version: 66.02
glider: 103
mission: 7
dive: 74
start: 11 23 107 18 56 37
data:
$ID,103
$MISSION,7
$DIVE,74
$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,550
$T_MISSION,580
$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,-63524.062
$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,18
$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
$GPS1,185038,6132.420,-907.531,51,1.0,51,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-56.3
$GPS2,185532,6132.428,-907.359,12,1.0,17,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.169,-0.139
$KALMAN_X,-102750.8,155.0,670.1,72870.4,-1380.4
$KALMAN_Y,98545.3,1000.3,933.9,-103392.0,-5483.6
$MHEAD_RNG_PITCHd_Wd,138.7,23928,-11.1,-6.000
$D_GRID,678
$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,20,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-61.78,0.000,2,0.000,0.000,46,2888,3410
$GC,85,-1.10,-146.6,3.7,-9.4,3,107,12.05,1.80,-1.60,0.000,4,0.162,0.121,2163,3783,3502
$GC,359,-1.10,-146.6,21.6,-3.9,15,363,0.00,1.58,0.00,0.000,6,0.000,0.048,2163,2907,3502
$GC,686,-1.10,-146.6,49.3,-9.5,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3502
$GC,995,-1.10,-146.6,68.8,-5.1,46,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3502
$GC,1304,-1.10,-146.6,90.2,-7.6,61,1308,0.00,1.70,0.00,0.000,4,0.000,0.091,2163,3785,3502
$GC,1353,-1.10,-146.6,94.7,-9.9,63,1358,0.00,1.58,0.00,0.000,6,0.000,0.046,2163,2904,3502
$GC,1681,-1.10,-146.6,118.0,-3.1,79,1685,0.00,2.65,0.00,0.000,4,0.000,0.075,2163,1475,3502
$GC,1707,-1.10,-146.6,118.6,-2.4,80,1711,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2906,3502
$GC,2028,-1.10,-146.6,132.4,-3.8,96,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,2337,-1.10,-146.6,151.7,-7.2,111,2342,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1482,3502
$GC,2380,-1.10,-146.6,155.1,-8.0,113,2385,0.00,2.70,0.00,0.000,6,0.000,0.078,2163,2893,3502
$GC,2707,-1.10,-146.6,178.8,-6.8,129,2711,0.00,2.62,0.00,0.000,4,0.000,0.075,2163,1480,3502
$GC,2739,-1.10,-146.6,181.0,-6.7,130,2746,0.00,2.70,0.00,0.000,6,0.000,0.075,2163,2901,3502
$GC,3054,-1.10,-146.6,204.5,-8.2,146,3059,0.00,2.65,0.00,0.000,4,0.000,0.074,2163,1479,3502
$GC,3120,-1.10,-146.6,209.8,-7.8,149,3124,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2900,3502
$GC,3447,-1.10,-146.6,234.3,-7.3,165,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,3756,-1.10,-146.6,258.7,-8.5,180,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4065,-1.10,-146.6,285.2,-8.7,195,4069,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1477,3502
$GC,4114,-1.10,-146.6,289.7,-8.9,197,4119,0.00,2.70,0.00,0.000,6,0.000,0.075,2163,2899,3502
$GC,4435,-1.10,-146.6,317.7,-8.6,213,4439,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1470,3502
$GC,4473,-1.10,-146.6,320.9,-8.2,215,4478,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2901,3502
$GC,4799,-1.10,-146.6,346.7,-7.9,231,4804,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,1472,3502
$GC,4843,-1.10,-146.6,350.1,-7.6,233,4848,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2905,3502
$GC,5163,-1.10,-146.6,373.4,-6.8,249,5168,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1478,3502
