version: 66.02
glider: 103
mission: 7
dive: 56
start: 11 20 107 13 53 53
data:
$ID,103
$MISSION,7
$DIVE,56
$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,412.5
$T_MISSION,440
$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,-63212.27
$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,8
$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
$GPS1,134737,6137.205,-842.605,28,1.6,28,-9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-59.4
$GPS2,135215,6137.238,-842.575,14,1.6,14,-9.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,0.198
$KALMAN_X,-91398.6,-2153.6,123.7,86220.6,832.2
$KALMAN_Y,57152.4,6457.8,651.8,-58261.8,-11964.7
$MHEAD_RNG_PITCHd_Wd,333.5,40658,-14.9,-8.000
$D_GRID,860
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,82,0.00,0.00,-62.50,0.000,2,0.000,0.000,40,2885,3483
$GC,84,-1.42,-146.6,4.1,-10.1,3,106,11.75,2.67,-0.30,0.000,4,0.163,0.082,2097,1486,3502
$GC,355,-1.42,-146.6,39.5,-10.6,15,359,0.00,2.70,0.00,0.000,6,0.000,0.075,2097,2909,3503
$GC,680,-1.42,-146.6,72.8,-10.3,31,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2909,3503
$GC,989,-1.42,-146.6,101.9,-9.2,46,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2909,3503
$GC,1298,-1.42,-146.6,129.8,-8.9,61,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2909,3503
$GC,1608,-1.42,-146.6,160.4,-10.3,76,1612,0.00,2.60,0.00,0.000,4,0.000,0.066,2097,1487,3503
$GC,1656,-1.42,-146.6,165.6,-10.5,78,1660,0.00,2.67,0.00,0.000,6,0.000,0.074,2097,2896,3502
$GC,1977,-1.42,-146.6,200.8,-11.4,94,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2896,3503
$GC,2286,-1.42,-146.6,232.1,-9.6,109,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2896,3503
$GC,2595,-1.42,-146.6,260.5,-9.2,124,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2896,3503
$GC,2904,-1.42,-146.6,288.6,-8.6,139,2909,0.00,2.58,0.00,0.000,4,0.000,0.063,2097,1482,3502
$GC,2931,-1.42,-146.6,290.9,-8.5,140,2936,0.00,2.67,0.00,0.000,6,0.000,0.071,2097,2900,3503
$GC,3252,-1.42,-146.6,321.1,-9.7,156,3256,0.00,1.70,0.00,0.000,4,0.000,0.094,2097,3787,3503
$GC,3290,-1.42,-146.6,325.0,-10.5,157,3298,0.00,1.58,0.00,0.000,6,0.000,0.047,2097,2900,3503
$GC,3605,-1.42,-146.6,354.1,-9.1,173,3609,0.00,2.58,0.00,0.000,4,0.000,0.064,2097,1485,3503
$GC,3649,-1.42,-146.6,358.0,-8.8,175,3653,0.00,2.65,0.00,0.000,6,0.000,0.071,2097,2894,3503
$GC,3976,-1.42,-146.6,386.6,-9.2,191,3980,0.00,2.55,0.00,0.000,4,0.000,0.061,2097,1482,3503
$GC,4014,-1.42,-146.6,390.0,-9.0,193,4018,0.00,2.65,0.00,0.000,6,0.000,0.071,2097,2906,3503
$GC,4339,-1.42,-146.6,418.9,-9.3,209,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2907,3503
$GC,4648,-1.42,-146.6,446.0,-9.4,224,4652,0.00,2.58,0.00,0.000,4,0.000,0.061,2097,1480,3503
$GC,4694,-1.42,-146.6,450.2,-9.4,226,4698,0.00,2.65,0.00,0.000,6,0.000,0.069,2097,2904,3502
$GC,5019,-1.42,-146.6,481.4,-9.9,242,5023,0.00,1.67,0.00,0.000,4,0.000,0.088,2097,3777,3503
$GC,5079,-1.42,-146.6,487.7,-10.2,244,5086,0.00,1.58,0.00,0.000,6,0.000,0.041,2098,2897,3503
$GC,5394,-1.42,-146.6,516.2,-8.4,260,5398,0.00,2.55,0.00,0.000,4,0.000,0.061,2097,1485,3503
$GC,5460,-1.42,-146.6,522.1,-9.0,263,5465,0.00,2.65,0.00,0.000,6,0.000,0.069,2097,2901,3503
$GC,5787,-1.42,-146.6,549.4,-7.4,279,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2901,3503
