version: 66.02
glider: 103
mission: 7
dive: 108
start: 11 29 107 22 51 51
data:
$ID,103
$MISSION,7
$DIVE,108
$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,-64222.43
$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,9
$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
$GPS1,224526,6154.059,-935.980,40,1.8,40,-9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-49.9
$GPS2,225047,6154.095,-936.195,15,2.3,34,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.022,0.217
$KALMAN_X,-78012.3,-91.0,-214.1,23856.2,-6673.6
$KALMAN_Y,64336.2,718.2,757.3,-28610.2,-6503.6
$MHEAD_RNG_PITCHd_Wd,3.9,49424,-11.1,-6.000
$D_GRID,681
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-73.07,0.000,6,0.000,0.000,51,2893,3500
$GC,96,-1.10,-146.6,2.0,-6.0,3,112,12.00,1.77,0.00,0.000,4,0.161,0.093,2167,3789,3502
$GC,364,-1.10,-146.6,30.6,-6.5,14,368,0.00,1.55,0.00,0.000,6,0.000,0.036,2167,2900,3502
$GC,690,-1.10,-146.6,58.2,-12.6,30,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,1000,-1.10,-146.6,78.9,-8.2,45,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3502
$GC,1309,-1.10,-146.6,105.3,-10.5,60,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3502
$GC,1618,-1.10,-146.6,129.6,-7.8,75,1623,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1491,3502
$GC,1645,-1.10,-146.6,131.9,-7.8,76,1649,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2906,3502
$GC,1966,-1.10,-146.6,154.9,-6.4,92,1970,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1490,3503
$GC,2004,-1.10,-146.6,157.2,-6.3,94,2008,0.00,2.60,0.00,0.000,6,0.000,0.070,2167,2898,3503
$GC,2329,-1.10,-146.6,177.0,-6.6,110,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,2638,-1.10,-146.6,198.6,-7.3,125,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,2948,-1.10,-146.6,218.4,-5.6,140,2952,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1487,3502
$GC,2991,-1.10,-146.6,221.0,-5.5,142,2995,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2906,3503
$GC,3318,-1.10,-146.6,239.2,-5.3,158,3322,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1491,3502
$GC,3366,-1.10,-146.6,241.6,-5.1,160,3371,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,3688,-1.10,-146.6,255.9,-4.4,176,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,3998,-1.10,-146.6,271.1,-5.7,191,4002,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1490,3502
$GC,4046,-1.10,-146.6,273.6,-5.1,193,4051,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,4368,-1.10,-146.6,290.1,-5.1,209,4372,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1486,3503
$GC,4400,-1.10,-146.6,292.0,-5.3,210,4407,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2902,3503
$GC,4716,-1.10,-146.6,309.0,-5.5,226,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,5025,-1.10,-146.6,324.8,-5.0,241,5033,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3502
$GC,5083,-1.10,-146.6,327.9,-5.3,243,5087,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2900,3502
$GC,5404,-1.10,-146.6,343.1,-4.6,259,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,5713,-1.10,-146.6,356.5,-4.1,274,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,6022,-1.10,-146.6,368.9,-3.8,289,6026,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1490,3502
