version: 66.02
glider: 103
mission: 7
dive: 101
start: 11 28 107 12 57 26
data:
$ID,103
$MISSION,7
$DIVE,101
$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,-64077.117
$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,22
$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
$GPS1,125138,6152.754,-910.246,37,1.3,37,-9.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-56.3
$GPS2,125620,6152.743,-910.156,16,1.9,16,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.138,0.169
$KALMAN_X,-65855.1,-153.4,950.2,33520.9,2903.3
$KALMAN_Y,85725.8,-362.5,615.1,-51248.4,-3597.5
$MHEAD_RNG_PITCHd_Wd,330.2,61010,-11.1,-6.000
$D_GRID,591
$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,-146.6,0.0,0.0,0,82,0.00,0.00,-61.65,0.000,2,0.000,0.000,43,2888,3403
$GC,84,-1.10,-146.6,3.6,-9.3,3,106,11.98,1.75,-1.75,0.000,4,0.158,0.114,2167,3776,3501
$GC,358,-1.10,-146.6,33.0,-7.0,15,362,0.00,1.52,0.00,0.000,6,0.000,0.038,2167,2904,3501
$GC,685,-1.10,-146.6,56.8,-6.8,31,688,0.00,1.67,0.00,0.000,4,0.000,0.084,2167,3784,3501
$GC,897,-1.10,-146.6,71.4,-7.4,40,901,0.00,1.55,0.00,0.000,6,0.000,0.038,2167,2895,3501
$GC,1218,-1.10,-146.6,92.5,-6.9,56,1222,0.00,2.60,0.00,0.000,4,0.000,0.072,2167,1488,3502
$GC,1256,-1.10,-146.6,95.2,-7.0,58,1261,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2900,3501
$GC,1582,-1.10,-146.6,120.2,-8.1,74,1586,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1486,3502
$GC,1607,-1.10,-146.6,122.2,-7.4,75,1612,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2894,3502
$GC,1931,-1.10,-146.6,147.3,-8.1,91,1935,0.00,2.60,0.00,0.000,4,0.000,0.068,2167,1491,3502
$GC,1963,-1.10,-146.6,150.1,-8.9,92,1969,0.00,2.62,0.00,0.000,6,0.000,0.075,2167,2899,3502
$GC,2277,-1.10,-146.6,177.3,-9.0,108,2282,0.00,2.60,0.00,0.000,4,0.000,0.069,2167,1485,3502
$GC,2311,-1.10,-146.6,180.3,-9.1,109,2317,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2902,3502
$GC,2625,-1.10,-146.6,207.0,-8.3,125,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,2934,-1.10,-146.6,230.9,-7.4,140,2939,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1484,3502
$GC,2996,-1.10,-146.6,235.4,-6.9,143,3000,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2901,3502
$GC,3321,-1.10,-146.6,259.5,-7.4,159,3325,0.00,2.60,0.00,0.000,4,0.000,0.068,2167,1492,3502
$GC,3381,-1.10,-146.6,264.3,-7.7,162,3386,0.00,2.62,0.00,0.000,6,0.000,0.075,2167,2900,3502
$GC,3707,-1.10,-146.6,290.6,-7.9,178,3711,0.00,2.60,0.00,0.000,4,0.000,0.068,2167,1482,3502
$GC,3755,-1.10,-146.6,294.7,-7.8,180,3760,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2900,3502
$GC,4077,-1.10,-146.6,319.6,-7.6,196,4081,0.00,2.60,0.00,0.000,4,0.000,0.069,2167,1491,3502
$GC,4137,-1.10,-146.6,324.1,-7.0,199,4142,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2908,3502
$GC,4463,-1.10,-146.6,347.0,-7.0,215,4467,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1488,3502
