version: 66.02
glider: 103
mission: 7
dive: 66
start: 11 22 107 5 42 17
data:
$ID,103
$MISSION,7
$DIVE,66
$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,-63403.012
$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,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
$GPS1,053526,6151.845,-908.419,37,1.7,37,-9.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-50.9
$GPS2,054039,6151.873,-908.372,13,1.9,13,-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,-106542.3,-23.3,-41.9,76651.2,94.2
$KALMAN_Y,104486.8,-1254.8,-85.5,-70006.3,6180.3
$MHEAD_RNG_PITCHd_Wd,195.6,59496,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.42,-146.6,0.0,0.0,0,83,0.00,0.00,-62.70,0.000,2,0.000,0.000,46,2889,3463
$GC,85,-1.42,-146.6,3.9,-9.3,3,107,11.70,1.80,-0.62,0.000,4,0.163,0.112,2096,3790,3502
$GC,358,-1.42,-146.6,37.8,-9.2,15,363,0.00,1.60,0.00,0.000,6,0.000,0.051,2096,2899,3502
$GC,685,-1.42,-146.6,68.3,-9.1,31,689,0.00,1.75,0.00,0.000,4,0.000,0.097,2096,3790,3502
$GC,880,-1.42,-146.6,88.9,-8.7,39,887,0.00,1.60,0.00,0.000,6,0.000,0.051,2096,2899,3502
$GC,1197,-1.42,-146.6,117.6,-9.6,55,1202,0.00,2.58,0.00,0.000,4,0.000,0.063,2096,1486,3502
$GC,1225,-1.42,-146.6,120.6,-10.0,56,1229,0.00,2.72,0.00,0.000,6,0.000,0.083,2096,2901,3502
$GC,1539,-1.42,-146.6,148.9,-8.9,71,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2901,3502
$GC,1848,-1.42,-146.6,173.7,-8.0,86,1852,0.00,1.73,0.00,0.000,4,0.000,0.094,2096,3787,3503
$GC,1897,-1.42,-146.6,177.9,-8.2,88,1902,0.00,1.55,0.00,0.000,6,0.000,0.044,2095,2909,3502
$GC,2224,-1.42,-146.6,208.6,-10.2,104,2228,0.00,2.60,0.00,0.000,4,0.000,0.067,2096,1486,3502
$GC,2262,-1.42,-146.6,212.4,-9.6,106,2267,0.00,2.72,0.00,0.000,6,0.000,0.084,2096,2901,3503
$GC,2587,-1.42,-146.6,246.0,-10.2,122,2591,0.00,1.70,0.00,0.000,4,0.000,0.091,2096,3794,3503
$GC,2658,-1.42,-146.6,253.7,-10.4,125,2664,0.00,1.58,0.00,0.000,6,0.000,0.040,2096,2899,3503
$GC,2986,-1.42,-146.6,284.0,-9.0,141,2990,0.00,2.55,0.00,0.000,4,0.000,0.061,2096,1488,3503
$GC,3051,-1.42,-146.6,289.8,-9.0,144,3056,0.00,2.67,0.00,0.000,6,0.000,0.073,2096,2901,3503
$GC,3377,-1.42,-146.6,317.9,-8.6,160,3381,0.00,1.67,0.00,0.000,4,0.000,0.091,2096,3785,3503
$GC,3415,-1.42,-146.6,321.5,-9.4,161,3422,0.00,1.55,0.00,0.000,6,0.000,0.038,2096,2900,3503
$GC,3731,-1.42,-146.6,348.5,-8.6,177,3735,0.00,2.55,0.00,0.000,4,0.000,0.063,2096,1488,3503
$GC,3774,-1.42,-146.6,352.2,-8.5,179,3778,0.00,2.65,0.00,0.000,6,0.000,0.070,2096,2900,3503
$GC,4101,-1.42,-146.6,378.6,-7.9,195,4104,0.00,1.67,0.00,0.000,4,0.000,0.089,2096,3789,3503
$GC,4167,-1.42,-146.6,384.1,-8.3,198,4171,0.00,1.55,0.00,0.000,6,0.000,0.038,2096,2900,3503
