version: 66.02
glider: 103
mission: 7
dive: 58
start: 11 20 107 23 26 4
data:
$ID,103
$MISSION,7
$DIVE,58
$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,412.5
$T_MISSION,440
$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,-63242.219
$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,20
$R_STBD_OVSHOOT,8
$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
$GPS1,232007,6144.833,-848.481,31,1.1,31,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-58.8
$GPS2,232427,6144.858,-848.506,16,1.1,16,-9.2
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.243,-0.012
$KALMAN_X,-100764.4,687.9,91.2,87576.6,-4485.6
$KALMAN_Y,76327.5,-1325.3,-610.8,-54322.4,6042.6
$MHEAD_RNG_PITCHd_Wd,276.4,27606,-14.9,-8.000
$D_GRID,743
$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,-1.42,-146.6,0.0,0.0,0,95,0.00,0.00,-74.97,0.000,6,0.000,0.000,48,2889,3500
$GC,97,-1.42,-146.6,1.7,-5.2,3,119,11.68,2.65,0.00,0.000,4,0.164,0.068,2093,1492,3503
$GC,231,-1.42,-146.6,26.0,-10.6,9,235,0.00,2.65,0.00,0.000,6,0.000,0.072,2093,2903,3504
$GC,556,-1.42,-146.6,60.0,-11.0,25,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2903,3504
$GC,865,-1.42,-146.6,93.3,-11.0,40,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2903,3504
$GC,1175,-1.42,-146.6,127.5,-10.9,55,1178,0.00,1.67,0.00,0.000,4,0.000,0.093,2093,3785,3504
$GC,1223,-1.42,-146.6,133.1,-11.2,57,1228,0.00,1.55,0.00,0.000,6,0.000,0.041,2093,2902,3504
$GC,1550,-1.42,-146.6,168.7,-11.0,73,1554,0.00,2.58,0.00,0.000,4,0.000,0.061,2093,1488,3504
$GC,1592,-1.42,-146.6,173.5,-11.0,75,1597,0.00,2.67,0.00,0.000,6,0.000,0.074,2093,2895,3504
$GC,1920,-1.42,-146.6,209.2,-10.3,91,1923,0.00,1.70,0.00,0.000,4,0.000,0.094,2093,3785,3504
$GC,1968,-1.42,-146.6,214.5,-10.6,93,1973,0.00,1.55,0.00,0.000,6,0.000,0.043,2093,2907,3504
$GC,2295,-1.42,-146.6,246.5,-10.0,109,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2907,3504
$GC,2605,-1.42,-146.6,277.0,-9.9,124,2609,0.00,2.55,0.00,0.000,4,0.000,0.063,2093,1490,3504
$GC,2636,-1.42,-146.6,280.3,-9.8,125,2644,0.00,2.67,0.00,0.000,6,0.000,0.073,2093,2902,3505
$GC,2952,-1.42,-146.6,310.7,-9.2,141,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2902,3504
$GC,3261,-1.42,-146.6,339.4,-9.6,156,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2902,3505
$GC,3571,-1.42,-146.6,369.7,-9.9,171,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2902,3505
$GC,3881,-1.42,-146.6,400.8,-9.5,186,3885,0.00,2.55,0.00,0.000,4,0.000,0.061,2093,1490,3505
$GC,3912,-1.42,-146.6,403.9,-9.1,187,3920,0.00,2.65,0.00,0.000,6,0.000,0.070,2093,2900,3504
$GC,4227,-1.42,-146.6,431.2,-8.2,203,4231,0.00,1.70,0.00,0.000,4,0.000,0.091,2093,3794,3505
$GC,4277,-1.42,-146.6,435.2,-7.8,205,4281,0.00,1.58,0.00,0.000,6,0.000,0.042,2093,2897,3504
$GC,4604,-1.42,-146.6,461.4,-8.9,221,4608,0.00,2.55,0.00,0.000,4,0.000,0.062,2093,1486,3504
$GC,4664,-1.42,-146.6,466.6,-8.2,224,4669,0.00,2.62,0.00,0.000,6,0.000,0.070,2093,2900,3504
$GC,4990,-1.42,-146.6,494.2,-8.0,240,4994,0.00,1.67,0.00,0.000,4,0.000,0.091,2093,3785,3504
$GC,5179,-1.42,-146.6,508.0,-6.5,248,5184,0.00,1.55,0.00,0.000,6,0.000,0.042,2093,2900,3505
