version: 66.02
glider: 103
mission: 7
dive: 59
start: 11 21 107 4 12 28
data:
$ID,103
$MISSION,7
$DIVE,59
$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,-63255.039
$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,18
$R_STBD_OVSHOOT,8
$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
$GPS1,040538,6146.830,-856.186,37,1.1,37,-9.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-59.7
$GPS2,041051,6146.914,-856.149,11,1.4,11,-9.3
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.239,-0.045
$KALMAN_X,-103340.2,747.0,372.7,83036.0,-4535.6
$KALMAN_Y,80024.5,-1572.7,6.0,-54518.2,6438.9
$MHEAD_RNG_PITCHd_Wd,268.6,19943,-14.9,-8.000
$D_GRID,650
$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,-62.55,0.000,2,0.000,0.000,45,2894,3459
$GC,84,-1.42,-146.6,4.0,-10.7,3,102,11.95,0.00,-0.68,0.000,6,0.166,0.000,2094,2894,3502
$GC,411,-1.42,-146.6,44.5,-10.0,19,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2894,3502
$GC,719,-1.42,-146.6,76.4,-9.9,34,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2894,3502
$GC,1029,-1.42,-146.6,106.5,-9.2,49,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2894,3502
$GC,1338,-1.42,-146.6,132.2,-8.0,64,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2894,3502
$GC,1646,-1.42,-146.6,161.4,-10.4,79,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2894,3502
$GC,1956,-1.42,-146.6,196.5,-11.4,94,1959,0.00,1.75,0.00,0.000,4,0.000,0.102,2094,3790,3502
$GC,2002,-1.42,-146.6,201.6,-11.7,96,2006,0.00,1.58,0.00,0.000,6,0.000,0.044,2094,2885,3502
$GC,2333,-1.42,-146.6,236.5,-9.3,112,2337,0.00,2.55,0.00,0.000,4,0.000,0.064,2094,1485,3502
$GC,2364,-1.42,-146.6,239.4,-8.5,113,2371,0.00,2.70,0.00,0.000,6,0.000,0.076,2094,2903,3502
$GC,2680,-1.42,-146.6,263.2,-8.0,129,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2903,3503
$GC,2989,-1.42,-146.6,289.7,-8.0,144,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2903,3503
$GC,3298,-1.42,-146.6,318.2,-9.5,159,3303,0.00,2.58,0.00,0.000,4,0.000,0.062,2094,1491,3503
$GC,3337,-1.42,-146.6,322.3,-10.0,161,3342,0.00,2.65,0.00,0.000,6,0.000,0.074,2094,2903,3502
$GC,3662,-1.42,-146.6,352.7,-8.1,177,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2903,3503
$GC,3972,-1.42,-146.6,377.8,-7.5,192,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2903,3502
$GC,4281,-1.42,-146.6,406.1,-9.5,207,4285,0.00,2.58,0.00,0.000,4,0.000,0.064,2094,1490,3503
$GC,4335,-1.42,-146.6,411.0,-8.9,209,4340,0.00,2.65,0.00,0.000,6,0.000,0.071,2094,2899,3503
$GC,4656,-1.42,-146.6,437.8,-8.1,225,4661,0.00,2.55,0.00,0.000,4,0.000,0.063,2094,1486,3503
$GC,4695,-1.42,-146.6,440.9,-8.1,227,4699,0.00,2.62,0.00,0.000,6,0.000,0.071,2094,2899,3503
$GC,5020,-1.42,-146.6,466.2,-7.1,243,5024,0.00,1.70,0.00,0.000,4,0.000,0.098,2094,3782,3503
$GC,5155,-1.42,-146.6,476.4,-6.4,249,5159,0.00,1.55,0.00,0.000,6,0.000,0.045,2094,2906,3503
$GC,5486,-1.42,-146.6,494.1,-7.3,265,5490,0.00,1.73,0.00,0.000,4,0.000,0.097,2093,3786,3502
$GC,5557,-1.42,-146.6,504.2,-14.3,268,5562,0.00,1.58,0.00,0.000,6,0.000,0.044,2093,2894,3503
$GC,5884,-1.42,-146.6,536.6,-9.6,284,5888,0.00,2.55,0.00,0.000,4,0.000,0.063,2094,1490,3502
$GC,5983,-1.42,-146.6,544.9,-8.4,288,5990,0.00,2.65,0.00,0.000,6,0.000,0.072,2094,2896,3503
$GC,6298,-1.42,-146.6,569.0,-8.9,304,6302,0.00,1.70,0.00,0.000,4,0.000,0.095,2094,3784,3503
$GC,6355,-1.42,-146.6,575.3,-12.6,306,6359,0.00,1.58,0.00,0.000,6,0.000,0.046,2093,2902,3503
