version: 66.02
glider: 103
mission: 7
dive: 413
start: 1 23 108 14 5 29
data:
$ID,103
$MISSION,7
$DIVE,413
$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,-70500.695
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,135508,6219.003,-951.354,38,0.9,38,-10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-60.9
$GPS2,140457,6218.884,-951.403,11,1.6,11,-10.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$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,156.5,57510,-11.1,-6.000
$D_GRID,638
$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,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-66.20,0.000,6,0.000,0.000,39,2910,3500
$GC,98,-1.10,-146.6,2.7,-7.7,3,114,11.93,1.73,0.00,0.000,4,0.155,0.093,2164,3776,3501
$GC,366,-1.10,-146.6,40.8,-9.2,14,370,0.00,1.58,0.00,0.000,6,0.000,0.056,2164,2903,3502
$GC,694,-1.10,-146.6,66.5,-7.9,30,697,0.00,1.73,0.00,0.000,4,0.000,0.094,2164,3783,3502
$GC,817,-1.10,-146.6,76.8,-6.3,35,820,0.00,1.60,0.00,0.000,6,0.000,0.053,2164,2900,3502
$GC,1139,-1.10,-146.6,95.8,-4.0,51,1144,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1490,3502
$GC,1172,-1.10,-146.6,97.9,-6.4,52,1179,0.00,2.65,0.00,0.000,6,0.000,0.079,2164,2891,3502
$GC,1490,-1.10,-146.6,119.3,-6.5,68,1491,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2891,3502
$GC,1798,-1.10,-146.6,144.9,-6.2,83,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2891,3502
$GC,2107,-1.10,-146.6,166.8,-7.0,98,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2891,3502
$GC,2416,-1.10,-146.6,187.3,-6.7,113,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2891,3502
$GC,2725,-1.10,-146.6,207.9,-6.8,128,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2891,3502
$GC,3035,-1.10,-146.6,230.6,-8.1,143,3039,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1485,3502
$GC,3067,-1.10,-146.6,233.4,-8.6,144,3073,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2908,3502
$GC,3383,-1.10,-146.6,260.1,-8.3,160,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,3692,-1.10,-146.6,281.9,-6.4,175,3697,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1485,3503
$GC,3765,-1.10,-146.6,287.3,-8.0,178,3769,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2903,3503
$GC,4080,-1.10,-146.6,311.5,-7.0,193,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,4390,-1.10,-146.6,335.7,-7.7,208,4394,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1486,3503
$GC,4411,-1.10,-146.6,337.5,-7.3,209,4416,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2901,3502
$GC,4733,-1.10,-146.6,366.0,-9.4,225,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,5042,-1.10,-146.6,389.2,-7.2,240,5047,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1480,3502
$GC,5109,-1.10,-146.6,394.1,-6.8,243,5113,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2901,3502
$GC,5430,-1.10,-146.6,421.2,-8.7,259,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,5739,-1.10,-146.6,445.0,-7.8,274,5743,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1482,3502
$GC,5783,-1.10,-146.6,448.5,-8.0,276,5787,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2908,3502
$GC,6104,-1.10,-146.6,467.5,-5.0,292,6108,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1480,3502
$GC,6166,-1.10,-146.6,471.0,-5.9,295,6171,0.00,2.58,0.00,0.000,6,0.000,0.062,2164,2900,3502
$GC,6493,-1.10,-146.6,493.0,-7.0,311,6498,0.00,2.53,0.00,0.000,4,0.000,0.049,2164,1480,3502
$GC,6556,-1.10,-146.6,498.1,-8.4,314,6561,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2900,3502
$GC,6883,-1.10,-146.6,522.6,-5.6,330,6886,0.00,1.67,0.00,0.000,4,0.000,0.086,2164,3789,3502
$GC,6984,-1.10,-146.6,527.9,-5.2,334,6987,0.00,1.55,0.00,0.000,6,0.000,0.035,2164,2896,3502
$GC,7306,-1.10,-146.6,550.2,-8.4,350,7310,0.00,2.45,0.00,0.000,4,0.000,0.046,2164,1480,3502
$GC,7406,-1.10,-146.6,559.2,-8.6,354,7412,0.00,2.60,0.00,0.000,6,0.000,0.058,2164,2901,3502
$GC,7722,-1.10,-146.6,583.5,-7.2,370,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,8031,-1.10,-146.6,604.6,-6.5,385,8035,0.00,2.45,0.00,0.000,4,0.000,0.045,2164,1485,3502
$GC,8125,-1.10,-146.6,610.6,-6.0,389,8130,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2902,3502
$GC,8441,-1.10,-146.6,631.0,-6.1,404,8445,0.00,2.47,0.00,0.000,4,0.000,0.045,2164,1486,3502
$GC,8536,-1.10,-146.6,637.1,-6.6,408,8541,0.00,2.55,0.00,0.000,6,0.000,0.056,2164,2901,3502
$STATE,8566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8566,begin apogee
