version: 66.02
glider: 103
mission: 7
dive: 86
start: 11 25 107 7 59 19
data:
$ID,103
$MISSION,7
$DIVE,86
$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,-63812.516
$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,17
$R_STBD_OVSHOOT,9
$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
$GPS1,075038,6127.891,-908.528,38,1.5,38,-9.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-57.2
$GPS2,075814,6127.909,-908.516,11,1.8,16,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.139,0.169
$KALMAN_X,-94279.3,262.5,143.7,63804.3,-2572.0
$KALMAN_Y,92429.6,261.5,1147.6,-105111.5,-2367.9
$MHEAD_RNG_PITCHd_Wd,48.7,46812,-11.1,-6.000
$D_GRID,539
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-62.17,0.000,6,0.000,0.000,46,2893,3501
$GC,86,-1.10,-146.6,4.6,-10.8,3,107,12.02,2.65,0.00,0.000,4,0.161,0.067,2165,1489,3503
$GC,219,-1.10,-146.6,26.0,-9.3,9,224,0.00,2.70,0.00,0.000,6,0.000,0.079,2165,2902,3503
$GC,545,-1.10,-146.6,55.7,-9.1,25,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,854,-1.10,-146.6,83.1,-8.2,40,859,0.00,2.65,0.00,0.000,4,0.000,0.072,2165,1484,3503
$GC,916,-1.10,-146.6,88.4,-7.9,43,920,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2901,3503
$GC,1241,-1.10,-146.6,121.8,-13.6,59,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,1551,-1.10,-146.6,149.0,-6.9,74,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,1860,-1.10,-146.6,165.2,-5.5,89,1864,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1481,3503
$GC,1891,-1.10,-146.6,167.6,-7.2,90,1899,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2896,3503
$GC,2207,-1.10,-146.6,189.8,-7.5,106,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3503
$GC,2516,-1.10,-146.6,217.3,-8.5,121,2521,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1480,3503
$GC,2555,-1.10,-146.6,220.6,-8.6,123,2559,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2900,3503
$GC,2880,-1.10,-146.6,244.1,-5.5,139,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,3189,-1.10,-146.6,265.2,-6.7,154,3194,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1485,3503
$GC,3221,-1.10,-146.6,267.9,-6.9,155,3229,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2901,3503
$GC,3537,-1.10,-146.6,289.1,-6.3,171,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,3847,-1.10,-146.6,305.2,-5.6,186,3851,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1480,3503
$GC,3890,-1.10,-146.6,307.8,-5.9,188,3894,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2901,3503
$GC,4216,-1.10,-146.6,326.7,-5.6,204,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,4525,-1.10,-146.6,346.0,-6.8,219,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,4835,-1.10,-146.6,367.9,-7.3,234,4839,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1484,3503
$GC,4922,-1.10,-146.6,374.9,-7.9,238,4931,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2904,3503
$GC,5251,-1.10,-146.6,396.8,-6.4,254,5255,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1479,3503
$GC,5322,-1.10,-146.6,401.5,-6.4,257,5326,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2902,3503
$GC,5643,-1.10,-146.6,422.9,-7.0,273,5647,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1481,3503
$GC,5704,-1.10,-146.6,427.5,-7.7,276,5708,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2903,3503
$GC,6032,-1.10,-146.6,450.3,-7.0,292,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,6338,-1.10,-146.6,470.3,-6.2,307,6343,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1474,3503
$GC,6414,-1.10,-146.6,475.4,-6.5,310,6422,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2898,3502
$GC,6730,-1.10,-146.6,496.6,-7.1,326,6735,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1480,3503
$GC,6773,-1.10,-146.6,499.8,-7.3,328,6779,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2892,3503
$GC,7100,-1.10,-146.6,522.2,-6.9,344,7104,0.00,2.53,0.00,0.000,4,0.000,0.059,2165,1481,3503
$GC,7149,-1.10,-146.6,525.6,-6.7,346,7154,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2897,3503
$STATE,7242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7243,begin apogee
