version: 66.02
glider: 103
mission: 7
dive: 53
start: 11 19 107 23 32 41
data:
$ID,103
$MISSION,7
$DIVE,53
$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,-63146.957
$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,19
$R_STBD_OVSHOOT,12
$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
$GPS1,232138,6127.715,-826.285,24,1.9,24,-8.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-60.0
$GPS2,233103,6127.804,-826.833,15,1.9,15,-8.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.119,0.212
$KALMAN_X,-89898.3,2698.9,327.9,93544.6,-2710.8
$KALMAN_Y,60061.7,-3729.2,719.9,-68535.3,-23762.4
$MHEAD_RNG_PITCHd_Wd,339.5,62807,-14.9,-8.000
$D_GRID,746
$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,-62.40,0.000,2,0.000,0.000,42,2888,3493
$GC,84,-1.42,-146.6,4.0,-9.5,3,100,11.73,1.80,0.00,0.000,4,0.164,0.098,2093,3786,3494
$GC,351,-1.42,-146.6,40.6,-9.2,14,356,0.00,1.60,0.00,0.000,6,0.000,0.050,2093,2898,3495
$GC,678,-1.42,-146.6,64.9,-8.0,30,682,0.00,1.73,0.00,0.000,4,0.000,0.094,2093,3783,3495
$GC,835,-1.42,-146.6,79.0,-9.1,37,839,0.00,1.58,0.00,0.000,6,0.000,0.048,2093,2885,3495
$GC,1166,-1.42,-146.6,109.1,-9.5,53,1171,0.00,2.55,0.00,0.000,4,0.000,0.067,2093,1491,3495
$GC,1205,-1.42,-146.6,112.8,-9.6,55,1210,0.00,2.67,0.00,0.000,6,0.000,0.077,2093,2898,3495
$GC,1530,-1.42,-146.6,144.1,-9.8,71,1534,0.00,1.70,0.00,0.000,4,0.000,0.093,2093,3787,3495
$GC,1579,-1.42,-146.6,149.0,-9.3,73,1584,0.00,1.60,0.00,0.000,6,0.000,0.050,2093,2898,3495
$GC,1906,-1.42,-146.6,181.5,-10.2,89,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2898,3495
$GC,2215,-1.42,-146.6,210.7,-9.1,104,2219,0.00,2.58,0.00,0.000,4,0.000,0.066,2093,1490,3495
$GC,2247,-1.42,-146.6,213.5,-8.4,105,2254,0.00,2.67,0.00,0.000,6,0.000,0.074,2093,2898,3495
$GC,2563,-1.42,-146.6,239.7,-8.4,121,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2898,3495
$GC,2872,-1.42,-146.6,270.1,-10.3,136,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2898,3495
$GC,3182,-1.42,-146.6,301.1,-9.8,151,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2898,3495
$GC,3491,-1.42,-146.6,329.8,-9.3,166,3495,0.00,2.58,0.00,0.000,4,0.000,0.064,2093,1489,3495
$GC,3533,-1.42,-146.6,333.9,-9.1,168,3538,0.00,2.65,0.00,0.000,6,0.000,0.071,2093,2893,3495
$GC,3860,-1.42,-146.6,366.0,-10.2,184,3863,0.00,1.73,0.00,0.000,4,0.000,0.092,2093,3785,3495
$GC,3904,-1.42,-146.6,370.6,-10.3,186,3908,0.00,1.58,0.00,0.000,6,0.000,0.048,2093,2884,3495
$GC,4235,-1.42,-146.6,402.6,-9.2,202,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2884,3495
$GC,4544,-1.42,-146.6,429.1,-8.5,217,4549,0.00,2.55,0.00,0.000,4,0.000,0.064,2093,1483,3495
$GC,4599,-1.42,-146.6,433.8,-8.1,219,4606,0.00,2.67,0.00,0.000,6,0.000,0.071,2093,2904,3495
$GC,4914,-1.42,-146.6,460.3,-8.6,235,4919,0.00,2.58,0.00,0.000,4,0.000,0.061,2093,1481,3495
$GC,4946,-1.42,-146.6,463.3,-9.0,236,4954,0.00,2.65,0.00,0.000,6,0.000,0.068,2093,2897,3495
