version: 66.02
glider: 103
mission: 7
dive: 67
start: 11 22 107 9 50 25
data:
$ID,103
$MISSION,7
$DIVE,67
$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,-63419.676
$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,24
$R_STBD_OVSHOOT,14
$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
$GPS1,094438,6151.777,-905.985,37,1.7,37,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-53.4
$GPS2,094921,6151.735,-905.899,16,1.7,16,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.093,-0.225
$KALMAN_X,-105573.1,605.3,1007.0,76177.7,-1362.4
$KALMAN_Y,106683.8,-594.4,432.2,-73648.6,3081.6
$MHEAD_RNG_PITCHd_Wd,167.0,59007,-14.9,-8.000
$D_GRID,598
$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,-62.42,0.000,2,0.000,0.000,52,2888,3479
$GC,84,-1.42,-146.6,4.0,-9.9,3,106,11.68,2.62,-0.35,0.000,4,0.163,0.074,2096,1490,3502
$GC,357,-1.42,-146.6,39.4,-10.1,15,362,0.00,2.72,0.00,0.000,6,0.000,0.081,2096,2897,3502
$GC,684,-1.42,-146.6,68.9,-8.8,31,689,0.00,2.58,0.00,0.000,4,0.000,0.061,2096,1492,3503
$GC,723,-1.42,-146.6,72.5,-9.1,33,728,0.00,2.67,0.00,0.000,6,0.000,0.077,2096,2904,3502
$GC,1048,-1.42,-146.6,104.6,-9.9,49,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3503
$GC,1358,-1.42,-146.6,134.3,-9.6,64,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3503
$GC,1666,-1.42,-146.6,162.7,-9.3,79,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3502
$GC,1976,-1.42,-146.6,191.8,-9.6,94,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3502
$GC,2285,-1.42,-146.6,220.6,-9.2,109,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3502
$GC,2594,-1.42,-146.6,248.7,-9.1,124,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3502
$GC,2904,-1.42,-146.6,277.3,-9.7,139,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3502
$GC,3213,-1.42,-146.6,306.7,-10.2,154,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3502
$GC,3522,-1.42,-146.6,336.2,-9.4,169,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2904,3502
$GC,3831,-1.42,-146.6,367.9,-10.6,184,3835,0.00,1.70,0.00,0.000,4,0.000,0.094,2096,3779,3502
$GC,3869,-1.42,-146.6,372.0,-10.7,185,3877,0.00,1.52,0.00,0.000,6,0.000,0.045,2096,2910,3503
$GC,4185,-1.42,-146.6,404.1,-10.1,201,4189,0.00,2.58,0.00,0.000,4,0.000,0.061,2096,1485,3502
$GC,4250,-1.42,-146.6,410.2,-9.2,204,4255,0.00,2.67,0.00,0.000,6,0.000,0.072,2096,2901,3502
$GC,4577,-1.42,-146.6,435.9,-7.4,220,4581,0.00,2.55,0.00,0.000,4,0.000,0.058,2096,1483,3502
$GC,4620,-1.42,-146.6,439.3,-7.6,222,4624,0.00,2.65,0.00,0.000,6,0.000,0.071,2096,2902,3502
$GC,4946,-1.42,-146.6,464.7,-7.3,238,4950,0.00,1.67,0.00,0.000,4,0.000,0.091,2096,3785,3502
$GC,5193,-1.42,-146.6,484.1,-9.4,249,5196,0.00,1.55,0.00,0.000,6,0.000,0.044,2096,2901,3502
$GC,5524,-1.42,-146.6,514.8,-9.0,265,5528,0.00,2.53,0.00,0.000,4,0.000,0.058,2096,1486,3502
$GC,5757,-1.42,-146.6,535.4,-8.2,275,5762,0.00,2.65,0.00,0.000,6,0.000,0.072,2096,2892,3502
$GC,6079,-1.42,-146.6,559.9,-7.7,291,6083,0.00,2.53,0.00,0.000,4,0.000,0.058,2096,1485,3502
$GC,6110,-1.42,-146.6,562.3,-6.9,292,6117,0.00,2.65,0.00,0.000,6,0.000,0.073,2096,2904,3502
$GC,6426,-1.42,-146.6,592.2,-11.5,308,6430,0.00,2.55,0.00,0.000,4,0.000,0.060,2096,1485,3502
$GC,6452,-1.42,-146.6,595.6,-12.3,309,6457,0.00,2.65,0.00,0.000,6,0.000,0.071,2096,2897,3502
$STATE,6489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6489,begin apogee
$GC,6495,-0.42,0.0,598.8,8.6,311,6623,1.08,0.00,124.12,1.248,6,0.077,0.000,2318,1776,2901
$STATE,6623,end apogee,CONTROL_FINISHED_OK
$STATE,6623,begin climb
$GC,6625,1.42,146.6,601.1,0.0,317,6756,1.85,2.78,120.62,1.225,4,0.045,0.074,2722,370,2303
$GC,6980,1.44,162.9,589.0,7.4,333,7000,0.00,2.50,15.07,1.147,6,0.000,0.042,2722,1799,2236
$GC,7322,1.49,204.8,566.5,6.5,350,7364,0.00,2.60,34.97,1.211,4,0.000,0.072,2722,3162,2066