$GC,5501,-1.42,-146.6,532.0,-7.9,264,5505,0.00,2.55,0.00,0.000,4,0.000,0.062,2093,1489,3505
$GC,5629,-1.42,-146.6,541.8,-6.8,270,5634,0.00,2.65,0.00,0.000,6,0.000,0.071,2093,2908,3505
$GC,5954,-1.42,-146.6,567.5,-8.1,286,5958,0.00,2.58,0.00,0.000,4,0.000,0.061,2093,1489,3505
$GC,5992,-1.42,-146.6,570.4,-6.9,288,5997,0.00,2.62,0.00,0.000,6,0.000,0.071,2093,2899,3505
$GC,6318,-1.42,-146.6,595.8,-8.3,304,6321,0.00,1.67,0.00,0.000,4,0.000,0.094,2093,3783,3505
$GC,6408,-1.42,-146.6,602.0,-6.0,308,6411,0.00,1.55,0.00,0.000,6,0.000,0.046,2093,2910,3505
$GC,6739,-1.42,-146.6,626.7,-7.1,324,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2910,3505
$GC,7048,-1.42,-146.6,649.6,-7.8,339,7053,0.00,2.60,0.00,0.000,4,0.000,0.067,2093,1489,3504
$GC,7080,-1.42,-146.6,652.1,-7.6,340,7087,0.00,2.67,0.00,0.000,6,0.000,0.076,2093,2895,3504
$GC,7396,-1.42,-146.6,673.8,-5.8,356,7401,0.00,2.60,0.00,0.000,4,0.000,0.068,2093,1485,3504
$GC,7423,-1.42,-146.6,675.8,-6.8,357,7428,0.00,2.67,0.00,0.000,6,0.000,0.077,2093,2902,3503
$GC,7744,-1.42,-146.6,698.9,-8.3,373,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2902,3501
$GC,8054,-1.42,-146.6,722.2,-6.2,388,8057,0.00,1.70,0.00,0.000,4,0.000,0.104,2093,3780,3500
$GC,8121,-1.42,-146.6,727.4,-5.9,391,8125,0.00,1.58,0.00,0.000,6,0.000,0.051,2093,2892,3500
$STATE,8368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8369,begin apogee
$GC,8374,-0.42,0.0,743.2,7.3,403,8503,1.10,0.00,124.70,1.408,6,0.079,0.000,2319,1773,2901
$STATE,8503,end apogee,CONTROL_FINISHED_OK
$STATE,8504,begin climb
$GC,8505,1.42,146.6,746.7,0.0,409,8636,1.88,2.75,122.93,1.348,4,0.053,0.078,2720,367,2303
$GC,8664,1.42,146.6,743.3,9.4,417,8668,0.00,2.55,0.00,0.000,6,0.000,0.045,2720,1786,2303
$GC,8989,1.42,146.6,710.6,10.3,433,8993,0.00,2.62,0.00,0.000,4,0.000,0.074,2720,3174,2302
$GC,9072,1.45,167.9,704.5,7.2,437,9097,0.00,2.60,19.17,1.307,6,0.000,0.060,2720,1764,2216
$GC,9422,1.45,167.9,670.4,8.5,454,9427,0.00,2.70,0.00,0.000,4,0.000,0.079,2720,3175,2215
$GC,9477,1.49,203.8,666.1,6.7,456,9513,0.00,2.60,30.80,1.346,6,0.000,0.061,2720,1779,2070
$GC,9828,1.49,203.8,638.6,8.2,474,9832,0.00,2.70,0.00,0.000,4,0.000,0.083,2720,3178,2069
$GC,9905,1.49,203.8,630.9,10.1,477,9911,0.00,2.62,0.00,0.000,6,0.000,0.064,2720,1770,2068
$GC,10219,1.49,203.8,598.4,10.8,493,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1770,2068
$GC,10529,1.49,203.8,569.7,9.8,508,10533,0.00,2.67,0.00,0.000,4,0.000,0.081,2720,3174,2067
$GC,10582,1.49,203.8,564.0,10.7,510,10590,0.00,2.60,0.00,0.000,6,0.000,0.061,2720,1776,2067
$GC,10898,1.49,203.8,531.3,11.3,526,10903,0.00,2.62,0.00,0.000,4,0.000,0.072,2720,370,2066
$GC,11014,1.49,203.8,520.7,9.0,531,11019,0.00,2.53,0.00,0.000,6,0.000,0.044,2720,1765,2066
$GC,11335,1.49,203.8,492.9,9.8,547,11340,0.00,2.67,0.00,0.000,4,0.000,0.077,2720,3186,2066
$GC,11419,1.49,203.8,484.7,9.9,551,11424,0.00,2.58,0.00,0.000,6,0.000,0.060,2720,1776,2066
$GC,11745,1.49,203.8,451.8,10.0,567,11749,0.00,2.65,0.00,0.000,4,0.000,0.074,2720,3186,2066
$GC,11832,1.49,203.8,442.9,9.5,571,11837,0.00,2.60,0.00,0.000,6,0.000,0.057,2720,1771,2066