$GC,7249,-0.42,0.0,531.5,6.3,351,7375,0.75,0.00,123.25,1.115,6,0.077,0.000,2321,1771,2901
$STATE,7376,end apogee,CONTROL_FINISHED_OK
$STATE,7376,begin climb
$GC,7378,1.10,146.6,536.4,0.0,357,7505,1.52,2.62,119.55,1.117,4,0.052,0.061,2650,368,2303
$GC,7724,1.10,146.6,523.5,6.0,373,7729,0.00,2.53,0.00,0.000,6,0.000,0.037,2650,1786,2303
$GC,8050,1.10,146.6,503.1,6.5,389,8055,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3181,2302
$GC,8179,1.10,146.6,495.3,6.7,395,8184,0.00,2.55,0.00,0.000,6,0.000,0.051,2650,1763,2302
$GC,8505,1.10,146.6,474.6,6.5,411,8509,0.00,2.62,0.00,0.000,4,0.000,0.066,2650,3174,2302
$GC,8626,1.10,146.6,465.7,7.5,416,8633,0.00,2.55,0.00,0.000,6,0.000,0.053,2650,1776,2301
$GC,8942,1.10,146.6,443.3,7.2,432,8946,0.00,2.60,0.00,0.000,4,0.000,0.068,2650,3175,2301
$GC,9053,1.10,146.6,435.1,7.8,437,9057,0.00,2.55,0.00,0.000,6,0.000,0.054,2650,1771,2301
$GC,9372,1.10,146.6,412.3,7.3,453,9377,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3176,2302
$GC,9505,1.10,146.6,402.1,8.1,459,9510,0.00,2.55,0.00,0.000,6,0.000,0.056,2650,1782,2301
$GC,9832,1.10,146.6,375.3,8.1,475,9836,0.00,2.60,0.00,0.000,4,0.000,0.071,2650,3179,2301
$GC,9961,1.10,146.6,365.0,7.4,481,9966,0.00,2.55,0.00,0.000,6,0.000,0.059,2650,1776,2301
$GC,10286,1.11,149.7,344.3,5.9,497,10295,0.00,2.65,4.18,0.725,4,0.000,0.072,2650,3180,2290
$GC,10408,1.13,169.5,337.3,5.5,502,10432,0.00,2.55,17.55,0.979,6,0.000,0.060,2650,1775,2209
$GC,10748,1.24,257.4,322.5,3.6,519,10826,0.15,2.72,71.12,0.974,4,0.038,0.074,2699,3174,1850
$GC,10933,1.24,257.4,311.6,7.3,526,10938,0.00,2.55,0.00,0.000,6,0.000,0.054,2700,1776,1850
$GC,11247,1.24,257.4,290.4,7.1,542,11251,0.00,2.62,0.00,0.000,4,0.000,0.074,2699,3174,1850
$GC,11353,1.24,257.4,282.3,7.3,547,11357,0.00,2.55,0.00,0.000,6,0.000,0.057,2699,1771,1849
$GC,11678,1.24,257.4,257.6,8.1,563,11682,0.00,2.65,0.00,0.000,4,0.000,0.074,2699,3177,1849
$GC,11743,1.24,257.4,251.7,8.8,566,11748,0.00,2.58,0.00,0.000,6,0.000,0.057,2699,1774,1850
$GC,12070,1.24,257.4,219.9,10.3,582,12074,0.00,2.62,0.00,0.000,4,0.000,0.074,2700,3174,1850
$GC,12169,1.24,257.4,208.8,11.0,586,12176,0.00,2.58,0.00,0.000,6,0.000,0.058,2700,1771,1850
$GC,12484,1.24,257.4,175.0,11.0,602,12489,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3179,1850
$GC,12555,1.24,257.4,165.7,14.6,605,12560,0.00,2.58,0.00,0.000,6,0.000,0.060,2700,1776,1850
$GC,12878,1.24,257.4,128.3,11.7,621,12883,0.00,2.65,0.00,0.000,4,0.000,0.076,2699,3178,1850
$GC,12966,1.24,257.4,115.5,13.5,625,12971,0.00,2.58,0.00,0.000,6,0.000,0.058,2700,1774,1850
$GC,13293,1.24,257.4,79.5,9.6,641,13298,0.00,2.65,0.00,0.000,4,0.000,0.077,2700,3175,1850
$GC,13400,1.24,257.4,72.0,7.1,646,13404,0.00,2.55,0.00,0.000,6,0.000,0.060,2700,1776,1850
$GC,13725,1.24,257.4,48.9,6.6,662,13729,0.00,2.62,0.00,0.000,4,0.000,0.074,2699,3174,1850
$GC,13801,1.24,257.4,43.5,7.8,665,13809,0.00,2.55,0.00,0.000,6,0.000,0.056,2700,1770,1849
$GC,14119,1.24,257.4,12.4,9.6,681,14123,0.00,2.65,0.00,0.000,4,0.000,0.077,2700,3175,1849
$GC,14225,1.24,257.4,3.9,10.2,686,14229,0.00,2.55,0.00,0.000,6,0.000,0.058,2700,1771,1850
$STATE,14260,end climb,SURFACE_DEPTH_REACHED
$STATE,14260,begin surface coast
$FINISH,-0.6,1.027244
$STATE,14282,end surface coast,CONTROL_FINISHED_OK
$STATE,14282,begin surface
$SM_CCo,14302,36.38,0.726,2,0,1678,300.00
$SM_GC,0.31,0.00,0.00,36.38,0.000,0.000,0.726,43,2886,1678,-10.89,-0.40,300.00
$IRIDIUM_FIX,6103.81,-907.02,251107,111107
$TT8_MAMPS,0.029146
$HUMID,2062
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.1,66.4
$24V_AH,23.5,19.283
$10V_AH,10.1,7.751
$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,25.975,150.400,335.650,36.375,0.000,78.426,61.329,164.957,4.500,0.000,0.000,16.345,1324.033,10774.483,514.114,1770.399,445.945,33.354,1401.678,0.000,1729.052,0.000,29.549
$DEVICE_MAMPS,161.070,79.768,1116.752,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.567,482.431,443.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34914,689
$CFSIZE,260165632,254115840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
$GPS,251107,115938,6130.033,-904.383,37,1.2,37,-9.3