version: 66.02
glider: 103
mission: 7
dive: 104
start: 11 29 107 3 26 51
data:
$ID,103
$MISSION,7
$DIVE,104
$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,-64138.602
$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,16
$R_STBD_OVSHOOT,14
$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
$GPS1,032038,6150.239,-919.072,39,1.4,39,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-59.1
$GPS2,032545,6150.147,-919.138,13,1.6,13,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,0.184
$KALMAN_X,-61549.3,-1277.1,-194.4,23608.4,4107.9
$KALMAN_Y,73088.3,552.9,616.1,-44373.8,-7094.0
$MHEAD_RNG_PITCHd_Wd,336.8,61328,-11.1,-6.000
$D_GRID,675
$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,17,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,82,0.00,0.00,-61.75,0.000,2,0.000,0.000,51,2897,3410
$GC,84,-1.10,-146.6,3.5,-9.1,3,106,11.98,1.73,-1.60,0.000,4,0.159,0.113,2166,3774,3501
$GC,358,-1.10,-146.6,33.4,-7.3,15,363,0.00,1.52,0.00,0.000,6,0.000,0.036,2167,2896,3501
$GC,685,-1.10,-146.6,56.1,-6.7,31,688,0.00,1.70,0.00,0.000,4,0.000,0.081,2167,3789,3501
$GC,734,-1.10,-146.6,59.7,-7.8,33,738,0.00,1.55,0.00,0.000,6,0.000,0.034,2166,2896,3501
$GC,1061,-1.10,-146.6,85.1,-8.0,49,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2896,3501
$GC,1370,-1.10,-146.6,108.8,-6.4,64,1373,0.00,1.70,0.00,0.000,4,0.000,0.083,2166,3789,3501
$GC,1464,-1.10,-146.6,114.8,-6.3,68,1468,0.00,1.52,0.00,0.000,6,0.000,0.035,2167,2905,3501
$GC,1791,-1.10,-146.6,136.0,-7.0,84,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3502
$GC,2100,-1.10,-146.6,158.4,-7.6,99,2104,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1493,3502
$GC,2148,-1.10,-146.6,162.2,-7.7,101,2153,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2898,3502
$GC,2469,-1.10,-146.6,186.8,-7.9,117,2473,0.00,2.60,0.00,0.000,4,0.000,0.069,2167,1493,3502
$GC,2500,-1.10,-146.6,189.3,-8.1,118,2507,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2900,3502
$GC,2816,-1.10,-146.6,213.6,-7.7,134,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,3125,-1.10,-146.6,235.7,-6.9,149,3129,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1487,3502
$GC,3180,-1.10,-146.6,239.7,-7.2,151,3184,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2892,3502
$GC,3501,-1.10,-146.6,261.3,-6.8,167,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2892,3502
$GC,3810,-1.10,-146.6,281.6,-6.2,182,3814,0.00,2.55,0.00,0.000,4,0.000,0.065,2167,1490,3502
$GC,3864,-1.10,-146.6,285.0,-5.8,184,3871,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2899,3502
$GC,4180,-1.10,-146.6,305.4,-6.4,200,4184,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1486,3502
$GC,4211,-1.10,-146.6,307.5,-6.6,201,4218,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2900,3502
$GC,4527,-1.10,-146.6,325.9,-6.2,217,4532,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1488,3502
$GC,4553,-1.10,-146.6,327.8,-6.6,218,4558,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2896,3502
$GC,4875,-1.10,-146.6,347.6,-6.3,234,4879,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1487,3502
$GC,4914,-1.10,-146.6,350.1,-6.6,236,4919,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2899,3502
$GC,5239,-1.10,-146.6,372.4,-7.0,252,5244,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1491,3502
$GC,5287,-1.10,-146.6,375.9,-6.7,254,5292,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2900,3502
$GC,5608,-1.10,-146.6,398.7,-7.2,270,5613,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1491,3502
