version: 66.02
glider: 103
mission: 7
dive: 106
start: 11 29 107 13 50 20
data:
$ID,103
$MISSION,7
$DIVE,106
$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,-64168.98
$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,21
$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
$GPS1,133508,6151.475,-931.082,32,1.7,32,-9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.27
$_SM_ANGLEo,-56.5
$GPS2,134915,6151.454,-931.104,13,1.7,13,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.103,0.193
$KALMAN_X,-67785.6,-667.0,66.1,18429.6,-1155.9
$KALMAN_Y,67200.9,732.4,1146.2,-36775.1,-8526.9
$MHEAD_RNG_PITCHd_Wd,37.7,55309,-11.1,-6.000
$D_GRID,705
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-65.30,0.000,6,0.000,0.000,49,2890,3499
$GC,89,-1.10,-146.6,3.0,-7.0,3,110,12.00,1.75,0.00,0.000,4,0.160,0.086,2163,3789,3501
$GC,272,-1.10,-146.6,28.5,-8.3,11,276,0.00,1.55,0.00,0.000,6,0.000,0.036,2163,2901,3502
$GC,598,-1.10,-146.6,61.1,-10.2,27,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,908,-1.10,-146.6,79.8,-5.3,42,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,1217,-1.10,-146.6,104.0,-8.6,57,1221,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1491,3502
$GC,1255,-1.10,-146.6,107.1,-6.9,59,1260,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2906,3502
$GC,1580,-1.10,-146.6,128.1,-6.1,75,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,1890,-1.10,-146.6,149.5,-7.0,90,1894,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1490,3501
$GC,1950,-1.10,-146.6,153.8,-7.6,93,1955,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2907,3502
$GC,2276,-1.10,-146.6,176.7,-7.0,109,2280,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1486,3502
$GC,2307,-1.10,-146.6,178.8,-6.6,110,2315,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2899,3502
$GC,2624,-1.10,-146.6,200.9,-7.2,126,2628,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1483,3502
$GC,2667,-1.10,-146.6,204.2,-7.6,128,2671,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2898,3502
$GC,2994,-1.10,-146.6,228.4,-7.5,144,2998,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1481,3502
$GC,3032,-1.10,-146.6,231.2,-7.1,146,3036,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2901,3502
$GC,3357,-1.10,-146.6,254.2,-6.9,162,3361,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1488,3502
$GC,3428,-1.10,-146.6,259.3,-7.5,165,3432,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2901,3502
$GC,3749,-1.10,-146.6,281.7,-6.8,181,3754,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1483,3502
$GC,3781,-1.10,-146.6,284.1,-7.3,182,3788,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2899,3502
$GC,4097,-1.10,-146.6,305.9,-7.0,198,4101,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1490,3502
$GC,4158,-1.10,-146.6,310.0,-7.0,201,4162,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2905,3502
$GC,4483,-1.10,-146.6,331.2,-6.3,217,4487,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1491,3502
$GC,4525,-1.10,-146.6,334.2,-6.4,219,4530,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2909,3502
$GC,4852,-1.10,-146.6,355.3,-6.6,235,4856,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1488,3501
$GC,4890,-1.10,-146.6,357.8,-6.9,237,4895,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2908,3502
$GC,5216,-1.10,-146.6,378.4,-6.0,253,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,5525,-1.10,-146.6,396.1,-5.9,268,5530,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1486,3502
$GC,5587,-1.10,-146.6,399.8,-6.2,271,5595,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2910,3502
$GC,5921,-1.10,-146.6,419.1,-5.4,287,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2910,3502
$GC,6230,-1.10,-146.6,437.0,-5.6,302,6234,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1487,3501
$GC,6346,-1.10,-146.6,443.8,-5.2,307,6350,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2906,3502
$GC,6667,-1.10,-146.6,464.3,-6.9,323,6671,0.00,2.55,0.00,0.000,4,0.000,0.066,2163,1491,3501
$GC,6750,-1.10,-146.6,470.1,-6.8,327,6754,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2899,3501
$GC,7075,-1.10,-146.6,493.1,-7.5,343,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,7384,-1.10,-146.6,514.2,-6.1,358,7388,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1484,3502