$GC,4499,-1.42,-146.6,410.6,-8.1,214,4503,0.00,2.53,0.00,0.000,4,0.000,0.061,2096,1489,3503
$GC,4542,-1.42,-146.6,414.1,-7.7,216,4546,0.00,2.62,0.00,0.000,6,0.000,0.072,2096,2900,3503
$GC,4868,-1.42,-146.6,440.4,-7.5,232,4872,0.00,1.67,0.00,0.000,4,0.000,0.087,2096,3792,3503
$GC,4945,-1.42,-146.6,446.5,-8.0,235,4950,0.00,1.55,0.00,0.000,6,0.000,0.038,2096,2899,3503
$GC,5267,-1.42,-146.6,470.4,-7.4,251,5271,0.00,2.53,0.00,0.000,4,0.000,0.056,2096,1487,3502
$GC,5350,-1.42,-146.6,476.5,-7.0,255,5355,0.00,2.62,0.00,0.000,6,0.000,0.067,2096,2909,3503
$GC,5677,-1.42,-146.6,490.4,-2.0,271,5680,0.00,1.62,0.00,0.000,4,0.000,0.085,2096,3780,3503
$GC,5857,-1.42,-146.6,498.5,-5.4,279,5860,0.00,1.52,0.00,0.000,6,0.000,0.038,2096,2899,3503
$GC,6188,-1.42,-146.6,519.5,-6.5,295,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2899,3503
$GC,6497,-1.42,-146.6,538.8,-7.0,310,6502,0.00,2.53,0.00,0.000,4,0.000,0.058,2096,1492,3503
$GC,6649,-1.42,-146.6,551.2,-9.0,317,6654,0.00,2.60,0.00,0.000,6,0.000,0.069,2096,2898,3502
$GC,6974,-1.42,-146.6,576.7,-8.0,333,6978,0.00,1.70,0.00,0.000,4,0.000,0.090,2096,3782,3502
$GC,7001,-1.42,-146.6,578.7,-7.7,334,7005,0.00,1.52,0.00,0.000,6,0.000,0.038,2096,2899,3503
$GC,7327,-1.42,-146.6,602.4,-8.3,350,7331,0.00,2.53,0.00,0.000,4,0.000,0.061,2096,1494,3502
$STATE,7375,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7375,begin apogee
$GC,7379,-0.42,0.0,606.7,8.6,352,7511,1.05,0.00,124.30,1.248,6,0.082,0.000,2314,1784,2901
$STATE,7511,end apogee,CONTROL_FINISHED_OK
$STATE,7511,begin climb
$GC,7513,1.42,146.6,610.6,0.0,359,7644,1.90,2.72,121.12,1.222,4,0.057,0.071,2720,381,2303
$GC,7896,1.46,174.6,590.8,7.0,376,7927,0.00,2.47,24.48,1.170,6,0.000,0.040,2720,1798,2189
$GC,8253,1.46,174.6,559.8,9.3,394,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1798,2188
$GC,8563,1.49,203.1,538.5,7.0,409,8593,0.00,2.62,24.55,1.195,4,0.000,0.074,2720,3163,2073
$GC,8608,1.50,209.5,535.0,7.8,411,8621,0.00,2.53,7.20,1.014,6,0.000,0.051,2720,1776,2047
$GC,8928,1.50,209.5,507.6,9.9,427,8933,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3167,2046
$GC,9113,1.50,209.5,489.8,9.0,435,9117,0.00,2.53,0.00,0.000,6,0.000,0.054,2720,1772,2045
$GC,9439,1.50,209.5,457.0,10.8,451,9444,0.00,2.62,0.00,0.000,4,0.000,0.071,2720,3169,2044
$GC,9635,1.50,209.5,434.6,11.1,460,9639,0.00,2.53,0.00,0.000,6,0.000,0.055,2720,1776,2044
$GC,9961,1.50,209.5,401.9,9.9,476,9966,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3171,2044
$GC,10027,1.50,209.5,394.9,10.6,479,10031,0.00,2.55,0.00,0.000,6,0.000,0.054,2720,1776,2044
$GC,10354,1.50,209.5,363.4,9.6,495,10358,0.00,2.58,0.00,0.000,4,0.000,0.071,2720,3168,2044
$GC,10499,1.50,209.5,350.7,8.7,501,10504,0.00,2.53,0.00,0.000,6,0.000,0.054,2720,1773,2044