$GC,4506,-1.10,-146.6,350.2,-7.6,217,4511,0.00,2.62,0.00,0.000,6,0.000,0.073,2167,2898,3502
$GC,4826,-1.10,-146.6,373.5,-7.4,233,4831,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1491,3502
$GC,4869,-1.10,-146.6,376.9,-8.3,235,4873,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2895,3502
$GC,5196,-1.10,-146.6,399.5,-6.8,251,5200,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1491,3502
$GC,5257,-1.10,-146.6,404.2,-8.0,254,5261,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2900,3502
$GC,5581,-1.10,-146.6,427.8,-7.4,270,5586,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1491,3502
$GC,5620,-1.10,-146.6,431.0,-8.2,272,5625,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2900,3502
$GC,5946,-1.10,-146.6,455.3,-6.6,288,5950,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1490,3502
$GC,6007,-1.10,-146.6,459.4,-7.1,291,6011,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2901,3502
$GC,6332,-1.10,-146.6,483.4,-8.0,307,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,6641,-1.10,-146.6,508.2,-7.4,322,6646,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1484,3502
$GC,6707,-1.10,-146.6,513.2,-7.6,325,6712,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2893,3502
$GC,7034,-1.10,-146.6,533.7,-6.2,341,7038,0.00,2.53,0.00,0.000,4,0.000,0.061,2167,1487,3502
$GC,7066,-1.10,-146.6,535.9,-6.7,342,7070,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,7387,-1.10,-146.6,558.1,-6.9,358,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,7696,-1.10,-146.6,581.0,-7.6,373,7700,0.00,2.53,0.00,0.000,4,0.000,0.058,2167,1481,3502
$GC,7734,-1.10,-146.6,583.9,-7.1,375,7739,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2901,3502
$STATE,7853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7853,begin apogee
$GC,7859,-0.42,0.0,591.2,5.6,381,7987,0.73,0.00,124.20,1.114,6,0.076,0.000,2318,1769,2901
$STATE,7987,end apogee,CONTROL_FINISHED_OK
$STATE,7987,begin climb
$GC,7989,1.10,146.6,593.2,0.0,387,8120,1.52,2.67,121.40,1.091,4,0.053,0.064,2647,375,2303
$GC,8321,1.16,192.2,580.1,4.7,402,8367,0.00,2.50,38.95,1.053,6,0.000,0.038,2648,1807,2117
$GC,8684,1.17,204.8,561.2,5.7,420,8705,0.00,2.62,11.95,0.986,4,0.000,0.064,2647,3175,2066
$GC,8940,1.18,210.6,544.9,5.8,431,8953,0.00,2.50,6.68,0.886,6,0.000,0.045,2648,1774,2042
$GC,9261,1.27,285.7,530.5,3.9,447,9331,0.15,2.70,62.60,1.066,4,0.040,0.067,2703,3167,1736
$GC,9425,1.27,285.7,518.5,8.8,454,9432,0.00,2.55,0.00,0.000,6,0.000,0.050,2702,1770,1735
$GC,9740,1.27,285.7,491.1,8.7,470,9745,0.00,2.60,0.00,0.000,4,0.000,0.068,2702,3172,1735
$GC,9834,1.27,285.7,482.5,8.6,474,9839,0.00,2.53,0.00,0.000,6,0.000,0.053,2703,1768,1735
$GC,10155,1.27,285.7,454.6,8.8,490,10160,0.00,2.65,0.00,0.000,4,0.000,0.070,2703,3176,1735
$GC,10221,1.27,285.7,448.4,9.5,493,10226,0.00,2.55,0.00,0.000,6,0.000,0.055,2702,1781,1735
$GC,10548,1.27,285.7,414.8,11.0,509,10552,0.00,2.60,0.00,0.000,4,0.000,0.072,2703,3171,1735
