version: 66.02
glider: 103
mission: 7
dive: 54
start: 11 20 107 4 7 59
data:
$ID,103
$MISSION,7
$DIVE,54
$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,412.5
$T_MISSION,440
$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,-63180.238
$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,33
$R_STBD_OVSHOOT,21
$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
$GPS1,040137,6130.978,-831.570,24,1.2,24,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-60.1
$GPS2,040623,6130.952,-831.565,12,3.3,31,-9.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.144
$KALMAN_X,-92665.0,4041.1,-148.1,91280.5,-8112.2
$KALMAN_Y,66942.9,-7789.5,979.7,-65790.1,9982.3
$MHEAD_RNG_PITCHd_Wd,315.3,55718,-14.9,-8.000
$D_GRID,816
$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,-1.42,-146.6,0.0,0.0,0,84,0.00,0.00,-62.62,0.000,6,0.000,0.000,51,2872,3500
$GC,86,-1.42,-146.6,2.3,-5.3,3,107,11.62,2.60,0.00,0.000,4,0.161,0.071,2095,1505,3502
$GC,358,-1.42,-146.6,40.0,-9.9,15,363,0.00,2.65,0.00,0.000,6,0.000,0.078,2095,2887,3503
$GC,685,-1.42,-146.6,73.3,-10.5,31,688,0.00,1.75,0.00,0.000,4,0.000,0.097,2095,3790,3503
$GC,739,-1.42,-146.6,79.3,-10.9,33,744,0.00,1.58,0.00,0.000,6,0.000,0.051,2095,2913,3503
$GC,1061,-1.42,-146.6,112.8,-10.2,49,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2913,3503
$GC,1370,-1.42,-146.6,143.0,-9.3,64,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2913,3503
$GC,1679,-1.42,-146.6,171.0,-9.0,79,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2913,3503
$GC,1989,-1.42,-146.6,201.3,-9.9,94,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2913,3504
$GC,2297,-1.42,-146.6,232.8,-10.2,109,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2913,3504
$GC,2607,-1.42,-146.6,264.2,-9.7,124,2611,0.00,2.60,0.00,0.000,4,0.000,0.067,2095,1488,3504
$GC,2677,-1.42,-146.6,271.2,-10.0,127,2683,0.00,2.65,0.00,0.000,6,0.000,0.073,2095,2895,3504
$GC,2999,-1.42,-146.6,300.7,-9.2,143,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2895,3504
$GC,3308,-1.42,-146.6,328.2,-8.7,158,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2895,3504
$GC,3617,-1.42,-146.6,354.5,-8.7,173,3621,0.00,1.70,0.00,0.000,4,0.000,0.091,2095,3776,3504
$GC,3695,-1.42,-146.6,361.5,-9.0,176,3699,0.00,1.58,0.00,0.000,6,0.000,0.047,2096,2878,3504
$GC,4015,-1.42,-146.6,391.4,-9.4,192,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2878,3504
$GC,4324,-1.42,-146.6,420.2,-9.2,207,4328,0.00,2.53,0.00,0.000,4,0.000,0.064,2095,1488,3504
$GC,4384,-1.42,-146.6,425.8,-9.3,209,4391,0.00,2.65,0.00,0.000,6,0.000,0.071,2095,2897,3504
$GC,4700,-1.42,-146.6,455.4,-9.5,225,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2897,3504
$GC,5009,-1.42,-146.6,484.6,-9.3,240,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2897,3504
$GC,5319,-1.42,-146.6,512.8,-9.1,255,5323,0.00,2.53,0.00,0.000,4,0.000,0.059,2095,1489,3504
$GC,5345,-1.42,-146.6,515.2,-9.2,256,5350,0.00,2.62,0.00,0.000,6,0.000,0.066,2096,2896,3504
