version: 66.02
glider: 103
mission: 7
dive: 105
start: 11 29 107 8 40 33
data:
$ID,103
$MISSION,7
$DIVE,105
$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,-64154.863
$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,17
$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
$GPS1,083437,6150.142,-925.487,29,1.3,29,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-59.9
$GPS2,083927,6150.112,-925.526,15,1.2,15,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,0.167
$KALMAN_X,-64057.7,-1114.9,-1240.7,21381.2,4154.7
$KALMAN_Y,69578.5,818.6,-155.5,-40409.9,-6118.7
$MHEAD_RNG_PITCHd_Wd,329.5,59218,-11.1,-6.000
$D_GRID,702
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.42,0.000,2,0.000,0.000,45,2897,3409
$GC,85,-1.10,-146.6,3.3,-8.4,3,107,12.02,1.73,-1.65,0.000,4,0.160,0.112,2165,3777,3501
$GC,359,-1.10,-146.6,32.4,-6.5,15,363,0.00,1.52,0.00,0.000,6,0.000,0.036,2165,2906,3501
$GC,686,-1.10,-146.6,57.6,-8.4,31,689,0.00,1.67,0.00,0.000,4,0.000,0.081,2165,3787,3501
$GC,763,-1.10,-146.6,63.5,-8.0,34,767,0.00,1.55,0.00,0.000,6,0.000,0.034,2165,2894,3501
$GC,1084,-1.10,-146.6,85.8,-7.7,50,1088,0.00,2.60,0.00,0.000,4,0.000,0.074,2165,1492,3501
$GC,1127,-1.10,-146.6,89.3,-8.1,52,1131,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2899,3501
$GC,1454,-1.10,-146.6,114.7,-7.7,68,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,1763,-1.10,-146.6,138.1,-7.7,83,1767,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1491,3501
$GC,1834,-1.10,-146.6,144.1,-8.6,86,1838,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2901,3501
$GC,2155,-1.10,-146.6,173.1,-9.5,102,2159,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1489,3501
$GC,2197,-1.10,-146.6,177.3,-9.1,104,2202,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2902,3501
$GC,2524,-1.10,-146.6,206.6,-8.3,120,2528,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1492,3501
$GC,2556,-1.10,-146.6,209.2,-7.6,121,2563,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2892,3501
$GC,2872,-1.10,-146.6,228.8,-5.6,137,2876,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1492,3501
$GC,2938,-1.10,-146.6,232.4,-5.7,140,2942,0.00,2.62,0.00,0.000,6,0.000,0.074,2165,2900,3502
$GC,3267,-1.10,-146.6,250.4,-5.8,156,3271,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1487,3501
$GC,3310,-1.10,-146.6,253.2,-5.9,158,3314,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2902,3501
$GC,3636,-1.10,-146.6,272.5,-6.1,174,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,3945,-1.10,-146.6,292.2,-6.5,189,3950,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1486,3501
$GC,4006,-1.10,-146.6,296.5,-7.1,192,4011,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2903,3501
$GC,4332,-1.10,-146.6,319.9,-7.5,208,4336,0.00,2.58,0.00,0.000,4,0.000,0.068,2165,1492,3501
$GC,4371,-1.10,-146.6,323.1,-8.3,210,4375,0.00,2.62,0.00,0.000,6,0.000,0.073,2165,2900,3501
$GC,4696,-1.10,-146.6,347.8,-7.5,226,4701,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1492,3501
$GC,4739,-1.10,-146.6,351.2,-7.5,228,4744,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2897,3501
$GC,5066,-1.10,-146.6,376.7,-7.7,244,5071,0.00,2.58,0.00,0.000,4,0.000,0.068,2165,1490,3501
$GC,5105,-1.10,-146.6,379.6,-7.7,246,5110,0.00,2.62,0.00,0.000,6,0.000,0.073,2165,2899,3501
$GC,5431,-1.10,-146.6,402.2,-6.4,262,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,5741,-1.10,-146.6,419.5,-5.3,277,5745,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1490,3501
