version: 66.02
glider: 103
mission: 7
dive: 100
start: 11 28 107 8 28 57
data:
$ID,103
$MISSION,7
$DIVE,100
$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,-64060.469
$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,28
$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
$GPS1,082237,6152.272,-911.717,39,1.4,50,-9.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-57.5
$GPS2,082753,6152.305,-911.570,15,2.3,34,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.193,0.103
$KALMAN_X,-70788.7,459.1,13.2,37537.0,2307.0
$KALMAN_Y,89118.5,-1027.4,-758.3,-53393.2,333.0
$MHEAD_RNG_PITCHd_Wd,307.6,61016,-11.1,-6.000
$D_GRID,607
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-63.62,0.000,6,0.000,0.000,48,2883,3499
$GC,89,-1.10,-146.6,5.4,-9.0,4,105,11.90,1.75,0.00,0.000,4,0.157,0.093,2166,3769,3500
$GC,357,-1.10,-146.6,35.3,-7.8,15,361,0.00,1.52,0.00,0.000,6,0.000,0.038,2166,2896,3500
$GC,684,-1.10,-146.6,59.7,-7.5,31,687,0.00,1.65,0.00,0.000,4,0.000,0.081,2166,3769,3501
$GC,940,-1.10,-146.6,79.4,-8.0,42,945,0.00,1.50,0.00,0.000,6,0.000,0.036,2166,2904,3501
$GC,1262,-1.10,-146.6,102.9,-7.0,58,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3501
$GC,1571,-1.10,-146.6,124.5,-6.7,73,1575,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1482,3501
$GC,1632,-1.10,-146.6,128.8,-7.3,76,1637,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2883,3501
$GC,1958,-1.10,-146.6,150.7,-6.8,92,1962,0.00,2.58,0.00,0.000,4,0.000,0.070,2166,1489,3501
$GC,1990,-1.10,-146.6,153.0,-6.1,93,1997,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2898,3501
$GC,2306,-1.10,-146.6,173.1,-6.6,109,2310,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1485,3501
$GC,2354,-1.10,-146.6,176.4,-6.8,111,2358,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2893,3501
$GC,2675,-1.10,-146.6,198.7,-7.3,127,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3501
$GC,2984,-1.10,-146.6,222.0,-7.6,142,2989,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1487,3501
$GC,3033,-1.10,-146.6,225.8,-7.9,144,3038,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2901,3501
$GC,3354,-1.10,-146.6,249.2,-7.2,160,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,3663,-1.10,-146.6,270.6,-7.3,175,3668,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1488,3501
$GC,3725,-1.10,-146.6,275.3,-7.8,178,3730,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3501
$GC,4052,-1.10,-146.6,301.3,-8.3,194,4056,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1486,3501
$GC,4083,-1.10,-146.6,304.1,-7.8,195,4091,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2900,3501
$GC,4399,-1.10,-146.6,327.9,-7.9,211,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,4711,-1.10,-146.6,350.6,-7.0,226,4716,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1482,3501
$GC,4760,-1.10,-146.6,354.6,-7.2,228,4765,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2899,3501
$GC,5081,-1.10,-146.6,377.1,-6.6,244,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,5391,-1.10,-146.6,396.6,-6.1,259,5395,0.00,2.58,0.00,0.000,4,0.000,0.068,2166,1489,3501
$GC,5416,-1.10,-146.6,398.3,-6.3,260,5421,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2897,3501
$GC,5738,-1.10,-146.6,420.2,-7.3,276,5742,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1482,3501
$GC,5776,-1.10,-146.6,423.1,-7.5,278,5780,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3501
$GC,6101,-1.10,-146.6,449.1,-8.6,294,6105,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1488,3501
$GC,6132,-1.10,-146.6,451.9,-8.9,295,6139,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3501
$GC,6448,-1.10,-146.6,478.1,-8.6,311,6452,0.00,1.65,0.00,0.000,4,0.000,0.083,2166,3785,3501
$GC,6515,-1.10,-146.6,484.3,-9.2,314,6519,0.00,1.52,0.00,0.000,6,0.000,0.034,2166,2900,3501
$GC,6846,-1.10,-146.6,512.5,-6.6,330,6851,0.00,2.55,0.00,0.000,4,0.000,0.064,2166,1491,3501
$GC,6890,-1.10,-146.6,515.3,-6.6,332,6894,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2900,3501
$GC,7217,-1.10,-146.6,534.7,-5.5,348,7221,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1484,3501
$GC,7284,-1.10,-146.6,538.5,-5.6,351,7288,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2901,3501
$GC,7603,-1.10,-146.6,559.4,-7.1,367,7607,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1490,3501
$GC,7635,-1.10,-146.6,561.7,-6.4,368,7642,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2898,3501
