version: 66.02
glider: 103
mission: 7
dive: 87
start: 11 25 107 12 5 8
data:
$ID,103
$MISSION,7
$DIVE,87
$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,-63830.965
$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,18
$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
$GPS1,115938,6130.033,-904.383,37,1.2,37,-9.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-56.1
$GPS2,120403,6130.009,-904.361,17,1.4,17,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.142,0.166
$KALMAN_X,-93656.8,43.6,1133.7,66051.2,-2988.8
$KALMAN_Y,94330.1,538.4,20.1,-102286.7,-162.3
$MHEAD_RNG_PITCHd_Wd,49.9,43581,-11.1,-6.000
$D_GRID,508
$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,-61.12,0.000,6,0.000,0.000,43,2889,3501
$GC,84,-1.10,-146.6,4.8,-10.7,3,106,12.05,2.62,0.00,0.000,4,0.161,0.064,2165,1486,3502
$GC,264,-1.10,-146.6,33.9,-10.0,11,268,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2904,3502
$GC,589,-1.10,-146.6,68.4,-10.9,27,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,899,-1.10,-146.6,86.6,-4.8,42,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,1208,-1.10,-146.6,113.2,-11.2,57,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,1517,-1.10,-146.6,139.1,-9.7,72,1521,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1482,3502
$GC,1555,-1.10,-146.6,141.8,-7.0,74,1560,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2899,3502
$GC,1880,-1.10,-146.6,164.0,-6.1,90,1884,0.00,2.60,0.00,0.000,4,0.000,0.071,2165,1486,3502
$GC,1919,-1.10,-146.6,166.5,-6.8,92,1923,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2899,3502
$GC,2244,-1.10,-146.6,191.2,-8.0,108,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,2553,-1.10,-146.6,216.4,-8.2,123,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,2863,-1.10,-146.6,238.7,-5.6,138,2867,0.00,2.60,0.00,0.000,4,0.000,0.070,2165,1486,3503
$GC,2911,-1.10,-146.6,241.7,-5.9,140,2916,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2901,3503
$GC,3232,-1.10,-146.6,261.4,-6.7,156,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,3542,-1.10,-146.6,285.3,-8.9,171,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3851,-1.10,-146.6,314.1,-9.3,186,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,4161,-1.10,-146.6,341.7,-8.4,201,4165,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1478,3502
$GC,4237,-1.10,-146.6,348.3,-8.5,204,4244,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2900,3502
$GC,4552,-1.10,-146.6,372.2,-7.3,220,4557,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1484,3502
$GC,4614,-1.10,-146.6,376.4,-7.2,223,4618,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2899,3502
$GC,4938,-1.10,-146.6,396.5,-6.1,239,4943,0.00,2.55,0.00,0.000,4,0.000,0.066,2165,1485,3502
$GC,4978,-1.10,-146.6,399.2,-7.0,241,4982,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3503
$GC,5303,-1.10,-146.6,420.3,-6.3,257,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,5612,-1.10,-146.6,439.2,-5.7,272,5616,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1484,3502
$GC,5677,-1.10,-146.6,443.1,-5.3,275,5682,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,6004,-1.10,-146.6,462.7,-6.1,291,6009,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1484,3502
$GC,6036,-1.10,-146.6,465.0,-6.4,292,6043,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2899,3502
$GC,6352,-1.10,-146.6,487.2,-7.7,308,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$STATE,6619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6619,begin apogee
$GC,6625,-0.42,0.0,508.7,7.6,321,6751,0.75,0.00,123.15,1.110,6,0.081,0.000,2320,1763,2901
$STATE,6752,end apogee,CONTROL_FINISHED_OK
$STATE,6752,begin climb
$GC,6754,1.10,146.6,513.6,0.0,327,6881,1.52,2.60,119.35,1.108,4,0.052,0.061,2649,372,2303