$GC,5784,-1.10,-146.6,421.9,-5.6,279,5788,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2903,3501
$GC,6110,-1.10,-146.6,442.0,-6.8,295,6114,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1487,3501
$GC,6216,-1.10,-146.6,449.9,-8.0,300,6221,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2898,3501
$GC,6547,-1.10,-146.6,472.9,-7.3,316,6551,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1491,3501
$GC,6556,-1.10,-146.6,473.7,-7.4,316,6563,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2913,3501
$GC,6871,-1.10,-146.6,498.9,-8.3,332,6875,0.00,1.65,0.00,0.000,4,0.000,0.081,2165,3798,3501
$GC,6989,-1.10,-146.6,508.3,-7.7,337,6993,0.00,1.55,0.00,0.000,6,0.000,0.033,2165,2900,3501
$GC,7315,-1.10,-146.6,534.2,-7.7,353,7319,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1488,3501
$GC,7377,-1.10,-146.6,537.9,-5.5,356,7381,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2902,3501
$GC,7702,-1.10,-146.6,559.1,-7.2,372,7705,0.00,1.62,0.00,0.000,4,0.000,0.077,2165,3786,3501
$GC,7762,-1.10,-146.6,563.7,-7.9,374,7769,0.00,1.52,0.00,0.000,6,0.000,0.033,2165,2899,3501
$GC,8077,-1.10,-146.6,590.2,-7.8,390,8082,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1492,3501
$GC,8139,-1.10,-146.6,594.3,-6.3,393,8143,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2900,3501
$GC,8465,-1.10,-146.6,608.9,-4.1,409,8468,0.00,1.62,0.00,0.000,4,0.000,0.078,2165,3783,3501
$GC,8503,-1.10,-146.6,610.7,-4.8,410,8509,0.00,1.50,0.00,0.000,6,0.000,0.034,2165,2906,3501
$GC,8818,-1.10,-146.6,632.0,-8.0,426,8822,0.00,1.65,0.00,0.000,4,0.000,0.077,2165,3779,3501
$GC,8844,-1.10,-146.6,634.3,-8.9,427,8849,0.00,1.50,0.00,0.000,6,0.000,0.034,2165,2902,3501
$GC,9171,-1.10,-146.6,659.8,-7.2,443,9175,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1485,3502
$GC,9247,-1.10,-146.6,664.7,-5.7,446,9254,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2903,3501
$GC,9562,-1.10,-146.6,686.8,-7.5,462,9567,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1491,3501
$GC,9679,-1.10,-146.6,696.4,-9.3,467,9684,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2899,3501
$STATE,9772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9772,begin apogee
$GC,9778,-0.42,0.0,703.5,7.6,472,9907,0.75,0.00,125.38,1.241,6,0.086,0.000,2318,1782,2901
$STATE,9907,end apogee,CONTROL_FINISHED_OK
$STATE,9907,begin climb
$GC,9909,1.10,146.6,708.2,0.0,478,10040,1.52,2.75,122.95,1.197,4,0.049,0.074,2650,366,2303
$GC,10181,1.12,158.4,695.8,5.7,490,10197,0.00,2.55,11.55,1.098,6,0.000,0.042,2649,1785,2255
$GC,10512,1.14,180.9,681.5,5.4,507,10538,0.00,2.65,20.55,1.152,4,0.000,0.072,2650,3173,2163
$GC,10587,1.14,180.9,676.0,8.6,510,10595,0.00,2.60,0.00,0.000,6,0.000,0.056,2650,1773,2162
$GC,10903,1.14,180.9,657.4,7.0,526,10907,0.00,2.67,0.00,0.000,4,0.000,0.077,2650,3173,2161
$GC,10946,1.14,180.9,654.3,7.5,528,10950,0.00,2.60,0.00,0.000,6,0.000,0.059,2650,1776,2161
$GC,11273,1.27,285.0,638.1,3.1,544,11367,0.17,2.72,86.32,1.220,4,0.039,0.075,2705,3174,1739
$GC,11557,1.27,285.0,613.4,12.1,557,11562,0.00,2.58,0.00,0.000,6,0.000,0.056,2706,1777,1737
$GC,11884,1.27,285.0,574.4,10.1,573,11888,0.00,2.62,0.00,0.000,4,0.000,0.070,2706,3179,1736
$GC,11971,1.27,285.0,567.9,6.8,577,11976,0.00,2.58,0.00,0.000,6,0.000,0.053,2706,1775,1736
