version: 66.02
glider: 103
mission: 7
dive: 70
start: 11 22 107 21 6 25
data:
$ID,103
$MISSION,7
$DIVE,70
$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,-63465.898
$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,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
$GPS1,205505,6146.262,-901.323,35,1.4,44,-9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-57.5
$GPS2,210521,6146.166,-901.104,12,1.6,12,-9.3
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.004,-0.243
$KALMAN_X,-101227.1,-106.0,851.1,76932.1,164.6
$KALMAN_Y,107291.4,-836.7,445.5,-84337.3,-205.1
$MHEAD_RNG_PITCHd_Wd,190.3,48468,-14.9,-8.000
$D_GRID,694
$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,17,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,82,0.00,0.00,-61.95,0.000,2,0.000,0.000,50,2890,3494
$GC,84,-1.42,-146.6,4.4,-10.9,3,100,11.68,1.75,0.00,0.000,4,0.163,0.088,2095,3782,3495
$GC,351,-1.42,-146.6,40.0,-9.5,14,356,0.00,1.58,0.00,0.000,6,0.000,0.048,2095,2900,3498
$GC,678,-1.42,-146.6,69.7,-8.7,30,682,0.00,1.73,0.00,0.000,4,0.000,0.091,2095,3787,3498
$GC,749,-1.42,-146.6,76.3,-9.0,33,754,0.00,1.58,0.00,0.000,6,0.000,0.047,2095,2905,3498
$GC,1076,-1.42,-146.6,105.8,-8.9,49,1081,0.00,2.60,0.00,0.000,4,0.000,0.067,2095,1485,3498
$GC,1097,-1.42,-146.6,107.8,-8.8,50,1102,0.00,2.70,0.00,0.000,6,0.000,0.080,2095,2892,3498
$GC,1425,-1.42,-146.6,136.1,-8.7,66,1429,0.00,1.70,0.00,0.000,4,0.000,0.090,2095,3787,3498
$GC,1470,-1.42,-146.6,140.3,-9.8,68,1474,0.00,1.58,0.00,0.000,6,0.000,0.045,2096,2890,3498
$GC,1801,-1.42,-146.6,171.6,-9.8,84,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2890,3498
$GC,2110,-1.42,-146.6,202.3,-10.0,99,2115,0.00,2.58,0.00,0.000,4,0.000,0.067,2095,1486,3498
$GC,2149,-1.42,-146.6,206.1,-10.2,101,2154,0.00,2.70,0.00,0.000,6,0.000,0.081,2095,2900,3498
$GC,2475,-1.42,-146.6,238.8,-9.9,117,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2900,3498
$GC,2784,-1.42,-146.6,270.1,-10.0,132,2788,0.00,2.58,0.00,0.000,4,0.000,0.064,2095,1479,3498
$GC,2823,-1.42,-146.6,274.0,-9.9,134,2827,0.00,2.70,0.00,0.000,6,0.000,0.077,2096,2908,3498
$GC,3148,-1.42,-146.6,307.6,-10.3,150,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2908,3497
$GC,3457,-1.42,-146.6,340.9,-10.6,165,3461,0.00,1.67,0.00,0.000,4,0.000,0.090,2095,3790,3498
$GC,3517,-1.42,-146.6,347.4,-10.2,167,3524,0.00,1.58,0.00,0.000,6,0.000,0.043,2095,2903,3498
$GC,3833,-1.42,-146.6,379.7,-10.3,183,3837,0.00,2.58,0.00,0.000,4,0.000,0.064,2096,1477,3498
$GC,3864,-1.42,-146.6,383.0,-10.5,184,3871,0.00,2.70,0.00,0.000,6,0.000,0.074,2096,2903,3497
$GC,4180,-1.42,-146.6,414.8,-10.2,200,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2903,3498
$GC,4489,-1.42,-146.6,445.9,-10.3,215,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2903,3498
