version: 66.02
glider: 103
mission: 7
dive: 85
start: 11 25 107 4 50 21
data:
$ID,103
$MISSION,7
$DIVE,85
$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,-63795.547
$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,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
$GPS1,044508,6125.316,-906.558,38,1.7,38,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-57.1
$GPS2,044915,6125.331,-906.610,15,1.7,15,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.059,0.210
$KALMAN_X,-92204.3,324.3,-1139.3,64636.1,233.2
$KALMAN_Y,92819.1,54.7,-649.1,-108275.7,1334.5
$MHEAD_RNG_PITCHd_Wd,353.6,51764,-11.1,-6.000
$D_GRID,453
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.30,0.000,6,0.000,0.000,50,2898,3500
$GC,85,-1.10,-146.6,4.2,-10.0,3,102,12.12,0.00,0.00,0.000,6,0.160,0.000,2163,2898,3502
$GC,412,-1.10,-146.6,47.5,-10.6,19,416,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3783,3503
$GC,481,-1.10,-146.6,55.4,-12.6,22,485,0.00,1.55,0.00,0.000,6,0.000,0.041,2164,2904,3503
$GC,812,-1.10,-146.6,95.0,-10.2,38,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,1122,-1.10,-146.6,125.4,-10.7,53,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,1431,-1.10,-146.6,152.9,-7.0,68,1435,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1481,3503
$GC,1501,-1.10,-146.6,157.8,-7.3,71,1506,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2890,3503
$GC,1822,-1.10,-146.6,184.0,-7.9,87,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2890,3503
$GC,2132,-1.10,-146.6,210.5,-9.7,102,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2891,3503
$GC,2441,-1.10,-146.6,240.7,-10.0,117,2445,0.00,2.58,0.00,0.000,4,0.000,0.069,2164,1485,3503
$GC,2468,-1.10,-146.6,243.5,-10.3,118,2472,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3503
$GC,2789,-1.10,-146.6,275.4,-9.7,134,2794,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1484,3503
$GC,2829,-1.10,-146.6,278.9,-9.1,136,2833,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2904,3503
$GC,3153,-1.10,-146.6,308.5,-8.7,152,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,3463,-1.10,-146.6,336.6,-9.3,167,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,3772,-1.10,-146.6,362.4,-8.2,182,3776,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1484,3503
$GC,3811,-1.10,-146.6,365.7,-8.2,184,3815,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2904,3503
$GC,4136,-1.10,-146.6,391.8,-8.0,200,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,4445,-1.10,-146.6,416.7,-7.9,215,4449,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1486,3503
$GC,4511,-1.10,-146.6,421.8,-7.7,218,4515,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2898,3503
$GC,4838,-1.10,-146.6,447.6,-7.8,234,4842,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1484,3503
$GC,4880,-1.10,-146.6,451.1,-8.0,236,4885,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2898,3503
$STATE,4917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4923,-0.42,0.0,453.8,7.3,238,5048,0.75,0.00,122.03,1.062,6,0.083,0.000,2318,1768,2901
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5051,1.10,146.6,458.3,0.0,244,5177,1.55,2.65,118.45,1.071,4,0.057,0.064,2647,367,2303
