2092
$GC,11722,1.17,198.0,572.3,7.0,565,11727,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3513,2091
$GC,11839,1.17,198.0,563.2,7.4,570,11843,0.00,2.55,0.00,0.000,6,0.000,0.045,2648,2098,2091
$GC,12160,1.17,198.0,539.7,7.0,586,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2098,2091
$GC,12470,1.17,198.0,519.4,6.6,601,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2098,2091
$GC,12779,1.17,200.7,500.2,5.9,616,12784,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3509,2091
$GC,12869,1.17,203.2,495.0,5.9,620,12880,0.00,2.50,5.78,0.922,6,0.000,0.044,2649,2100,2072
$GC,13189,1.17,204.2,477.2,6.0,635,13194,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3515,2072
$GC,13227,1.17,204.2,474.5,6.9,637,13232,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2097,2072
$GC,13553,1.17,204.2,453.4,6.6,653,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2097,2072
$GC,13862,1.17,204.2,430.2,7.7,668,13867,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3510,2072
$GC,13934,1.17,204.2,424.5,8.4,671,13938,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2100,2073
$GC,14255,1.17,204.2,402.0,6.6,687,14259,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3508,2073
$GC,14293,1.17,204.2,399.3,6.9,689,14298,0.00,2.47,0.00,0.000,6,0.000,0.043,2649,2102,2073
$GC,14618,1.18,209.7,380.4,5.8,705,14633,0.00,2.70,7.45,0.920,4,0.000,0.072,2648,3506,2046
$GC,14667,1.19,217.7,377.6,5.8,707,14684,0.00,2.50,8.32,0.932,6,0.000,0.043,2648,2096,2013
$GC,14992,1.19,217.7,358.6,6.3,723,14996,0.00,2.65,0.00,0.000,4,0.000,0.073,2649,3506,2013
$GC,15036,1.19,217.7,355.6,7.0,725,15040,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2101,2013
$GC,15356,1.19,217.7,335.0,6.3,741,15360,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3511,2013
$GC,15394,1.19,217.7,332.3,6.3,743,15399,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2098,2013
$GC,15720,1.19,217.7,311.5,6.1,759,15724,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3507,2014
$GC,15763,1.20,225.9,309.1,5.8,761,15780,0.10,2.47,8.45,0.860,6,0.049,0.044,2685,2099,1980
$GC,16088,1.20,225.9,287.5,6.8,777,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1980
$GC,16397,1.20,225.9,265.5,7.1,792,16402,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3515,1980
$GC,16436,1.20,225.9,262.5,8.5,794,16441,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2098,1980
$GC,16762,1.20,225.9,239.9,6.7,810,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2098,1980
$GC,17071,1.20,225.9,218.0,7.7,825,17076,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3509,1980
$GC,17160,1.20,225.9,210.5,8.6,829,17164,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2097,1980
$GC,17486,1.20,225.9,185.3,7.6,845,17487,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2097,1980
$GC,17796,1.20,225.9,160.2,8.0,860,17800,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3508,1981
$GC,17839,1.20,225.9,156.4,8.1,862,17843,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2093,1981
$GC,18166,1.20,225.9,130.6,8.2,878,18170,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3508,1981
$GC,18204,1.20,225.9,127.4,8.6,880,18208,0.00,2.47,0.00,0.000,6,0.000,0.048,2685,2100,1981
$GC,18530,1.20,225.9,102.8,7.2,896,18532,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2101,1981
$GC,18840,1.20,225.9,78.8,7.7,911,18844,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3514,1981
$GC,18883,1.20,225.9,75.4,7.7,913,18887,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2099,1981
$GC,19210,1.20,225.9,51.6,6.9,929,19211,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1981
$GC,19520,1.20,225.9,28.6,7.3,944,19521,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1981
$GC,19828,1.20,225.9,4.9,8.4,959,19833,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3508,1981
$GC,19855,1.20,225.9,2.4,8.5,960,19859,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2095,1981
$STATE,19865,end climb,SURFACE_DEPTH_REACHED
$STATE,19865,begin surface coast
$FINISH,-0.4,1.027319
$STATE,19887,end surface coast,CONTROL_FINISHED_OK
$STATE,19888,begin surface
$SM_CCo,19908,59.92,0.733,1,0,1678,300.00
$SM_GC,-0.19,0.00,0.00,59.92,0.000,0.000,0.733,46,2889,1678,-10.87,-0.31,300.00
$IRIDIUM_FIX,6211.90,-1116.76,091207,090955
$TT8_MAMPS,0.029146
$HUMID,2045
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.9,48.4
$24V_AH,23.4,28.488
$10V_AH,10.1,13.345
$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,25.900,169.650,322.025,59.925,0.000,38.905,33.353,165.257,6.000,0.000,0.000,12.841,1763.816,15490.920,536.434,2092.317,442.698,33.363,1582.838,0.000,2057.709,0.000,40.802
$DEVICE_MAMPS,158.769,89.739,1239.472,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,696.642,670.370,583.077,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47422,962
$CFSIZE,260165632,249896960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,091207,165731,6237.072,-1138.496,41,1.3,41,-11.1