version: 66.02
glider: 103
mission: 7
dive: 76
start: 11 24 107 3 9 50
data:
$ID,103
$MISSION,7
$DIVE,76
$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,-63555.363
$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
$GPS1,030402,6127.036,-857.039,39,1.9,39,-9.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-51.1
$GPS2,030845,6127.010,-856.938,13,1.9,13,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,-0.177
$KALMAN_X,-97157.0,1359.1,-80.8,75999.3,1096.9
$KALMAN_Y,98214.2,-636.4,-532.5,-109980.8,-164.8
$MHEAD_RNG_PITCHd_Wd,225.2,13265,-11.1,-6.000
$D_GRID,369
$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,-1.10,-146.6,0.0,0.0,0,103,0.00,0.00,-82.57,0.000,2,0.000,0.000,39,2891,3392
$GC,105,-1.10,-146.6,3.6,-6.7,4,127,12.15,1.77,-1.95,0.000,4,0.163,0.116,2166,3781,3502
$GC,285,-1.10,-146.6,31.8,-12.4,12,288,0.00,1.58,0.00,0.000,6,0.000,0.053,2167,2900,3503
$GC,616,-1.10,-146.6,59.7,-8.5,28,620,0.00,2.62,0.00,0.000,4,0.000,0.073,2166,1482,3503
$GC,669,-1.10,-146.6,64.6,-8.9,30,677,0.00,2.72,0.00,0.000,6,0.000,0.077,2167,2903,3503
$GC,985,-1.10,-146.6,86.3,-7.5,46,989,0.00,1.67,0.00,0.000,4,0.000,0.092,2166,3784,3503
$GC,1031,-1.10,-146.6,89.7,-7.7,48,1035,0.00,1.58,0.00,0.000,6,0.000,0.041,2166,2877,3503
$GC,1363,-1.10,-146.6,111.5,-6.0,64,1367,0.00,2.58,0.00,0.000,4,0.000,0.072,2167,1484,3503
$GC,1401,-1.10,-146.6,113.9,-6.7,66,1406,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2906,3503
$GC,1726,-1.10,-146.6,134.2,-6.1,82,1730,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1485,3503
$GC,1769,-1.10,-146.6,137.0,-6.2,84,1774,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2898,3502
$GC,2095,-1.10,-146.6,157.5,-6.3,100,2100,0.00,2.60,0.00,0.000,4,0.000,0.072,2166,1487,3503
$GC,2116,-1.10,-146.6,158.8,-5.8,101,2121,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2901,3503
$GC,2443,-1.10,-146.6,179.6,-6.6,117,2447,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1485,3503
$GC,2485,-1.10,-146.6,182.6,-7.4,119,2491,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2900,3503
$GC,2812,-1.10,-146.6,204.5,-6.8,135,2816,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1481,3503
$GC,2851,-1.10,-146.6,207.2,-6.9,137,2855,0.00,2.65,0.00,0.000,6,0.000,0.075,2167,2900,3503
$GC,3176,-1.10,-146.6,229.5,-7.0,153,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,3486,-1.10,-146.6,250.1,-6.5,168,3490,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1482,3502
$GC,3556,-1.10,-146.6,255.2,-7.0,171,3561,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2899,3503
$GC,3879,-1.10,-146.6,276.4,-6.7,187,3883,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1482,3502
$GC,3927,-1.10,-146.6,279.7,-6.7,189,3931,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2901,3503
$GC,4252,-1.10,-146.6,300.8,-6.7,205,4256,0.00,1.67,0.00,0.000,4,0.000,0.088,2167,3790,3503
$GC,4312,-1.10,-146.6,305.7,-7.6,207,4319,0.00,1.55,0.00,0.000,6,0.000,0.037,2167,2894,3503
$GC,4627,-1.10,-146.6,327.7,-7.4,223,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2894,3502
$GC,4937,-1.10,-146.6,351.2,-7.8,238,4941,0.00,2.55,0.00,0.000,4,0.000,0.067,2166,1484,3503
$GC,4986,-1.10,-146.6,355.0,-7.9,240,4990,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2900,3503
$STATE,5187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5187,begin apogee