$GC,5262,-1.42,-146.6,488.5,-7.9,252,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2897,3495
$GC,5571,-1.42,-146.6,517.1,-9.4,267,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2897,3495
$GC,5880,-1.42,-146.6,546.9,-9.5,282,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2897,3495
$GC,6190,-1.42,-146.6,573.9,-8.6,297,6193,0.00,1.70,0.00,0.000,4,0.000,0.088,2093,3779,3495
$GC,6257,-1.42,-146.6,579.9,-9.4,300,6261,0.00,1.58,0.00,0.000,6,0.000,0.042,2093,2893,3495
$GC,6588,-1.42,-146.6,605.1,-6.7,316,6593,0.00,2.53,0.00,0.000,4,0.000,0.060,2093,1489,3495
$GC,6620,-1.42,-146.6,607.5,-7.2,317,6627,0.00,2.62,0.00,0.000,6,0.000,0.064,2093,2917,3495
$GC,6936,-1.42,-146.6,642.9,-17.2,333,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2917,3494
$GC,7246,-1.42,-146.6,675.0,-10.1,348,7249,0.00,1.65,0.00,0.000,4,0.000,0.092,2093,3786,3494
$GC,7277,-1.42,-146.6,679.3,-13.9,349,7282,0.00,1.58,0.00,0.000,6,0.000,0.038,2093,2897,3494
$GC,7599,-1.42,-146.6,723.7,-13.9,365,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2892,3494
$GC,7908,-1.42,-146.6,743.6,-9.6,380,7912,0.00,2.55,0.00,0.000,4,0.000,0.065,2093,1495,3494
$STATE,7933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7933,begin apogee
$GC,7937,-0.42,0.0,746.4,10.3,381,8068,1.08,0.00,124.20,1.329,6,0.084,0.000,2315,1784,2901
$STATE,8069,end apogee,CONTROL_FINISHED_OK
$STATE,8069,begin climb
$GC,8071,1.42,146.6,756.0,0.0,388,8202,1.90,2.72,122.90,1.312,4,0.056,0.074,2721,377,2304
$GC,8335,1.42,146.6,743.0,8.8,400,8340,0.00,2.53,0.00,0.000,6,0.000,0.043,2721,1780,2303
$GC,8657,1.42,146.6,717.5,9.2,416,8661,0.00,2.72,0.00,0.000,4,0.000,0.091,2721,3179,2302
$GC,8879,1.42,146.6,698.1,9.7,426,8884,0.00,2.60,0.00,0.000,6,0.000,0.061,2721,1781,2300
$GC,9206,1.43,152.9,670.0,7.8,442,9217,0.00,2.67,6.10,1.098,4,0.000,0.071,2721,368,2277
$GC,9469,1.43,152.9,650.9,8.1,454,9474,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,1783,2275
$GC,9795,1.53,230.7,630.8,5.2,470,9866,0.00,2.70,64.60,1.304,4,0.000,0.068,2721,370,1960
$GC,10118,1.53,230.7,599.0,10.4,485,10122,0.00,2.47,0.00,0.000,6,0.000,0.041,2721,1767,1959
$GC,10444,1.53,230.7,569.3,9.1,501,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1767,1959
$GC,10753,1.53,230.7,538.9,10.7,516,10758,0.00,2.70,0.00,0.000,4,0.000,0.086,2721,3175,1960
$GC,10807,1.53,230.7,532.8,10.7,518,10814,0.00,2.53,0.00,0.000,6,0.000,0.050,2721,1778,1959
$GC,11122,1.53,230.7,498.8,10.0,534,11127,0.00,2.67,0.00,0.000,4,0.000,0.083,2721,3182,1960
$GC,11206,1.53,230.7,490.9,9.5,538,11210,0.00,2.53,0.00,0.000,6,0.000,0.052,2721,1774,1960
$GC,11531,1.53,230.7,463.5,8.5,554,11535,0.00,2.65,0.00,0.000,4,0.000,0.079,2721,3175,1961
$GC,11596,1.53,230.7,458.0,8.8,557,11600,0.00,2.55,0.00,0.000,6,0.000,0.052,2722,1775,1961
$GC,11923,1.54,242.0,433.3,7.6,573,11944,0.10,2.65,11.38,1.059,4,0.052,0.058,2754,3179,1913
