version: 66.02
glider: 103
mission: 7
dive: 88
start: 11 25 107 15 54 9
data:
$ID,103
$MISSION,7
$DIVE,88
$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,-63844.355
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,154855,6130.743,-901.754,27,1.6,44,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-59.0
$GPS2,155303,6130.732,-901.731,12,1.7,12,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.097,0.196
$KALMAN_X,-92428.5,368.1,-338.7,68291.4,414.6
$KALMAN_Y,93851.1,403.8,-886.5,-99403.9,1165.9
$MHEAD_RNG_PITCHd_Wd,342.9,42835,-11.1,-6.000
$D_GRID,543
$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,-62.35,0.000,6,0.000,0.000,29,2890,3500
$GC,85,-1.10,-146.6,4.2,-9.6,3,105,12.12,1.75,0.00,0.000,4,0.161,0.085,2165,3786,3502
$GC,182,-1.10,-146.6,21.2,-8.8,7,187,0.00,1.55,0.00,0.000,6,0.000,0.037,2165,2901,3503
$GC,504,-1.10,-146.6,46.3,-7.0,23,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,813,-1.10,-146.6,75.2,-10.6,38,817,0.00,2.60,0.00,0.000,4,0.000,0.072,2165,1489,3503
$GC,845,-1.10,-146.6,78.5,-10.0,39,852,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2893,3503
$GC,1162,-1.10,-146.6,111.1,-10.6,55,1167,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1490,3503
$GC,1201,-1.10,-146.6,114.2,-7.7,57,1206,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2898,3503
$GC,1527,-1.10,-146.6,131.4,-4.6,73,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,1836,-1.10,-146.6,148.2,-5.6,88,1841,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1482,3503
$GC,1880,-1.10,-146.6,150.7,-6.1,90,1884,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2900,3503
$GC,2207,-1.10,-146.6,167.3,-4.2,106,2211,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1483,3503
$GC,2268,-1.10,-146.6,170.6,-5.7,109,2272,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2905,3503
$GC,2593,-1.10,-146.6,187.4,-6.6,125,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,2902,-1.10,-146.6,205.1,-4.9,140,2907,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1482,3503
$GC,2941,-1.10,-146.6,207.9,-7.2,142,2946,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2905,3502
$GC,3266,-1.10,-146.6,231.6,-7.6,158,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3503
$GC,3575,-1.10,-146.6,253.0,-6.1,173,3579,0.00,2.60,0.00,0.000,4,0.000,0.071,2165,1490,3502
$GC,3642,-1.10,-146.6,257.1,-6.6,176,3647,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2906,3503
$GC,3962,-1.10,-146.6,280.5,-7.4,192,3967,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1486,3503
$GC,4001,-1.10,-146.6,283.5,-8.0,194,4005,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2899,3503
$GC,4326,-1.10,-146.6,310.4,-8.4,210,4330,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1482,3503
$GC,4357,-1.10,-146.6,313.4,-9.8,211,4364,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2904,3502
$GC,4673,-1.10,-146.6,341.3,-9.2,227,4677,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1483,3503
$GC,4722,-1.10,-146.6,345.8,-8.7,229,4726,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2901,3503
$GC,5042,-1.10,-146.6,372.1,-7.6,245,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,5352,-1.10,-146.6,391.3,-5.4,260,5356,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1490,3502
$GC,5384,-1.10,-146.6,393.3,-5.7,261,5389,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2924,3502
$GC,5704,-1.10,-146.6,414.9,-6.8,277,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2924,3502
$GC,6014,-1.10,-146.6,438.1,-7.9,292,6018,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1486,3503
$GC,6062,-1.10,-146.6,442.2,-8.8,294,6067,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2900,3502
$GC,6383,-1.10,-146.6,467.6,-7.7,310,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,6692,-1.10,-146.6,489.1,-6.6,325,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,7002,-1.10,-146.6,509.7,-6.4,340,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,7311,-1.10,-146.6,529.5,-6.2,355,7315,0.00,2.50,0.00,0.000,4,0.000,0.058,2165,1483,3503
$GC,7365,-1.10,-146.6,533.3,-6.8,357,7370,0.00,2.62,0.00,0.000,6,0.000,0.063,2165,2905,3503
$STATE,7520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7520,begin apogee
$GC,7526,-0.42,0.0,543.5,6.5,365,7652,0.75,0.00,122.50,1.157,6,0.079,0.000,2321,1770,2901