$GC,6096,-1.42,-146.6,577.3,-9.3,294,6100,0.00,2.53,0.00,0.000,4,0.000,0.058,2097,1486,3503
$GC,6145,-1.42,-146.6,581.7,-8.8,296,6150,0.00,2.62,0.00,0.000,6,0.000,0.067,2097,2892,3503
$GC,6467,-1.42,-146.6,606.7,-7.9,312,6471,0.00,2.55,0.00,0.000,4,0.000,0.058,2097,1483,3502
$GC,6509,-1.42,-146.6,610.2,-8.3,314,6514,0.00,2.62,0.00,0.000,6,0.000,0.065,2097,2894,3503
$GC,6836,-1.42,-146.6,638.6,-10.0,330,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2894,3503
$GC,7145,-1.42,-146.6,674.7,-12.7,345,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2894,3503
$GC,7455,-1.42,-146.6,683.8,-1.3,360,7459,0.00,2.55,0.00,0.000,4,0.000,0.059,2097,1482,3503
$GC,7531,-1.42,-146.6,688.4,-10.3,363,7538,0.00,2.62,0.00,0.000,6,0.000,0.065,2097,2894,3503
$GC,7849,-1.42,-146.6,725.8,-8.5,379,7853,0.00,2.55,0.00,0.000,4,0.000,0.060,2097,1490,3502
$GC,7910,-1.42,-146.6,726.8,-1.2,382,7914,0.00,2.60,0.00,0.000,6,0.000,0.067,2097,2900,3502
$GC,8234,-1.42,-146.6,758.3,-8.2,398,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2900,3503
$GC,8544,-1.42,-146.6,788.4,-10.1,413,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2900,3503
$GC,8853,-1.42,-146.6,811.6,-8.9,428,8857,0.00,1.70,0.00,0.000,4,0.000,0.098,2097,3786,3502
$GC,8907,-1.42,-146.6,816.5,-8.1,430,8913,0.00,1.58,0.00,0.000,6,0.000,0.051,2097,2903,3501
$GC,9229,-1.42,-146.6,850.6,-11.3,446,9232,0.00,1.73,0.00,0.000,4,0.000,0.100,2097,3782,3500
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9340,begin apogee
$GC,9347,-0.42,0.0,860.1,10.1,451,9482,1.08,0.00,126.82,1.465,6,0.082,0.000,2318,1777,2900
$STATE,9482,end apogee,CONTROL_FINISHED_OK
$STATE,9482,begin climb
$GC,9484,1.42,146.6,867.1,0.0,458,9617,1.90,2.78,124.53,1.413,4,0.057,0.081,2720,368,2302
$GC,9672,1.42,146.6,853.1,8.5,467,9677,0.00,2.58,0.00,0.000,6,0.000,0.045,2720,1788,2303
$GC,9999,1.49,204.9,827.7,5.9,483,10055,0.00,2.75,50.28,1.394,4,0.000,0.087,2720,3172,2065
$GC,10171,1.49,204.9,816.5,8.4,490,10176,0.00,2.65,0.00,0.000,6,0.000,0.067,2720,1774,2064
$GC,10499,1.49,204.9,788.2,9.3,506,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1774,2063
$GC,10808,1.49,204.9,760.4,10.4,521,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1774,2062
$GC,11117,1.49,204.9,729.1,8.5,536,11122,0.00,2.72,0.00,0.000,4,0.000,0.085,2720,3177,2061
$GC,11250,1.49,204.9,716.7,9.3,542,11255,0.00,2.65,0.00,0.000,6,0.000,0.067,2720,1770,2061
$GC,11577,1.49,204.9,687.8,9.0,558,11581,0.00,2.65,0.00,0.000,4,0.000,0.079,2720,371,2060
$GC,11795,1.49,204.9,664.3,10.1,568,11799,0.00,2.50,0.00,0.000,6,0.000,0.048,2720,1768,2058
$GC,12120,1.49,204.9,636.2,9.1,584,12124,0.00,2.70,0.00,0.000,4,0.000,0.083,2720,3182,2058
$GC,12370,1.49,204.9,609.4,11.2,595,12375,0.00,2.60,0.00,0.000,6,0.000,0.061,2720,1774,2057
$GC,12692,1.49,204.9,577.1,9.3,611,12696,0.00,2.67,0.00,0.000,4,0.000,0.077,2720,3186,2058
$GC,12853,1.49,204.9,561.4,9.5,618,12857,0.00,2.58,0.00,0.000,6,0.000,0.058,2720,1766,2058
$GC,13173,1.49,204.9,530.9,9.2,634,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1766,2058
$GC,13482,1.49,204.9,499.7,11.3,649,13487,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,367,2058
$GC,13548,1.49,204.9,492.4,10.0,652,13553,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,1769,2059
$GC,13875,1.49,204.9,459.3,10.2,668,13879,0.00,2.65,0.00,0.000,4,0.000,0.076,2720,3181,2060
