version: 66.02
glider: 103
mission: 7
dive: 89
start: 11 25 107 20 23 57
data:
$ID,103
$MISSION,7
$DIVE,89
$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,-63860.027
$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,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
$GPS1,201825,6132.888,-900.541,26,1.4,44,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-59.1
$GPS2,202251,6132.907,-900.459,15,1.4,15,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.045,0.214
$KALMAN_X,-90651.8,978.8,285.7,66405.5,-1.6
$KALMAN_Y,93461.1,-318.5,666.1,-95820.0,-1828.0
$MHEAD_RNG_PITCHd_Wd,357.2,39317,-11.1,-6.000
$D_GRID,669
$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,-1.10,-146.6,0.0,0.0,0,93,0.00,0.00,-73.10,0.000,6,0.000,0.000,45,2888,3500
$GC,95,-1.10,-146.6,2.4,-5.5,3,112,11.98,1.77,0.00,0.000,4,0.159,0.094,2164,3785,3502
$GC,318,-1.10,-146.6,32.8,-5.5,12,323,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2904,3503
$GC,645,-1.10,-146.6,59.6,-10.8,28,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,954,-1.10,-146.6,88.9,-8.5,43,959,0.00,2.65,0.00,0.000,4,0.000,0.074,2164,1478,3503
$GC,1003,-1.10,-146.6,92.5,-7.0,45,1008,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2900,3503
$GC,1325,-1.10,-146.6,110.0,-5.7,61,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,1634,-1.10,-146.6,129.8,-4.8,76,1638,0.00,2.62,0.00,0.000,4,0.000,0.072,2164,1486,3503
$GC,1673,-1.10,-146.6,131.9,-5.5,78,1677,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3503
$GC,1998,-1.10,-146.6,154.8,-6.5,94,2002,0.00,2.62,0.00,0.000,4,0.000,0.072,2164,1479,3503
$GC,2041,-1.10,-146.6,157.2,-5.3,96,2045,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2899,3503
$GC,2367,-1.10,-146.6,182.4,-8.6,112,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2676,-1.10,-146.6,207.3,-7.4,127,2681,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1482,3503
$GC,2715,-1.10,-146.6,209.8,-6.7,129,2719,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2900,3503
$GC,3041,-1.10,-146.6,233.1,-7.5,145,3044,0.00,1.67,0.00,0.000,4,0.000,0.087,2164,3789,3503
$GC,3095,-1.10,-146.6,237.5,-7.6,147,3100,0.00,1.52,0.00,0.000,6,0.000,0.034,2164,2902,3503
$GC,3416,-1.10,-146.6,259.2,-6.2,163,3421,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1486,3503
$GC,3449,-1.10,-146.6,261.0,-5.1,164,3455,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2906,3503
$GC,3765,-1.10,-146.6,275.1,-4.5,180,3769,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1487,3503
$GC,3797,-1.10,-146.6,276.6,-4.8,181,3803,0.00,2.65,0.00,0.000,6,0.000,0.077,2164,2899,3503
$GC,4112,-1.10,-146.6,288.9,-3.2,197,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,4421,-1.10,-146.6,297.1,-2.4,212,4426,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1489,3503
$GC,4483,-1.10,-146.6,298.5,-2.2,215,4487,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2907,3503
$GC,4808,-1.10,-146.6,307.1,-3.4,231,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3503
$GC,5118,-1.10,-146.6,323.3,-5.9,246,5122,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1487,3503
$GC,5189,-1.10,-146.6,327.5,-5.4,249,5193,0.00,2.65,0.00,0.000,6,0.000,0.076,2164,2901,3503
$GC,5509,-1.10,-146.6,348.3,-6.8,265,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,5819,-1.10,-146.6,370.5,-7.3,280,5823,0.00,2.58,0.00,0.000,4,0.000,0.069,2164,1488,3503
