version: 66.02
glider: 103
mission: 7
dive: 407
start: 1 22 108 7 38 15
data:
$ID,103
$MISSION,7
$DIVE,407
$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,300
$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,2
$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,-70407.211
$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,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,073128,6229.021,-1024.304,35,2.4,54,-10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-50.6
$GPS2,073744,6229.093,-1024.097,10,2.0,21,-10.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.020,-0.218
$KALMAN_X,-132816.5,336.3,-67.9,-69746.9,3448.5
$KALMAN_Y,-172894.2,-517.8,223.0,462266.0,3982.7
$MHEAD_RNG_PITCHd_Wd,130.2,33814,-11.1,-6.000
$D_GRID,608
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-76.88,0.000,6,0.000,0.000,44,2895,3500
$GC,109,-1.10,-146.6,4.0,-7.1,4,127,12.18,0.00,0.00,0.000,6,0.160,0.000,2160,2894,3501
$GC,438,-1.10,-146.6,43.4,-8.4,20,441,0.00,1.70,0.00,0.000,4,0.000,0.089,2160,3782,3501
$GC,506,-1.10,-146.6,49.8,-7.9,23,510,0.00,1.55,0.00,0.000,6,0.000,0.039,2160,2899,3501
$GC,839,-1.10,-146.6,74.3,-7.4,39,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2899,3502
$GC,1150,-1.10,-146.6,109.1,-14.2,54,1154,0.00,2.53,0.00,0.000,4,0.000,0.053,2161,1485,3502
$GC,1190,-1.10,-146.6,114.4,-10.7,56,1194,0.00,2.62,0.00,0.000,6,0.000,0.066,2160,2898,3501
$GC,1516,-1.10,-146.6,136.3,-7.3,72,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2898,3502
$GC,1825,-1.10,-146.6,158.7,-7.1,87,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2898,3501
$GC,2135,-1.10,-146.6,184.4,-8.9,102,2139,0.00,2.55,0.00,0.000,4,0.000,0.054,2161,1486,3501
$GC,2162,-1.10,-146.6,186.7,-7.7,103,2166,0.00,2.60,0.00,0.000,6,0.000,0.061,2161,2900,3501
$GC,2478,-1.10,-146.6,206.3,-5.6,118,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2900,3501
$GC,2787,-1.10,-146.6,224.3,-7.1,133,2791,0.00,2.55,0.00,0.000,4,0.000,0.052,2160,1482,3502
$GC,2819,-1.10,-146.6,226.7,-7.2,134,2825,0.00,2.62,0.00,0.000,6,0.000,0.065,2161,2902,3502
$GC,3135,-1.10,-146.6,249.7,-8.2,150,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2902,3501
$GC,3444,-1.10,-146.6,272.5,-6.2,165,3449,0.00,2.55,0.00,0.000,4,0.000,0.054,2160,1486,3501
$GC,3484,-1.10,-146.6,274.8,-6.4,167,3489,0.00,2.60,0.00,0.000,6,0.000,0.063,2160,2901,3501
$GC,3816,-1.10,-146.6,294.3,-6.2,183,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2901,3502
$GC,4126,-1.10,-146.6,316.0,-7.7,198,4130,0.00,2.55,0.00,0.000,4,0.000,0.054,2161,1482,3501
$GC,4153,-1.10,-146.6,318.2,-7.7,199,4157,0.00,2.62,0.00,0.000,6,0.000,0.066,2161,2904,3502
$GC,4468,-1.10,-146.6,341.8,-7.6,214,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2905,3502
$GC,4778,-1.10,-146.6,364.9,-7.3,229,4782,0.00,2.60,0.00,0.000,4,0.000,0.062,2160,1485,3501
$GC,4833,-1.10,-146.6,369.2,-7.5,231,4839,0.00,2.65,0.00,0.000,6,0.000,0.067,2161,2909,3502
$GC,5149,-1.10,-146.6,391.1,-7.0,247,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2909,3502
$GC,5458,-1.10,-146.6,414.0,-7.6,262,5463,0.00,2.60,0.00,0.000,4,0.000,0.060,2160,1480,3501