$GC,13951,1.49,204.9,451.5,9.5,671,13958,0.00,2.55,0.00,0.000,6,0.000,0.055,2720,1779,2060
$GC,14267,1.49,204.9,422.4,8.9,687,14271,0.00,2.62,0.00,0.000,4,0.000,0.075,2720,3182,2061
$GC,14365,1.49,204.9,413.8,8.6,691,14373,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1776,2062
$GC,14681,1.50,208.3,388.4,7.9,707,14691,0.00,2.67,4.38,0.811,4,0.000,0.074,2720,3186,2052
$GC,14748,1.50,208.3,383.0,8.4,710,14752,0.00,2.58,0.00,0.000,6,0.000,0.054,2720,1768,2052
$GC,15068,1.50,209.3,357.0,8.0,726,15072,0.00,2.67,0.00,0.000,4,0.000,0.074,2720,3187,2052
$GC,15166,1.50,209.3,348.4,9.0,730,15174,0.00,2.58,0.00,0.000,6,0.000,0.055,2720,1776,2052
$GC,15482,1.50,209.3,318.9,9.5,746,15487,0.00,2.62,0.00,0.000,4,0.000,0.075,2720,3179,2052
$GC,15570,1.50,209.3,310.1,9.8,750,15575,0.00,2.55,0.00,0.000,6,0.000,0.054,2720,1776,2053
$GC,15897,1.50,209.3,281.2,8.8,766,15902,0.00,2.65,0.00,0.000,4,0.000,0.075,2720,3181,2053
$GC,15996,1.50,209.3,272.4,8.3,770,16003,0.00,2.55,0.00,0.000,6,0.000,0.055,2720,1777,2053
$GC,16312,1.50,209.3,245.7,8.2,786,16316,0.00,2.65,0.00,0.000,4,0.000,0.077,2720,3186,2054
$GC,16377,1.50,209.3,239.9,8.7,789,16381,0.00,2.58,0.00,0.000,6,0.000,0.055,2720,1776,2054
$GC,16703,1.50,209.3,209.9,9.1,805,16708,0.00,2.65,0.00,0.000,4,0.000,0.077,2720,3186,2055
$GC,16775,1.50,209.3,203.1,11.0,808,16780,0.00,2.58,0.00,0.000,6,0.000,0.055,2720,1777,2055
$GC,17101,1.50,209.3,174.9,8.9,824,17106,0.00,2.65,0.00,0.000,4,0.000,0.077,2720,3184,2055
$GC,17178,1.50,209.3,167.7,9.6,827,17188,0.00,2.58,3.60,0.632,6,0.000,0.056,2720,1774,2047
$GC,17515,1.50,209.3,136.2,9.8,844,17519,0.00,2.67,0.00,0.000,4,0.000,0.077,2720,3185,2047
$GC,17602,1.50,209.3,127.1,9.0,848,17608,0.00,2.55,0.00,0.000,6,0.000,0.054,2720,1780,2047
$GC,17930,1.52,227.8,99.5,7.3,864,17952,0.00,2.70,16.27,0.848,4,0.000,0.075,2720,3184,1972
$GC,18042,1.52,227.8,89.5,10.2,869,18047,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1770,1972
$GC,18368,1.52,227.8,56.4,9.7,885,18372,0.00,2.67,0.00,0.000,4,0.000,0.077,2720,3181,1972
$GC,18433,1.54,243.7,51.0,7.4,888,18454,0.12,2.55,13.98,0.808,6,0.044,0.054,2757,1766,1907
$GC,18781,1.54,243.7,15.0,9.1,905,18785,0.00,2.67,0.00,0.000,4,0.000,0.072,2757,3187,1907
$GC,18835,1.54,243.7,9.2,11.2,907,18842,0.00,2.55,0.00,0.000,6,0.000,0.051,2757,1777,1908
$STATE,18902,end climb,SURFACE_DEPTH_REACHED
$STATE,18902,begin surface coast
$FINISH,-0.5,1.027275
$STATE,18924,end surface coast,CONTROL_FINISHED_OK
$STATE,18924,begin surface
$SM_CCo,18945,45.90,0.790,1,0,1678,300.00
$SM_GC,-0.38,0.00,0.00,45.90,0.000,0.000,0.790,41,2893,1678,-10.90,-0.20,300.00
$IRIDIUM_FIX,6108.28,-841.00,201107,121215
$TT8_MAMPS,0.029146
$HUMID,2090
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,777.3,109.6
$24V_AH,23.3,15.255
$10V_AH,10.1,5.759
$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,26.775,179.575,339.850,45.900,0.000,39.416,25.346,127.571,9.500,0.000,0.000,14.576,1733.839,14418.859,554.333,2236.460,379.953,33.347,1668.598,0.000,2195.618,0.000,46.154
$DEVICE_MAMPS,162.604,99.710,1464.970,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,660.376,641.684,511.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47433,912
$CFSIZE,260165632,255586304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,1,0
$GPS,201107,191138,6141.959,-849.218,36,0.8,36,-9.2