version: 66.02
glider: 103
mission: 7
dive: 69
start: 11 22 107 17 20 36
data:
$ID,103
$MISSION,7
$DIVE,69
$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,-63452.703
$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,11
$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
$GPS1,171508,6148.498,-903.104,31,1.3,31,-9.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-56.7
$GPS2,171933,6148.484,-903.064,15,1.6,15,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.049,-0.238
$KALMAN_X,-103358.7,683.5,-377.5,77781.5,826.9
$KALMAN_Y,107918.1,-173.9,-283.7,-80601.4,3136.3
$MHEAD_RNG_PITCHd_Wd,201.0,52823,-14.9,-8.000
$D_GRID,649
$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,-146.6,0.0,0.0,0,82,0.00,0.00,-61.83,0.000,2,0.000,0.000,45,2889,3445
$GC,84,-1.42,-146.6,3.8,-9.5,3,106,11.68,1.77,-0.98,0.000,4,0.162,0.109,2095,3786,3501
$GC,357,-1.42,-146.6,43.9,-10.9,15,362,0.00,1.58,0.00,0.000,6,0.000,0.048,2095,2905,3502
$GC,684,-1.42,-146.6,76.2,-9.5,31,688,0.00,1.70,0.00,0.000,4,0.000,0.091,2095,3785,3502
$GC,896,-1.42,-146.6,97.5,-9.7,40,900,0.00,1.58,0.00,0.000,6,0.000,0.048,2095,2900,3503
$GC,1217,-1.42,-146.6,130.0,-9.6,56,1221,0.00,2.58,0.00,0.000,4,0.000,0.061,2095,1482,3503
$GC,1248,-1.42,-146.6,133.1,-9.8,57,1256,0.00,2.72,0.00,0.000,6,0.000,0.078,2095,2900,3503
$GC,1564,-1.42,-146.6,163.8,-9.6,73,1567,0.00,1.70,0.00,0.000,4,0.000,0.091,2095,3793,3503
$GC,1592,-1.42,-146.6,166.5,-10.0,74,1595,0.00,1.58,0.00,0.000,6,0.000,0.046,2095,2898,3503
$GC,1917,-1.42,-146.6,199.5,-10.5,90,1921,0.00,2.55,0.00,0.000,4,0.000,0.062,2095,1489,3503
$GC,1961,-1.42,-146.6,203.9,-10.0,92,1966,0.00,2.70,0.00,0.000,6,0.000,0.081,2095,2902,3503
$GC,2280,-1.42,-146.6,237.6,-10.6,108,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2901,3503
$GC,2589,-1.42,-146.6,269.6,-10.4,123,2594,0.00,2.58,0.00,0.000,4,0.000,0.064,2095,1484,3503
$GC,2638,-1.42,-146.6,274.9,-10.7,125,2644,0.00,2.67,0.00,0.000,6,0.000,0.078,2095,2900,3503
$GC,2959,-1.42,-146.6,307.8,-10.4,141,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2900,3503
$GC,3268,-1.42,-146.6,339.4,-10.0,156,3272,0.00,2.58,0.00,0.000,4,0.000,0.063,2095,1489,3503
$GC,3299,-1.42,-146.6,342.5,-9.5,157,3306,0.00,2.67,0.00,0.000,6,0.000,0.074,2095,2903,3503
$GC,3615,-1.42,-146.6,371.6,-9.1,173,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2903,3503
$GC,3924,-1.42,-146.6,399.6,-9.1,188,3929,0.00,2.55,0.00,0.000,4,0.000,0.061,2095,1487,3503
$GC,3950,-1.42,-146.6,402.1,-9.4,189,3955,0.00,2.65,0.00,0.000,6,0.000,0.071,2095,2893,3503