$GC,5652,-1.10,-146.6,402.2,-7.9,272,5656,0.00,2.62,0.00,0.000,6,0.000,0.073,2166,2900,3502
$GC,5979,-1.10,-146.6,425.3,-6.8,288,5984,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1485,3502
$GC,6018,-1.10,-146.6,428.0,-7.3,290,6022,0.00,2.62,0.00,0.000,6,0.000,0.072,2167,2899,3502
$GC,6344,-1.10,-146.6,449.4,-6.3,306,6348,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1492,3502
$GC,6392,-1.10,-146.6,452.4,-6.1,308,6397,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2899,3501
$GC,6714,-1.10,-146.6,471.9,-6.0,324,6718,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1489,3502
$GC,6753,-1.10,-146.6,474.1,-6.2,326,6757,0.00,2.62,0.00,0.000,6,0.000,0.073,2166,2900,3502
$GC,7078,-1.10,-146.6,494.6,-6.3,342,7082,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1492,3501
$GC,7121,-1.10,-146.6,497.7,-7.1,344,7125,0.00,2.62,0.00,0.000,6,0.000,0.072,2167,2891,3502
$GC,7448,-1.10,-146.6,518.8,-5.6,360,7452,0.00,2.55,0.00,0.000,4,0.000,0.065,2166,1491,3502
$GC,7474,-1.10,-146.6,520.5,-6.2,361,7478,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2900,3502
$GC,7795,-1.10,-146.6,539.4,-5.4,377,7800,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1491,3502
$GC,7845,-1.10,-146.6,541.9,-4.8,379,7849,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2904,3502
$GC,8159,-1.10,-146.6,559.3,-6.1,394,8164,0.00,2.55,0.00,0.000,4,0.000,0.063,2167,1491,3502
$GC,8199,-1.10,-146.6,561.9,-6.7,396,8203,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2906,3502
$GC,8524,-1.10,-146.6,586.8,-8.2,412,8528,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1491,3502
$GC,8589,-1.10,-146.6,592.1,-8.4,415,8593,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2896,3502
$GC,8916,-1.10,-146.6,617.8,-7.8,431,8920,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1491,3502
$GC,8959,-1.10,-146.6,620.9,-6.8,433,8963,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,9286,-1.10,-146.6,639.3,-5.1,449,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,9595,-1.10,-146.6,657.1,-5.3,464,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,9904,-1.10,-146.6,673.7,-7.2,479,9908,0.00,1.70,0.00,0.000,4,0.000,0.093,2166,3779,3502
$STATE,9924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9924,begin apogee
$GC,9932,-0.42,0.0,675.1,6.9,480,10061,0.75,0.00,125.40,1.209,6,0.088,0.000,2318,1781,2901
$STATE,10062,end apogee,CONTROL_FINISHED_OK
$STATE,10062,begin climb
$GC,10064,1.10,146.6,678.5,0.0,486,10194,1.55,2.75,122.32,1.174,4,0.054,0.073,2650,371,2303
$GC,10297,1.12,160.2,669.1,5.6,497,10318,0.00,2.53,13.12,1.065,6,0.000,0.044,2650,1791,2247
$GC,10626,1.12,160.2,645.1,7.0,513,10630,0.00,2.60,0.00,0.000,4,0.000,0.072,2651,3179,2245
$GC,10854,1.12,160.2,630.6,6.5,523,10859,0.00,2.58,0.00,0.000,6,0.000,0.054,2650,1774,2245
$GC,11176,1.12,163.2,612.0,5.9,539,11185,0.00,2.67,3.67,0.751,4,0.000,0.071,2651,3175,2235
$GC,11437,1.12,163.2,596.6,6.5,550,11445,0.00,2.58,0.00,0.000,6,0.000,0.055,2650,1776,2235
$GC,11753,1.14,177.8,578.7,5.6,566,11775,0.00,2.72,13.40,1.104,4,0.000,0.074,2650,3174,2176
$GC,11910,1.18,211.4,570.5,5.1,573,11945,0.00,2.55,29.35,1.147,6,0.000,0.056,2650,1773,2039
$GC,12256,1.24,260.5,555.2,4.6,589,12306,0.15,2.75,41.78,1.136,4,0.043,0.073,2698,3182,1838
$GC,12501,1.24,260.5,534.9,9.2,600,12506,0.00,2.55,0.00,0.000,6,0.000,0.054,2698,1772,1838
$GC,12828,1.24,260.5,506.7,8.1,616,12833,0.00,2.62,0.00,0.000,4,0.000,0.071,2698,3176,1837