$GC,4798,-1.42,-146.6,477.9,-10.4,230,4802,0.00,1.67,0.00,0.000,4,0.000,0.090,2096,3793,3498
$GC,4836,-1.42,-146.6,482.0,-10.6,231,4843,0.00,1.58,0.00,0.000,6,0.000,0.042,2096,2901,3498
$GC,5151,-1.42,-146.6,514.4,-9.8,247,5155,0.00,2.55,0.00,0.000,4,0.000,0.058,2095,1479,3498
$GC,5256,-1.42,-146.6,524.8,-9.0,251,5264,0.00,2.67,0.00,0.000,6,0.000,0.069,2096,2903,3498
$GC,5572,-1.42,-146.6,556.2,-10.4,267,5576,0.00,1.70,0.00,0.000,4,0.000,0.088,2096,3790,3498
$GC,5744,-1.42,-146.6,573.8,-9.2,274,5751,0.00,1.58,0.00,0.000,6,0.000,0.041,2095,2892,3498
$GC,6059,-1.42,-146.6,599.6,-8.3,290,6067,0.00,2.53,0.00,0.000,4,0.000,0.059,2095,1485,3498
$GC,6196,-1.42,-146.6,612.6,-9.9,296,6201,0.00,2.62,0.00,0.000,6,0.000,0.071,2095,2902,3498
$GC,6522,-1.42,-146.6,638.2,-7.5,312,6525,0.00,1.67,0.00,0.000,4,0.000,0.093,2096,3787,3498
$GC,6643,-1.42,-146.6,647.0,-8.1,317,6648,0.00,1.55,0.00,0.000,6,0.000,0.043,2096,2907,3498
$GC,6965,-1.42,-146.6,672.5,-8.3,333,6969,0.00,2.58,0.00,0.000,4,0.000,0.062,2096,1483,3497
$GC,7030,-1.42,-146.6,678.0,-8.5,336,7035,0.00,2.67,0.00,0.000,6,0.000,0.074,2095,2893,3497
$STATE,7232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7232,begin apogee
$GC,7238,-0.42,0.0,694.2,7.9,346,7366,1.08,0.00,124.75,1.293,6,0.081,0.000,2316,1768,2901
$STATE,7367,end apogee,CONTROL_FINISHED_OK
$STATE,7367,begin climb
$GC,7368,1.42,146.6,698.7,0.0,352,7500,1.88,2.72,122.85,1.257,4,0.052,0.077,2719,371,2303
$GC,7673,1.42,146.6,684.5,8.5,366,7678,0.00,2.55,0.00,0.000,6,0.000,0.044,2719,1788,2302
$GC,7995,1.46,172.5,661.7,7.1,382,8024,0.00,2.72,22.88,1.234,4,0.000,0.074,2719,3175,2197
$GC,8081,1.46,178.6,655.0,7.8,386,8095,0.00,2.55,7.22,1.065,6,0.000,0.053,2719,1775,2172
$GC,8411,1.47,187.0,628.2,7.7,402,8425,0.00,2.72,8.15,1.125,4,0.000,0.073,2719,3175,2138
$GC,8549,1.49,196.7,617.5,7.6,408,8567,0.00,2.55,9.73,1.154,6,0.000,0.054,2719,1774,2099
$GC,8875,1.49,203.5,593.5,7.8,424,8889,0.00,2.72,7.20,1.095,4,0.000,0.070,2719,3175,2071
$GC,8928,1.49,203.5,589.1,8.4,426,8933,0.00,2.58,0.00,0.000,6,0.000,0.052,2719,1776,2071
$GC,9249,1.54,243.6,566.4,6.5,442,9291,0.12,2.65,34.38,1.239,4,0.045,0.063,2755,3176,1907
$GC,9430,1.54,243.6,548.9,10.8,450,9435,0.00,2.53,0.00,0.000,6,0.000,0.044,2756,1776,1906
$GC,9758,1.54,243.6,511.7,11.4,466,9762,0.00,2.58,0.00,0.000,4,0.000,0.062,2756,3178,1905
$GC,9828,1.54,243.6,503.2,11.0,469,9833,0.00,2.50,0.00,0.000,6,0.000,0.044,2756,1779,1905
$GC,10149,1.54,243.6,465.7,11.4,485,10153,0.00,2.58,0.00,0.000,4,0.000,0.062,2756,3183,1905
$GC,10204,1.54,243.6,458.9,11.8,487,10211,0.00,2.53,0.00,0.000,6,0.000,0.044,2756,1771,1905
$GC,10519,1.54,243.6,422.8,11.4,503,10523,0.00,2.55,0.00,0.000,4,0.000,0.061,2756,3178,1906
$GC,10551,1.54,243.6,419.0,11.1,504,10556,0.00,2.50,0.00,0.000,6,0.000,0.043,2756,1774,1906