$GC,6676,-1.42,-146.6,593.7,-2.5,322,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2902,3503
$GC,6985,-1.42,-146.6,621.3,-8.7,337,6989,0.00,2.60,0.00,0.000,4,0.000,0.069,2094,1489,3502
$STATE,7100,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7100,begin apogee
$GC,7104,-0.42,0.0,635.5,9.8,342,7235,1.02,0.00,124.05,1.292,6,0.067,0.000,2314,1782,2901
$STATE,7236,end apogee,CONTROL_FINISHED_OK
$STATE,7236,begin climb
$GC,7238,1.42,146.6,634.6,0.0,349,7364,1.92,0.00,121.07,1.244,6,0.063,0.000,2717,1782,2303
$GC,7668,1.67,346.7,613.6,0.7,370,7841,0.22,2.75,164.05,1.238,4,0.037,0.074,2780,367,1487
$GC,7874,1.67,346.7,589.9,18.6,380,7878,0.00,2.55,0.00,0.000,6,0.000,0.045,2780,1783,1487
$GC,8200,1.67,346.7,544.1,11.9,396,8204,0.00,2.65,0.00,0.000,4,0.000,0.075,2780,3182,1486
$GC,8260,1.67,346.7,537.1,11.2,399,8265,0.00,2.55,0.00,0.000,6,0.000,0.051,2780,1774,1486
$GC,8586,1.67,346.7,494.4,15.3,415,8590,0.00,2.65,0.00,0.000,4,0.000,0.071,2780,3182,1484
$GC,8730,1.67,346.7,467.6,18.7,421,8737,0.00,2.55,0.00,0.000,6,0.000,0.050,2780,1777,1484
$GC,9046,1.67,346.7,407.5,20.2,437,9050,0.00,2.62,0.00,0.000,4,0.000,0.071,2780,3179,1483
$GC,9094,1.67,346.7,396.9,22.2,439,9099,0.00,2.53,0.00,0.000,6,0.000,0.047,2780,1778,1483
$GC,9415,1.67,346.7,330.1,19.0,455,9420,0.00,2.62,0.00,0.000,4,0.000,0.071,2780,3182,1483
$GC,9469,1.67,346.7,319.7,18.5,457,9477,0.00,2.55,0.00,0.000,6,0.000,0.051,2780,1777,1483
$GC,9785,1.67,346.7,269.3,15.3,473,9789,0.00,2.62,0.00,0.000,4,0.000,0.072,2780,3183,1484
$GC,9817,1.67,346.7,264.3,14.6,474,9824,0.00,2.55,0.00,0.000,6,0.000,0.050,2780,1776,1484
$GC,10132,1.67,346.7,219.2,14.2,490,10137,0.00,2.60,0.00,0.000,4,0.000,0.073,2780,3178,1484
$GC,10181,1.67,346.7,212.1,15.1,492,10186,0.00,2.55,0.00,0.000,6,0.000,0.051,2780,1776,1484
$GC,10502,1.67,346.7,167.9,13.0,508,10506,0.00,2.62,0.00,0.000,4,0.000,0.073,2780,3181,1485
$GC,10545,1.67,346.7,161.6,14.6,510,10550,0.00,2.55,0.00,0.000,6,0.000,0.049,2780,1766,1485
$GC,10872,1.67,346.7,113.1,14.9,526,10877,0.00,2.65,0.00,0.000,4,0.000,0.073,2780,3177,1485
$GC,10921,1.67,346.7,105.0,16.2,528,10926,0.00,2.53,0.00,0.000,6,0.000,0.052,2780,1784,1486
$GC,11242,1.67,346.7,52.0,16.6,544,11247,0.00,2.62,0.00,0.000,4,0.000,0.074,2780,3178,1486
$GC,11291,1.67,346.7,43.2,17.2,546,11296,0.00,2.55,0.00,0.000,6,0.000,0.053,2780,1776,1486
$STATE,11570,end climb,SURFACE_DEPTH_REACHED
$STATE,11570,begin surface coast
$FINISH,-1.2,1.015059
$STATE,11592,end surface coast,CONTROL_FINISHED_OK
$STATE,11592,begin surface
$SM_CCo,11673,0.00,0.000,0,0,1486,347.10
$SM_GC,-0.34,11.98,0.00,0.00,0.028,0.000,0.000,47,2884,1486,-10.78,-0.42,347.10
$IRIDIUM_FIX,6117.23,-848.91,211107,030339
$TT8_MAMPS,0.028379
$HUMID,2128
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,575.3,69.8
$24V_AH,23.4,15.741
$10V_AH,10.1,5.963
$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,27.100,96.525,409.175,0.000,0.000,37.596,25.947,167.397,5.500,0.000,0.000,12.193,1047.555,8837.117,482.300,1304.342,361.466,33.359,1164.944,0.000,1276.827,0.000,33.416
$DEVICE_MAMPS,165.672,106.613,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.395,383.860,356.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28592,561
$CFSIZE,260165632,255479808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,211107,072827,6149.117,-900.918,35,6.4,54,-9.3