version: 66.02
glider: 103
mission: 7
dive: 75
start: 11 23 107 23 47 13
data:
$ID,103
$MISSION,7
$DIVE,75
$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,-63541.668
$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,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
$GPS1,233438,6129.975,-858.988,31,1.1,31,-9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-48.6
$GPS2,234608,6129.855,-858.731,10,1.4,16,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.020,-0.218
$KALMAN_X,-99329.9,1281.2,230.9,76333.2,-14.3
$KALMAN_Y,99125.4,11.9,-42.8,-106790.1,-1995.8
$MHEAD_RNG_PITCHd_Wd,194.4,18287,-11.1,-6.000
$D_GRID,440
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-68.47,0.000,6,0.000,0.000,46,2906,3499
$GC,92,-1.10,-146.6,2.8,-6.8,3,108,12.00,1.73,0.00,0.000,4,0.160,0.092,2165,3782,3501
$GC,253,-1.10,-146.6,27.1,-6.4,9,257,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2905,3503
$GC,574,-1.10,-146.6,43.3,-5.0,25,579,0.00,2.67,0.00,0.000,4,0.000,0.080,2165,1479,3503
$GC,617,-1.10,-146.6,46.4,-7.1,27,622,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2897,3503
$GC,944,-1.10,-146.6,68.1,-7.4,43,949,0.00,2.65,0.00,0.000,4,0.000,0.073,2166,1481,3503
$GC,983,-1.10,-146.6,71.4,-7.8,45,988,0.00,2.70,0.00,0.000,6,0.000,0.079,2165,2899,3503
$GC,1309,-1.10,-146.6,97.0,-6.8,61,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,1618,-1.10,-146.6,120.0,-7.5,76,1623,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,1482,3503
$GC,1662,-1.10,-146.6,123.4,-8.2,78,1666,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2899,3503
$GC,1988,-1.10,-146.6,149.4,-6.3,94,1993,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,1482,3503
$GC,2009,-1.10,-146.6,150.6,-5.7,95,2014,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2899,3503
$GC,2336,-1.10,-146.6,174.6,-7.6,111,2341,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,1470,3503
$GC,2373,-1.10,-146.6,177.5,-7.6,112,2380,0.00,2.70,0.00,0.000,6,0.000,0.075,2166,2892,3503
$GC,2691,-1.10,-146.6,201.0,-8.1,128,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2891,3503
$GC,2999,-1.10,-146.6,226.1,-8.2,143,3003,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1480,3503
$GC,3047,-1.10,-146.6,230.1,-8.2,145,3052,0.00,2.70,0.00,0.000,6,0.000,0.076,2165,2898,3503
$GC,3368,-1.10,-146.6,259.3,-10.0,161,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,3678,-1.10,-146.6,290.6,-10.1,176,3682,0.00,2.60,0.00,0.000,4,0.000,0.071,2165,1477,3503
$GC,3761,-1.10,-146.6,299.1,-9.8,180,3765,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2901,3503
$GC,4086,-1.10,-146.6,329.9,-9.4,196,4091,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1485,3503
$GC,4112,-1.10,-146.6,332.4,-9.1,197,4117,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2898,3503
$GC,4433,-1.10,-146.6,360.5,-8.6,213,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,4743,-1.10,-146.6,385.3,-7.6,228,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,5052,-1.10,-146.6,408.3,-7.4,243,5056,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1481,3503
$GC,5079,-1.10,-146.6,410.1,-7.0,244,5083,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2901,3503
$STATE,5233,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5234,begin apogee
$GC,5239,-0.42,0.0,421.5,7.8,252,5363,0.75,0.00,120.68,1.069,6,0.081,0.000,2319,1766,2901
$STATE,5364,end apogee,CONTROL_FINISHED_OK
$STATE,5364,begin climb
$GC,5366,1.10,146.6,425.7,0.0,258,5492,1.55,2.65,118.35,1.018,4,0.060,0.067,2648,367,2303