$GC,7481,1.49,204.8,550.7,11.7,357,7485,0.00,2.53,0.00,0.000,6,0.000,0.054,2722,1770,2066
$GC,7807,1.53,232.8,522.6,7.0,373,7837,0.00,2.70,24.17,1.201,4,0.000,0.074,2722,3162,1951
$GC,7888,1.53,232.8,516.4,8.0,376,7894,0.00,2.55,0.00,0.000,6,0.000,0.056,2722,1776,1950
$GC,8202,1.53,232.8,490.2,9.0,392,8207,0.00,2.62,0.00,0.000,4,0.000,0.075,2722,3167,1948
$GC,8245,1.53,232.8,486.0,9.5,394,8250,0.00,2.55,0.00,0.000,6,0.000,0.056,2722,1779,1948
$GC,8572,1.53,232.8,456.4,9.0,410,8577,0.00,2.58,0.00,0.000,4,0.000,0.070,2722,3164,1947
$GC,8666,1.53,232.8,447.3,9.0,414,8671,0.00,2.55,0.00,0.000,6,0.000,0.056,2722,1774,1947
$GC,8987,1.53,236.3,420.6,7.9,430,8997,0.00,2.65,4.00,0.844,4,0.000,0.071,2722,3161,1937
$GC,9063,1.53,236.3,414.0,9.4,433,9068,0.00,2.55,0.00,0.000,6,0.000,0.057,2722,1776,1937
$GC,9384,1.53,236.3,385.7,9.2,449,9389,0.00,2.60,0.00,0.000,4,0.000,0.070,2722,3169,1937
$GC,9455,1.53,236.3,378.6,9.7,452,9460,0.00,2.55,0.00,0.000,6,0.000,0.055,2722,1773,1937
$GC,9776,1.53,236.3,349.7,8.8,468,9781,0.00,2.58,0.00,0.000,4,0.000,0.068,2722,3162,1937
$GC,9842,1.53,236.3,343.5,9.0,471,9847,0.00,2.53,0.00,0.000,6,0.000,0.054,2722,1774,1938
$GC,10169,1.53,236.3,314.2,8.7,487,10173,0.00,2.58,0.00,0.000,4,0.000,0.068,2722,3164,1938
$GC,10240,1.53,236.3,307.8,8.9,490,10244,0.00,2.53,0.00,0.000,6,0.000,0.053,2722,1775,1938
$GC,10561,1.53,236.3,279.5,8.8,506,10565,0.00,2.60,0.00,0.000,4,0.000,0.068,2722,3170,1939
$GC,10644,1.53,236.3,272.1,8.7,510,10648,0.00,2.50,0.00,0.000,6,0.000,0.054,2722,1774,1939
$GC,10970,1.53,236.3,243.8,8.7,526,10975,0.00,2.60,0.00,0.000,4,0.000,0.068,2722,3168,1940
$GC,11047,1.53,236.3,236.9,8.7,529,11054,0.00,2.53,0.00,0.000,6,0.000,0.054,2722,1776,1940
$GC,11363,1.53,236.3,209.9,8.7,545,11367,0.00,2.58,0.00,0.000,4,0.000,0.069,2722,3164,1940
$GC,11440,1.53,236.3,202.9,9.0,548,11444,0.00,2.53,0.00,0.000,6,0.000,0.056,2722,1779,1941
$GC,11761,1.53,236.3,175.0,8.7,564,11765,0.00,2.58,0.00,0.000,4,0.000,0.070,2722,3170,1941
$GC,11837,1.53,236.3,168.2,8.9,567,11844,0.00,2.55,0.00,0.000,6,0.000,0.057,2722,1776,1941
$GC,12154,1.53,236.3,138.3,10.2,583,12159,0.00,2.60,0.00,0.000,4,0.000,0.069,2722,3171,1942
$GC,12242,1.53,236.3,129.1,9.9,587,12247,0.00,2.53,0.00,0.000,6,0.000,0.056,2722,1782,1942
$GC,12570,1.53,236.3,97.0,9.8,603,12574,0.00,2.58,0.00,0.000,4,0.000,0.070,2722,3164,1942
$GC,12653,1.53,236.3,88.4,11.7,607,12657,0.00,2.50,0.00,0.000,6,0.000,0.056,2722,1774,1943
$GC,12978,1.53,236.3,53.1,10.9,623,12982,0.00,2.60,0.00,0.000,4,0.000,0.071,2722,3166,1943
$GC,13039,1.53,236.3,46.6,9.8,626,13043,0.00,2.50,0.00,0.000,6,0.000,0.056,2722,1775,1943
$GC,13365,1.53,236.3,20.8,8.1,642,13370,0.00,2.58,0.00,0.000,4,0.000,0.070,2722,3165,1944
$GC,13431,1.53,236.3,14.0,9.2,645,13436,0.00,2.53,0.00,0.000,6,0.000,0.055,2722,1776,1944
$STATE,13550,end climb,SURFACE_DEPTH_REACHED
$STATE,13550,begin surface coast
$FINISH,-0.5,1.027254
$STATE,13572,end surface coast,CONTROL_FINISHED_OK
$STATE,13572,begin surface
$SM_CCo,13593,53.60,0.800,1,0,1678,300.00
$SM_GC,-0.22,0.00,0.00,53.60,0.000,0.000,0.800,48,2885,1678,-10.87,-0.42,300.00
$IRIDIUM_FIX,6126.23,-904.52,221107,090900
$TT8_MAMPS,0.029146
$HUMID,2082
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,525.4,98.0
$24V_AH,23.4,16.836
$10V_AH,10.1,6.494
$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,26.275,134.625,322.975,53.600,0.000,39.461,26.872,131.253,4.500,0.000,0.000,16.038,1262.603,10173.107,501.861,1687.052,327.314,33.362,1345.673,0.000,1654.624,0.000,29.917
$DEVICE_MAMPS,163.371,94.341,1247.909,799.981,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.911,450.299,422.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31644,652
$CFSIZE,260165632,255057920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,1,0
$GPS,221107,133907,6149.867,-903.682,37,1.5,37,-9.4