version: 66.02
glider: 103
mission: 7
dive: 55
start: 11 20 107 8 51 52
data:
$ID,103
$MISSION,7
$DIVE,55
$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,-63197.07
$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,22
$R_STBD_OVSHOOT,11
$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
$GPS1,084538,6133.351,-838.893,33,1.3,33,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-59.3
$GPS2,085014,6133.352,-838.864,11,1.5,16,-9.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.053,0.237
$KALMAN_X,-91432.1,-339.1,424.1,87405.8,-4124.0
$KALMAN_Y,60206.0,2467.9,-806.6,-63037.8,1112.8
$MHEAD_RNG_PITCHd_Wd,356.3,48155,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,82,0.00,0.00,-62.25,0.000,2,0.000,0.000,44,2886,3468
$GC,84,-1.42,-146.6,3.8,-9.3,3,105,11.70,1.80,-0.55,0.000,4,0.163,0.113,2093,3790,3501
$GC,357,-1.42,-146.6,43.1,-10.9,15,361,0.00,1.58,0.00,0.000,6,0.000,0.042,2093,2900,3502
$GC,684,-1.42,-146.6,76.5,-10.5,31,687,0.00,1.70,0.00,0.000,4,0.000,0.088,2093,3784,3502
$GC,833,-1.42,-146.6,93.0,-10.8,37,841,0.00,1.55,0.00,0.000,6,0.000,0.041,2093,2901,3502
$GC,1151,-1.42,-146.6,126.0,-10.8,53,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,1458,-1.42,-146.6,159.4,-10.7,68,1462,0.00,2.58,0.00,0.000,4,0.000,0.064,2093,1491,3502
$GC,1490,-1.42,-146.6,162.9,-10.7,69,1497,0.00,2.67,0.00,0.000,6,0.000,0.072,2093,2901,3502
$GC,1805,-1.42,-146.6,195.1,-10.0,85,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,2116,-1.42,-146.6,225.1,-9.8,100,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,2424,-1.42,-146.6,253.6,-9.1,115,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,2733,-1.42,-146.6,283.4,-9.7,130,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,3043,-1.42,-146.6,313.8,-9.7,145,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,3352,-1.42,-146.6,343.7,-9.5,160,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,3662,-1.42,-146.6,375.3,-10.5,175,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2901,3502
$GC,3970,-1.42,-146.6,407.0,-10.5,190,3975,0.00,2.55,0.00,0.000,4,0.000,0.061,2093,1491,3502
$GC,4019,-1.42,-146.6,412.2,-10.7,192,4025,0.00,2.62,0.00,0.000,6,0.000,0.069,2093,2893,3502
$GC,4340,-1.42,-146.6,446.4,-10.8,208,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2893,3502
$GC,4650,-1.42,-146.6,477.9,-10.4,223,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2893,3502
$GC,4959,-1.42,-146.6,508.3,-9.5,238,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2893,3502
$GC,5268,-1.42,-146.6,537.2,-9.1,253,5272,0.00,1.73,0.00,0.000,4,0.000,0.091,2093,3783,3502
$GC,5328,-1.42,-146.6,543.0,-10.2,255,5336,0.00,1.55,0.00,0.000,6,0.000,0.044,2093,2905,3502
$GC,5645,-1.42,-146.6,572.4,-9.5,271,5649,0.00,2.55,0.00,0.000,4,0.000,0.061,2093,1490,3502
$GC,5693,-1.42,-146.6,577.0,-9.4,273,5697,0.00,2.62,0.00,0.000,6,0.000,0.068,2093,2895,3502
$GC,6014,-1.42,-146.6,606.9,-9.6,289,6018,0.00,2.55,0.00,0.000,4,0.000,0.060,2093,1482,3502
$GC,6052,-1.42,-146.6,610.5,-9.9,291,6057,0.00,2.62,0.00,0.000,6,0.000,0.066,2093,2903,3502