$GC,5885,-1.10,-146.6,375.3,-7.1,283,5889,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2900,3503
$GC,6205,-1.10,-146.6,400.5,-8.0,299,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6514,-1.10,-146.6,423.0,-6.7,314,6518,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1487,3503
$GC,6556,-1.10,-146.6,426.1,-7.3,316,6561,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2899,3503
$GC,6883,-1.10,-146.6,447.6,-6.5,332,6887,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1481,3503
$GC,6922,-1.10,-146.6,450.1,-6.3,334,6926,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2909,3502
$GC,7247,-1.10,-146.6,472.6,-7.5,350,7251,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1484,3503
$GC,7281,-1.10,-146.6,475.2,-7.8,351,7287,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2908,3502
$GC,7595,-1.10,-146.6,496.9,-6.6,367,7599,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1479,3502
$GC,7633,-1.10,-146.6,499.6,-7.6,369,7638,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2906,3502
$GC,7964,-1.10,-146.6,523.2,-6.7,385,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,8273,-1.10,-146.6,544.0,-6.7,400,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,8582,-1.10,-146.6,566.5,-8.0,415,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,8891,-1.10,-146.6,592.2,-8.0,430,8895,0.00,2.50,0.00,0.000,4,0.000,0.054,2164,1483,3502
$GC,8952,-1.10,-146.6,597.3,-8.8,432,8959,0.00,2.60,0.00,0.000,6,0.000,0.062,2164,2893,3502
$GC,9267,-1.10,-146.6,621.9,-7.3,448,9271,0.00,2.50,0.00,0.000,4,0.000,0.053,2164,1483,3502
$GC,9311,-1.10,-146.6,625.6,-7.4,450,9316,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2904,3502
$GC,9640,-1.10,-146.6,651.3,-8.1,466,9644,0.00,2.53,0.00,0.000,4,0.000,0.050,2164,1480,3502
$GC,9683,-1.10,-146.6,654.9,-8.0,468,9687,0.00,2.58,0.00,0.000,6,0.000,0.059,2164,2904,3502
$STATE,9884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9884,begin apogee
$GC,9890,-0.42,0.0,669.7,7.1,478,10018,0.75,0.00,124.82,1.217,6,0.074,0.000,2321,1763,2901
$STATE,10019,end apogee,CONTROL_FINISHED_OK
$STATE,10019,begin climb
$GC,10021,1.10,146.6,674.8,0.0,484,10151,1.50,2.65,122.05,1.188,4,0.051,0.064,2647,379,2303
$GC,10298,1.14,180.8,667.2,5.1,497,10334,0.00,2.47,30.08,1.145,6,0.000,0.034,2647,1808,2163
$GC,10644,1.18,209.0,649.3,5.2,513,10673,0.00,2.53,24.75,1.127,4,0.000,0.058,2647,3163,2049
$GC,10818,1.21,231.7,639.0,5.4,521,10844,0.08,2.45,20.33,1.103,6,0.032,0.039,2686,1784,1956
$GC,11165,1.21,231.7,614.9,7.6,538,11170,0.00,2.53,0.00,0.000,4,0.000,0.054,2686,3171,1955
$GC,11294,1.21,231.7,604.9,7.6,544,11298,0.00,2.42,0.00,0.000,6,0.000,0.038,2686,1776,1955
$GC,11625,1.21,231.7,579.6,7.3,560,11629,0.00,2.53,0.00,0.000,4,0.000,0.056,2686,3171,1955
$GC,11758,1.21,231.7,569.7,6.9,566,11763,0.00,2.45,0.00,0.000,6,0.000,0.038,2687,1784,1955
$GC,12085,1.21,231.7,543.5,8.3,582,12089,0.00,2.50,0.00,0.000,4,0.000,0.058,2686,3167,1955
$GC,12196,1.21,231.7,533.7,8.5,587,12201,0.00,2.45,0.00,0.000,6,0.000,0.039,2686,1776,1955
$GC,12516,1.21,231.7,504.6,9.5,603,12520,0.00,2.53,0.00,0.000,4,0.000,0.061,2686,3164,1955
$GC,12604,1.21,231.7,495.7,10.2,607,12609,0.00,2.45,0.00,0.000,6,0.000,0.041,2686,1780,1955
$GC,12931,1.21,231.7,461.7,10.2,623,12935,0.00,2.53,0.00,0.000,4,0.000,0.066,2686,3162,1955