$GC,5193,-0.42,0.0,369.9,7.1,250,5318,0.75,0.00,121.12,1.002,6,0.092,0.000,2318,1779,2901
$STATE,5318,end apogee,CONTROL_FINISHED_OK
$STATE,5318,begin climb
$GC,5320,1.10,146.6,374.5,0.0,256,5446,1.55,2.70,116.97,0.972,4,0.058,0.066,2649,371,2302
$GC,5580,1.14,174.0,366.9,5.2,268,5611,0.00,2.53,23.60,0.933,6,0.000,0.038,2649,1787,2191
$GC,5927,1.19,221.5,347.8,4.7,285,5973,0.00,2.70,38.90,0.940,4,0.000,0.075,2649,3169,1998
$GC,6148,1.20,229.3,334.1,5.8,295,6162,0.10,2.55,8.10,0.831,6,0.048,0.057,2686,1769,1966
$GC,6477,1.20,229.3,309.4,7.7,311,6482,0.00,2.62,0.00,0.000,4,0.000,0.064,2686,3183,1966
$GC,6599,1.20,229.3,299.3,7.7,316,6606,0.00,2.55,0.00,0.000,6,0.000,0.050,2686,1776,1966
$GC,6914,1.20,229.3,276.2,7.1,332,6919,0.00,2.60,0.00,0.000,4,0.000,0.069,2686,3178,1965
$GC,7054,1.20,229.3,265.3,8.0,338,7058,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,1768,1966
$GC,7374,1.20,229.3,242.3,7.4,354,7379,0.00,2.62,0.00,0.000,4,0.000,0.070,2686,3177,1966
$GC,7468,1.20,229.3,235.1,7.4,358,7473,0.00,2.55,0.00,0.000,6,0.000,0.053,2686,1776,1965
$GC,7789,1.20,229.3,212.8,6.9,374,7794,0.00,2.60,0.00,0.000,4,0.000,0.069,2686,3179,1965
$GC,7866,1.20,229.3,207.5,6.2,377,7873,0.00,2.55,0.00,0.000,6,0.000,0.053,2686,1775,1965
$GC,8182,1.20,229.3,185.3,8.3,393,8186,0.00,2.60,0.00,0.000,4,0.000,0.070,2686,3176,1965
$GC,8269,1.20,229.3,177.5,8.6,397,8274,0.00,2.55,0.00,0.000,6,0.000,0.052,2686,1773,1965
$GC,8596,1.20,229.3,153.5,6.2,413,8600,0.00,2.60,0.00,0.000,4,0.000,0.071,2686,3175,1965
$GC,8707,1.22,241.6,147.0,5.7,418,8725,0.00,2.53,11.25,0.813,6,0.000,0.052,2686,1781,1916
$GC,9034,1.28,287.7,130.4,4.7,434,9077,0.00,2.70,37.17,0.839,4,0.000,0.069,2686,3175,1728
$GC,9195,1.28,287.7,120.7,7.3,441,9199,0.00,2.55,0.00,0.000,6,0.000,0.054,2686,1766,1728
$GC,9521,1.28,287.7,98.7,6.6,457,9525,0.00,2.65,0.00,0.000,4,0.000,0.069,2686,3181,1727
$GC,9620,1.28,287.7,91.2,7.5,461,9627,0.00,2.55,0.00,0.000,6,0.000,0.054,2686,1782,1727
$GC,9935,1.28,287.7,68.4,6.4,477,9940,0.00,2.60,0.00,0.000,4,0.000,0.070,2686,3175,1727
$GC,10029,1.31,318.0,63.4,5.2,481,10063,0.00,2.55,25.25,0.791,6,0.000,0.054,2686,1755,1603
$GC,10372,1.31,318.0,27.0,11.0,498,10376,0.00,2.67,0.00,0.000,4,0.000,0.073,2686,3176,1603
$GC,10487,1.31,318.0,17.7,7.2,503,10492,0.00,2.58,0.00,0.000,6,0.000,0.057,2686,1775,1603
$STATE,10643,end climb,SURFACE_DEPTH_REACHED
$STATE,10643,begin surface coast
$FINISH,-0.9,1.027236
$STATE,10665,end surface coast,CONTROL_FINISHED_OK
$STATE,10665,begin surface
$SM_CCo,10745,0.00,0.000,0,0,1603,318.40
$SM_GC,-0.08,11.60,0.00,0.00,0.029,0.000,0.000,37,2889,1603,-10.80,-0.31,318.40
$IRIDIUM_FIX,6108.28,-903.28,241107,030343
$TT8_MAMPS,0.029146
$HUMID,2063
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.8,93.4
$24V_AH,23.6,18.148
$10V_AH,10.1,7.190
$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,26.150,123.750,382.375,0.000,0.000,40.782,27.329,134.157,2.500,0.000,0.000,13.068,1012.268,7818.376,493.572,1408.038,314.659,33.361,1224.363,0.000,1386.462,0.000,15.330
$DEVICE_MAMPS,162.604,115.817,1001.702,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.108,353.469,436.434,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25414,512
$CFSIZE,260165632,254545920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,241107,061007,6125.986,-856.252,41,1.0,41,-9.2