$GC,6377,-1.42,-146.6,637.0,-7.4,307,6382,0.00,2.58,0.00,0.000,4,0.000,0.059,2093,1487,3502
$GC,6409,-1.42,-146.6,639.8,-8.5,308,6416,0.00,2.62,0.00,0.000,6,0.000,0.064,2093,2900,3502
$GC,6725,-1.42,-146.6,665.5,-8.5,324,6729,0.00,2.55,0.00,0.000,4,0.000,0.060,2093,1489,3502
$GC,6785,-1.42,-146.6,670.9,-8.8,327,6789,0.00,2.60,0.00,0.000,6,0.000,0.065,2093,2904,3502
$GC,7112,-1.42,-146.6,701.2,-7.6,343,7116,0.00,2.55,0.00,0.000,4,0.000,0.060,2093,1489,3502
$GC,7240,-1.42,-146.6,710.2,-8.7,349,7244,0.00,2.60,0.00,0.000,6,0.000,0.064,2093,2904,3502
$GC,7565,-1.42,-146.6,739.6,-8.5,365,7569,0.00,1.70,0.00,0.000,4,0.000,0.090,2093,3784,3502
$GC,7637,-1.42,-146.6,746.2,-8.8,368,7642,0.00,1.55,0.00,0.000,6,0.000,0.044,2093,2901,3502
$GC,7963,-1.42,-146.6,773.7,-8.7,384,7968,0.00,2.58,0.00,0.000,4,0.000,0.064,2093,1485,3502
$GC,8058,-1.42,-146.6,781.9,-8.0,388,8062,0.00,2.62,0.00,0.000,6,0.000,0.071,2093,2899,3502
$GC,8379,-1.42,-146.6,808.4,-9.7,404,8383,0.00,2.58,0.00,0.000,4,0.000,0.067,2093,1491,3502
$GC,8427,-1.42,-146.6,813.3,-9.8,406,8432,0.00,2.65,0.00,0.000,6,0.000,0.073,2093,2893,3502
$STATE,8458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8458,begin apogee
$GC,8464,-0.42,0.0,816.8,10.7,408,8594,1.10,0.00,126.45,1.378,6,0.084,0.000,2317,1776,2901
$STATE,8595,end apogee,CONTROL_FINISHED_OK
$STATE,8595,begin climb
$GC,8596,1.42,146.6,821.4,0.0,414,8728,1.88,2.75,123.70,1.335,4,0.053,0.078,2719,367,2303
$GC,8984,1.49,204.1,812.6,5.9,432,9039,0.00,2.53,49.67,1.347,6,0.000,0.042,2719,1797,2068
$GC,9350,1.52,227.2,776.9,7.2,449,9373,0.00,0.00,20.67,1.296,6,0.000,0.000,2719,1797,1974
$GC,9680,1.52,227.2,739.4,11.4,465,9684,0.00,2.72,0.00,0.000,4,0.000,0.074,2719,364,1972
$GC,9728,1.52,227.2,734.0,10.4,467,9733,0.00,2.53,0.00,0.000,6,0.000,0.045,2719,1763,1971
$GC,10049,1.52,227.2,706.8,12.0,483,10054,0.00,2.70,0.00,0.000,4,0.000,0.082,2719,3177,1969
$GC,10115,1.52,227.2,699.7,10.7,486,10120,0.00,2.58,0.00,0.000,6,0.000,0.054,2719,1770,1969
$GC,10442,1.52,227.2,665.0,11.9,502,10446,0.00,2.60,0.00,0.000,4,0.000,0.068,2719,369,1968
$GC,10641,1.52,227.2,641.6,11.4,511,10646,0.00,2.50,0.00,0.000,6,0.000,0.038,2719,1772,1968
$GC,10968,1.52,227.2,612.9,8.6,527,10973,0.00,2.65,0.00,0.000,4,0.000,0.081,2719,3173,1968
$GC,11130,1.52,227.2,598.0,10.4,534,11134,0.00,2.53,0.00,0.000,6,0.000,0.056,2719,1774,1968
$GC,11450,1.52,227.2,569.3,8.6,550,11454,0.00,2.65,0.00,0.000,4,0.000,0.081,2719,3172,1969
$GC,11527,1.52,227.2,562.3,8.8,553,11532,0.00,2.55,0.00,0.000,6,0.000,0.052,2719,1770,1969
$GC,11849,1.52,227.2,533.8,9.1,569,11853,0.00,2.67,0.00,0.000,4,0.000,0.085,2719,3172,1970
$GC,11931,1.52,227.2,526.1,10.1,573,11936,0.00,2.53,0.00,0.000,6,0.000,0.053,2719,1766,1970
$GC,12257,1.52,227.2,495.0,9.8,589,12262,0.00,2.65,0.00,0.000,4,0.000,0.077,2719,3172,1970
$GC,12323,1.52,227.2,488.1,10.7,592,12328,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1771,1971
$GC,12650,1.52,227.2,457.0,9.3,608,12654,0.00,2.67,0.00,0.000,4,0.000,0.083,2719,3172,1971
$GC,12748,1.52,227.2,447.1,10.1,612,12756,0.00,2.53,0.00,0.000,6,0.000,0.052,2719,1779,1971