$STATE,7652,end apogee,CONTROL_FINISHED_OK
$STATE,7652,begin climb
$GC,7654,1.10,146.6,548.1,0.0,371,7785,1.52,2.70,120.57,1.122,4,0.053,0.062,2649,366,2303
$GC,7931,1.10,146.6,538.9,6.6,384,7936,0.00,2.50,0.00,0.000,6,0.000,0.036,2649,1791,2303
$GC,8257,1.10,146.6,517.5,6.8,400,8261,0.00,2.58,0.00,0.000,4,0.000,0.066,2649,3176,2302
$GC,8435,1.10,146.6,505.6,7.4,408,8439,0.00,2.50,0.00,0.000,6,0.000,0.048,2649,1774,2302
$GC,8761,1.10,146.6,482.9,6.9,424,8765,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3177,2302
$GC,8861,1.10,146.6,476.4,6.3,428,8867,0.00,2.55,0.00,0.000,6,0.000,0.051,2649,1774,2302
$GC,9176,1.14,174.4,459.6,5.2,444,9205,0.00,2.67,24.08,1.068,4,0.000,0.067,2649,3174,2189
$GC,9363,1.14,174.4,449.2,6.1,452,9367,0.00,2.55,0.00,0.000,6,0.000,0.054,2649,1761,2188
$GC,9683,1.14,174.4,430.3,6.3,468,9688,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3174,2188
$GC,9817,1.14,174.4,421.3,6.7,474,9821,0.00,2.55,0.00,0.000,6,0.000,0.055,2649,1780,2188
$GC,10144,1.14,174.4,398.6,6.9,490,10148,0.00,2.60,0.00,0.000,4,0.000,0.071,2649,3172,2188
$GC,10306,1.14,174.4,386.2,7.2,497,10310,0.00,2.55,0.00,0.000,6,0.000,0.058,2649,1776,2188
$GC,10621,1.14,174.4,362.5,7.5,512,10625,0.00,2.62,0.00,0.000,4,0.000,0.073,2649,3174,2188
$GC,10730,1.14,174.4,354.0,7.6,517,10735,0.00,2.58,0.00,0.000,6,0.000,0.060,2650,1775,2188
$GC,11057,1.14,174.4,330.9,6.7,533,11061,0.00,2.62,0.00,0.000,4,0.000,0.074,2649,3177,2188
$GC,11202,1.14,174.4,321.1,7.0,539,11209,0.00,2.58,0.00,0.000,6,0.000,0.060,2649,1777,2188
$GC,11517,1.14,174.4,302.1,6.1,555,11521,0.00,2.60,0.00,0.000,4,0.000,0.072,2649,3175,2188
$GC,11623,1.14,174.4,295.3,6.5,560,11627,0.00,2.55,0.00,0.000,6,0.000,0.061,2650,1772,2188
$GC,11948,1.14,174.4,273.5,6.6,576,11952,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3173,2188
$GC,12086,1.14,174.4,264.1,6.2,582,12091,0.00,2.58,0.00,0.000,6,0.000,0.061,2649,1776,2188
$GC,12407,1.14,174.4,242.5,6.9,598,12411,0.00,2.60,0.00,0.000,4,0.000,0.072,2649,3172,2188
$GC,12546,1.14,174.4,232.1,7.2,604,12551,0.00,2.58,0.00,0.000,6,0.000,0.061,2650,1773,2188
$GC,12867,1.14,174.4,211.1,6.7,620,12871,0.00,2.62,0.00,0.000,4,0.000,0.073,2649,3173,2188
$GC,13005,1.14,174.4,201.6,6.7,626,13010,0.00,2.55,0.00,0.000,6,0.000,0.060,2649,1781,2188
$GC,13327,1.14,176.8,181.8,5.9,642,13331,0.00,2.60,0.00,0.000,4,0.000,0.072,2650,3172,2188
$GC,13488,1.15,185.6,171.5,5.8,649,13503,0.00,2.53,10.30,0.851,6,0.000,0.060,2649,1777,2144
$GC,13824,1.15,185.6,146.5,7.0,666,13828,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3171,2144
$GC,13957,1.15,185.6,137.6,7.0,672,13961,0.00,2.58,0.00,0.000,6,0.000,0.062,2649,1777,2144
$GC,14285,1.15,185.6,113.7,6.6,688,14290,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3171,2144
$GC,14447,1.15,185.6,102.0,6.5,695,14451,0.00,2.58,0.00,0.000,6,0.000,0.066,2649,1773,2144
$GC,14768,1.26,276.0,86.2,3.5,711,14846,0.15,2.70,71.05,0.845,4,0.038,0.074,2704,3171,1774
$GC,14946,1.39,379.8,80.4,3.1,718,15034,0.00,2.58,82.32,0.803,6,0.000,0.057,2705,1770,1352
$GC,15345,1.39,379.8,37.7,12.4,737,15350,0.00,2.67,0.00,0.000,4,0.000,0.080,2704,3168,1352
$GC,15455,1.39,379.8,23.4,12.6,742,15460,0.00,2.58,0.00,0.000,6,0.000,0.061,2704,1776,1353
$STATE,15678,end climb,SURFACE_DEPTH_REACHED
$STATE,15678,begin surface coast
$FINISH,-0.7,1.002533
$STATE,15700,end surface coast,CONTROL_FINISHED_OK
$STATE,15700,begin surface
$SM_CCo,15781,0.00,0.000,0,0,1351,380.21
$SM_GC,0.32,11.77,0.00,0.00,0.031,0.000,0.000,45,2886,1351,-10.80,-0.40,380.21
$IRIDIUM_FIX,6108.28,-903.28,251107,161614
$TT8_MAMPS,0.028379
$HUMID,2053
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.60
$XPDR_PINGS,1
$24V_AH,23.5,19.539
$10V_AH,10.1,7.895
$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,26.325,158.775,430.825,0.000,0.000,37.485,26.333,104.358,4.250,0.000,0.000,12.767,1457.146,11767.034,522.718,1984.324,317.720,33.360,1527.974,0.000,1949.585,0.000,26.848
$DEVICE_MAMPS,161.070,89.739,1157.403,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.824,529.867,502.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38022,754
$CFSIZE,260165632,254005248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,251107,201825,6132.888,-900.541,26,1.4,44,-9.2