$GC,12159,1.49,203.8,411.9,9.5,587,12163,0.00,2.65,0.00,0.000,4,0.000,0.074,2720,3185,2067
$GC,12235,1.49,203.8,404.7,8.9,590,12243,0.00,2.58,0.00,0.000,6,0.000,0.055,2720,1776,2067
$GC,12551,1.49,203.8,375.6,9.3,606,12555,0.00,2.65,0.00,0.000,4,0.000,0.074,2720,3183,2068
$GC,12605,1.49,203.8,370.3,10.1,608,12612,0.00,2.58,0.00,0.000,6,0.000,0.055,2720,1772,2068
$GC,12920,1.49,203.8,342.4,8.7,624,12925,0.00,2.65,0.00,0.000,4,0.000,0.077,2720,3186,2069
$GC,13014,1.49,203.8,334.0,8.4,628,13019,0.00,2.58,0.00,0.000,6,0.000,0.055,2720,1776,2069
$GC,13335,1.49,203.8,304.5,9.3,644,13339,0.00,2.65,0.00,0.000,4,0.000,0.074,2720,3186,2070
$GC,13446,1.49,203.8,293.5,10.2,649,13451,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1777,2071
$GC,13772,1.49,203.8,263.1,9.8,665,13777,0.00,2.62,0.00,0.000,4,0.000,0.074,2720,3184,2071
$GC,13866,1.49,203.8,253.4,10.3,669,13871,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1776,2071
$GC,14187,1.49,203.8,220.4,10.6,685,14192,0.00,2.62,0.00,0.000,4,0.000,0.075,2720,3182,2072
$GC,14264,1.49,203.8,212.1,10.6,688,14271,0.00,2.58,0.00,0.000,6,0.000,0.059,2720,1779,2072
$GC,14579,1.49,203.8,179.9,10.2,704,14584,0.00,2.62,0.00,0.000,4,0.000,0.076,2720,3183,2073
$GC,14685,1.49,203.8,169.0,10.0,709,14690,0.00,2.55,0.00,0.000,6,0.000,0.058,2720,1770,2073
$GC,15013,1.49,203.8,138.0,9.2,725,15017,0.00,2.67,0.00,0.000,4,0.000,0.075,2720,3186,2074
$GC,15106,1.49,203.8,128.8,9.2,729,15110,0.00,2.58,0.00,0.000,6,0.000,0.058,2720,1777,2074
$GC,15427,1.49,203.8,100.1,9.2,745,15431,0.00,2.65,0.00,0.000,4,0.000,0.074,2720,3184,2075
$GC,15503,1.49,203.8,93.1,8.6,748,15511,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1777,2075
$GC,15821,1.51,221.7,66.6,7.3,764,15843,0.00,2.70,16.52,0.858,4,0.000,0.074,2720,3183,1997
$GC,15910,1.51,221.7,58.6,8.2,768,15915,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1773,1997
$GC,16236,1.51,221.7,29.9,8.7,784,16240,0.00,2.67,0.00,0.000,4,0.000,0.077,2720,3184,1997
$GC,16324,1.51,221.7,22.6,8.7,788,16328,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1763,1997
$STATE,16587,end climb,SURFACE_DEPTH_REACHED
$STATE,16587,begin surface coast
$FINISH,-0.9,1.027272
$STATE,16610,end surface coast,CONTROL_FINISHED_OK
$STATE,16610,begin surface
$SM_CCo,16630,63.92,0.800,2,0,1678,300.00
$SM_GC,-0.35,0.00,0.00,63.92,0.000,0.000,0.800,45,2893,1678,-10.88,-0.20,300.00
$IRIDIUM_FIX,6117.23,-848.22,201107,232328
$TT8_MAMPS,0.029146
$HUMID,2065
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.50
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,675.3,91.2
$24V_AH,23.3,15.583
$10V_AH,10.1,5.906
$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,26.400,170.400,314.125,63.925,0.000,37.869,27.145,112.859,9.000,0.000,0.000,16.248,1544.201,12623.078,574.824,1937.800,336.386,33.347,1541.046,0.000,1898.614,0.000,39.609
$DEVICE_MAMPS,164.138,103.545,1408.212,799.981,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.578,559.350,475.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41097,802
$CFSIZE,260165632,255488000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,2,0
$GPS,211107,040538,6146.830,-856.186,37,1.1,37,-9.3