$GC,7066,1.13,172.3,503.3,5.3,341,7094,0.00,2.53,22.15,1.026,6,0.000,0.036,2649,1790,2198
$GC,7402,1.13,172.3,480.8,6.7,358,7406,0.00,2.55,0.00,0.000,4,0.000,0.064,2649,3173,2198
$GC,7580,1.13,172.3,468.2,6.9,366,7584,0.00,2.50,0.00,0.000,6,0.000,0.050,2649,1776,2198
$GC,7906,1.13,172.3,444.6,6.7,382,7910,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3178,2198
$GC,8039,1.18,213.5,437.0,4.9,388,8079,0.00,2.55,34.65,1.044,6,0.000,0.053,2649,1780,2030
$GC,8407,1.24,256.5,418.0,4.8,406,8449,0.15,2.67,35.65,1.035,4,0.038,0.067,2702,3175,1855
$GC,8577,1.24,256.5,405.2,7.8,413,8585,0.08,2.55,0.00,0.000,6,0.082,0.051,2684,1776,1855
$GC,8892,1.24,256.5,384.1,6.7,429,8897,0.00,2.58,0.00,0.000,4,0.000,0.065,2684,3172,1854
$GC,8999,1.24,256.5,376.3,7.9,434,9003,0.00,2.50,0.00,0.000,6,0.000,0.051,2684,1774,1854
$GC,9324,1.24,256.5,348.7,7.9,450,9328,0.00,2.60,0.00,0.000,4,0.000,0.067,2684,3176,1854
$GC,9411,1.24,256.5,340.9,8.5,454,9416,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,1778,1854
$GC,9738,1.24,256.5,312.5,8.6,470,9743,0.00,2.58,0.00,0.000,4,0.000,0.068,2684,3174,1854
$GC,9837,1.24,256.5,303.7,8.8,474,9844,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,1777,1854
$GC,10152,1.24,256.5,275.7,9.8,490,10157,0.00,2.60,0.00,0.000,4,0.000,0.069,2684,3173,1854
$GC,10246,1.24,256.5,265.6,10.6,494,10251,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,1776,1854
$GC,10567,1.24,256.5,231.9,10.2,510,10571,0.00,2.60,0.00,0.000,4,0.000,0.071,2684,3173,1854
$GC,10667,1.24,256.5,222.3,11.3,514,10673,0.00,2.53,0.00,0.000,6,0.000,0.052,2684,1780,1854
$GC,10982,1.24,256.5,193.6,9.7,530,10986,0.00,2.58,0.00,0.000,4,0.000,0.071,2684,3172,1854
$GC,11081,1.24,256.5,184.4,9.8,534,11088,0.00,2.53,0.00,0.000,6,0.000,0.053,2684,1779,1854
$GC,11396,1.24,256.5,160.9,9.6,550,11401,0.00,2.60,0.00,0.000,4,0.000,0.072,2684,3172,1854
$GC,11473,1.24,256.5,153.4,9.0,553,11480,0.00,2.53,0.00,0.000,6,0.000,0.054,2684,1780,1854
$GC,11789,1.24,256.5,127.4,8.5,569,11793,0.00,2.60,0.00,0.000,4,0.000,0.072,2684,3172,1854
$GC,11882,1.24,256.5,121.2,6.2,573,11886,0.00,2.53,0.00,0.000,6,0.000,0.053,2684,1777,1854
$GC,12205,1.24,256.5,93.1,10.5,589,12209,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3175,1854
$GC,12298,1.24,256.5,84.9,9.9,593,12302,0.00,2.53,0.00,0.000,6,0.000,0.054,2684,1783,1854
$GC,12619,1.24,256.5,54.4,9.4,609,12624,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3179,1854
$GC,12726,1.24,256.5,44.1,10.1,614,12730,0.00,2.53,0.00,0.000,6,0.000,0.053,2684,1775,1854
$GC,13051,1.24,256.5,17.7,6.5,630,13056,0.00,2.62,0.00,0.000,4,0.000,0.071,2684,3179,1854
$GC,13150,1.24,256.5,10.0,7.4,634,13158,0.00,2.55,0.00,0.000,6,0.000,0.054,2684,1776,1854
$STATE,13259,end climb,SURFACE_DEPTH_REACHED
$STATE,13259,begin surface coast
$FINISH,-0.8,1.019349
$STATE,13282,end surface coast,CONTROL_FINISHED_OK
$STATE,13282,begin surface
$SM_CCo,13303,36.85,0.737,2,0,1678,300.00
$SM_GC,0.05,0.00,0.00,36.85,0.000,0.000,0.737,29,2887,1678,-10.95,-0.37,300.00
$IRIDIUM_FIX,6103.81,-911.46,251107,111111
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.4,88.1
$24V_AH,23.5,19.405
$10V_AH,10.2,7.817
$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,26.025,128.300,334.950,36.850,0.000,38.171,28.379,111.551,4.000,0.000,0.000,17.825,1218.768,9982.871,501.812,1627.551,303.834,33.350,1312.669,0.000,1597.435,0.000,25.031
$DEVICE_MAMPS,161.070,80.535,1109.849,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,457.397,449.003,444.984,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31714,641
$CFSIZE,260165632,254083072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,31,2,0
$GPS,251107,154855,6130.743,-901.754,27,1.6,44,-9.2