$GC,5212,-1.10,-146.6,376.7,-6.7,251,5217,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2892,3502
$GC,5533,-1.10,-146.6,394.5,-4.9,267,5537,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1480,3502
$GC,5576,-1.10,-146.6,396.5,-4.8,269,5581,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2898,3502
$GC,5903,-1.10,-146.6,408.9,-3.5,285,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,6212,-1.10,-146.6,421.3,-4.3,300,6216,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1478,3502
$GC,6260,-1.10,-146.6,423.8,-5.0,302,6265,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2909,3502
$GC,6581,-1.10,-146.6,444.8,-7.2,318,6585,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1479,3502
$GC,6607,-1.10,-146.6,447.0,-8.3,319,6612,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2889,3502
$GC,6929,-1.10,-146.6,472.3,-8.4,335,6933,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1477,3502
$GC,6991,-1.10,-146.6,477.7,-8.9,338,6996,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2898,3502
$GC,7316,-1.10,-146.6,504.3,-7.6,354,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,7630,-1.10,-146.6,525.1,-5.9,369,7634,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1478,3502
$GC,7684,-1.10,-146.6,528.8,-5.9,371,7691,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2908,3502
$GC,7999,-1.10,-146.6,546.2,-5.1,387,8003,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1478,3502
$GC,8082,-1.10,-146.6,550.9,-6.3,390,8089,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2898,3502
$GC,8398,-1.10,-146.6,571.1,-7.0,406,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,8707,-1.10,-146.6,592.5,-6.4,421,8711,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1478,3502
$GC,8795,-1.10,-146.6,597.4,-1.9,425,8799,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2903,3502
$STATE,8935,end dive,NO_VERTICAL_VELOCITY
$STATE,8935,begin apogee
$GC,8941,-0.42,0.0,597.3,0.0,432,9067,0.75,0.00,122.80,1.204,6,0.079,0.000,2319,1766,2901
$STATE,9068,end apogee,CONTROL_FINISHED_OK
$STATE,9068,begin climb
$GC,9069,1.10,146.6,597.0,0.0,438,9198,1.55,2.80,119.97,1.173,4,0.059,0.080,2650,3184,2304
$GC,9338,1.13,165.8,589.7,5.5,450,9360,0.00,2.58,17.33,1.090,6,0.000,0.051,2650,1778,2224
$GC,9669,1.13,171.0,570.4,5.9,466,9680,0.00,2.70,6.00,0.891,4,0.000,0.074,2650,3184,2203
$GC,9802,1.13,171.2,562.2,6.0,472,9807,0.00,2.58,0.00,0.000,6,0.000,0.053,2650,1777,2203
$GC,10129,1.13,171.2,541.1,6.5,488,10133,0.00,2.67,0.00,0.000,4,0.000,0.077,2650,3185,2203
$GC,10228,1.13,171.2,534.3,7.1,492,10235,0.00,2.58,0.00,0.000,6,0.000,0.055,2650,1778,2203
$GC,10544,1.18,212.6,517.2,4.9,508,10586,0.00,2.75,35.00,1.122,4,0.000,0.076,2650,3186,2034
$GC,10692,1.20,223.3,509.0,5.7,514,10708,0.00,2.58,10.40,1.026,6,0.000,0.057,2650,1776,1990
$GC,11023,1.27,280.7,493.0,4.4,531,11078,0.15,2.70,47.85,1.092,4,0.038,0.065,2698,3178,1756
$GC,11228,1.27,280.7,476.5,9.3,540,11233,0.00,2.58,0.00,0.000,6,0.000,0.053,2698,1774,1756
$GC,11550,1.27,280.7,443.5,10.8,556,11554,0.00,2.65,0.00,0.000,4,0.000,0.068,2698,3191,1755
$GC,11621,1.27,280.7,435.1,11.7,559,11625,0.00,2.58,0.00,0.000,6,0.000,0.052,2698,1780,1755