$GC,6071,-1.10,-146.6,371.0,-4.3,291,6076,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,6398,-1.10,-146.6,384.7,-4.5,307,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,6707,-1.10,-146.6,397.8,-3.9,322,6711,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1484,3502
$GC,6768,-1.10,-146.6,400.3,-4.2,324,6774,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,7083,-1.10,-146.6,414.0,-5.0,340,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,7392,-1.10,-146.6,428.0,-4.2,355,7397,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1482,3503
$GC,7435,-1.10,-146.6,429.8,-4.4,357,7440,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2900,3502
$GC,7762,-1.10,-146.6,446.0,-6.6,373,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,8071,-1.10,-146.6,465.9,-6.0,388,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,8380,-1.10,-146.6,484.2,-6.1,403,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,8690,-1.10,-146.6,501.8,-4.9,418,8695,0.00,2.58,0.00,0.000,4,0.000,0.059,2167,1482,3502
$GC,8745,-1.10,-146.6,504.5,-4.2,420,8752,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2900,3502
$GC,9061,-1.10,-146.6,518.5,-6.4,436,9065,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1480,3502
$GC,9115,-1.10,-146.6,522.4,-7.5,438,9122,0.00,2.58,0.00,0.000,6,0.000,0.061,2167,2900,3502
$GC,9430,-1.10,-146.6,545.7,-6.8,454,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,9740,-1.10,-146.6,564.6,-6.2,469,9743,0.00,1.62,0.00,0.000,4,0.000,0.077,2167,3783,3502
$GC,9823,-1.10,-146.6,570.1,-6.5,472,9829,0.00,1.52,0.00,0.000,6,0.000,0.034,2167,2886,3502
$GC,10138,-1.10,-146.6,590.4,-5.3,488,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2881,3502
$GC,10447,-1.10,-146.6,609.9,-5.0,503,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2881,3502
$GC,10761,-1.10,-146.6,625.1,-7.5,518,10765,0.00,2.47,0.00,0.000,4,0.000,0.056,2167,1495,3502
$GC,10786,-1.10,-146.6,627.5,-7.6,519,10791,0.00,2.58,0.00,0.000,6,0.000,0.062,2167,2891,3502
$GC,11108,-1.10,-146.6,650.8,-7.2,535,11112,0.00,2.55,0.00,0.000,4,0.000,0.062,2167,1491,3503
$GC,11146,-1.10,-146.6,653.2,-6.9,537,11150,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2903,3502
$GC,11471,-1.10,-146.6,677.6,-9.1,553,11475,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1496,3503
$STATE,11508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11508,begin apogee
$GC,11513,-0.42,0.0,681.2,9.9,555,11641,0.73,0.00,125.20,1.197,6,0.080,0.000,2317,1786,2901
$STATE,11642,end apogee,CONTROL_FINISHED_OK
$STATE,11642,begin climb
$GC,11644,1.10,146.6,686.8,0.0,561,11775,1.55,2.72,122.10,1.170,4,0.054,0.070,2649,380,2303
$GC,11932,1.10,146.6,664.5,14.0,574,11936,0.00,2.50,0.00,0.000,6,0.000,0.041,2649,1773,2303
$GC,12253,1.12,163.8,634.6,5.5,590,12275,0.00,2.62,15.88,1.078,4,0.000,0.065,2649,3174,2233
$GC,12504,1.35,348.2,627.4,0.9,601,12665,0.25,2.50,152.02,1.144,6,0.031,0.048,2717,1776,1481
$GC,12971,1.35,348.2,577.3,10.4,624,12975,0.00,2.62,0.00,0.000,4,0.000,0.066,2717,3177,1480
$GC,13070,1.35,348.2,568.4,10.3,628,13077,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,1766,1481