$GC,10624,1.27,285.7,405.7,11.4,512,10631,0.00,2.55,0.00,0.000,6,0.000,0.056,2702,1777,1734
$GC,10940,1.27,285.7,367.5,12.0,528,10944,0.00,2.62,0.00,0.000,4,0.000,0.074,2702,3175,1735
$GC,11016,1.27,285.7,358.2,11.7,531,11023,0.00,2.55,0.00,0.000,6,0.000,0.056,2703,1778,1735
$GC,11332,1.27,285.7,323.6,10.3,547,11336,0.00,2.62,0.00,0.000,4,0.000,0.075,2703,3173,1735
$GC,11408,1.27,285.7,315.4,10.7,550,11415,0.00,2.55,0.00,0.000,6,0.000,0.058,2702,1777,1735
$GC,11724,1.27,285.7,284.8,9.5,566,11728,0.00,2.62,0.00,0.000,4,0.000,0.073,2703,3172,1734
$GC,11807,1.27,285.7,276.5,9.8,570,11811,0.00,2.53,0.00,0.000,6,0.000,0.057,2703,1778,1735
$GC,12132,1.27,285.7,244.3,10.0,586,12137,0.00,2.62,0.00,0.000,4,0.000,0.073,2703,3173,1735
$GC,12226,1.27,285.7,234.3,10.6,590,12230,0.00,2.53,0.00,0.000,6,0.000,0.058,2703,1774,1735
$GC,12547,1.27,285.7,201.7,10.3,606,12551,0.00,2.62,0.00,0.000,4,0.000,0.074,2703,3174,1735
$GC,12630,1.27,285.7,193.0,10.4,610,12634,0.00,2.53,0.00,0.000,6,0.000,0.058,2703,1774,1735
$GC,12956,1.27,285.7,160.3,10.0,626,12961,0.00,2.62,0.00,0.000,4,0.000,0.073,2703,3171,1735
$GC,13033,1.27,285.7,152.1,10.4,629,13040,0.00,2.55,0.00,0.000,6,0.000,0.058,2703,1775,1735
$GC,13350,1.27,285.7,121.3,9.5,645,13355,0.00,2.62,0.00,0.000,4,0.000,0.074,2703,3174,1736
$GC,13416,1.27,285.7,114.4,10.4,648,13420,0.00,2.53,0.00,0.000,6,0.000,0.058,2703,1775,1736
$GC,13743,1.27,285.7,83.2,9.1,664,13747,0.00,2.62,0.00,0.000,4,0.000,0.072,2703,3174,1736
$GC,13814,1.27,285.7,76.8,8.5,667,13818,0.00,2.55,0.00,0.000,6,0.000,0.058,2702,1780,1735
$GC,14135,1.27,285.7,48.6,8.9,683,14139,0.00,2.62,0.00,0.000,4,0.000,0.076,2703,3173,1735
$GC,14183,1.27,285.7,44.6,7.2,685,14188,0.00,2.55,0.00,0.000,6,0.000,0.057,2703,1777,1736
$GC,14505,1.27,285.7,17.7,8.2,701,14509,0.00,2.60,0.00,0.000,4,0.000,0.072,2703,3172,1736
$GC,14558,1.27,285.7,11.5,10.5,703,14566,0.00,2.60,0.00,0.000,6,0.000,0.070,2703,1779,1736
$STATE,14647,end climb,SURFACE_DEPTH_REACHED
$STATE,14648,begin surface coast
$FINISH,0.5,1.027304
$STATE,14668,end surface coast,CONTROL_FINISHED_OK
$STATE,14668,begin surface
$SM_CCo,14689,13.88,0.651,1,0,1678,300.00
$SM_GC,0.09,0.00,0.00,13.88,0.000,0.000,0.651,48,2892,1678,-10.87,-0.23,300.00
$IRIDIUM_FIX,6126.23,-913.51,281107,121223
$TT8_MAMPS,0.029146
$HUMID,2071
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,526.2,79.4
$24V_AH,23.5,21.321
$10V_AH,10.1,9.038
$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,26.300,176.900,365.775,13.875,0.000,41.124,22.913,127.385,4.500,0.000,0.000,16.019,1383.048,10894.291,524.597,1861.054,345.979,33.366,1475.052,0.000,1825.434,0.000,29.870
$DEVICE_MAMPS,158.002,114.283,1114.451,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.904,504.584,475.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34777,709
$CFSIZE,260165632,253149184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,1,0
$GPS,281107,170338,6151.601,-911.953,30,1.5,30,-9.5