version: 66.02
glider: 103
mission: 7
dive: 57
start: 11 20 107 19 18 17
data:
$ID,103
$MISSION,7
$DIVE,57
$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,-63225.344
$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,21
$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
$GPS1,191138,6141.959,-849.218,36,0.8,36,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-60.6
$GPS2,191639,6141.987,-849.146,12,1.3,12,-9.2
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.156,0.186
$KALMAN_X,-95464.3,-541.9,-798.5,83825.2,1487.4
$KALMAN_Y,67714.7,1635.2,2359.3,-56975.7,-8081.3
$MHEAD_RNG_PITCHd_Wd,49.3,30417,-14.9,-8.000
$D_GRID,827
$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,17,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,82,0.00,0.00,-62.08,0.000,2,0.000,0.000,41,2894,3458
$GC,84,-1.42,-146.6,4.2,-11.0,3,106,11.75,1.77,-0.70,0.000,4,0.164,0.115,2092,3784,3500
$GC,357,-1.42,-146.6,43.9,-12.8,15,362,0.00,1.55,0.00,0.000,6,0.000,0.042,2093,2907,3501
$GC,684,-1.42,-146.6,77.2,-9.1,31,687,0.00,1.70,0.00,0.000,4,0.000,0.090,2093,3785,3500
$GC,845,-1.42,-146.6,91.4,-8.9,38,850,0.00,1.55,0.00,0.000,6,0.000,0.041,2093,2899,3501
$GC,1172,-1.42,-146.6,120.7,-9.1,54,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2899,3501
$GC,1482,-1.42,-146.6,151.6,-10.8,69,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2899,3501
$GC,1790,-1.42,-146.6,183.8,-10.5,84,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2899,3502
$GC,2099,-1.42,-146.6,216.5,-10.6,99,2104,0.00,2.55,0.00,0.000,4,0.000,0.061,2093,1490,3502
$GC,2165,-1.42,-146.6,223.5,-9.8,102,2170,0.00,2.65,0.00,0.000,6,0.000,0.071,2093,2895,3502
$GC,2492,-1.42,-146.6,255.9,-9.9,118,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2895,3502
$GC,2801,-1.42,-146.6,285.9,-9.5,133,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2895,3501
$GC,3111,-1.42,-146.6,314.0,-8.7,148,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2895,3502
$GC,3420,-1.42,-146.6,341.9,-9.0,163,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2895,3502
$GC,3729,-1.42,-146.6,370.4,-9.6,178,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2895,3502
$GC,4039,-1.42,-146.6,400.0,-9.3,193,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2894,3502
$GC,4348,-1.42,-146.6,429.7,-9.3,208,4352,0.00,2.53,0.00,0.000,4,0.000,0.058,2093,1488,3502
$GC,4373,-1.42,-146.6,431.9,-9.0,209,4378,0.00,2.62,0.00,0.000,6,0.000,0.067,2093,2895,3502
$GC,4695,-1.42,-146.6,459.0,-8.7,225,4699,0.00,2.53,0.00,0.000,4,0.000,0.058,2093,1490,3502
$GC,4771,-1.42,-146.6,465.3,-7.3,228,4778,0.00,2.60,0.00,0.000,6,0.000,0.067,2093,2899,3502
$GC,5086,-1.42,-146.6,490.8,-8.2,244,5091,0.00,2.55,0.00,0.000,4,0.000,0.058,2093,1482,3502
$GC,5256,-1.42,-146.6,505.0,-7.9,251,5262,0.00,2.62,0.00,0.000,6,0.000,0.067,2093,2899,3502
$GC,5570,-1.42,-146.6,534.1,-8.9,267,5574,0.00,2.55,0.00,0.000,4,0.000,0.058,2093,1482,3502
$GC,5646,-1.42,-146.6,541.1,-8.9,270,5654,0.00,2.65,0.00,0.000,6,0.000,0.067,2093,2900,3502
$GC,5963,-1.42,-146.6,568.8,-7.9,286,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2900,3502
$GC,6271,-1.42,-146.6,594.5,-8.7,301,6275,0.00,2.58,0.00,0.000,4,0.000,0.059,2093,1482,3502
$GC,6384,-1.42,-146.6,602.0,-6.4,306,6388,0.00,2.65,0.00,0.000,6,0.000,0.069,2093,2901,3502
$GC,6704,-1.42,-146.6,626.3,-7.2,322,6708,0.00,2.58,0.00,0.000,4,0.000,0.058,2093,1484,3502
$GC,6788,-1.42,-146.6,632.1,-6.9,326,6792,0.00,2.62,0.00,0.000,6,0.000,0.070,2093,2900,3502
$GC,7113,-1.42,-146.6,653.5,-6.3,342,7116,0.00,1.70,0.00,0.000,4,0.000,0.097,2093,3786,3502
$GC,7225,-1.42,-146.6,661.9,-7.6,347,7228,0.00,1.58,0.00,0.000,6,0.000,0.046,2093,2882,3502
$GC,7556,-1.42,-146.6,689.9,-6.5,363,7557,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2882,3500
$GC,7865,-1.42,-146.6,717.2,-10.6,378,7869,0.00,2.55,0.00,0.000,4,0.000,0.071,2093,1491,3500
$GC,7903,-1.42,-146.6,721.4,-10.8,380,7907,0.00,2.67,0.00,0.000,6,0.000,0.080,2093,2905,3499