$GC,7951,-1.10,-146.6,582.2,-6.4,384,7954,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1485,3501
$STATE,7976,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7976,begin apogee
$GC,7981,-0.42,0.0,584.0,6.7,385,8108,0.73,0.00,124.15,1.117,6,0.084,0.000,2316,1794,2901
$STATE,8109,end apogee,CONTROL_FINISHED_OK
$STATE,8109,begin climb
$GC,8110,1.10,146.6,588.5,0.0,391,8241,1.55,2.72,121.38,1.095,4,0.054,0.066,2650,378,2303
$GC,8392,1.10,146.6,579.0,6.1,404,8397,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,1775,2302
$GC,8719,1.10,146.6,557.4,7.5,420,8723,0.00,2.58,0.00,0.000,4,0.000,0.063,2650,3173,2303
$GC,8937,1.10,146.6,541.4,7.5,430,8941,0.00,2.47,0.00,0.000,6,0.000,0.047,2650,1778,2302
$GC,9263,1.10,146.6,515.5,8.1,446,9267,0.00,2.58,0.00,0.000,4,0.000,0.064,2650,3172,2302
$GC,9424,1.10,146.6,503.7,6.9,453,9428,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,1776,2301
$GC,9745,1.16,195.1,486.0,4.7,469,9791,0.00,2.65,40.70,1.058,4,0.000,0.064,2650,3171,2105
$GC,9908,1.21,235.6,477.8,4.9,476,9949,0.05,2.55,34.40,1.026,6,0.039,0.051,2689,1775,1940
$GC,10264,1.21,235.6,455.6,6.4,494,10268,0.00,2.60,0.00,0.000,4,0.000,0.063,2688,3172,1939
$GC,10392,1.21,235.6,446.2,7.3,500,10396,0.00,2.47,0.00,0.000,6,0.000,0.048,2689,1774,1938
$GC,10723,1.21,235.6,418.1,9.2,516,10727,0.00,2.58,0.00,0.000,4,0.000,0.064,2689,3171,1939
$GC,10839,1.21,235.6,407.0,10.4,521,10843,0.00,2.50,0.00,0.000,6,0.000,0.048,2689,1768,1939
$GC,11160,1.21,235.6,371.9,11.6,537,11164,0.00,2.58,0.00,0.000,4,0.000,0.064,2689,3172,1938
$GC,11277,1.21,235.6,358.6,11.3,542,11281,0.00,2.50,0.00,0.000,6,0.000,0.048,2689,1776,1938
$GC,11591,1.21,235.6,324.4,10.7,557,11596,0.00,2.60,0.00,0.000,4,0.000,0.064,2689,3179,1939
$GC,11685,1.21,235.6,314.3,10.5,561,11690,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,1776,1938
$GC,12006,1.21,235.6,283.3,9.3,577,12010,0.00,2.58,0.00,0.000,4,0.000,0.065,2688,3174,1938
$GC,12083,1.21,235.6,275.7,9.9,580,12091,0.00,2.53,0.00,0.000,6,0.000,0.050,2688,1776,1938
$GC,12399,1.21,235.6,246.6,9.4,596,12403,0.00,2.60,0.00,0.000,4,0.000,0.067,2689,3174,1938
$GC,12492,1.21,235.6,237.7,9.4,600,12497,0.00,2.53,0.00,0.000,6,0.000,0.050,2689,1774,1939
$GC,12814,1.21,235.6,210.1,7.7,616,12818,0.00,2.60,0.00,0.000,4,0.000,0.068,2689,3172,1938
$GC,12901,1.21,235.6,203.5,7.0,620,12906,0.00,2.53,0.00,0.000,6,0.000,0.051,2689,1776,1938
$GC,13228,1.21,235.6,183.3,6.2,636,13233,0.00,2.60,0.00,0.000,4,0.000,0.069,2689,3171,1939
$GC,13335,1.21,235.6,176.0,6.4,641,13339,0.00,2.50,0.00,0.000,6,0.000,0.054,2689,1775,1939
$GC,13660,1.21,235.6,154.1,6.7,657,13664,0.00,2.62,0.00,0.000,4,0.000,0.071,2689,3178,1939
$GC,13766,1.21,235.6,146.8,6.5,662,13770,0.00,2.53,0.00,0.000,6,0.000,0.054,2688,1770,1939
$GC,14091,1.21,235.6,126.0,6.2,678,14095,0.00,2.62,0.00,0.000,4,0.000,0.072,2688,3172,1939
$GC,14220,1.21,235.6,118.3,6.8,684,14224,0.00,2.53,0.00,0.000,6,0.000,0.055,2689,1776,1939
$GC,14545,1.21,235.6,93.5,8.2,700,14550,0.00,2.62,0.00,0.000,4,0.000,0.073,2689,3174,1939
$GC,14634,1.21,235.6,85.6,8.9,704,14638,0.00,2.53,0.00,0.000,6,0.000,0.056,2689,1768,1939
$GC,14961,1.21,235.6,57.2,9.0,720,14965,0.00,2.62,0.00,0.000,4,0.000,0.074,2689,3170,1940
$GC,15071,1.21,235.6,46.3,10.1,725,15075,0.00,2.55,0.00,0.000,6,0.000,0.060,2689,1779,1940
$GC,15398,1.21,235.6,17.6,7.3,741,15402,0.00,2.62,0.00,0.000,4,0.000,0.075,2689,3172,1940
$GC,15497,1.21,235.6,8.6,9.6,745,15504,0.00,2.55,0.00,0.000,6,0.000,0.061,2689,1776,1940
$STATE,15585,end climb,SURFACE_DEPTH_REACHED
$STATE,15585,begin surface coast
$FINISH,0.2,1.027295
$STATE,15606,end surface coast,CONTROL_FINISHED_OK
$STATE,15606,begin surface
$SM_CCo,15627,53.25,0.703,2,0,1678,300.00
$SM_GC,-0.19,0.00,0.00,53.25,0.000,0.000,0.703,43,2888,1678,-10.88,-0.34,300.00
$IRIDIUM_FIX,6130.75,-905.24,281107,070721
$TT8_MAMPS,0.029146
$HUMID,2049
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,525.6,68.3
$24V_AH,23.5,21.194
$10V_AH,10.1,8.964
$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,25.825,170.125,320.625,53.250,0.000,41.062,29.100,133.293,5.000,0.000,0.000,35.730,1465.495,11637.248,519.561,2036.154,363.251,33.363,1523.401,0.000,1977.941,0.000,29.836
$DEVICE_MAMPS,157.235,92.807,1116.752,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.551,539.624,504.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38018,751
$CFSIZE,260165632,253198336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,2,0
$GPS,281107,125138,6152.754,-910.246,37,1.3,37,-9.4