version: 66.02
glider: 103
mission: 7
dive: 408
start: 1 22 108 12 31 11
data:
$ID,103
$MISSION,7
$DIVE,408
$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,-70420.211
$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,22
$R_STBD_OVSHOOT,14
$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
$GPS1,121738,6227.081,-1014.152,31,1.2,31,-10.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-54.3
$GPS2,123039,6227.088,-1013.810,12,1.3,12,-10.2
$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,132.9,24322,-11.1,-6.000
$D_GRID,626
$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,21,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-60.90,0.000,2,0.000,0.000,45,2894,3398
$GC,90,-1.10,-146.6,3.9,-9.8,3,107,12.05,0.00,-1.77,0.000,6,0.156,0.000,2164,2893,3501
$GC,418,-1.10,-146.6,33.9,-5.1,19,423,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3503
$GC,486,-1.10,-146.6,39.7,-7.6,22,490,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2900,3503
$GC,807,-1.10,-146.6,71.3,-9.2,38,810,0.00,1.70,0.00,0.000,4,0.000,0.095,2164,3786,3503
$GC,862,-1.10,-146.6,79.0,-15.3,40,866,0.00,1.58,0.00,0.000,6,0.000,0.045,2165,2896,3503
$GC,1184,-1.10,-146.6,112.9,-8.0,56,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3503
$GC,1495,-1.10,-146.6,134.7,-5.5,71,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3503
$GC,1803,-1.10,-146.6,157.2,-6.7,86,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3503
$GC,2112,-1.10,-146.6,180.9,-9.9,101,2116,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1480,3503
$GC,2146,-1.10,-146.6,184.0,-8.3,102,2152,0.00,2.65,0.00,0.000,6,0.000,0.065,2164,2903,3503
$GC,2462,-1.10,-146.6,207.3,-8.4,118,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2771,-1.10,-146.6,231.3,-7.6,133,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,3080,-1.10,-146.6,254.0,-7.1,148,3084,0.00,1.67,0.00,0.000,4,0.000,0.092,2164,3784,3503
$GC,3171,-1.10,-146.6,260.9,-8.2,152,3175,0.00,1.58,0.00,0.000,6,0.000,0.044,2164,2880,3503
$GC,3504,-1.10,-146.6,283.9,-6.0,168,3508,0.00,2.53,0.00,0.000,4,0.000,0.063,2164,1484,3503
$GC,3543,-1.10,-146.6,286.4,-6.5,170,3547,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2900,3503
$GC,3870,-1.10,-146.6,307.1,-6.2,186,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4179,-1.10,-146.6,327.2,-6.8,201,4183,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1485,3503
$GC,4206,-1.10,-146.6,329.3,-6.3,202,4210,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2908,3503
$GC,4522,-1.10,-146.6,352.3,-7.2,217,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,4830,-1.10,-146.6,373.0,-6.6,232,4834,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1484,3503
$GC,4880,-1.10,-146.6,376.4,-6.7,234,4885,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2900,3503
$GC,5202,-1.10,-146.6,397.3,-6.6,250,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,5511,-1.10,-146.6,418.3,-6.6,265,5515,0.00,2.58,0.00,0.000,4,0.000,0.056,2164,1477,3503
$GC,5555,-1.10,-146.6,421.5,-7.1,267,5559,0.00,2.62,0.00,0.000,6,0.000,0.062,2164,2900,3503
$GC,5876,-1.10,-146.6,444.2,-6.9,283,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6184,-1.10,-146.6,464.8,-6.6,298,6189,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1476,3503
$GC,6212,-1.10,-146.6,467.0,-7.3,299,6216,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2899,3503
$GC,6528,-1.10,-146.6,490.1,-7.5,314,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,6837,-1.10,-146.6,513.7,-7.6,329,6841,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1472,3503
$GC,6954,-1.10,-146.6,523.2,-8.3,334,6958,0.00,2.62,0.00,0.000,6,0.000,0.060,2164,2905,3503
$GC,7270,-1.10,-146.6,547.7,-7.7,349,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$GC,7579,-1.10,-146.6,567.8,-4.6,364,7582,0.00,1.65,0.00,0.000,4,0.000,0.087,2164,3783,3503
$GC,7685,-1.10,-146.6,571.4,-2.9,368,7692,0.00,1.55,0.00,0.000,6,0.000,0.037,2164,2894,3503
$GC,8001,-1.10,-146.6,589.1,-7.8,384,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3503
$GC,8310,-1.10,-146.6,618.7,-11.2,399,8314,0.00,2.47,0.00,0.000,4,0.000,0.046,2165,1477,3503
$GC,8350,-1.10,-146.6,622.5,-9.9,401,8354,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2899,3503
$STATE,8385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8385,begin apogee
$GC,8393,-0.42,0.0,626.7,11.5,403,8527,0.75,0.00,126.05,1.269,6,0.087,0.000,2316,2095,2901
$STATE,8527,end apogee,CONTROL_FINISHED_OK
$STATE,8527,begin climb
$GC,8530,1.10,146.6,633.1,0.0,410,8661,1.55,2.60,120.78,1.253,4,0.056,0.054,2650,700,2303