$GC,8230,-1.42,-146.6,750.5,-7.1,396,8233,0.00,1.70,0.00,0.000,4,0.000,0.104,2093,3783,3498
$GC,8302,-1.42,-146.6,756.6,-7.1,399,8306,0.00,1.58,0.00,0.000,6,0.000,0.051,2093,2897,3497
$GC,8628,-1.42,-146.6,786.0,-6.5,415,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2896,3496
$STATE,8874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8874,begin apogee
$GC,8880,-0.42,0.0,806.3,9.6,427,9010,1.10,0.00,125.78,1.441,6,0.080,0.000,2320,1776,2901
$STATE,9010,end apogee,CONTROL_FINISHED_OK
$STATE,9010,begin climb
$GC,9012,1.42,146.6,809.5,0.0,433,9145,1.88,2.80,124.68,1.377,4,0.057,0.080,2716,3190,2303
$GC,9399,1.69,365.7,809.3,-0.0,451,9592,0.28,2.67,183.25,1.351,6,0.033,0.070,2788,1773,1410
$GC,9912,1.69,365.7,749.2,14.5,476,9916,0.00,2.65,0.00,0.000,4,0.000,0.067,2787,3189,1410
$GC,10073,1.69,365.7,718.8,18.6,483,10077,0.00,2.60,0.00,0.000,6,0.000,0.049,2787,1766,1410
$GC,10394,1.69,365.7,662.2,17.6,499,10398,0.00,2.65,0.00,0.000,4,0.000,0.068,2787,3193,1410
$GC,10425,1.69,365.7,656.6,18.0,500,10433,0.00,2.58,0.00,0.000,6,0.000,0.049,2787,1782,1409
$GC,10741,1.69,365.7,605.2,16.4,516,10745,0.00,2.65,0.00,0.000,4,0.000,0.071,2788,3188,1409
$GC,10779,1.69,365.7,598.5,18.2,518,10783,0.00,2.55,0.00,0.000,6,0.000,0.049,2787,1774,1408
$GC,11105,1.69,365.7,543.3,16.7,534,11109,0.00,2.62,0.00,0.000,4,0.000,0.071,2788,368,1407
$GC,11232,1.69,365.7,521.6,16.4,540,11237,0.00,2.53,0.00,0.000,6,0.000,0.041,2788,1791,1407
$GC,11558,1.69,365.7,463.3,18.5,556,11562,0.00,2.62,0.00,0.000,4,0.000,0.063,2788,368,1407
$GC,11690,1.69,365.7,440.0,17.6,562,11695,0.00,2.50,0.00,0.000,6,0.000,0.040,2787,1766,1407
$GC,12017,1.69,365.7,389.3,16.7,578,12021,0.00,2.62,0.00,0.000,4,0.000,0.068,2787,3185,1407
$GC,12043,1.69,365.7,384.7,18.2,579,12048,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,1771,1407
$GC,12363,1.69,365.7,330.3,16.9,595,12368,0.00,2.60,0.00,0.000,4,0.000,0.067,2788,3181,1407
$GC,12412,1.69,365.7,321.5,17.4,597,12417,0.00,2.50,0.00,0.000,6,0.000,0.045,2788,1783,1407
$GC,12733,1.69,365.7,267.1,17.2,613,12738,0.00,2.60,0.00,0.000,4,0.000,0.069,2788,3184,1408
$GC,12759,1.69,365.7,262.2,17.7,614,12765,0.00,2.53,0.00,0.000,6,0.000,0.046,2788,1776,1408
$GC,13080,1.69,365.7,209.2,15.9,630,13084,0.00,2.60,0.00,0.000,4,0.000,0.070,2787,3181,1409
$GC,13119,1.69,365.7,202.8,16.6,632,13123,0.00,2.50,0.00,0.000,6,0.000,0.048,2788,1768,1410
$GC,13444,1.69,365.7,147.7,16.7,648,13448,0.00,2.62,0.00,0.000,4,0.000,0.070,2788,3185,1410
$GC,13486,1.69,365.7,140.1,17.2,650,13491,0.00,2.53,0.00,0.000,6,0.000,0.049,2788,1781,1411
$GC,13814,1.69,365.7,87.0,16.2,666,13818,0.00,2.62,0.00,0.000,4,0.000,0.071,2788,3183,1412
$GC,13857,1.69,365.7,79.6,16.3,668,13861,0.00,2.53,0.00,0.000,6,0.000,0.049,2788,1778,1412
$GC,14184,1.69,365.7,27.1,16.1,684,14188,0.00,2.65,0.00,0.000,4,0.000,0.073,2788,3186,1412
$GC,14232,1.69,365.7,18.5,17.1,686,14236,0.00,2.55,0.00,0.000,6,0.000,0.052,2788,1780,1413
$STATE,14347,end climb,SURFACE_DEPTH_REACHED
$STATE,14347,begin surface coast
$FINISH,-1.2,1.011081
$STATE,14368,end surface coast,CONTROL_FINISHED_OK
$STATE,14368,begin surface
$SM_CCo,14448,0.00,0.000,0,0,1413,365.01
$SM_GC,-0.36,12.07,0.00,0.00,0.031,0.000,0.000,48,2889,1413,-10.79,-0.31,365.01
$IRIDIUM_FIX,6112.75,-846.83,201107,171716
$TT8_MAMPS,0.028379
$HUMID,2125
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,726.5,89.1
$24V_AH,23.3,15.437
$10V_AH,10.1,5.828
$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,27.075,126.325,433.700,0.000,0.000,39.044,34.678,139.866,7.750,0.000,0.000,12.446,1324.844,10858.050,512.048,1729.266,370.142,33.350,1400.705,0.000,1696.003,0.000,42.844
$DEVICE_MAMPS,164.138,115.050,1441.193,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,506.193,477.597,392.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34828,693
$CFSIZE,260165632,255565824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,201107,232007,6144.833,-848.481,31,1.1,31,-9.2