$GC,5520,-1.10,-146.6,418.7,-6.9,265,5525,0.00,2.62,0.00,0.000,6,0.000,0.064,2160,2906,3501
$GC,5847,-1.10,-146.6,441.6,-7.0,281,5851,0.00,2.58,0.00,0.000,4,0.000,0.057,2160,1479,3501
$GC,5887,-1.10,-146.6,444.5,-7.7,283,5891,0.00,2.62,0.00,0.000,6,0.000,0.065,2160,2904,3501
$GC,6213,-1.10,-146.6,471.2,-9.0,299,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2904,3502
$GC,6522,-1.10,-146.6,499.6,-8.3,314,6530,0.00,2.55,0.00,0.000,4,0.000,0.055,2161,1484,3501
$GC,6564,-1.10,-146.6,502.8,-7.7,315,6570,0.00,2.58,0.00,0.000,6,0.000,0.061,2161,2899,3502
$GC,6880,-1.10,-146.6,524.8,-6.5,331,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2899,3501
$GC,7189,-1.10,-146.6,544.0,-5.9,346,7193,0.00,2.53,0.00,0.000,4,0.000,0.052,2160,1480,3501
$GC,7217,-1.10,-146.6,545.9,-6.2,347,7222,0.00,2.60,0.00,0.000,6,0.000,0.060,2160,2899,3501
$GC,7539,-1.10,-146.6,563.9,-5.3,363,7543,0.00,2.53,0.00,0.000,4,0.000,0.051,2160,1482,3501
$GC,7588,-1.10,-146.6,567.0,-6.3,365,7593,0.00,2.58,0.00,0.000,6,0.000,0.060,2161,2902,3502
$GC,7904,-1.10,-146.6,586.5,-6.3,380,7908,0.00,1.67,0.00,0.000,4,0.000,0.087,2160,3777,3501
$GC,7960,-1.10,-146.6,590.4,-7.2,382,7963,0.00,1.52,0.00,0.000,6,0.000,0.036,2161,2901,3501
$STATE,8216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8216,begin apogee
$GC,8225,-0.42,0.0,608.4,6.9,395,8359,0.77,0.00,126.88,1.264,6,0.093,0.000,2316,2103,2901
$STATE,8360,end apogee,CONTROL_FINISHED_OK
$STATE,8360,begin climb
$GC,8363,1.10,146.6,614.6,0.0,402,8494,1.55,2.65,122.32,1.230,4,0.057,0.057,2648,698,2303
$GC,8648,1.13,172.2,605.7,5.3,415,8678,0.00,2.50,23.12,1.171,6,0.000,0.035,2648,2125,2198
$GC,8995,1.15,181.8,586.1,5.7,432,9009,0.00,2.60,9.48,1.103,4,0.000,0.066,2648,3497,2159
$GC,9117,1.15,181.8,577.5,7.7,436,9123,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2095,2158
$GC,9432,1.15,181.8,553.0,7.7,452,9436,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3498,2157
$GC,9476,1.15,181.8,549.7,7.3,454,9480,0.00,2.45,0.00,0.000,6,0.000,0.038,2648,2098,2157
$GC,9797,1.20,224.6,533.2,4.8,470,9840,0.10,2.70,36.60,1.238,4,0.050,0.068,2680,3490,1985
$GC,9897,1.20,224.6,525.9,8.2,474,9903,0.00,2.47,0.00,0.000,6,0.000,0.040,2680,2096,1984
$GC,10212,1.20,224.6,503.8,6.5,490,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2096,1983
$GC,10522,1.20,224.6,481.4,8.2,505,10526,0.00,2.65,0.00,0.000,4,0.000,0.069,2680,3504,1982
$GC,10606,1.20,224.6,473.9,8.7,509,10611,0.00,2.47,0.00,0.000,6,0.000,0.042,2680,2103,1982
$GC,10933,1.20,224.6,447.7,7.9,525,10937,0.00,2.62,0.00,0.000,4,0.000,0.068,2680,3503,1982
$GC,10959,1.20,224.6,445.5,7.7,526,10964,0.00,2.50,0.00,0.000,6,0.000,0.043,2680,2092,1982
$GC,11275,1.20,224.6,425.5,6.9,541,11280,0.00,2.62,0.00,0.000,4,0.000,0.070,2680,3499,1982
$GC,11344,1.20,224.6,420.3,7.5,544,11348,0.00,2.47,0.00,0.000,6,0.000,0.041,2680,2101,1982
$GC,11665,1.20,224.6,395.3,8.4,560,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1982
$GC,11974,1.20,224.6,367.1,8.9,575,11978,0.00,2.62,0.00,0.000,4,0.000,0.068,2680,3505,1983
