version: 66.02
glider: 103
mission: 7
dive: 65
start: 11 22 107 1 46 40
data:
$ID,103
$MISSION,7
$DIVE,65
$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,-63389.273
$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,27
$R_STBD_OVSHOOT,13
$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
$GPS1,013702,6151.833,-909.047,43,1.2,43,-9.4
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-53.6
$GPS2,014502,6151.799,-909.122,10,1.9,15,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.026,-0.242
$KALMAN_X,-106312.3,-291.4,-286.5,76284.4,-1055.8
$KALMAN_Y,102584.0,-1425.1,-1740.3,-66417.3,8498.5
$MHEAD_RNG_PITCHd_Wd,183.2,59448,-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,-146.6,0.0,0.0,0,82,0.00,0.00,-62.03,0.000,2,0.000,0.000,44,2893,3434
$GC,84,-1.42,-146.6,3.5,-8.0,3,106,11.68,2.62,-1.15,0.000,4,0.162,0.079,2093,1498,3500
$GC,358,-1.42,-146.6,44.3,-11.7,15,362,0.00,2.65,0.00,0.000,6,0.000,0.073,2093,2906,3501
$GC,684,-1.42,-146.6,68.9,-8.7,31,689,0.00,2.58,0.00,0.000,4,0.000,0.058,2093,1497,3501
$GC,772,-1.42,-146.6,77.7,-9.9,35,777,0.00,2.67,0.00,0.000,6,0.000,0.075,2093,2898,3501
$GC,1101,-1.42,-146.6,105.9,-7.8,51,1105,0.00,1.70,0.00,0.000,4,0.000,0.093,2093,3785,3501
$GC,1170,-1.42,-146.6,111.0,-8.4,54,1173,0.00,1.55,0.00,0.000,6,0.000,0.042,2093,2905,3502
$GC,1501,-1.42,-146.6,148.0,-16.5,70,1505,0.00,2.58,0.00,0.000,4,0.000,0.064,2093,1492,3502
$GC,1545,-1.42,-146.6,155.1,-14.6,72,1549,0.00,2.67,0.00,0.000,6,0.000,0.077,2093,2901,3502
$GC,1864,-1.42,-146.6,196.7,-11.6,88,1868,0.00,1.70,0.00,0.000,4,0.000,0.091,2093,3793,3502
$GC,1913,-1.42,-146.6,202.5,-11.6,90,1918,0.00,1.58,0.00,0.000,6,0.000,0.040,2093,2898,3502
$GC,2240,-1.42,-146.6,229.8,-8.4,106,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2898,3502
$GC,2550,-1.42,-146.6,258.1,-9.0,121,2554,0.00,2.55,0.00,0.000,4,0.000,0.061,2093,1490,3502
$GC,2587,-1.42,-146.6,261.3,-8.2,123,2592,0.00,2.65,0.00,0.000,6,0.000,0.077,2093,2900,3502
$GC,2914,-1.42,-146.6,286.3,-7.7,139,2917,0.00,1.70,0.00,0.000,4,0.000,0.091,2093,3779,3502
$GC,2958,-1.42,-146.6,289.9,-8.2,141,2962,0.00,1.55,0.00,0.000,6,0.000,0.042,2093,2900,3502
$GC,3289,-1.42,-146.6,317.6,-8.5,157,3293,0.00,2.58,0.00,0.000,4,0.000,0.064,2093,1486,3502
$GC,3332,-1.42,-146.6,321.5,-8.7,159,3337,0.00,2.67,0.00,0.000,6,0.000,0.075,2093,2898,3502
$GC,3659,-1.42,-146.6,348.2,-7.9,175,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2898,3502
$GC,3969,-1.42,-146.6,370.7,-7.1,190,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2898,3502
$GC,4278,-1.42,-146.6,396.5,-8.9,205,4282,0.00,2.55,0.00,0.000,4,0.000,0.061,2093,1488,3502
$GC,4323,-1.42,-146.6,400.3,-9.0,207,4327,0.00,2.65,0.00,0.000,6,0.000,0.071,2093,2899,3502
