version: 66.02
glider: 103
mission: 7
dive: 84
start: 11 25 107 1 30 32
data:
$ID,103
$MISSION,7
$DIVE,84
$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,-63779.52
$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,16
$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
$GPS1,012237,6123.872,-904.298,30,1.1,30,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-55.2
$GPS2,012927,6123.809,-904.390,16,1.2,16,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.041,0.215
$KALMAN_X,-90418.2,-137.8,108.4,64022.3,-891.8
$KALMAN_Y,92925.4,-102.0,-653.8,-111042.1,-735.8
$MHEAD_RNG_PITCHd_Wd,20.0,54850,-11.1,-6.000
$D_GRID,392
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-61.72,0.000,2,0.000,0.000,33,2899,3439
$GC,85,-1.10,-146.6,3.6,-8.5,3,107,12.12,2.65,-1.08,0.000,4,0.161,0.078,2166,1488,3502
$GC,153,-1.10,-146.6,15.6,-6.2,6,157,0.00,2.75,0.00,0.000,6,0.000,0.084,2167,2910,3502
$GC,479,-1.10,-146.6,47.1,-9.8,22,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2910,3502
$GC,788,-1.10,-146.6,65.0,-5.0,37,792,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1484,3502
$GC,814,-1.10,-146.6,66.4,-4.7,38,819,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2898,3502
$GC,1129,-1.10,-146.6,84.2,-6.9,53,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,1438,-1.10,-146.6,104.4,-7.1,68,1443,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1484,3502
$GC,1481,-1.10,-146.6,107.1,-6.4,70,1486,0.00,2.70,0.00,0.000,6,0.000,0.075,2167,2899,3502
$GC,1808,-1.10,-146.6,127.4,-6.0,86,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,2117,-1.10,-146.6,147.7,-6.6,101,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,2426,-1.10,-146.6,168.7,-7.1,116,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,2736,-1.10,-146.6,191.9,-7.7,131,2740,0.00,2.60,0.00,0.000,4,0.000,0.069,2167,1482,3502
$GC,2778,-1.10,-146.6,195.2,-7.9,133,2783,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2893,3502
$GC,3105,-1.10,-146.6,218.9,-6.8,149,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2893,3502
$GC,3415,-1.10,-146.6,240.4,-7.6,164,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3502
$GC,3724,-1.10,-146.6,266.1,-8.2,179,3728,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1482,3502
$GC,3772,-1.10,-146.6,270.3,-7.8,181,3777,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2903,3502
$GC,4093,-1.10,-146.6,296.5,-8.3,197,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,4402,-1.10,-146.6,322.2,-8.0,212,4407,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1479,3502
$GC,4470,-1.10,-146.6,327.7,-7.7,215,4474,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2898,3502
$GC,4797,-1.10,-146.6,349.8,-6.1,231,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3502
$GC,5106,-1.10,-146.6,367.0,-5.4,246,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2897,3502
$GC,5416,-1.10,-146.6,384.4,-5.8,261,5420,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1482,3502
$GC,5477,-1.10,-146.6,388.2,-5.9,264,5481,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2899,3502
$STATE,5552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5553,begin apogee
$GC,5559,-0.42,0.0,392.8,6.1,268,5684,0.73,0.00,121.70,1.018,6,0.077,0.000,2317,1768,2901
$STATE,5684,end apogee,CONTROL_FINISHED_OK
$STATE,5684,begin climb
$GC,5686,1.10,146.6,396.4,0.0,274,5813,1.55,2.65,119.12,0.992,4,0.057,0.065,2649,362,2303