$GC,13064,1.52,227.2,418.3,8.9,628,13068,0.00,2.65,0.00,0.000,4,0.000,0.080,2719,3176,1972
$GC,13125,1.52,227.2,412.6,9.6,631,13129,0.00,2.53,0.00,0.000,6,0.000,0.054,2719,1774,1972
$GC,13450,1.52,227.2,383.6,8.9,647,13454,0.00,2.65,0.00,0.000,4,0.000,0.081,2719,3172,1973
$GC,13533,1.52,227.2,376.0,9.2,651,13537,0.00,2.53,0.00,0.000,6,0.000,0.056,2719,1776,1973
$GC,13858,1.52,227.2,346.6,9.5,667,13862,0.00,2.67,0.00,0.000,4,0.000,0.084,2719,3172,1973
$GC,13923,1.52,227.2,340.1,10.3,670,13928,0.00,2.55,0.00,0.000,6,0.000,0.054,2719,1773,1974
$GC,14250,1.52,227.2,308.6,9.2,686,14254,0.00,2.67,0.00,0.000,4,0.000,0.083,2719,3172,1974
$GC,14327,1.52,227.2,301.6,8.9,689,14333,0.00,2.55,0.00,0.000,6,0.000,0.056,2719,1766,1974
$GC,14641,1.52,227.2,273.6,9.1,705,14646,0.00,2.70,0.00,0.000,4,0.000,0.084,2719,3178,1974
$GC,14729,1.52,227.2,265.0,10.0,709,14734,0.00,2.55,0.00,0.000,6,0.000,0.054,2719,1777,1974
$GC,15056,1.52,227.2,234.6,9.0,725,15060,0.00,2.65,0.00,0.000,4,0.000,0.082,2719,3172,1975
$GC,15171,1.52,227.2,223.8,9.1,730,15176,0.00,2.55,0.00,0.000,6,0.000,0.056,2719,1778,1975
$GC,15493,1.52,227.2,194.6,9.5,746,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1778,1975
$GC,15802,1.52,227.2,167.0,8.6,761,15806,0.00,2.67,0.00,0.000,4,0.000,0.084,2719,3172,1976
$GC,15889,1.52,227.2,158.4,9.8,765,15894,0.00,2.55,0.00,0.000,6,0.000,0.058,2719,1780,1976
$GC,16217,1.52,227.2,126.8,9.7,781,16221,0.00,2.67,0.00,0.000,4,0.000,0.084,2720,3172,1976
$GC,16293,1.52,227.2,118.9,10.3,784,16300,0.00,2.55,0.00,0.000,6,0.000,0.059,2719,1784,1976
$GC,16610,1.52,227.2,89.1,9.1,800,16614,0.00,2.65,0.00,0.000,4,0.000,0.078,2720,3177,1976
$GC,16675,1.52,227.2,83.1,9.5,803,16680,0.00,2.58,0.00,0.000,6,0.000,0.061,2719,1754,1976
$GC,17002,1.52,227.2,53.8,8.8,819,17006,0.00,2.70,0.00,0.000,4,0.000,0.081,2719,3172,1977
$GC,17078,1.52,227.2,46.5,9.1,822,17086,0.00,2.55,0.00,0.000,6,0.000,0.060,2719,1781,1977
$GC,17394,1.52,227.2,18.4,9.0,838,17398,0.00,2.65,0.00,0.000,4,0.000,0.079,2719,3176,1977
$GC,17436,1.52,227.2,14.1,9.6,840,17441,0.00,2.58,0.00,0.000,6,0.000,0.059,2719,1776,1977
$STATE,17576,end climb,SURFACE_DEPTH_REACHED
$STATE,17577,begin surface coast
$FINISH,-0.9,1.027245
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17599,begin surface
$SM_CCo,17619,59.70,0.789,1,0,1678,300.00
$SM_GC,-0.06,0.00,0.00,59.70,0.000,0.000,0.789,39,2885,1678,-10.90,-0.42,300.00
$IRIDIUM_FIX,6108.28,-826.94,201107,080812
$TT8_MAMPS,0.029146
$HUMID,2087
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,775.2,103.6
$24V_AH,23.3,15.101
$10V_AH,10.1,5.672
$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,26.375,168.350,320.500,59.700,0.000,38.058,29.935,123.090,7.000,0.000,0.000,16.202,1625.252,13378.752,542.606,2110.400,353.643,33.363,1588.102,0.000,2061.911,0.000,46.130
$DEVICE_MAMPS,163.371,112.749,1378.299,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.595,596.206,482.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44211,848
$CFSIZE,260165632,255664128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,46,1,0
$GPS,201107,134737,6137.205,-842.605,28,1.6,28,-9.1