$GC,12041,1.20,224.6,360.8,9.0,578,12045,0.00,2.50,0.00,0.000,6,0.000,0.044,2680,2097,1983
$GC,12362,1.20,224.6,334.3,7.9,594,12366,0.00,2.60,0.00,0.000,4,0.000,0.068,2680,3498,1983
$GC,12418,1.20,224.6,329.5,8.0,596,12424,0.00,2.47,0.00,0.000,6,0.000,0.044,2680,2100,1984
$GC,12734,1.20,224.6,308.5,6.1,612,12738,0.00,2.62,0.00,0.000,4,0.000,0.070,2680,3501,1984
$GC,12784,1.20,227.8,305.3,5.9,614,12795,0.00,2.50,4.32,0.775,6,0.000,0.043,2680,2094,1973
$GC,13104,1.20,227.8,286.1,6.1,630,13108,0.00,2.62,0.00,0.000,4,0.000,0.070,2680,3495,1972
$GC,13171,1.20,227.8,281.7,6.4,633,13175,0.00,2.50,0.00,0.000,6,0.000,0.045,2680,2093,1972
$GC,13491,1.20,227.8,260.3,7.1,649,13496,0.00,2.62,0.00,0.000,4,0.000,0.068,2680,3497,1973
$GC,13519,1.20,227.8,258.2,8.2,650,13523,0.00,2.47,0.00,0.000,6,0.000,0.044,2680,2097,1973
$GC,13841,1.20,227.8,232.3,7.9,666,13845,0.00,2.62,0.00,0.000,4,0.000,0.069,2680,3501,1973
$GC,13880,1.20,227.8,228.7,8.9,668,13884,0.00,2.47,0.00,0.000,6,0.000,0.045,2680,2100,1973
$GC,14206,1.20,227.8,201.7,8.2,684,14210,0.00,2.62,0.00,0.000,4,0.000,0.069,2680,3503,1974
$GC,14250,1.20,227.8,197.9,8.6,686,14255,0.00,2.50,0.00,0.000,6,0.000,0.045,2680,2102,1974
$GC,14571,1.20,227.8,167.8,10.0,702,14575,0.00,2.60,0.00,0.000,4,0.000,0.069,2680,3503,1974
$GC,14626,1.20,227.8,162.0,9.5,704,14632,0.00,2.50,0.00,0.000,6,0.000,0.045,2680,2097,1974
$GC,14944,1.20,227.8,135.1,8.0,720,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,1974
$GC,15251,1.20,227.8,102.8,9.4,735,15255,0.00,2.62,0.00,0.000,4,0.000,0.069,2680,3501,1974
$GC,15272,1.20,227.8,100.9,8.0,736,15276,0.00,2.50,0.00,0.000,6,0.000,0.047,2680,2093,1974
$GC,15594,1.23,248.6,78.4,5.4,752,15618,0.00,2.70,18.73,0.866,4,0.000,0.067,2680,3494,1887
$GC,15648,1.23,248.6,75.8,6.2,754,15652,0.00,2.53,0.00,0.000,6,0.000,0.046,2680,2096,1887
$GC,15965,1.23,248.6,60.1,6.6,769,15966,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2095,1887
$GC,16273,1.23,248.6,34.7,8.4,784,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2095,1887
$GC,16582,1.23,248.6,2.9,9.3,799,16583,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2094,1887
$STATE,16600,end climb,SURFACE_DEPTH_REACHED
$STATE,16600,begin surface coast
$FINISH,-0.5,1.027347
$STATE,16622,end surface coast,CONTROL_FINISHED_OK
$STATE,16622,begin surface
$SM_CCo,16646,43.10,0.805,1,0,1678,300.00
$SM_GC,-0.39,0.00,0.00,43.10,0.000,0.000,0.805,45,2892,1678,-10.87,-0.23,300.00
$IRIDIUM_FIX,6207.28,-1032.88,220108,060628
$TT8_MAMPS,0.029146
$HUMID,2059
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.3,79.9
$24V_AH,23.2,67.993
$10V_AH,10.1,31.511
$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,26.100,153.275,341.450,43.100,0.000,38.837,34.860,169.337,5.000,0.000,0.000,21.564,1477.039,12767.652,535.096,1744.799,557.895,0.000,1432.254,0.000,1713.269,0.000,31.498
$DEVICE_MAMPS,160.303,88.972,1264.016,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.623,560.258,507.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41234,801
$CFSIZE,260165632,236683264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
$GPS,220108,121738,6227.081,-1014.152,31,1.2,31,-10.2