$GC,10872,1.54,243.6,383.5,10.5,520,10877,0.00,2.58,0.00,0.000,4,0.000,0.063,2756,3181,1907
$GC,10927,1.54,243.6,377.6,11.4,522,10934,0.00,2.50,0.00,0.000,6,0.000,0.044,2756,1777,1907
$GC,11242,1.54,243.6,345.9,10.0,538,11246,0.00,2.58,0.00,0.000,4,0.000,0.065,2755,3179,1907
$GC,11292,1.54,243.6,340.6,10.6,540,11296,0.00,2.47,0.00,0.000,6,0.000,0.044,2756,1776,1908
$GC,11618,1.54,243.6,304.6,11.2,556,11623,0.00,2.60,0.00,0.000,4,0.000,0.064,2756,3181,1909
$GC,11661,1.54,243.6,299.5,11.1,558,11666,0.00,2.50,0.00,0.000,6,0.000,0.046,2756,1779,1909
$GC,11988,1.54,243.6,262.0,12.1,574,11992,0.00,2.58,0.00,0.000,4,0.000,0.065,2756,3177,1909
$GC,12026,1.54,243.6,257.2,12.6,576,12031,0.00,2.47,0.00,0.000,6,0.000,0.047,2756,1777,1909
$GC,12351,1.54,243.6,218.7,11.6,592,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1777,1910
$GC,12661,1.54,243.6,184.9,10.8,607,12665,0.00,2.60,0.00,0.000,4,0.000,0.067,2756,3178,1911
$GC,12755,1.54,243.6,173.7,11.8,611,12760,0.00,2.50,0.00,0.000,6,0.000,0.049,2756,1776,1911
$GC,13072,1.54,243.6,139.7,10.9,626,13076,0.00,2.60,0.00,0.000,4,0.000,0.067,2756,3178,1911
$GC,13114,1.54,243.6,134.5,10.8,628,13119,0.00,2.53,0.00,0.000,6,0.000,0.048,2756,1770,1911
$GC,13441,1.54,243.6,102.1,8.4,644,13446,0.00,2.62,0.00,0.000,4,0.000,0.067,2756,3184,1911
$GC,13473,1.54,243.6,99.0,9.4,645,13481,0.00,2.50,0.00,0.000,6,0.000,0.046,2756,1782,1912
$GC,13789,1.54,243.6,65.3,11.1,661,13794,0.00,2.60,0.00,0.000,4,0.000,0.067,2756,3182,1912
$GC,13821,1.54,243.6,61.3,11.3,662,13829,0.00,2.53,0.00,0.000,6,0.000,0.049,2756,1776,1912
$GC,14139,1.54,243.6,25.6,12.5,678,14143,0.00,2.60,0.00,0.000,4,0.000,0.068,2756,3178,1912
$GC,14204,1.54,243.6,18.5,8.5,681,14208,0.00,2.50,0.00,0.000,6,0.000,0.051,2756,1776,1913
$STATE,14365,end climb,SURFACE_DEPTH_REACHED
$STATE,14365,begin surface coast
$FINISH,-0.9,1.013698
$STATE,14386,end surface coast,CONTROL_FINISHED_OK
$STATE,14386,begin surface
$SM_CCo,14407,48.53,0.771,2,0,1677,300.00
$SM_GC,-0.18,0.00,0.00,48.53,0.000,0.000,0.771,43,2887,1677,-10.89,-0.37,300.00
$IRIDIUM_FIX,6121.73,-858.59,231107,000048
$TT8_MAMPS,0.029146
$HUMID,2069
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,2
$24V_AH,23.4,17.261
$10V_AH,10.1,6.694
$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,26.625,151.250,337.150,48.525,0.000,118.678,196.336,102.900,6.250,0.000,0.000,12.566,1337.550,10924.850,536.986,1741.217,561.516,33.369,1428.997,0.000,1708.475,0.000,39.529
$DEVICE_MAMPS,163.371,92.807,1293.162,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.816,480.087,429.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34821,690
$CFSIZE,260165632,254898176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,2,0
$GPS,231107,010837,6141.991,-901.387,33,1.1,33,-9.3