$GC,10814,1.50,209.5,322.9,9.2,516,10818,0.00,2.60,0.00,0.000,4,0.000,0.070,2720,3164,2045
$GC,10897,1.50,209.5,314.9,9.7,520,10901,0.00,2.50,0.00,0.000,6,0.000,0.055,2720,1774,2044
$GC,11222,1.50,209.5,283.1,9.3,536,11227,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3171,2045
$GC,11293,1.50,209.5,276.2,9.8,539,11298,0.00,2.55,0.00,0.000,6,0.000,0.055,2720,1776,2045
$GC,11615,1.50,209.5,247.3,8.6,555,11619,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3164,2046
$GC,11704,1.50,209.5,239.2,8.3,559,11708,0.00,2.53,0.00,0.000,6,0.000,0.055,2720,1769,2046
$GC,12023,1.50,209.5,211.1,8.6,575,12028,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3167,2046
$GC,12122,1.50,209.5,202.2,8.9,579,12129,0.00,2.55,0.00,0.000,6,0.000,0.056,2720,1772,2047
$GC,12438,1.50,209.5,176.0,8.3,595,12442,0.00,2.58,0.00,0.000,4,0.000,0.070,2720,3165,2047
$GC,12515,1.50,209.5,168.9,8.7,598,12519,0.00,2.53,0.00,0.000,6,0.000,0.056,2720,1777,2048
$GC,12836,1.50,209.5,141.3,8.7,614,12840,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3168,2048
$GC,12923,1.50,209.5,133.5,8.8,618,12928,0.00,2.53,0.00,0.000,6,0.000,0.055,2720,1779,2048
$GC,13252,1.50,209.5,106.1,8.9,634,13256,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3171,2048
$GC,13346,1.50,209.5,97.4,9.3,638,13350,0.00,2.55,0.00,0.000,6,0.000,0.056,2720,1773,2049
$GC,13667,1.50,209.5,69.3,8.4,654,13672,0.00,2.60,0.00,0.000,4,0.000,0.072,2720,3164,2048
$GC,13774,1.50,209.5,59.6,9.2,659,13778,0.00,2.53,0.00,0.000,6,0.000,0.057,2720,1765,2049
$GC,14099,1.50,209.5,27.1,10.3,675,14104,0.00,2.62,0.00,0.000,4,0.000,0.074,2720,3164,2048
$GC,14221,1.50,209.5,13.4,10.5,680,14228,0.00,2.53,0.00,0.000,6,0.000,0.058,2720,1776,2048
$STATE,14351,end climb,SURFACE_DEPTH_REACHED
$STATE,14352,begin surface coast
$FINISH,-0.6,1.027259
$STATE,14372,end surface coast,CONTROL_FINISHED_OK
$STATE,14372,begin surface
$SM_CCo,14392,73.30,0.791,1,0,1678,300.00
$SM_GC,0.03,0.00,0.00,73.30,0.000,0.000,0.791,52,2886,1678,-10.85,-0.40,300.00
$IRIDIUM_FIX,6126.23,-909.02,221107,050537
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,550.2,66.2
$24V_AH,23.4,16.700
$10V_AH,10.1,6.427
$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,26.400,148.125,301.650,73.300,0.000,37.603,27.589,168.113,5.000,0.000,0.000,13.108,1382.302,10644.504,509.359,1899.027,401.195,33.365,1455.435,0.000,1860.373,0.000,34.383
$DEVICE_MAMPS,163.371,111.982,1247.909,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.612,475.231,437.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34887,688
$CFSIZE,260165632,255094784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,37,1,0
$GPS,221107,094438,6151.777,-905.985,37,1.7,37,-9.4