$GC,5666,-1.42,-146.6,544.9,-9.6,272,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2896,3504
$GC,5975,-1.42,-146.6,572.8,-8.5,287,5979,0.00,2.53,0.00,0.000,4,0.000,0.058,2095,1481,3504
$GC,6046,-1.42,-146.6,579.0,-8.7,290,6051,0.00,2.62,0.00,0.000,6,0.000,0.065,2095,2896,3504
$GC,6374,-1.42,-146.6,609.5,-9.5,306,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2896,3504
$GC,6683,-1.42,-146.6,638.0,-8.6,321,6687,0.00,2.55,0.00,0.000,4,0.000,0.057,2095,1485,3504
$GC,6759,-1.42,-146.6,645.0,-8.7,324,6766,0.00,2.62,0.00,0.000,6,0.000,0.066,2095,2898,3504
$GC,7075,-1.42,-146.6,671.2,-7.3,340,7079,0.00,1.67,0.00,0.000,4,0.000,0.088,2096,3786,3503
$GC,7191,-1.42,-146.6,680.4,-7.7,345,7196,0.00,1.55,0.00,0.000,6,0.000,0.043,2095,2899,3504
$GC,7519,-1.42,-146.6,702.3,-6.0,361,7522,0.00,1.70,0.00,0.000,4,0.000,0.090,2095,3786,3504
$GC,7614,-1.42,-146.6,710.7,-9.4,365,7618,0.00,1.55,0.00,0.000,6,0.000,0.040,2095,2904,3503
$GC,7940,-1.42,-146.6,736.9,-7.5,381,7944,0.00,1.70,0.00,0.000,4,0.000,0.091,2095,3774,3504
$GC,8040,-1.42,-146.6,744.6,-8.5,385,8045,0.00,1.52,0.00,0.000,6,0.000,0.041,2095,2899,3504
$GC,8361,-1.42,-146.6,771.3,-10.5,401,8365,0.00,1.73,0.00,0.000,4,0.000,0.097,2095,3784,3504
$GC,8376,-1.42,-146.6,773.3,-12.4,401,8383,0.00,1.58,0.00,0.000,6,0.000,0.041,2095,2889,3503
$GC,8692,-1.42,-146.6,803.0,-10.1,417,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2887,3502
$STATE,8814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8814,begin apogee
$GC,8820,-0.42,0.0,816.3,8.4,423,8950,1.08,0.00,126.53,1.408,6,0.080,0.000,2317,1781,2901
$STATE,8951,end apogee,CONTROL_FINISHED_OK
$STATE,8951,begin climb
$GC,8952,1.42,146.6,819.5,0.0,429,9084,1.85,2.78,123.75,1.361,4,0.050,0.081,2722,3182,2303
$GC,9156,1.42,146.6,814.8,10.0,439,9163,0.00,2.65,0.00,0.000,6,0.000,0.063,2722,1776,2303
$GC,9472,1.56,254.9,799.4,4.0,455,9574,0.12,2.75,91.35,1.376,4,0.048,0.082,2758,372,1860
$GC,9673,1.56,254.9,778.0,8.8,464,9678,0.00,2.55,0.00,0.000,6,0.000,0.045,2757,1785,1860
$GC,9994,1.56,254.9,743.1,10.5,480,9999,0.00,2.60,0.00,0.000,4,0.000,0.072,2757,3172,1858
$GC,10145,1.56,254.9,724.0,13.3,487,10150,0.00,2.53,0.00,0.000,6,0.000,0.051,2757,1769,1857
$GC,10471,1.56,254.9,687.1,10.3,503,10475,0.00,2.60,0.00,0.000,4,0.000,0.066,2758,3177,1855
$GC,10721,1.56,254.9,656.2,13.4,514,10727,0.00,2.53,0.00,0.000,6,0.000,0.045,2757,1773,1854
$GC,11048,1.56,254.9,613.5,12.5,530,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1773,1854
$GC,11357,1.56,254.9,578.0,10.8,545,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1773,1855
$GC,11667,1.56,254.9,543.4,11.8,560,11671,0.00,2.55,0.00,0.000,4,0.000,0.061,2758,3174,1855
$GC,11737,1.56,254.9,535.1,11.0,563,11742,0.00,2.47,0.00,0.000,6,0.000,0.043,2757,1778,1855
$GC,12058,1.56,254.9,498.1,11.4,579,12063,0.00,2.55,0.00,0.000,4,0.000,0.063,2757,3174,1856
$GC,12120,1.56,254.9,491.0,11.9,582,12124,0.00,2.45,0.00,0.000,6,0.000,0.044,2757,1776,1856
$GC,12445,1.56,254.9,454.5,11.0,598,12449,0.00,2.58,0.00,0.000,4,0.000,0.064,2757,3178,1857