$GC,4277,-1.42,-146.6,432.0,-9.3,205,4280,0.00,1.70,0.00,0.000,4,0.000,0.088,2095,3793,3503
$GC,4348,-1.42,-146.6,438.9,-9.4,208,4353,0.00,1.58,0.00,0.000,6,0.000,0.043,2095,2902,3503
$GC,4675,-1.42,-146.6,469.2,-9.2,224,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2902,3503
$GC,4984,-1.42,-146.6,497.1,-9.3,239,4988,0.00,2.55,0.00,0.000,4,0.000,0.060,2095,1480,3503
$GC,5077,-1.42,-146.6,506.3,-10.2,243,5082,0.00,2.65,0.00,0.000,6,0.000,0.070,2095,2894,3503
$GC,5398,-1.42,-146.6,540.4,-11.2,259,5403,0.00,2.55,0.00,0.000,4,0.000,0.059,2095,1480,3503
$GC,5522,-1.42,-146.6,556.0,-12.8,264,5528,0.00,2.65,0.00,0.000,6,0.000,0.071,2095,2899,3503
$GC,5836,-1.42,-146.6,594.1,-11.1,280,5840,0.00,1.67,0.00,0.000,4,0.000,0.087,2095,3789,3503
$GC,6020,-1.42,-146.6,613.4,-9.3,288,6025,0.00,1.58,0.00,0.000,6,0.000,0.041,2095,2893,3503
$GC,6347,-1.42,-146.6,636.3,-6.0,304,6352,0.00,2.55,0.00,0.000,4,0.000,0.062,2095,1482,3503
$GC,6391,-1.42,-146.6,639.0,-7.5,306,6395,0.00,2.62,0.00,0.000,6,0.000,0.067,2095,2900,3503
$STATE,6613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6613,begin apogee
$GC,6618,-0.42,0.0,650.2,5.8,317,6747,1.10,0.00,125.07,1.253,6,0.085,0.000,2319,1776,2901
$STATE,6748,end apogee,CONTROL_FINISHED_OK
$STATE,6748,begin climb
$GC,6750,1.42,146.6,651.7,0.0,323,6881,1.85,2.75,122.47,1.214,4,0.051,0.074,2719,358,2303
$GC,6908,1.42,146.6,642.2,9.9,330,6916,0.00,2.55,0.00,0.000,6,0.000,0.038,2719,1788,2303
$GC,7224,1.44,156.9,617.6,7.6,346,7239,0.00,2.60,10.25,1.088,4,0.000,0.062,2719,3175,2261
$GC,7491,1.50,206.3,597.1,6.2,357,7538,0.00,2.53,42.08,1.202,6,0.000,0.044,2719,1776,2059
$GC,7854,1.56,255.8,573.7,6.2,375,7901,0.12,2.65,41.42,1.195,4,0.048,0.059,2755,3172,1858
$GC,8012,1.56,255.8,558.3,10.8,382,8017,0.00,2.53,0.00,0.000,6,0.000,0.042,2755,1768,1857
$GC,8333,1.56,255.8,520.5,11.8,398,8337,0.00,2.60,0.00,0.000,4,0.000,0.069,2755,371,1856
$GC,8399,1.56,255.8,511.9,12.9,401,8403,0.00,2.47,0.00,0.000,6,0.000,0.038,2755,1771,1856
$GC,8726,1.56,255.8,474.3,11.7,417,8730,0.00,2.55,0.00,0.000,4,0.000,0.061,2755,3169,1855
$GC,8853,1.56,255.8,457.5,13.1,423,8858,0.00,2.45,0.00,0.000,6,0.000,0.042,2755,1774,1855
$GC,9179,1.56,255.8,418.4,11.4,439,9183,0.00,2.55,0.00,0.000,4,0.000,0.062,2755,3171,1855
$GC,9251,1.56,255.8,410.2,11.8,442,9255,0.00,2.47,0.00,0.000,6,0.000,0.041,2755,1779,1855
$GC,9572,1.56,255.8,373.4,11.6,458,9576,0.00,2.55,0.00,0.000,4,0.000,0.064,2755,3171,1855
$GC,9614,1.56,255.8,368.3,11.8,460,9619,0.00,2.47,0.00,0.000,6,0.000,0.044,2755,1778,1855