$GC,12894,1.24,260.5,501.1,8.3,619,12899,0.00,2.55,0.00,0.000,6,0.000,0.052,2698,1777,1837
$GC,13221,1.24,260.5,473.6,8.5,635,13225,0.00,2.62,0.00,0.000,4,0.000,0.070,2698,3182,1837
$GC,13297,1.24,260.5,466.7,8.8,638,13304,0.00,2.55,0.00,0.000,6,0.000,0.053,2698,1780,1837
$GC,13613,1.24,260.5,438.5,9.2,654,13617,0.00,2.62,0.00,0.000,4,0.000,0.070,2698,3182,1838
$GC,13706,1.24,260.5,429.5,9.8,658,13711,0.00,2.55,0.00,0.000,6,0.000,0.054,2698,1780,1838
$GC,14027,1.24,260.5,399.5,9.0,674,14031,0.00,2.60,0.00,0.000,4,0.000,0.071,2698,3177,1839
$GC,14127,1.24,260.5,390.4,8.5,678,14134,0.00,2.55,0.00,0.000,6,0.000,0.054,2698,1766,1839
$GC,14442,1.24,260.5,363.3,8.5,694,14446,0.00,2.62,0.00,0.000,4,0.000,0.072,2698,3177,1839
$GC,14552,1.24,260.5,353.9,8.3,699,14557,0.00,2.55,0.00,0.000,6,0.000,0.054,2698,1777,1840
$GC,14879,1.24,260.5,326.6,8.8,715,14883,0.00,2.62,0.00,0.000,4,0.000,0.072,2698,3175,1840
$GC,14978,1.24,260.5,317.8,8.6,719,14985,0.00,2.55,0.00,0.000,6,0.000,0.056,2698,1778,1840
$GC,15293,1.24,260.5,289.8,9.3,735,15298,0.00,2.62,0.00,0.000,4,0.000,0.072,2698,3176,1841
$GC,15377,1.24,260.5,282.1,9.3,739,15381,0.00,2.53,0.00,0.000,6,0.000,0.055,2698,1773,1841
$GC,15702,1.24,260.5,251.3,9.8,755,15706,0.00,2.62,0.00,0.000,4,0.000,0.073,2698,3177,1841
$GC,15812,1.24,260.5,240.3,9.7,760,15817,0.00,2.55,0.00,0.000,6,0.000,0.057,2698,1780,1841
$GC,16139,1.24,260.5,209.2,9.3,776,16144,0.00,2.60,0.00,0.000,4,0.000,0.072,2698,3177,1841
$GC,16238,1.24,260.5,198.9,10.7,780,16245,0.00,2.55,0.00,0.000,6,0.000,0.055,2698,1776,1842
$GC,16554,1.24,260.5,166.2,10.4,796,16558,0.00,2.62,0.00,0.000,4,0.000,0.075,2698,3177,1842
$GC,16641,1.24,260.5,157.1,10.0,800,16646,0.00,2.55,0.00,0.000,6,0.000,0.056,2698,1777,1842
$GC,16968,1.24,260.5,126.8,9.0,816,16973,0.00,2.62,0.00,0.000,4,0.000,0.074,2698,3175,1842
$GC,17062,1.24,260.5,117.8,9.4,820,17066,0.00,2.55,0.00,0.000,6,0.000,0.058,2698,1779,1842
$GC,17385,1.24,260.5,87.6,9.4,836,17389,0.00,2.62,0.00,0.000,4,0.000,0.074,2698,3176,1843
$GC,17484,1.24,260.5,77.7,10.2,840,17491,0.00,2.55,0.00,0.000,6,0.000,0.059,2698,1781,1843
$GC,17800,1.24,260.5,45.6,10.6,856,17804,0.00,2.62,0.00,0.000,4,0.000,0.074,2698,3178,1843
$GC,17915,1.24,260.5,35.8,7.3,861,17920,0.00,2.58,0.00,0.000,6,0.000,0.058,2698,1773,1843
$GC,18238,1.24,260.5,9.2,8.5,877,18243,0.00,2.65,0.00,0.000,4,0.000,0.075,2698,3181,1843
$GC,18309,1.24,260.5,2.8,9.4,880,18314,0.00,2.60,0.00,0.000,6,0.000,0.064,2698,1777,1843
$STATE,18320,end climb,SURFACE_DEPTH_REACHED
$STATE,18320,begin surface coast
$FINISH,-0.1,1.027239
$STATE,18343,end surface coast,CONTROL_FINISHED_OK
$STATE,18343,begin surface
$SM_CCo,18364,34.08,0.705,1,0,1678,300.00
$SM_GC,0.34,0.00,0.00,34.08,0.000,0.000,0.705,45,2896,1678,-10.88,-0.11,300.00
$IRIDIUM_FIX,6126.23,-918.01,291107,010110
$TT8_MAMPS,0.029146
$HUMID,2075
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.6,74.1
$24V_AH,23.5,21.711
$10V_AH,10.1,9.301
$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,26.025,209.675,349.050,34.075,0.000,38.145,29.299,144.686,5.750,0.000,0.000,13.150,1707.556,13770.728,556.456,2282.400,405.919,33.365,1707.145,0.000,2243.457,0.000,37.947
$DEVICE_MAMPS,158.769,112.749,1208.792,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,631.756,624.859,535.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44346,882
$CFSIZE,260165632,252928000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,58,1,0
$GPS,291107,083437,6150.142,-925.487,29,1.3,29,-9.6