$GC,13385,1.35,348.2,530.6,14.0,644,13390,0.00,2.60,0.00,0.000,4,0.000,0.064,2717,3174,1481
$GC,13492,1.35,348.2,516.0,13.4,649,13496,0.00,2.50,0.00,0.000,6,0.000,0.048,2717,1775,1481
$GC,13817,1.35,348.2,478.1,10.7,665,13821,0.00,2.60,0.00,0.000,4,0.000,0.065,2717,3181,1481
$GC,13878,1.35,348.2,471.6,10.8,668,13882,0.00,2.53,0.00,0.000,6,0.000,0.049,2717,1769,1480
$GC,14202,1.35,348.2,436.6,10.7,684,14207,0.00,2.60,0.00,0.000,4,0.000,0.066,2717,3175,1480
$GC,14279,1.35,348.2,427.8,10.9,687,14286,0.00,2.53,0.00,0.000,6,0.000,0.051,2717,1784,1480
$GC,14595,1.35,348.2,390.9,12.0,703,14599,0.00,2.60,0.00,0.000,4,0.000,0.069,2717,3174,1480
$GC,14682,1.35,348.2,380.0,11.9,707,14687,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1773,1480
$GC,15009,1.35,348.2,342.5,11.0,723,15013,0.00,2.60,0.00,0.000,4,0.000,0.068,2717,3173,1480
$GC,15096,1.35,348.2,332.3,11.4,727,15101,0.00,2.55,0.00,0.000,6,0.000,0.054,2717,1776,1480
$GC,15423,1.35,348.2,297.4,10.2,743,15428,0.00,2.60,0.00,0.000,4,0.000,0.069,2717,3179,1480
$GC,15517,1.35,348.2,287.1,10.1,747,15522,0.00,2.55,0.00,0.000,6,0.000,0.054,2717,1755,1481
$GC,15838,1.35,348.2,253.7,10.3,763,15843,0.00,2.65,0.00,0.000,4,0.000,0.071,2717,3174,1481
$GC,15926,1.35,348.2,244.4,10.1,767,15931,0.00,2.55,0.00,0.000,6,0.000,0.054,2717,1774,1481
$GC,16253,1.35,348.2,212.2,10.9,783,16258,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,3179,1481
$GC,16341,1.35,348.2,200.9,14.0,787,16345,0.00,2.55,0.00,0.000,6,0.000,0.054,2717,1778,1481
$GC,16667,1.35,348.2,170.9,10.2,803,16672,0.00,2.60,0.00,0.000,4,0.000,0.070,2717,3174,1481
$GC,16739,1.35,348.2,162.3,11.7,806,16743,0.00,2.55,0.00,0.000,6,0.000,0.055,2717,1776,1481
$GC,17061,1.35,348.2,124.4,12.1,822,17065,0.00,2.62,0.00,0.000,4,0.000,0.072,2717,3178,1481
$GC,17154,1.35,348.2,115.2,11.2,826,17159,0.00,2.55,0.00,0.000,6,0.000,0.055,2717,1777,1481
$GC,17475,1.35,348.2,77.9,12.4,842,17480,0.00,2.62,0.00,0.000,4,0.000,0.073,2717,3174,1481
$GC,17536,1.35,348.2,69.8,10.1,845,17541,0.00,2.55,0.00,0.000,6,0.000,0.057,2717,1766,1481
$GC,17862,1.35,348.2,31.6,12.8,861,17866,0.00,2.65,0.00,0.000,4,0.000,0.076,2717,3174,1481
$GC,17927,1.35,348.2,21.6,17.2,864,17931,0.00,2.53,0.00,0.000,6,0.000,0.051,2717,1775,1481
$STATE,18129,end climb,SURFACE_DEPTH_REACHED
$STATE,18129,begin surface coast
$FINISH,-1.1,1.015481
$STATE,18151,end surface coast,CONTROL_FINISHED_OK
$STATE,18151,begin surface
$SM_CCo,18232,0.00,0.000,0,0,1480,348.82
$SM_GC,-0.35,11.73,0.00,0.00,0.030,0.000,0.000,45,2886,1480,-10.80,-0.40,348.82
$IRIDIUM_FIX,6126.23,-928.49,291107,222246
$TT8_MAMPS,0.028379
$HUMID,2069
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.1,94.6
$24V_AH,23.5,22.350
$10V_AH,10.1,9.625
$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,26.250,161.725,415.200,0.000,0.000,39.464,33.178,136.380,5.750,0.000,0.000,35.739,1625.044,13927.223,537.972,2086.580,389.884,33.367,1584.460,0.000,2035.922,0.000,36.400
$DEVICE_MAMPS,161.070,102.778,1197.287,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.099,609.246,506.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44306,875
$CFSIZE,260165632,252686336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,301107,035701,6157.249,-941.395,41,2.0,46,-9.8