version: 66.02
glider: 103
mission: 7
dive: 77
start: 11 24 107 6 15 38
data:
$ID,103
$MISSION,7
$DIVE,77
$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,-63575.793
$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,15
$R_STBD_OVSHOOT,12
$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
$GPS1,061007,6125.986,-856.252,41,1.0,41,-9.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-50.1
$GPS2,061433,6126.009,-856.115,19,1.4,19,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.125,-0.179
$KALMAN_X,-94758.3,876.9,303.5,74426.6,744.6
$KALMAN_Y,97649.5,-569.7,275.4,-112150.7,-133.0
$MHEAD_RNG_PITCHd_Wd,224.0,11651,-11.1,-6.000
$D_GRID,338
$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,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-67.28,0.000,6,0.000,0.000,36,2893,3502
$GC,89,-1.10,-146.6,2.9,-7.3,3,110,12.05,1.75,0.00,0.000,4,0.160,0.084,2166,3789,3502
$GC,361,-1.10,-146.6,42.8,-11.1,15,366,0.00,1.58,0.00,0.000,6,0.000,0.046,2166,2906,3503
$GC,688,-1.10,-146.6,66.2,-6.1,31,692,0.00,1.70,0.00,0.000,4,0.000,0.087,2166,3790,3503
$GC,782,-1.10,-146.6,73.9,-8.8,35,787,0.00,1.58,0.00,0.000,6,0.000,0.043,2166,2902,3503
$GC,1109,-1.10,-146.6,101.3,-6.6,51,1113,0.00,2.65,0.00,0.000,4,0.000,0.077,2166,1482,3503
$GC,1153,-1.10,-146.6,104.5,-7.7,53,1157,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2900,3503
$GC,1472,-1.10,-146.6,125.1,-7.2,69,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,1782,-1.10,-146.6,145.2,-6.8,84,1786,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1484,3503
$GC,1824,-1.10,-146.6,149.5,-9.7,86,1829,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2902,3502
$GC,2151,-1.10,-146.6,179.3,-8.8,102,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,2460,-1.10,-146.6,203.5,-8.9,117,2465,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1477,3503
$GC,2532,-1.10,-146.6,210.1,-10.6,120,2536,0.00,2.70,0.00,0.000,6,0.000,0.076,2166,2894,3503
$GC,2853,-1.10,-146.6,238.1,-8.2,136,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2895,3503
$GC,3162,-1.10,-146.6,262.2,-7.6,151,3167,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1483,3503
$GC,3211,-1.10,-146.6,266.2,-8.1,153,3216,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2901,3503
$GC,3532,-1.10,-146.6,294.2,-9.0,169,3537,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1482,3503
$GC,3564,-1.10,-146.6,297.4,-9.2,170,3571,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2899,3503
$GC,3880,-1.10,-146.6,324.7,-8.2,186,3885,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1479,3503
$GC,3906,-1.10,-146.6,327.0,-8.0,187,3912,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2898,3503
$STATE,4061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4061,begin apogee
$GC,4067,-0.42,0.0,338.6,7.2,195,4192,0.75,0.00,121.30,0.970,6,0.087,0.000,2319,1766,2901
$STATE,4193,end apogee,CONTROL_FINISHED_OK
$STATE,4193,begin climb
$GC,4194,1.10,146.6,343.8,0.0,201,4320,1.55,2.67,117.88,0.950,4,0.060,0.067,2649,358,2303
$GC,4449,1.19,218.9,338.9,4.0,213,4514,0.00,2.53,58.92,0.930,6,0.000,0.037,2648,1796,2007
$GC,4842,1.19,221.4,317.9,5.9,232,4850,0.00,2.62,3.53,0.591,4,0.000,0.071,2648,3171,1998
$GC,5047,1.19,221.4,304.3,7.0,241,5052,0.00,2.55,0.00,0.000,6,0.000,0.052,2649,1776,1999
$GC,5374,1.19,221.4,280.6,7.8,257,5378,0.00,2.67,0.00,0.000,4,0.000,0.084,2648,3171,1998
$GC,5512,1.20,223.5,270.8,5.9,263,5525,0.10,2.55,3.92,0.644,6,0.049,0.060,2687,1774,1988
$GC,5832,1.20,223.5,246.0,6.6,279,5837,0.00,2.55,0.00,0.000,4,0.000,0.064,2687,3172,1989
$GC,5966,1.20,223.5,236.4,6.5,285,5970,0.00,2.53,0.00,0.000,6,0.000,0.051,2687,1777,1989
$GC,6293,1.20,223.5,210.3,9.1,301,6297,0.00,2.60,0.00,0.000,4,0.000,0.068,2687,3179,1989
$GC,6391,1.20,223.5,200.8,10.2,305,6399,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,1776,1989
$GC,6707,1.20,223.5,179.1,6.3,321,6712,0.00,2.58,0.00,0.000,4,0.000,0.068,2687,3174,1989
$GC,6772,1.20,223.5,173.6,8.8,324,6777,0.00,2.55,0.00,0.000,6,0.000,0.053,2687,1774,1989
$GC,7099,1.23,251.9,155.2,5.2,340,7129,0.00,2.70,23.20,0.846,4,0.000,0.071,2687,3167,1874
$GC,7208,1.29,296.2,150.2,4.8,345,7250,0.00,2.53,36.33,0.845,6,0.000,0.053,2686,1768,1693
$GC,7560,1.29,296.2,127.8,6.5,362,7564,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3175,1693
$GC,7658,1.29,296.2,117.0,13.6,366,7666,0.00,2.58,0.00,0.000,6,0.000,0.056,2687,1774,1693
$GC,7975,1.29,302.4,91.6,5.8,382,7988,0.00,2.70,6.60,0.717,4,0.000,0.072,2687,3173,1667
$GC,8122,1.29,302.4,80.9,7.4,388,8129,0.00,2.58,0.00,0.000,6,0.000,0.058,2687,1775,1667
$GC,8440,1.29,302.4,61.3,7.6,404,8444,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3176,1667
$GC,8505,1.29,302.4,53.6,14.0,407,8509,0.00,2.55,0.00,0.000,6,0.000,0.055,2687,1766,1667
$GC,8832,1.30,306.6,19.9,5.9,423,8842,0.00,2.62,5.30,0.656,4,0.000,0.069,2687,3174,1649
$GC,8886,1.30,306.6,16.3,8.1,425,8893,0.00,2.58,0.00,0.000,6,0.000,0.057,2687,1774,1649
$STATE,9015,end climb,SURFACE_DEPTH_REACHED
$STATE,9015,begin surface coast
$FINISH,-0.5,1.027234
$STATE,9037,end surface coast,CONTROL_FINISHED_OK
$STATE,9037,begin surface
$SM_CCo,9117,0.00,0.000,0,0,1649,307.12
$SM_GC,0.12,11.50,0.00,0.00,0.025,0.000,0.000,46,2881,1649,-10.78,-0.54,307.12
$IRIDIUM_FIX,6103.81,-858.12,241107,070738
$TT8_MAMPS,0.029146
$HUMID,2050
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,301.7,85.8
$24V_AH,23.6,18.257
$10V_AH,10.1,7.242
$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,25.950,99.825,376.975,0.000,0.000,38.500,30.923,116.163,2.500,0.000,0.000,19.803,863.964,6562.531,461.897,1231.290,284.568,33.375,1097.832,0.000,1201.652,0.000,15.311
$DEVICE_MAMPS,160.303,86.671,970.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,313.607,296.197,384.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22311,433
$CFSIZE,260165632,254517248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,241107,084855,6125.345,-853.977,31,1.4,49,-9.1