$GC,5986,1.10,146.6,384.8,6.8,288,5991,0.00,2.55,0.00,0.000,6,0.000,0.039,2648,1783,2303
$GC,6314,1.11,151.8,364.9,5.9,304,6325,0.00,2.62,6.03,0.796,4,0.000,0.069,2648,3184,2282
$GC,6447,1.13,170.0,357.7,5.5,310,6468,0.00,2.58,16.05,0.913,6,0.000,0.054,2648,1758,2208
$GC,6795,1.21,230.6,341.6,4.3,327,6851,0.12,2.72,50.00,0.965,4,0.042,0.071,2694,3177,1960
$GC,6968,1.21,230.6,331.0,6.7,334,6973,0.08,2.58,0.00,0.000,6,0.077,0.054,2675,1772,1960
$GC,7294,1.23,250.4,313.5,5.5,350,7317,0.00,2.67,17.17,0.923,4,0.000,0.064,2675,3178,1880
$GC,7456,1.23,250.4,303.1,7.0,357,7461,0.00,2.53,0.00,0.000,6,0.000,0.049,2675,1773,1880
$GC,7782,1.23,250.4,280.4,7.3,373,7787,0.00,2.60,0.00,0.000,4,0.000,0.066,2675,3179,1880
$GC,7871,1.23,250.4,273.3,8.4,377,7875,0.00,2.53,0.00,0.000,6,0.000,0.049,2675,1780,1880
$GC,8197,1.23,250.4,249.8,7.2,393,8202,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,3178,1880
$GC,8319,1.23,250.4,240.2,8.0,398,8326,0.00,2.53,0.00,0.000,6,0.000,0.049,2675,1778,1880
$GC,8635,1.23,250.4,217.5,7.1,414,8639,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,3185,1880
$GC,8751,1.23,250.4,209.0,7.3,419,8755,0.00,2.53,0.00,0.000,6,0.000,0.049,2675,1770,1880
$GC,9071,1.23,250.4,187.7,7.2,435,9076,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,3179,1880
$GC,9188,1.23,250.4,179.1,8.1,440,9192,0.00,2.53,0.00,0.000,6,0.000,0.051,2675,1781,1880
$GC,9509,1.23,250.4,152.6,9.1,456,9514,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,3181,1879
$GC,9625,1.23,250.4,141.2,9.5,461,9630,0.00,2.53,0.00,0.000,6,0.000,0.050,2675,1778,1880
$GC,9947,1.23,250.4,116.2,7.1,477,9951,0.00,2.60,0.00,0.000,4,0.000,0.066,2675,3182,1879
$GC,10068,1.23,250.4,107.6,6.8,482,10076,0.00,2.53,0.00,0.000,6,0.000,0.051,2675,1780,1879
$GC,10384,1.23,250.4,86.6,6.9,498,10388,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,3184,1879
$GC,10460,1.23,250.4,81.1,7.6,501,10468,0.00,2.55,0.00,0.000,6,0.000,0.051,2675,1774,1879
$GC,10778,1.23,250.4,55.6,7.3,517,10782,0.00,2.60,0.00,0.000,4,0.000,0.067,2675,3182,1879
$GC,10906,1.23,250.4,47.1,7.9,523,10910,0.00,2.53,0.00,0.000,6,0.000,0.051,2675,1774,1879
$GC,11231,1.23,250.4,30.3,7.7,539,11236,0.00,2.60,0.00,0.000,4,0.000,0.068,2675,3179,1879
$GC,11315,1.23,250.4,21.8,10.5,543,11319,0.00,2.53,0.00,0.000,6,0.000,0.054,2675,1775,1879
$STATE,11515,end climb,SURFACE_DEPTH_REACHED
$STATE,11515,begin surface coast
$FINISH,-0.5,1.027244
$STATE,11537,end surface coast,CONTROL_FINISHED_OK
$STATE,11537,begin surface
$SM_CCo,11558,40.92,0.749,1,0,1678,300.00
$SM_GC,0.29,0.00,0.00,40.92,0.000,0.000,0.749,50,2896,1678,-10.86,-0.11,300.00
$IRIDIUM_FIX,6059.36,-905.59,251107,050506
$TT8_MAMPS,0.029913
$HUMID,2053
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.50
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,325.4,110.1
$24V_AH,23.6,19.038
$10V_AH,10.2,7.624
$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,26.200,108.300,330.075,40.925,0.000,78.606,51.924,134.784,3.250,0.000,0.000,16.649,1069.229,8680.443,471.235,1431.599,385.054,33.361,1183.964,0.000,1408.571,0.000,16.997
$DEVICE_MAMPS,161.070,84.370,1017.809,748.592,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.405,382.495,460.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28567,554
$CFSIZE,260165632,254234624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,251107,044508,6125.316,-906.558,38,1.7,38,-9.2