version: 66.02
glider: 103
mission: 7
dive: 62
start: 11 21 107 14 41 47
data:
$ID,103
$MISSION,7
$DIVE,62
$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,-63322.367
$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,36
$R_STBD_OVSHOOT,20
$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
$GPS1,143532,6151.834,-910.584,38,1.5,38,-9.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-54.7
$GPS2,144009,6151.864,-910.638,16,1.2,16,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.119,-0.212
$KALMAN_X,-104401.6,555.0,-37.0,71930.2,-2135.4
$KALMAN_Y,89464.8,869.9,-649.9,-56575.6,5195.0
$MHEAD_RNG_PITCHd_Wd,160.1,59764,-14.9,-8.000
$D_GRID,616
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-63.90,0.000,6,0.000,0.000,51,2875,3501
$GC,88,-1.42,-146.6,5.1,-8.5,4,109,11.60,2.58,0.00,0.000,4,0.160,0.067,2096,1510,3504
$GC,361,-1.42,-146.6,42.9,-7.9,16,365,0.00,2.65,0.00,0.000,6,0.000,0.080,2095,2897,3505
$GC,687,-1.42,-146.6,73.5,-10.1,32,692,0.00,2.58,0.00,0.000,4,0.000,0.066,2095,1507,3505
$GC,736,-1.42,-146.6,79.1,-10.4,34,741,0.00,2.65,0.00,0.000,6,0.000,0.076,2096,2906,3504
$GC,1057,-1.42,-146.6,111.7,-10.5,50,1061,0.00,1.70,0.00,0.000,4,0.000,0.100,2095,3786,3505
$GC,1089,-1.42,-146.6,115.3,-10.7,51,1094,0.00,1.58,0.00,0.000,6,0.000,0.048,2096,2907,3505
$GC,1411,-1.42,-146.6,148.2,-11.6,67,1415,0.00,2.60,0.00,0.000,4,0.000,0.068,2096,1487,3505
$GC,1453,-1.42,-146.6,153.4,-12.2,69,1458,0.00,2.67,0.00,0.000,6,0.000,0.074,2096,2894,3504
$GC,1780,-1.42,-146.6,189.2,-8.3,85,1783,0.00,1.73,0.00,0.000,4,0.000,0.096,2096,3790,3505
$GC,1824,-1.42,-146.6,192.9,-7.9,87,1828,0.00,1.58,0.00,0.000,6,0.000,0.051,2096,2896,3504
$GC,2155,-1.42,-146.6,220.8,-8.5,103,2160,0.00,2.55,0.00,0.000,4,0.000,0.063,2096,1490,3505
$GC,2211,-1.42,-146.6,225.3,-8.5,105,2218,0.00,2.67,0.00,0.000,6,0.000,0.077,2096,2897,3504
$GC,2526,-1.42,-146.6,252.9,-9.1,121,2530,0.00,1.70,0.00,0.000,4,0.000,0.095,2095,3783,3505
$GC,2603,-1.42,-146.6,261.0,-10.6,124,2608,0.00,1.58,0.00,0.000,6,0.000,0.048,2096,2898,3505
$GC,2924,-1.42,-146.6,291.2,-9.5,140,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2898,3504
$GC,3233,-1.42,-146.6,321.9,-10.1,155,3237,0.00,2.55,0.00,0.000,4,0.000,0.061,2096,1487,3504
$GC,3287,-1.42,-146.6,327.2,-9.5,157,3295,0.00,2.67,0.00,0.000,6,0.000,0.075,2096,2897,3505
$GC,3603,-1.42,-146.6,358.9,-9.2,173,3607,0.00,1.70,0.00,0.000,4,0.000,0.092,2096,3787,3504
$GC,3635,-1.42,-146.6,362.0,-9.5,174,3640,0.00,1.58,0.00,0.000,6,0.000,0.044,2096,2896,3505
$GC,3956,-1.42,-146.6,396.7,-10.7,190,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2896,3505
$GC,4265,-1.42,-146.6,428.2,-9.5,205,4270,0.00,2.55,0.00,0.000,4,0.000,0.062,2096,1483,3505
$GC,4309,-1.42,-146.6,432.7,-10.0,207,4313,0.00,2.70,0.00,0.000,6,0.000,0.077,2096,2902,3504
$GC,4635,-1.42,-146.6,467.1,-10.9,223,4640,0.00,2.58,0.00,0.000,4,0.000,0.064,2096,1485,3504
$GC,4667,-1.42,-146.6,470.7,-10.7,224,4674,0.00,2.67,0.00,0.000,6,0.000,0.074,2095,2896,3505
$GC,4983,-1.42,-146.6,504.6,-11.3,240,4987,0.00,1.73,0.00,0.000,4,0.000,0.092,2096,3786,3504
$GC,5241,-1.42,-146.6,531.1,-9.4,251,5245,0.00,1.55,0.00,0.000,6,0.000,0.044,2096,2907,3505
$GC,5562,-1.42,-146.6,552.4,-6.5,267,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2907,3504
$GC,5871,-1.42,-146.6,574.9,-7.2,282,5876,0.00,2.62,0.00,0.000,4,0.000,0.071,2095,1482,3504
$GC,5910,-1.42,-146.6,577.3,-7.2,284,5915,0.00,2.67,0.00,0.000,6,0.000,0.077,2096,2899,3505
$GC,6236,-1.42,-146.6,597.9,-9.9,300,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2899,3503
$STATE,6523,end dive,NO_VERTICAL_VELOCITY
$STATE,6523,begin apogee
$GC,6529,-0.42,0.0,605.5,0.0,314,6656,1.02,0.00,123.93,1.267,6,0.048,0.000,2323,1764,2901
$STATE,6657,end apogee,CONTROL_FINISHED_OK
$STATE,6657,begin climb