$GC,13037,1.21,231.7,450.6,10.5,628,13041,0.00,2.45,0.00,0.000,6,0.000,0.046,2686,1774,1954
$GC,13363,1.21,231.7,419.5,9.5,644,13367,0.00,2.58,0.00,0.000,4,0.000,0.068,2687,3169,1954
$GC,13456,1.21,231.7,410.6,9.3,648,13461,0.00,2.50,0.00,0.000,6,0.000,0.051,2687,1783,1955
$GC,13777,1.21,231.7,379.8,10.0,664,13782,0.00,2.58,0.00,0.000,4,0.000,0.072,2686,3164,1954
$GC,13871,1.21,231.7,369.9,10.6,668,13875,0.00,2.53,0.00,0.000,6,0.000,0.054,2686,1774,1955
$GC,14192,1.21,231.7,336.7,10.3,684,14196,0.00,2.58,0.00,0.000,4,0.000,0.071,2686,3161,1954
$GC,14308,1.21,231.7,324.1,10.5,689,14312,0.00,2.53,0.00,0.000,6,0.000,0.055,2687,1756,1955
$GC,14629,1.21,231.7,291.7,10.0,705,14633,0.00,2.60,0.00,0.000,4,0.000,0.072,2686,3161,1955
$GC,14734,1.21,231.7,281.6,8.6,710,14739,0.00,2.50,0.00,0.000,6,0.000,0.058,2687,1772,1955
$GC,15060,1.21,231.7,252.7,8.4,726,15065,0.00,2.60,0.00,0.000,4,0.000,0.071,2686,3161,1955
$GC,15172,1.21,231.7,243.7,8.6,731,15177,0.00,2.53,0.00,0.000,6,0.000,0.058,2687,1774,1955
$GC,15492,1.21,231.7,216.8,9.0,747,15497,0.00,2.58,0.00,0.000,4,0.000,0.073,2687,3161,1955
$GC,15598,1.21,231.7,206.8,8.7,752,15602,0.00,2.50,0.00,0.000,6,0.000,0.059,2686,1773,1955
$GC,15930,1.21,231.7,179.6,7.8,768,15934,0.00,2.60,0.00,0.000,4,0.000,0.074,2686,3165,1955
$GC,16017,1.21,231.7,172.7,8.0,772,16022,0.00,2.53,0.00,0.000,6,0.000,0.058,2687,1779,1956
$GC,16344,1.21,231.7,144.2,9.4,788,16349,0.00,2.60,0.00,0.000,4,0.000,0.074,2686,3162,1955
$GC,16406,1.21,231.7,138.7,8.5,791,16410,0.00,2.50,0.00,0.000,6,0.000,0.058,2687,1775,1955
$GC,16733,1.21,231.7,111.4,8.3,807,16737,0.00,2.62,0.00,0.000,4,0.000,0.076,2686,3167,1955
$GC,16820,1.21,231.7,104.7,7.0,811,16825,0.00,2.53,0.00,0.000,6,0.000,0.059,2687,1782,1956
$GC,17147,1.21,231.7,80.4,7.3,827,17151,0.00,2.60,0.00,0.000,4,0.000,0.074,2686,3165,1956
$GC,17235,1.21,231.7,73.2,8.5,831,17239,0.00,2.55,0.00,0.000,6,0.000,0.060,2687,1774,1956
$GC,17562,1.21,231.7,48.9,6.4,847,17566,0.00,2.60,0.00,0.000,4,0.000,0.075,2687,3162,1956
$GC,17655,1.21,231.7,42.4,7.7,851,17659,0.00,2.53,0.00,0.000,6,0.000,0.059,2687,1780,1956
$GC,17978,1.21,231.7,22.5,6.8,867,17982,0.00,2.60,0.00,0.000,4,0.000,0.076,2686,3161,1956
$GC,18061,1.21,231.7,15.5,9.0,871,18066,0.00,2.53,0.00,0.000,6,0.000,0.061,2687,1774,1956
$STATE,18242,end climb,SURFACE_DEPTH_REACHED
$STATE,18242,begin surface coast
$FINISH,-0.7,1.026954
$STATE,18263,end surface coast,CONTROL_FINISHED_OK
$STATE,18263,begin surface
$SM_CCo,18283,55.53,0.755,1,0,1677,300.00
$SM_GC,0.13,0.00,0.00,55.53,0.000,0.000,0.755,44,2879,1677,-10.88,-0.59,300.00
$IRIDIUM_FIX,6103.81,-902.57,251107,191929
$TT8_MAMPS,0.029146
$HUMID,2051
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.60
$XPDR_PINGS,2
$24V_AH,23.5,19.671
$10V_AH,10.1,7.981
$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,25.925,190.575,322.025,55.525,0.000,37.069,26.571,113.855,5.750,0.000,0.000,15.044,1693.381,13858.942,536.175,2196.212,343.966,33.360,1627.007,0.000,2155.370,0.000,34.950
$DEVICE_MAMPS,158.769,93.574,1217.229,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,625.568,624.150,554.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44315,881
$CFSIZE,260165632,253919232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,1,0
$GPS,261107,013056,6135.300,-855.847,41,1.1,41,-9.2