$GC,8574,-0.42,0.0,639.4,7.4,410,8709,0.75,0.00,127.53,1.282,6,0.078,0.000,2319,2093,2901
$STATE,8710,end apogee,CONTROL_FINISHED_OK
$STATE,8710,begin climb
$GC,8713,1.10,146.6,643.9,0.0,417,8844,1.52,2.60,122.78,1.245,4,0.054,0.058,2648,701,2303
$GC,9101,1.15,182.2,630.7,5.0,434,9138,0.00,2.47,31.23,1.229,6,0.000,0.035,2648,2116,2158
$GC,9456,1.23,248.6,612.5,4.2,452,9519,0.12,2.67,56.55,1.259,4,0.041,0.058,2690,701,1887
$GC,9576,1.23,248.6,605.3,7.4,457,9580,0.00,2.47,0.00,0.000,6,0.000,0.038,2690,2097,1886
$GC,9891,1.23,248.6,584.9,6.9,472,9895,0.00,2.60,0.00,0.000,4,0.000,0.064,2690,3503,1885
$GC,9935,1.23,248.6,581.5,8.4,474,9939,0.00,2.45,0.00,0.000,6,0.000,0.038,2690,2100,1885
$GC,10256,1.23,248.6,551.7,10.1,490,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2100,1883
$GC,10565,1.23,248.6,522.1,9.4,505,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2100,1882
$GC,10874,1.23,248.6,491.9,10.1,520,10878,0.00,2.62,0.00,0.000,4,0.000,0.067,2690,3510,1882
$GC,10924,1.23,248.6,486.6,10.0,522,10928,0.00,2.45,0.00,0.000,6,0.000,0.037,2690,2101,1882
$GC,11239,1.23,248.6,454.7,10.4,537,11244,0.00,2.53,0.00,0.000,4,0.000,0.054,2690,695,1882
$GC,11283,1.23,248.6,450.0,10.7,539,11288,0.00,2.45,0.00,0.000,6,0.000,0.036,2690,2095,1882
$GC,11604,1.23,248.6,419.4,9.0,555,11608,0.00,2.62,0.00,0.000,4,0.000,0.073,2690,3507,1882
$GC,11648,1.23,248.6,415.1,10.2,557,11652,0.00,2.47,0.00,0.000,6,0.000,0.043,2690,2105,1882
$GC,11974,1.23,248.6,384.1,9.5,573,11979,0.00,2.65,0.00,0.000,4,0.000,0.072,2690,3515,1882
$GC,12001,1.23,248.6,381.3,9.9,574,12006,0.00,2.47,0.00,0.000,6,0.000,0.042,2690,2101,1882
$GC,12317,1.23,248.6,351.6,9.4,589,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2101,1883
$GC,12626,1.23,248.6,324.8,8.4,604,12630,0.00,2.65,0.00,0.000,4,0.000,0.073,2690,3507,1884
$GC,12670,1.23,248.6,320.8,8.9,606,12674,0.00,2.50,0.00,0.000,6,0.000,0.044,2690,2097,1884
$GC,12997,1.23,248.6,293.2,8.1,622,13001,0.00,2.65,0.00,0.000,4,0.000,0.073,2690,3507,1884
$GC,13024,1.23,248.6,290.8,8.8,623,13028,0.00,2.50,0.00,0.000,6,0.000,0.046,2690,2098,1884
$GC,13340,1.23,248.6,264.3,7.7,638,13341,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2098,1884
$GC,13649,1.23,248.6,239.1,8.5,653,13653,0.00,2.65,0.00,0.000,4,0.000,0.073,2690,3507,1885
$GC,13676,1.23,248.6,236.6,9.9,654,13680,0.00,2.50,0.00,0.000,6,0.000,0.045,2690,2096,1885
$GC,13992,1.23,248.6,207.8,8.9,669,13993,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2095,1886
$GC,14301,1.23,248.6,179.6,9.4,684,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2095,1886
$GC,14610,1.23,251.0,153.9,5.9,699,14619,0.00,2.65,3.83,0.664,4,0.000,0.071,2690,3508,1877
$GC,14665,1.23,251.0,149.5,8.3,701,14669,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2101,1877
$GC,14982,1.23,251.0,124.0,7.2,716,14986,0.00,2.55,0.00,0.000,4,0.000,0.062,2690,695,1877
$GC,14999,1.23,251.0,122.9,6.6,717,15004,0.00,2.47,0.00,0.000,6,0.000,0.045,2690,2096,1877
$GC,15327,1.23,251.0,93.8,9.7,733,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1877
$GC,15637,1.23,251.0,65.4,7.1,748,15642,0.00,2.67,0.00,0.000,4,0.000,0.078,2690,3515,1877
$GC,15659,1.23,251.0,63.7,6.8,749,15664,0.00,2.55,0.00,0.000,6,0.000,0.051,2690,2100,1878
$GC,15982,1.34,335.5,44.9,3.7,765,16053,0.00,0.00,68.70,0.866,6,0.000,0.000,2690,2100,1533
$GC,16355,1.34,335.5,9.1,9.6,783,16359,0.00,2.65,0.00,0.000,4,0.000,0.067,2690,3514,1532
$GC,16378,1.34,335.5,6.9,8.5,784,16382,0.00,2.60,0.00,0.000,6,0.000,0.060,2690,2100,1532
$STATE,16428,end climb,SURFACE_DEPTH_REACHED
$STATE,16428,begin surface coast
$FINISH,-0.9,1.027365
$STATE,16450,end surface coast,CONTROL_FINISHED_OK
$STATE,16450,begin surface
$SM_CCo,16534,0.00,0.000,0,0,1531,336.06
$SM_GC,-0.06,11.65,0.00,0.00,0.028,0.000,0.000,35,2898,1531,-10.79,-0.06,336.06
$IRIDIUM_FIX,6158.08,-1106.78,180497,141405
$TT8_MAMPS,0.029913
$HUMID,2070
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.5,57.7
$24V_AH,23.2,68.930
$10V_AH,10.1,32.009
$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,25.975,141.075,410.600,0.000,0.000,77.022,68.593,248.484,5.500,0.000,0.000,11.431,1469.972,12645.588,499.991,1797.271,718.341,0.000,1423.046,0.000,1769.781,0.000,34.662
$DEVICE_MAMPS,154.934,94.341,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.082,547.735,506.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41031,788
$CFSIZE,260165632,236306432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,230108,184207,6214.720,-954.822,30,1.3,30,-10.0