$GC,9941,1.56,255.8,330.0,11.7,476,9946,0.00,2.58,0.00,0.000,4,0.000,0.064,2755,3175,1856
$GC,9984,1.56,255.8,324.6,12.4,478,9989,0.00,2.50,0.00,0.000,6,0.000,0.044,2755,1777,1856
$GC,10311,1.56,255.8,284.4,12.2,494,10315,0.00,2.55,0.00,0.000,4,0.000,0.065,2755,3174,1856
$GC,10355,1.56,255.8,278.9,12.8,496,10359,0.00,2.47,0.00,0.000,6,0.000,0.045,2755,1775,1856
$GC,10681,1.56,255.8,240.0,12.2,512,10685,0.00,2.58,0.00,0.000,4,0.000,0.066,2755,3172,1857
$GC,10712,1.56,255.8,236.0,12.9,513,10720,0.00,2.50,0.00,0.000,6,0.000,0.046,2755,1777,1857
$GC,11028,1.56,255.8,197.2,12.3,529,11032,0.00,2.58,0.00,0.000,4,0.000,0.066,2755,3170,1858
$GC,11059,1.56,255.8,193.1,12.5,530,11067,0.00,2.50,0.00,0.000,6,0.000,0.046,2755,1772,1858
$GC,11375,1.56,255.8,154.1,12.5,546,11379,0.00,2.58,0.00,0.000,4,0.000,0.067,2755,3175,1858
$GC,11436,1.56,255.8,146.5,12.6,549,11440,0.00,2.47,0.00,0.000,6,0.000,0.048,2755,1774,1858
$GC,11761,1.56,255.8,107.1,12.2,565,11766,0.00,2.60,0.00,0.000,4,0.000,0.067,2755,3172,1859
$GC,11810,1.56,255.8,101.0,12.0,567,11814,0.00,2.50,0.00,0.000,6,0.000,0.048,2755,1777,1859
$GC,12131,1.56,255.8,63.6,9.8,583,12136,0.00,2.58,0.00,0.000,4,0.000,0.068,2755,3170,1859
$GC,12185,1.56,255.8,57.8,10.5,585,12193,0.00,2.50,0.00,0.000,6,0.000,0.045,2755,1771,1859
$GC,12501,1.56,255.8,24.4,9.0,601,12506,0.00,2.60,0.00,0.000,4,0.000,0.065,2755,3177,1859
$GC,12540,1.56,255.8,19.6,12.8,603,12545,0.00,2.50,0.00,0.000,6,0.000,0.051,2755,1774,1860
$STATE,12700,end climb,SURFACE_DEPTH_REACHED
$STATE,12700,begin surface coast
$FINISH,-0.9,1.012701
$STATE,12722,end surface coast,CONTROL_FINISHED_OK
$STATE,12722,begin surface
$SM_CCo,12743,38.22,0.754,2,0,1678,300.00
$SM_GC,-0.20,0.00,0.00,38.22,0.000,0.000,0.754,50,2889,1678,-10.86,-0.31,300.00
$IRIDIUM_FIX,6126.23,-900.02,221107,171742
$TT8_MAMPS,0.029146
$HUMID,2068
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.6,62.5
$24V_AH,23.4,17.111
$10V_AH,10.1,6.621
$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,26.700,138.750,341.300,38.225,0.000,40.902,27.123,115.087,5.750,0.000,0.000,16.389,1199.137,9462.655,511.408,1596.016,305.619,33.361,1327.503,0.000,1556.108,0.000,39.237
$DEVICE_MAMPS,161.837,108.914,1253.278,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.845,423.394,386.973,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31604,612
$CFSIZE,260165632,254959616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,35,2,0
$GPS,221107,205505,6146.262,-901.323,35,1.4,44,-9.3