$GC,5553,1.10,146.6,419.1,7.2,267,5558,0.00,2.50,0.00,0.000,6,0.000,0.038,2649,1794,2303
$GC,5879,1.15,182.5,402.4,5.0,283,5915,0.00,2.67,30.60,0.960,4,0.000,0.080,2649,3173,2156
$GC,6021,1.17,199.5,394.3,5.5,288,6042,0.00,2.55,15.05,0.909,6,0.000,0.055,2649,1774,2087
$GC,6351,1.18,206.7,375.6,5.8,304,6366,0.00,2.75,7.50,0.836,4,0.000,0.082,2649,3171,2058
$GC,6519,1.18,206.7,365.1,6.7,311,6524,0.00,2.58,0.00,0.000,6,0.000,0.059,2649,1770,2058
$GC,6834,1.18,206.7,344.5,6.8,326,6838,0.00,2.70,0.00,0.000,4,0.000,0.081,2649,3178,2058
$GC,6984,1.18,206.7,334.1,6.7,333,6988,0.00,2.58,0.00,0.000,6,0.000,0.062,2649,1776,2058
$GC,7310,1.18,206.7,313.8,6.3,349,7314,0.00,2.65,0.00,0.000,4,0.000,0.081,2649,3174,2058
$GC,7465,1.18,206.7,303.2,7.1,356,7469,0.00,2.60,0.00,0.000,6,0.000,0.064,2649,1778,2058
$GC,7791,1.18,206.7,282.4,6.2,372,7796,0.00,2.65,0.00,0.000,4,0.000,0.081,2649,3173,2058
$GC,7891,1.18,206.7,276.0,6.1,376,7898,0.00,2.60,0.00,0.000,6,0.000,0.066,2649,1780,2057
$GC,8206,1.18,206.7,255.5,6.7,392,8211,0.00,2.67,0.00,0.000,4,0.000,0.084,2649,3179,2057
$GC,8351,1.18,206.7,245.1,7.1,398,8358,0.00,2.62,0.00,0.000,6,0.000,0.068,2649,1776,2057
$GC,8666,1.18,206.7,223.9,6.4,414,8670,0.00,2.67,0.00,0.000,4,0.000,0.088,2649,3174,2058
$GC,8788,1.18,206.7,215.2,7.1,419,8795,0.00,2.60,0.00,0.000,6,0.000,0.066,2649,1776,2057
$GC,9104,1.18,206.7,195.4,6.0,435,9108,0.00,2.67,0.00,0.000,4,0.000,0.091,2649,3172,2058
$GC,9236,1.20,225.5,187.4,5.5,441,9258,0.00,2.60,16.40,0.852,6,0.000,0.068,2649,1778,1981
$GC,9578,1.25,265.3,170.0,4.9,458,9620,0.15,2.67,32.30,0.856,4,0.040,0.066,2704,3172,1820
$GC,9742,1.25,265.3,157.9,7.3,465,9748,0.08,2.55,0.00,0.000,6,0.080,0.052,2685,1774,1820
$GC,10064,1.25,265.3,135.8,6.4,481,10069,0.00,2.62,0.00,0.000,4,0.000,0.066,2685,3184,1820
$GC,10152,1.25,265.3,128.7,7.7,485,10157,0.00,2.55,0.00,0.000,6,0.000,0.051,2685,1775,1820
$GC,10479,1.25,265.3,103.9,8.3,501,10484,0.00,2.62,0.00,0.000,4,0.000,0.070,2685,3177,1820
$GC,10551,1.25,265.3,98.8,6.4,504,10555,0.00,2.55,0.00,0.000,6,0.000,0.052,2685,1776,1820
$GC,10874,1.25,265.3,78.3,7.6,520,10878,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3183,1820
$GC,10957,1.25,265.3,71.2,9.7,524,10961,0.00,2.55,0.00,0.000,6,0.000,0.054,2685,1769,1820
$GC,11282,1.25,265.3,39.1,8.9,540,11287,0.00,2.62,0.00,0.000,4,0.000,0.068,2685,3179,1820
$GC,11388,1.47,443.5,34.8,1.1,545,11537,0.20,2.55,139.65,0.775,6,0.035,0.055,2741,1767,1091
$STATE,11635,end climb,SURFACE_DEPTH_REACHED
$STATE,11635,begin surface coast
$FINISH,-0.9,1.017928
$STATE,11657,end surface coast,CONTROL_FINISHED_OK
$STATE,11657,begin surface
$SM_CCo,11739,0.00,0.000,0,0,1091,443.75
$SM_GC,-0.16,11.90,0.00,0.00,0.027,0.000,0.000,39,2887,1091,-10.81,-0.37,443.75
$IRIDIUM_FIX,6059.36,-802.72,241107,030334
$TT8_MAMPS,0.028379
$HUMID,2035
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.40
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,376.0,55.5
$24V_AH,23.5,18.034
$10V_AH,10.1,7.131
$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,26.625,128.750,480.525,0.000,0.000,117.924,111.193,236.197,4.500,0.000,0.000,16.979,1088.264,8684.298,545.586,1526.958,598.301,33.362,1342.263,0.000,1496.040,0.000,20.100
$DEVICE_MAMPS,160.303,92.040,1069.198,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.182,393.003,438.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28522,558
$CFSIZE,260165632,254586880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,241107,030402,6127.036,-857.039,39,1.9,39,-9.2