$GC,7446,-1.10,-146.6,517.9,-6.2,361,7450,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2899,3501
$GC,7771,-1.10,-146.6,537.7,-6.1,377,7775,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1489,3502
$GC,7802,-1.10,-146.6,539.7,-6.8,378,7809,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2902,3501
$GC,8118,-1.10,-146.6,559.2,-6.5,394,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3501
$GC,8428,-1.10,-146.6,577.9,-6.0,409,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3501
$GC,8737,-1.10,-146.6,592.2,-4.5,424,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3501
$GC,9046,-1.10,-146.6,607.3,-4.2,439,9050,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1482,3501
$GC,9101,-1.10,-146.6,610.9,-7.4,441,9108,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2899,3501
$GC,9416,-1.10,-146.6,631.3,-6.5,457,9420,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1483,3501
$GC,9499,-1.10,-146.6,637.3,-7.3,461,9504,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2904,3501
$GC,9825,-1.10,-146.6,660.8,-7.6,477,9829,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1489,3501
$GC,10075,-1.10,-146.6,679.6,-7.6,488,10080,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2893,3501
$STATE,10272,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10272,begin apogee
$GC,10278,-0.42,0.0,696.4,10.0,498,10407,0.75,0.00,125.50,1.203,6,0.087,0.000,2316,1779,2901
$STATE,10408,end apogee,CONTROL_FINISHED_OK
$STATE,10408,begin climb
$GC,10409,1.10,146.6,702.0,0.0,504,10541,1.55,2.72,122.43,1.174,4,0.051,0.071,2652,368,2303
$GC,10608,1.10,146.6,684.2,15.3,513,10613,0.00,2.55,0.00,0.000,6,0.000,0.044,2652,1781,2303
$GC,10929,1.51,478.8,663.5,-3.2,529,11213,0.35,2.72,273.48,1.164,4,0.028,0.066,2748,371,949
$GC,11296,1.51,478.8,625.3,19.3,546,11303,0.00,2.55,0.00,0.000,6,0.000,0.046,2748,1778,949
$GC,11612,1.51,478.8,566.8,19.4,562,11616,0.00,2.58,0.00,0.000,4,0.000,0.067,2748,3181,948
$GC,11744,1.51,478.8,542.4,18.2,568,11749,0.00,2.53,0.00,0.000,6,0.000,0.042,2748,1764,948
$GC,12071,1.51,478.8,487.4,16.7,584,12076,0.00,2.62,0.00,0.000,4,0.000,0.066,2748,3181,948
$GC,12171,1.51,478.8,470.0,17.7,588,12177,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,1775,948
$GC,12486,1.51,478.8,419.0,16.6,604,12490,0.00,2.58,0.00,0.000,4,0.000,0.064,2748,3181,947
$GC,12558,1.51,478.8,406.0,17.6,607,12562,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,1777,947
$GC,12879,1.51,478.8,349.5,17.7,623,12883,0.00,2.58,0.00,0.000,4,0.000,0.064,2748,3181,947
$GC,12955,1.51,478.8,335.4,18.8,626,12962,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,1776,947
$GC,13271,1.51,478.8,279.1,17.2,642,13275,0.00,2.60,0.00,0.000,4,0.000,0.064,2748,3181,947
$GC,13358,1.51,478.8,263.0,17.6,646,13363,0.00,2.50,0.00,0.000,6,0.000,0.042,2748,1775,947
$GC,13685,1.51,478.8,207.4,15.2,662,13690,0.00,2.62,0.00,0.000,4,0.000,0.067,2748,3184,947
$GC,13773,1.51,478.8,191.3,19.1,666,13778,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,1775,947
$GC,14100,1.51,478.8,130.5,16.8,682,14105,0.00,2.60,0.00,0.000,4,0.000,0.067,2748,3181,947
$GC,14184,1.51,478.8,116.6,16.0,686,14189,0.00,2.47,0.00,0.000,6,0.000,0.042,2748,1772,947
$GC,14510,1.51,478.8,60.2,16.9,702,14515,0.00,2.60,0.00,0.000,4,0.000,0.067,2748,3179,948
$GC,14594,1.51,478.8,44.2,18.6,706,14599,0.00,2.45,0.00,0.000,6,0.000,0.040,2748,1774,947
$STATE,14857,end climb,SURFACE_DEPTH_REACHED
$STATE,14857,begin surface coast
$FINISH,-0.9,1.005270
$STATE,14879,end surface coast,CONTROL_FINISHED_OK
$STATE,14879,begin surface
$SM_CCo,14960,0.00,0.000,0,0,946,479.56
$SM_GC,-0.38,11.80,0.00,0.00,0.026,0.000,0.000,41,2889,946,-10.79,-0.31,479.56
$IRIDIUM_FIX,6126.23,-932.23,291107,171753
$TT8_MAMPS,0.028379
$HUMID,2092
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.2,105.4
$24V_AH,23.4,22.052
$10V_AH,10.1,9.463
$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,26.450,153.100,521.400,0.000,0.000,159.220,213.711,192.301,5.500,0.000,0.000,13.492,1350.731,11342.084,610.500,1789.271,726.564,33.364,1543.671,0.000,1752.059,0.000,34.811
$DEVICE_MAMPS,160.303,85.904,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,510.470,506.698,427.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34854,720
$CFSIZE,260165632,252829696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,0,0
$GPS,291107,180108,6152.611,-932.403,57,1.6,57,-9.6