$GC,4642,-1.42,-146.6,432.3,-10.7,223,4645,0.00,1.67,0.00,0.000,4,0.000,0.091,2093,3786,3502
$GC,4668,-1.42,-146.6,435.7,-12.4,224,4673,0.00,1.55,0.00,0.000,6,0.000,0.039,2093,2900,3502
$GC,4995,-1.42,-146.6,471.4,-10.4,240,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2900,3502
$GC,5304,-1.42,-146.6,503.8,-9.9,255,5308,0.00,1.70,0.00,0.000,4,0.000,0.088,2093,3792,3502
$GC,5381,-1.42,-146.6,511.6,-9.9,258,5386,0.00,1.55,0.00,0.000,6,0.000,0.039,2093,2903,3502
$GC,5702,-1.42,-146.6,540.4,-8.8,274,5706,0.00,2.55,0.00,0.000,4,0.000,0.059,2093,1485,3502
$GC,5814,-1.42,-146.6,550.4,-8.4,279,5819,0.00,2.65,0.00,0.000,6,0.000,0.072,2093,2900,3502
$GC,6134,-1.42,-146.6,575.3,-7.0,295,6138,0.00,1.70,0.00,0.000,4,0.000,0.094,2093,3792,3502
$GC,6183,-1.42,-146.6,579.1,-7.6,297,6188,0.00,1.55,0.00,0.000,6,0.000,0.041,2093,2907,3502
$GC,6510,-1.42,-146.6,604.2,-7.4,313,6515,0.00,2.58,0.00,0.000,4,0.000,0.061,2093,1482,3502
$GC,6604,-1.42,-146.6,612.9,-10.8,317,6609,0.00,2.67,0.00,0.000,6,0.000,0.075,2093,2892,3502
$STATE,6655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6656,begin apogee
$GC,6661,-0.42,0.0,617.2,8.3,320,6790,1.10,0.00,124.55,1.233,6,0.078,0.000,2320,1773,2901
$STATE,6790,end apogee,CONTROL_FINISHED_OK
$STATE,6791,begin climb
$GC,6792,1.42,146.6,618.5,0.0,326,6923,1.85,2.72,120.90,1.214,4,0.051,0.068,2718,368,2303
$GC,7017,1.42,146.6,611.1,9.0,336,7024,0.00,2.55,0.00,0.000,6,0.000,0.040,2717,1795,2303
$GC,7333,1.45,165.4,584.3,7.3,352,7355,0.00,2.78,16.92,1.157,4,0.000,0.067,2717,365,2226
$GC,7381,1.45,165.4,580.1,8.5,354,7386,0.00,2.53,0.00,0.000,6,0.000,0.041,2718,1773,2226
$GC,7709,1.47,184.1,554.9,7.3,370,7731,0.00,2.72,17.05,1.161,4,0.000,0.069,2717,3171,2150
$GC,7836,1.47,186.1,545.5,7.9,375,7844,0.00,2.55,0.00,0.000,6,0.000,0.049,2718,1768,2150
$GC,8152,1.50,210.9,523.5,7.1,391,8182,0.00,2.72,22.95,1.186,4,0.000,0.068,2717,3171,2041
$GC,8203,1.50,210.9,519.1,8.6,393,8208,0.00,2.55,0.00,0.000,6,0.000,0.048,2717,1777,2041
$GC,8525,1.50,211.7,491.3,8.0,409,8529,0.00,2.62,0.00,0.000,4,0.000,0.069,2718,3172,2040
$GC,8607,1.50,211.7,484.8,8.4,413,8612,0.00,2.53,0.00,0.000,6,0.000,0.050,2718,1766,2040
$GC,8932,1.50,211.7,460.2,9.0,429,8937,0.00,2.60,0.00,0.000,4,0.000,0.067,2718,3172,2040
$GC,8986,1.50,211.7,454.9,10.0,431,8993,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1776,2039
$GC,9302,1.50,211.7,424.1,9.8,447,9306,0.00,2.58,0.00,0.000,4,0.000,0.067,2717,3172,2039
$GC,9378,1.50,211.7,416.2,10.2,450,9386,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1774,2039
$GC,9694,1.50,211.7,385.7,9.8,466,9698,0.00,2.60,0.00,0.000,4,0.000,0.067,2718,3178,2039
$GC,9736,1.50,211.7,381.3,10.3,468,9742,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1776,2039