$GC,11982,1.54,242.0,427.9,9.8,575,11989,0.00,2.53,0.00,0.000,6,0.000,0.042,2754,1769,1913
$GC,12298,1.54,242.0,398.6,9.7,591,12302,0.00,2.60,0.00,0.000,4,0.000,0.061,2754,3185,1913
$GC,12351,1.54,242.0,393.0,10.2,593,12358,0.00,2.50,0.00,0.000,6,0.000,0.042,2754,1777,1914
$GC,12667,1.54,242.0,361.5,10.4,609,12671,0.00,2.58,0.00,0.000,4,0.000,0.062,2754,3185,1914
$GC,12698,1.54,242.0,358.0,10.4,610,12706,0.00,2.50,0.00,0.000,6,0.000,0.042,2754,1776,1914
$GC,13014,1.54,242.0,324.0,11.4,626,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1776,1915
$GC,13323,1.54,242.0,292.8,10.0,641,13328,0.00,2.58,0.00,0.000,4,0.000,0.061,2754,3182,1915
$GC,13384,1.54,242.0,285.9,11.3,644,13389,0.00,2.47,0.00,0.000,6,0.000,0.044,2754,1776,1915
$GC,13710,1.54,242.0,249.7,11.2,660,13714,0.00,2.58,0.00,0.000,4,0.000,0.063,2754,3185,1915
$GC,13752,1.54,242.0,244.5,11.4,662,13757,0.00,2.50,0.00,0.000,6,0.000,0.044,2754,1779,1916
$GC,14079,1.54,242.0,210.4,9.9,678,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1779,1916
$GC,14388,1.54,242.0,177.3,11.1,693,14393,0.00,2.58,0.00,0.000,4,0.000,0.066,2754,3184,1916
$GC,14482,1.54,242.0,166.9,11.1,697,14487,0.00,2.50,0.00,0.000,6,0.000,0.046,2754,1782,1916
$GC,14804,1.54,242.0,133.5,10.4,713,14808,0.00,2.60,0.00,0.000,4,0.000,0.067,2754,3185,1916
$GC,14865,1.54,242.0,126.9,10.6,716,14869,0.00,2.50,0.00,0.000,6,0.000,0.046,2754,1770,1916
$GC,15190,1.54,242.0,91.3,11.3,732,15194,0.00,2.60,0.00,0.000,4,0.000,0.066,2754,3178,1917
$GC,15238,1.54,242.0,85.3,11.6,734,15243,0.00,2.50,0.00,0.000,6,0.000,0.046,2754,1778,1916
$GC,15559,1.54,242.0,49.4,11.0,750,15564,0.00,2.60,0.00,0.000,4,0.000,0.067,2754,3182,1917
$GC,15608,1.54,242.0,43.9,10.9,752,15613,0.00,2.50,0.00,0.000,6,0.000,0.046,2754,1779,1917
$GC,15930,1.54,242.0,9.3,10.5,768,15934,0.00,2.60,0.00,0.000,4,0.000,0.069,2754,3178,1917
$STATE,15993,end climb,SURFACE_DEPTH_REACHED
$STATE,15993,begin surface coast
$FINISH,1.4,1.027186
$STATE,16000,end surface coast,CONTROL_FINISHED_OK
$STATE,16000,begin surface
$SM_CCo,16019,49.22,0.781,2,0,1678,300.00
$SM_GC,-0.25,0.00,0.00,49.22,0.000,0.000,0.781,51,2875,1678,-10.85,-0.71,300.00
$IRIDIUM_FIX,6103.81,-830.07,201107,030359
$TT8_MAMPS,0.028379
$HUMID,2097
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,19.30
$XPDR_PINGS,11
$24V_AH,23.4,14.800
$10V_AH,10.1,5.515
$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,27.050,139.675,329.175,49.225,0.000,120.575,187.845,67.853,8.750,0.000,0.000,15.512,1474.296,12288.819,520.716,1893.289,531.790,33.339,1467.956,0.000,1855.281,0.000,39.802
$DEVICE_MAMPS,164.138,98.176,1329.211,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.660,539.973,453.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,771
$CFSIZE,260165632,255799296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,2,0
$GPS,201107,040137,6130.978,-831.570,24,1.2,24,-9.0