$GC,5373,1.10,146.6,445.8,6.4,259,5378,0.00,2.53,0.00,0.000,6,0.000,0.039,2648,1775,2303
$GC,5700,1.10,146.6,425.1,6.3,275,5704,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3183,2303
$GC,5873,1.10,146.6,414.0,6.3,283,5878,0.00,2.58,0.00,0.000,6,0.000,0.060,2648,1774,2302
$GC,6199,1.16,194.8,396.8,4.7,299,6245,0.00,2.70,40.08,1.015,4,0.000,0.072,2648,3178,2106
$GC,6361,1.19,218.2,388.2,5.4,306,6389,0.00,2.60,20.65,0.970,6,0.000,0.060,2647,1777,2011
$GC,6697,1.27,280.7,372.2,4.3,323,6760,0.17,2.75,51.20,0.989,4,0.037,0.071,2705,3179,1756
$GC,6894,1.27,280.7,358.7,8.0,332,6898,0.00,2.55,0.00,0.000,6,0.000,0.055,2705,1774,1756
$GC,7220,1.27,280.7,334.0,8.2,348,7224,0.00,2.65,0.00,0.000,4,0.000,0.075,2705,3179,1756
$GC,7296,1.27,280.7,326.9,9.4,351,7303,0.00,2.58,0.00,0.000,6,0.000,0.054,2705,1774,1755
$GC,7612,1.27,280.7,292.3,12.0,367,7616,0.00,2.65,0.00,0.000,4,0.000,0.075,2705,3179,1755
$GC,7688,1.27,280.7,283.5,11.0,370,7695,0.00,2.60,0.00,0.000,6,0.000,0.058,2705,1770,1755
$GC,8004,1.27,280.7,252.6,9.4,386,8008,0.00,2.65,0.00,0.000,4,0.000,0.074,2705,3176,1755
$GC,8110,1.27,280.7,241.8,10.2,391,8114,0.00,2.55,0.00,0.000,6,0.000,0.058,2705,1773,1755
$GC,8434,1.27,280.7,209.7,9.0,407,8439,0.00,2.65,0.00,0.000,4,0.000,0.077,2705,3181,1755
$GC,8528,1.27,280.7,200.2,9.4,411,8532,0.00,2.58,0.00,0.000,6,0.000,0.060,2705,1779,1755
$GC,8849,1.27,280.7,169.7,11.0,427,8853,0.00,2.62,0.00,0.000,4,0.000,0.076,2705,3178,1755
$GC,8932,1.27,280.7,159.8,12.6,431,8937,0.00,2.55,0.00,0.000,6,0.000,0.059,2705,1776,1755
$GC,9258,1.27,280.7,123.1,11.3,447,9263,0.00,2.67,0.00,0.000,4,0.000,0.077,2705,3185,1755
$GC,9324,1.27,280.7,114.5,11.7,450,9329,0.00,2.60,0.00,0.000,6,0.000,0.061,2705,1774,1755
$GC,9651,1.30,303.6,86.4,5.4,466,9676,0.00,2.72,19.35,0.813,4,0.000,0.077,2705,3179,1662
$GC,9765,1.30,303.6,77.0,11.1,471,9769,0.00,2.60,0.00,0.000,6,0.000,0.062,2705,1779,1662
$GC,10093,1.30,303.6,49.1,8.3,487,10098,0.00,2.67,0.00,0.000,4,0.000,0.078,2705,3184,1662
$GC,10177,1.30,303.6,41.9,9.1,491,10182,0.00,2.58,0.00,0.000,6,0.000,0.061,2705,1773,1662
$GC,10503,1.30,303.6,16.2,8.4,507,10508,0.00,2.67,0.00,0.000,4,0.000,0.077,2705,3182,1662
$GC,10546,1.30,303.6,10.6,12.2,509,10551,0.00,2.55,0.00,0.000,6,0.000,0.056,2705,1784,1662
$STATE,10645,end climb,SURFACE_DEPTH_REACHED
$STATE,10645,begin surface coast
$FINISH,-0.5,1.027279
$STATE,10667,end surface coast,CONTROL_FINISHED_OK
$STATE,10668,begin surface
$SM_CCo,10748,0.00,0.000,0,0,1661,304.17
$SM_GC,0.09,11.65,0.00,0.00,0.029,0.000,0.000,46,2889,1661,-10.79,-0.31,304.17
$IRIDIUM_FIX,6059.36,-906.30,251107,050541
$TT8_MAMPS,0.028379
$HUMID,2079
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.2,68.4
$24V_AH,23.5,19.157
$10V_AH,10.2,7.679
$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,26.250,107.200,371.750,0.000,0.000,37.892,25.707,102.217,4.000,0.000,0.000,15.404,994.923,7966.411,455.530,1323.418,276.381,33.358,1137.642,0.000,1297.301,0.000,24.977
$DEVICE_MAMPS,160.303,94.341,1071.499,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.332,358.578,373.362,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25373,515
$CFSIZE,260165632,254193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,251107,075038,6127.891,-908.528,38,1.5,38,-9.3