$GC,11942,1.27,280.7,396.8,12.0,575,11946,0.00,2.60,0.00,0.000,4,0.000,0.068,2698,3187,1755
$GC,12035,1.27,280.7,386.1,10.9,579,12039,0.00,2.58,0.00,0.000,6,0.000,0.053,2698,1775,1755
$GC,12356,1.27,280.7,351.7,10.8,595,12360,0.00,2.62,0.00,0.000,4,0.000,0.070,2698,3189,1755
$GC,12455,1.27,280.7,342.1,9.0,599,12462,0.00,2.58,0.00,0.000,6,0.000,0.054,2698,1776,1755
$GC,12770,1.27,280.7,313.6,9.3,615,12775,0.00,2.60,0.00,0.000,4,0.000,0.069,2698,3186,1755
$GC,12842,1.27,280.7,306.3,9.6,618,12846,0.00,2.58,0.00,0.000,6,0.000,0.052,2698,1770,1755
$GC,13163,1.27,280.7,278.3,8.0,634,13167,0.00,2.62,0.00,0.000,4,0.000,0.070,2698,3188,1755
$GC,13256,1.27,280.7,270.6,8.4,638,13261,0.00,2.58,0.00,0.000,6,0.000,0.053,2698,1771,1755
$GC,13577,1.27,280.7,243.2,9.4,654,13581,0.00,2.62,0.00,0.000,4,0.000,0.070,2698,3188,1755
$GC,13661,1.27,280.7,234.9,9.4,658,13665,0.00,2.53,0.00,0.000,6,0.000,0.052,2698,1773,1755
$GC,13986,1.27,280.7,202.0,9.7,674,13990,0.00,2.62,0.00,0.000,4,0.000,0.069,2698,3186,1755
$GC,14069,1.27,280.7,194.3,9.3,678,14073,0.00,2.53,0.00,0.000,6,0.000,0.052,2698,1774,1755
$GC,14394,1.27,280.7,166.6,8.1,694,14398,0.00,2.60,0.00,0.000,4,0.000,0.069,2698,3186,1755
$GC,14506,1.27,280.7,158.2,7.2,699,14510,0.00,2.55,0.00,0.000,6,0.000,0.053,2698,1771,1755
$GC,14828,1.29,296.2,138.2,5.6,715,14849,0.00,2.70,13.70,0.860,4,0.000,0.070,2698,3176,1693
$GC,14921,1.33,329.1,133.3,5.1,719,14954,0.00,2.53,27.40,0.855,6,0.000,0.053,2698,1774,1559
$GC,15264,1.33,329.1,111.3,7.3,735,15268,0.00,2.65,0.00,0.000,4,0.000,0.071,2698,3185,1559
$GC,15363,1.33,329.1,103.5,7.3,739,15370,0.00,2.58,0.00,0.000,6,0.000,0.052,2698,1774,1558
$GC,15678,1.33,329.1,72.0,11.0,755,15683,0.00,2.65,0.00,0.000,4,0.000,0.069,2698,3188,1558
$GC,15762,1.33,329.1,63.6,10.5,759,15766,0.00,2.55,0.00,0.000,6,0.000,0.053,2698,1774,1559
$GC,16087,1.33,329.1,34.3,10.8,775,16091,0.00,2.65,0.00,0.000,4,0.000,0.073,2698,3185,1558
$GC,16172,1.33,329.1,24.3,11.3,779,16176,0.00,2.55,0.00,0.000,6,0.000,0.053,2698,1768,1558
$GC,16497,1.33,329.1,2.1,7.0,795,16501,0.00,2.10,0.00,0.000,3,0.000,0.070,2698,2901,1558
$STATE,16502,end climb,SURFACE_DEPTH_REACHED
$STATE,16502,begin surface coast
$FINISH,1.1,1.027225
$STATE,16540,end surface coast,CONTROL_FINISHED_OK
$STATE,16540,begin surface
$SM_CCo,16619,0.00,0.000,0,0,1557,329.68
$SM_GC,-0.07,11.98,0.00,0.00,0.045,0.000,0.000,46,2903,1557,-10.80,0.08,329.68
$IRIDIUM_FIX,6112.75,-909.17,231107,171743
$TT8_MAMPS,0.028379
$HUMID,2073
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.1,97.0
$24V_AH,23.5,17.883
$10V_AH,10.1,7.064
$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,26.475,178.800,400.450,0.000,0.000,32.781,35.903,129.298,4.750,0.000,0.000,17.949,1532.058,12480.624,527.225,2021.995,360.390,33.357,1552.005,0.000,1989.570,0.000,29.913
$DEVICE_MAMPS,161.837,121.186,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.032,564.468,547.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41078,797
$CFSIZE,260165632,254595072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,0,0
$GPS,231107,233438,6129.975,-858.988,31,1.1,31,-9.2