$GC,12484,1.56,254.9,450.2,11.8,600,12488,0.00,2.47,0.00,0.000,6,0.000,0.044,2757,1771,1857
$GC,12810,1.56,254.9,414.7,10.8,616,12814,0.00,2.58,0.00,0.000,4,0.000,0.064,2757,3174,1858
$GC,12848,1.56,254.9,410.0,11.7,618,12852,0.00,2.47,0.00,0.000,6,0.000,0.045,2757,1766,1858
$GC,13173,1.56,254.9,372.9,11.3,634,13177,0.00,2.58,0.00,0.000,4,0.000,0.066,2758,3174,1859
$GC,13221,1.56,254.9,367.2,11.3,636,13226,0.00,2.50,0.00,0.000,6,0.000,0.047,2757,1778,1859
$GC,13542,1.56,254.9,332.2,11.0,652,13546,0.00,2.58,0.00,0.000,4,0.000,0.066,2757,3179,1859
$GC,13585,1.56,254.9,327.1,12.1,654,13590,0.00,2.50,0.00,0.000,6,0.000,0.047,2757,1781,1860
$GC,13912,1.56,254.9,291.0,11.5,670,13916,0.00,2.58,0.00,0.000,4,0.000,0.068,2757,3175,1860
$GC,13973,1.56,254.9,284.3,10.5,673,13978,0.00,2.47,0.00,0.000,6,0.000,0.050,2758,1776,1860
$GC,14299,1.56,254.9,248.3,11.0,689,14303,0.00,2.58,0.00,0.000,4,0.000,0.067,2757,3175,1861
$GC,14359,1.56,254.9,241.6,10.8,692,14364,0.00,2.50,0.00,0.000,6,0.000,0.051,2757,1774,1861
$GC,14685,1.56,254.9,205.5,11.3,708,14689,0.00,2.58,0.00,0.000,4,0.000,0.068,2757,3174,1861
$GC,14724,1.56,254.9,201.0,11.9,710,14728,0.00,2.50,0.00,0.000,6,0.000,0.053,2757,1776,1861
$GC,15049,1.56,254.9,164.5,11.4,726,15053,0.00,2.60,0.00,0.000,4,0.000,0.069,2757,3174,1862
$GC,15114,1.56,254.9,156.8,11.7,729,15119,0.00,2.53,0.00,0.000,6,0.000,0.051,2757,1776,1862
$GC,15441,1.56,254.9,121.2,10.8,745,15445,0.00,2.60,0.00,0.000,4,0.000,0.071,2757,3173,1862
$GC,15472,1.56,254.9,117.5,11.2,746,15480,0.00,2.53,0.00,0.000,6,0.000,0.054,2758,1779,1862
$GC,15790,1.56,254.9,81.5,11.5,762,15794,0.00,2.60,0.00,0.000,4,0.000,0.069,2758,3176,1862
$GC,15828,1.56,254.9,77.1,12.2,764,15832,0.00,2.53,0.00,0.000,6,0.000,0.052,2758,1773,1863
$GC,16153,1.56,254.9,40.7,11.6,780,16158,0.00,2.60,0.00,0.000,4,0.000,0.070,2757,3173,1863
$GC,16207,1.56,254.9,34.0,11.9,782,16216,0.00,2.53,0.00,0.000,6,0.000,0.052,2758,1776,1863
$STATE,16503,end climb,SURFACE_DEPTH_REACHED
$STATE,16503,begin surface coast
$FINISH,-0.9,1.027099
$STATE,16523,end surface coast,CONTROL_FINISHED_OK
$STATE,16523,begin surface
$SM_CCo,16544,38.80,0.763,2,0,1677,300.00
$SM_GC,-0.13,0.00,0.00,38.80,0.000,0.000,0.763,44,2886,1677,-10.88,-0.40,300.00
$IRIDIUM_FIX,6108.28,-821.82,201107,030300
$TT8_MAMPS,0.028379
$HUMID,2083
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.60
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,775.6,80.6
$24V_AH,23.3,14.953
$10V_AH,10.1,5.591
$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,26.525,141.850,341.625,38.800,0.000,38.004,25.684,120.542,13.000,0.000,0.000,32.655,1504.244,12653.781,527.550,1896.871,345.866,33.351,1469.302,0.000,1839.397,0.000,49.016
$DEVICE_MAMPS,161.070,97.409,1408.212,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.862,560.336,453.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41192,798
$CFSIZE,260165632,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,2,0
$GPS,201107,084538,6133.351,-838.893,33,1.3,33,-9.0