$GC,6659,1.42,146.6,605.6,0.0,320,6790,1.85,2.72,121.35,1.201,4,0.049,0.079,2721,379,2303
$GC,6869,1.42,146.6,599.8,13.7,330,6873,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,1785,2302
$GC,7195,1.51,214.0,580.6,5.5,346,7257,0.00,2.78,56.38,1.193,4,0.000,0.070,2721,367,2028
$GC,7509,1.51,214.0,547.9,13.8,360,7513,0.00,2.55,0.00,0.000,6,0.000,0.047,2722,1766,2026
$GC,7836,1.51,214.0,508.9,11.4,376,7840,0.00,2.67,0.00,0.000,4,0.000,0.076,2722,3182,2025
$GC,7878,1.51,214.0,504.5,10.1,378,7883,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1778,2025
$GC,8205,1.55,249.6,478.6,6.7,394,8240,0.12,2.70,29.40,1.211,4,0.045,0.071,2758,3185,1883
$GC,8448,1.55,249.6,459.1,9.1,405,8453,0.00,2.55,0.00,0.000,6,0.000,0.051,2758,1766,1882
$GC,8773,1.55,249.6,424.0,10.3,421,8778,0.00,2.65,0.00,0.000,4,0.000,0.067,2758,3184,1881
$GC,8850,1.55,249.6,417.6,8.3,424,8857,0.00,2.53,0.00,0.000,6,0.000,0.044,2758,1774,1881
$GC,9166,1.55,249.6,388.5,9.8,440,9170,0.00,2.60,0.00,0.000,4,0.000,0.065,2758,3185,1881
$GC,9221,1.55,249.6,382.9,10.5,442,9227,0.00,2.53,0.00,0.000,6,0.000,0.045,2758,1770,1881
$GC,9535,1.55,249.6,352.1,9.4,458,9539,0.00,2.60,0.00,0.000,4,0.000,0.065,2758,3182,1881
$GC,9567,1.55,249.6,348.8,10.0,459,9574,0.00,2.53,0.00,0.000,6,0.000,0.046,2758,1773,1882
$GC,9883,1.55,249.6,318.8,9.6,475,9887,0.00,2.60,0.00,0.000,4,0.000,0.066,2758,3184,1882
$GC,9921,1.55,249.6,314.8,11.3,477,9925,0.00,2.50,0.00,0.000,6,0.000,0.047,2758,1774,1883
$GC,10246,1.55,249.6,281.6,10.0,493,10250,0.00,2.60,0.00,0.000,4,0.000,0.067,2758,3182,1883
$GC,10322,1.55,249.6,273.9,9.6,496,10329,0.00,2.53,0.00,0.000,6,0.000,0.047,2758,1776,1883
$GC,10638,1.55,249.6,243.0,10.3,512,10642,0.00,2.60,0.00,0.000,4,0.000,0.069,2758,3183,1884
$GC,10686,1.55,249.6,237.8,10.6,514,10691,0.00,2.53,0.00,0.000,6,0.000,0.047,2758,1774,1884
$GC,11007,1.55,249.6,206.6,9.9,530,11011,0.00,2.60,0.00,0.000,4,0.000,0.067,2758,3184,1885
$GC,11050,1.55,249.6,202.1,10.7,532,11054,0.00,2.53,0.00,0.000,6,0.000,0.046,2758,1774,1885
$GC,11376,1.55,249.6,159.9,14.1,548,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1774,1886
$GC,11686,1.55,249.6,125.2,8.9,563,11690,0.00,2.65,0.00,0.000,4,0.000,0.071,2758,3188,1886
$GC,11751,1.55,249.6,118.0,9.0,566,11756,0.00,2.53,0.00,0.000,6,0.000,0.048,2758,1780,1887
$GC,12078,1.56,262.4,97.8,7.5,582,12093,0.00,0.00,12.60,0.850,6,0.000,0.000,2758,1780,1831
$GC,12389,1.57,267.8,65.1,7.8,597,12400,0.00,2.65,6.15,0.745,4,0.000,0.069,2758,3185,1809
$GC,12421,1.60,288.4,62.6,7.2,598,12448,0.00,2.55,17.73,0.834,6,0.000,0.049,2758,1777,1725
$GC,12758,1.60,288.4,22.3,15.5,615,12762,0.00,2.65,0.00,0.000,4,0.000,0.070,2758,3188,1725
$GC,12800,1.60,288.4,14.9,15.5,617,12805,0.00,2.58,0.00,0.000,6,0.000,0.052,2758,1771,1725
$STATE,12899,end climb,SURFACE_DEPTH_REACHED
$STATE,12899,begin surface coast
$FINISH,-0.9,1.027296
$STATE,12923,end surface coast,CONTROL_FINISHED_OK
$STATE,12923,begin surface
$SM_CCo,12943,11.90,0.694,1,0,1678,300.00
$SM_GC,-0.07,0.00,0.00,11.90,0.000,0.000,0.694,39,2905,1678,-10.91,0.14,300.00
$IRIDIUM_FIX,6126.23,-903.80,211107,141426
$TT8_MAMPS,0.027612
$HUMID,2076
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,525.1,92.3
$24V_AH,23.4,16.156
$10V_AH,10.1,6.153
$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,26.425,135.200,367.525,11.900,0.000,40.901,27.483,126.430,5.000,0.000,0.000,16.043,1216.028,9646.527,506.250,1582.541,338.579,33.350,1318.922,0.000,1549.039,0.000,29.903
$DEVICE_MAMPS,159.536,100.477,1267.084,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.417,428.744,402.175,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31683,623
$CFSIZE,260165632,255320064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,211107,181926,6153.341,-909.368,66,0.9,66,-9.4