$GC,12298,1.27,285.0,543.8,9.2,593,12303,0.00,2.62,0.00,0.000,4,0.000,0.067,2706,3179,1736
$GC,12477,1.27,285.0,523.4,12.2,601,12481,0.00,2.53,0.00,0.000,6,0.000,0.051,2706,1773,1736
$GC,12803,1.27,285.0,484.9,12.1,617,12807,0.00,2.62,0.00,0.000,4,0.000,0.067,2706,3181,1736
$GC,12896,1.27,285.0,473.7,12.0,621,12901,0.00,2.55,0.00,0.000,6,0.000,0.051,2706,1776,1737
$GC,13217,1.27,285.0,439.5,9.6,637,13222,0.00,2.60,0.00,0.000,4,0.000,0.069,2706,3178,1737
$GC,13294,1.27,285.0,432.2,8.8,640,13302,0.00,2.55,0.00,0.000,6,0.000,0.052,2706,1776,1737
$GC,13611,1.27,285.0,403.0,9.8,656,13615,0.00,2.60,0.00,0.000,4,0.000,0.069,2706,3174,1738
$GC,13717,1.27,285.0,392.9,9.8,661,13721,0.00,2.53,0.00,0.000,6,0.000,0.054,2706,1772,1738
$GC,14041,1.27,285.0,365.6,8.4,677,14046,0.00,2.60,0.00,0.000,4,0.000,0.070,2706,3176,1739
$GC,14147,1.27,285.0,356.0,9.4,682,14151,0.00,2.53,0.00,0.000,6,0.000,0.054,2706,1772,1739
$GC,14473,1.27,285.0,322.1,11.5,698,14477,0.00,2.62,0.00,0.000,4,0.000,0.071,2706,3175,1739
$GC,14538,1.27,285.0,313.8,13.1,701,14543,0.00,2.55,0.00,0.000,6,0.000,0.054,2706,1777,1739
$GC,14865,1.27,285.0,274.5,11.5,717,14869,0.00,2.62,0.00,0.000,4,0.000,0.074,2706,3174,1740
$GC,14952,1.27,285.0,263.9,12.1,721,14957,0.00,2.55,0.00,0.000,6,0.000,0.055,2706,1774,1740
$GC,15279,1.27,285.0,228.3,10.8,737,15283,0.00,2.62,0.00,0.000,4,0.000,0.073,2706,3181,1741
$GC,15363,1.27,285.0,219.3,10.7,741,15367,0.00,2.55,0.00,0.000,6,0.000,0.057,2706,1771,1741
$GC,15687,1.27,285.0,186.5,9.8,757,15692,0.00,2.62,0.00,0.000,4,0.000,0.073,2706,3178,1741
$GC,15803,1.27,285.0,175.2,10.4,762,15808,0.00,2.55,0.00,0.000,6,0.000,0.054,2706,1776,1741
$GC,16125,1.27,285.0,144.1,9.2,778,16129,0.00,2.62,0.00,0.000,4,0.000,0.071,2706,3179,1741
$GC,16212,1.27,285.0,135.0,10.4,782,16217,0.00,2.53,0.00,0.000,6,0.000,0.054,2706,1773,1741
$GC,16540,1.27,285.0,100.9,10.7,798,16544,0.00,2.62,0.00,0.000,4,0.000,0.070,2706,3179,1741
$GC,16623,1.27,285.0,93.0,9.5,802,16628,0.00,2.53,0.00,0.000,6,0.000,0.056,2706,1774,1741
$GC,16948,1.27,285.0,58.6,11.5,818,16953,0.00,2.62,0.00,0.000,4,0.000,0.072,2706,3174,1742
$GC,17025,1.27,285.0,50.8,9.7,821,17032,0.00,2.55,0.00,0.000,6,0.000,0.054,2706,1773,1741
$GC,17341,1.27,285.0,19.7,10.5,837,17345,0.00,2.65,0.00,0.000,4,0.000,0.076,2706,3176,1742
$GC,17406,1.27,285.0,13.8,8.7,840,17410,0.00,2.55,0.00,0.000,6,0.000,0.054,2706,1771,1742
$STATE,17547,end climb,SURFACE_DEPTH_REACHED
$STATE,17547,begin surface coast
$FINISH,-0.5,1.027235
$STATE,17568,end surface coast,CONTROL_FINISHED_OK
$STATE,17568,begin surface
$SM_CCo,17588,14.93,0.644,1,0,1678,300.00
$SM_GC,-0.48,0.00,0.00,14.93,0.000,0.000,0.644,49,2888,1678,-10.86,-0.34,300.00
$IRIDIUM_FIX,6126.23,-918.74,291107,070725
$TT8_MAMPS,0.029146
$HUMID,2081
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.5,94.4
$24V_AH,23.4,21.852
$10V_AH,10.1,9.386
$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,26.200,205.625,366.750,14.925,0.000,37.712,25.141,131.518,5.500,0.000,0.000,15.632,1652.722,13132.478,542.279,2220.323,365.394,33.362,1663.827,0.000,2173.150,0.000,36.392
$DEVICE_MAMPS,160.303,111.982,1241.006,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,604.116,599.806,511.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44268,848
$CFSIZE,260165632,252858368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,54,1,0
$GPS,291107,133508,6151.475,-931.082,32,1.7,32,-9.6