$GC,8753,1.16,190.0,630.8,4.8,420,8798,0.00,2.47,37.40,1.206,6,0.000,0.033,2650,2121,2126
$GC,9114,1.16,190.0,601.3,8.9,438,9119,0.00,2.55,0.00,0.000,4,0.000,0.063,2650,3504,2125
$GC,9149,1.16,190.0,598.1,9.3,439,9155,0.00,2.47,0.00,0.000,6,0.000,0.035,2650,2090,2125
$GC,9465,1.19,218.8,579.5,5.2,455,9495,0.00,2.67,25.12,1.242,4,0.000,0.064,2650,3498,2009
$GC,9621,1.20,227.9,570.2,5.7,462,9638,0.00,2.47,9.12,1.109,6,0.000,0.038,2650,2094,1971
$GC,9947,1.22,244.5,553.7,5.5,478,9969,0.12,2.67,15.15,1.189,4,0.048,0.064,2687,3494,1904
$GC,10042,1.22,244.5,546.5,7.9,482,10047,0.00,2.45,0.00,0.000,6,0.000,0.036,2688,2094,1903
$GC,10364,1.22,244.5,523.8,6.7,498,10368,0.00,2.62,0.00,0.000,4,0.000,0.066,2687,3500,1902
$GC,10396,1.22,244.5,520.8,9.2,499,10402,0.00,2.45,0.00,0.000,6,0.000,0.036,2687,2095,1902
$GC,10712,1.22,244.5,489.1,11.6,515,10716,0.00,2.50,0.00,0.000,4,0.000,0.054,2687,700,1902
$GC,10739,1.22,244.5,485.9,11.6,516,10744,0.00,2.42,0.00,0.000,6,0.000,0.034,2687,2094,1902
$GC,11055,1.22,244.5,454.8,8.8,531,11059,0.00,2.60,0.00,0.000,4,0.000,0.070,2687,3502,1902
$GC,11110,1.22,244.5,449.9,9.2,533,11116,0.00,2.47,0.00,0.000,6,0.000,0.040,2687,2098,1902
$GC,11426,1.22,244.5,424.2,8.4,549,11430,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3507,1902
$GC,11459,1.22,244.5,421.0,8.9,550,11465,0.00,2.45,0.00,0.000,6,0.000,0.040,2687,2101,1902
$GC,11775,1.22,244.5,392.1,9.3,566,11779,0.00,2.62,0.00,0.000,4,0.000,0.071,2687,3501,1902
$GC,11814,1.22,244.5,388.3,9.6,568,11818,0.00,2.45,0.00,0.000,6,0.000,0.041,2687,2096,1902
$GC,12147,1.22,244.5,359.6,7.8,584,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2096,1902
$GC,12457,1.22,244.5,331.8,9.2,599,12461,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3508,1902
$GC,12484,1.22,244.5,329.3,9.9,600,12488,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,2092,1902
$GC,12799,1.22,244.5,301.0,8.8,615,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2092,1903
$GC,13109,1.22,244.5,276.7,8.0,630,13113,0.00,2.65,0.00,0.000,4,0.000,0.070,2687,3506,1903
$GC,13130,1.22,244.5,275.1,7.5,631,13135,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2097,1903
$GC,13451,1.22,244.5,247.6,8.6,647,13452,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2097,1903
$GC,13760,1.22,244.5,217.4,10.1,662,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2097,1904
$GC,14069,1.22,244.5,187.3,9.5,677,14074,0.00,2.55,0.00,0.000,4,0.000,0.061,2688,688,1904
$GC,14097,1.22,244.5,184.4,10.1,678,14101,0.00,2.47,0.00,0.000,6,0.000,0.044,2688,2092,1904
$GC,14412,1.22,244.5,163.3,7.5,693,14417,0.00,2.62,0.00,0.000,4,0.000,0.071,2687,3512,1904
$GC,14445,1.22,244.5,160.1,9.3,694,14451,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2097,1904
$GC,14761,1.22,244.5,134.1,8.2,710,14766,0.00,2.65,0.00,0.000,4,0.000,0.070,2687,3512,1904
$GC,14789,1.22,244.5,131.7,8.1,711,14793,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2096,1904
$GC,15105,1.22,244.5,102.3,9.5,726,15109,0.00,2.55,0.00,0.000,4,0.000,0.061,2688,692,1904
$GC,15183,1.22,244.5,94.7,10.0,729,15189,0.00,2.50,0.00,0.000,6,0.000,0.043,2687,2107,1905
$GC,15499,1.22,244.5,68.2,7.6,745,15503,0.00,2.58,0.00,0.000,4,0.000,0.059,2688,694,1905
$GC,15538,1.22,244.5,64.8,8.9,747,15543,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2104,1905
$GC,15866,1.22,244.5,33.4,9.4,763,15870,0.00,2.60,0.00,0.000,4,0.000,0.071,2687,3510,1905
$GC,15905,1.22,244.5,29.9,8.6,765,15910,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2089,1905
$GC,16233,1.25,270.4,7.3,5.3,781,16257,0.00,0.00,22.75,0.841,6,0.000,0.000,2687,2087,1797
$STATE,16313,end climb,SURFACE_DEPTH_REACHED
$STATE,16313,begin surface coast
$FINISH,0.7,1.027342
$STATE,16333,end surface coast,CONTROL_FINISHED_OK
$STATE,16333,begin surface
$SM_CCo,16357,23.70,0.813,0,0,1678,300.00
$SM_GC,-0.53,0.00,0.00,23.70,0.000,0.000,0.813,37,2896,1678,-10.92,-0.11,300.00
$IRIDIUM_FIX,6202.67,-1016.63,220108,161651
$TT8_MAMPS,0.029146
$HUMID,2065
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,601.3,40.8
$24V_AH,23.2,68.149
$10V_AH,10.1,31.590
$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,26.075,145.750,356.375,23.700,0.000,113.905,103.291,303.217,5.500,0.000,0.000,12.373,1447.983,12672.007,502.722,1697.024,856.461,0.000,1381.691,0.000,1676.649,0.000,34.621
$DEVICE_MAMPS,156.468,95.108,1268.618,813.020,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.700,553.427,496.035,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41228,786
$CFSIZE,260165632,236621824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,220108,170608,6223.428,-1011.125,79,1.1,79,-10.2