$GC,10063,1.50,211.7,350.1,9.8,484,10068,0.00,2.60,0.00,0.000,4,0.000,0.067,2718,3180,2039
$GC,10186,1.50,211.7,337.7,10.0,489,10192,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1770,2040
$GC,10501,1.50,211.7,307.0,9.3,505,10505,0.00,2.60,0.00,0.000,4,0.000,0.069,2718,3174,2040
$GC,10584,1.50,211.7,299.2,9.7,509,10588,0.00,2.50,0.00,0.000,6,0.000,0.049,2718,1770,2040
$GC,10909,1.50,211.7,268.2,9.8,525,10913,0.00,2.60,0.00,0.000,4,0.000,0.068,2718,3176,2041
$GC,11008,1.50,211.7,258.8,9.6,529,11015,0.00,2.53,0.00,0.000,6,0.000,0.051,2718,1779,2041
$GC,11323,1.50,211.7,227.2,11.0,545,11327,0.00,2.60,0.00,0.000,4,0.000,0.073,2718,3177,2041
$GC,11394,1.50,211.7,219.3,11.0,548,11399,0.00,2.53,0.00,0.000,6,0.000,0.052,2718,1782,2041
$GC,11721,1.50,211.7,185.1,10.0,564,11725,0.00,2.60,0.00,0.000,4,0.000,0.074,2718,3170,2042
$GC,11798,1.50,211.7,178.0,8.8,567,11805,0.00,2.53,0.00,0.000,6,0.000,0.053,2718,1777,2042
$GC,12114,1.50,211.7,150.9,8.7,583,12118,0.00,2.60,0.00,0.000,4,0.000,0.074,2718,3170,2042
$GC,12184,1.50,211.7,144.3,8.8,586,12189,0.00,2.53,0.00,0.000,6,0.000,0.054,2718,1782,2043
$GC,12506,1.50,211.7,115.5,9.3,602,12510,0.00,2.62,0.00,0.000,4,0.000,0.076,2718,3172,2043
$GC,12567,1.57,267.9,112.1,5.9,605,12619,0.15,2.53,46.08,0.891,6,0.041,0.055,2761,1776,1808
$GC,12934,1.57,267.9,76.5,8.6,623,12938,0.00,2.62,0.00,0.000,4,0.000,0.071,2761,3174,1808
$GC,12965,1.57,267.9,73.9,8.1,624,12973,0.00,2.53,0.00,0.000,6,0.000,0.051,2761,1777,1808
$GC,13282,1.57,267.9,35.5,15.5,640,13287,0.00,2.62,0.00,0.000,4,0.000,0.070,2761,3178,1808
$GC,13345,1.57,267.9,26.1,14.5,643,13350,0.00,2.55,0.00,0.000,6,0.000,0.053,2761,1768,1808
$STATE,13587,end climb,SURFACE_DEPTH_REACHED
$STATE,13587,begin surface coast
$FINISH,-1.0,1.014662
$STATE,13609,end surface coast,CONTROL_FINISHED_OK
$STATE,13609,begin surface
$SM_CCo,13630,25.17,0.789,0,0,1678,300.00
$SM_GC,-0.16,0.00,0.00,25.17,0.000,0.000,0.789,45,2886,1678,-10.87,-0.40,300.00
$IRIDIUM_FIX,6126.23,-904.52,221107,050535
$TT8_MAMPS,0.029146
$HUMID,2088
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,525.7,110.9
$24V_AH,23.4,16.565
$10V_AH,10.1,6.353
$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,26.800,153.450,348.450,25.175,0.000,76.958,54.436,197.612,5.000,0.000,0.000,15.249,1292.257,10235.136,508.922,1661.949,492.098,33.361,1365.193,0.000,1628.747,0.000,29.959
$DEVICE_MAMPS,161.837,94.341,1232.569,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.339,454.129,417.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34734,656
$CFSIZE,260165632,255160320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,221107,053526,6151.845,-908.419,37,1.7,37,-9.4