version: 66.02
glider: 103
mission: 7
dive: 416
start: 1 24 108 5 7 17
data:
$ID,103
$MISSION,7
$DIVE,416
$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,-70544.664
$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,18
$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
$GPS1,050025,6209.615,-942.391,24,1.1,42,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-58.2
$GPS2,050645,6209.596,-942.275,14,1.1,14,-9.8
$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,152.0,38876,-11.1,-6.000
$D_GRID,661
$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,27,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-66.10,0.000,6,0.000,0.000,45,2899,3500
$GC,98,-1.10,-146.6,2.3,-6.4,3,114,12.00,1.73,0.00,0.000,4,0.159,0.085,2164,3782,3502
$GC,367,-1.10,-146.6,39.4,-8.0,14,370,0.00,1.60,0.00,0.000,6,0.000,0.054,2164,2896,3502
$GC,694,-1.10,-146.6,67.9,-11.1,30,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3502
$GC,1005,-1.10,-146.6,88.4,-6.4,45,1008,0.00,1.73,0.00,0.000,4,0.000,0.094,2164,3780,3502
$GC,1044,-1.10,-146.6,91.5,-7.3,46,1050,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2904,3502
$GC,1360,-1.10,-146.6,113.4,-8.5,62,1364,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1480,3502
$GC,1387,-1.10,-146.6,115.9,-8.6,63,1391,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2898,3502
$GC,1703,-1.10,-146.6,157.3,-14.4,78,1707,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1488,3502
$GC,1730,-1.10,-146.6,160.9,-12.5,79,1734,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2899,3502
$GC,2045,-1.10,-146.6,188.9,-7.6,94,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,2355,-1.10,-146.6,216.3,-8.9,109,2359,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1480,3502
$GC,2417,-1.10,-146.6,222.4,-9.4,112,2421,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2900,3502
$GC,2743,-1.10,-146.6,253.9,-9.4,128,2747,0.00,1.70,0.00,0.000,4,0.000,0.097,2165,3786,3502
$GC,2799,-1.10,-146.6,259.3,-9.1,130,2802,0.00,1.58,0.00,0.000,6,0.000,0.047,2164,2899,3502
$GC,3121,-1.10,-146.6,281.5,-6.2,146,3125,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1487,3502
$GC,3165,-1.10,-146.6,284.9,-7.5,148,3169,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2903,3502
$GC,3486,-1.10,-146.6,309.2,-7.7,164,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,3794,-1.10,-146.6,333.9,-8.2,179,3799,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1488,3502
$GC,3835,-1.10,-146.6,337.2,-8.5,181,3839,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2906,3502
$GC,4161,-1.10,-146.6,365.5,-8.8,197,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,4470,-1.10,-146.6,395.8,-10.0,212,4474,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1480,3502
$GC,4532,-1.10,-146.6,401.9,-10.2,215,4537,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2898,3502
$GC,4860,-1.10,-146.6,432.0,-8.8,231,4864,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1477,3502
$GC,4922,-1.10,-146.6,437.4,-8.4,234,4926,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2898,3502
$GC,5248,-1.10,-146.6,461.1,-6.7,250,5252,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1482,3502
$GC,5304,-1.10,-146.6,464.7,-6.1,252,5310,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2901,3502
$GC,5620,-1.10,-146.6,478.3,-3.7,268,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,5930,-1.10,-146.6,485.7,-1.6,283,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,6238,-1.10,-146.6,493.7,-3.6,298,6243,0.00,2.55,0.00,0.000,4,0.000,0.056,2165,1483,3502
$GC,6323,-1.10,-146.6,497.2,-4.8,302,6328,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2907,3502
$GC,6650,-1.10,-146.6,516.7,-7.1,318,6653,0.00,1.65,0.00,0.000,4,0.000,0.089,2165,3783,3502
$GC,6785,-1.10,-146.6,527.3,-8.2,324,6789,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2892,3502
$GC,7118,-1.10,-146.6,555.8,-9.0,340,7122,0.00,2.45,0.00,0.000,4,0.000,0.050,2165,1483,3502
$GC,7174,-1.10,-146.6,561.1,-9.4,342,7178,0.00,2.60,0.00,0.000,6,0.000,0.058,2165,2909,3502
$GC,7490,-1.10,-146.6,588.6,-8.2,357,7494,0.00,2.53,0.00,0.000,4,0.000,0.048,2164,1482,3502
$GC,7585,-1.10,-146.6,595.6,-6.9,361,7589,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2902,3502
$GC,7901,-1.10,-146.6,615.3,-5.8,376,7905,0.00,1.67,0.00,0.000,4,0.000,0.088,2164,3777,3502
$GC,7934,-1.10,-146.6,617.5,-6.4,377,7937,0.00,1.50,0.00,0.000,6,0.000,0.036,2165,2901,3502
$GC,8255,-1.10,-146.6,637.7,-6.5,393,8259,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1483,3502
$GC,8328,-1.10,-146.6,642.6,-5.9,396,8332,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2900,3502
$GC,8645,-1.10,-146.6,660.1,-5.3,411,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$STATE,8682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8682,begin apogee
$GC,8690,-0.42,0.0,661.9,4.5,413,8825,0.77,0.00,127.65,1.292,6,0.094,0.000,2319,2101,2900
$STATE,8826,end apogee,CONTROL_FINISHED_OK
$STATE,8826,begin climb
$GC,8829,1.10,146.6,666.0,0.0,420,8961,1.52,2.65,123.28,1.251,4,0.052,0.058,2649,708,2303
$GC,9218,1.10,146.6,644.3,6.8,437,9224,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2118,2302
$GC,9533,1.10,146.6,625.0,6.1,453,9538,0.00,2.58,0.00,0.000,4,0.000,0.055,2650,700,2300
$GC,9578,1.10,146.6,621.7,7.9,455,9582,0.00,2.42,0.00,0.000,6,0.000,0.035,2649,2104,2300
$GC,9905,1.15,183.8,602.8,5.0,471,9947,0.00,2.67,32.45,1.256,4,0.000,0.064,2649,3498,2150
$GC,10016,1.15,183.8,596.5,6.4,476,10020,0.00,2.47,0.00,0.000,6,0.000,0.036,2650,2090,2150
$GC,10342,1.21,230.3,577.7,4.7,492,10388,0.10,2.70,40.10,1.249,4,0.051,0.064,2684,3500,1962
$GC,10441,1.21,230.3,572.4,6.3,496,10447,0.00,2.47,0.00,0.000,6,0.000,0.037,2684,2100,1961
$GC,10756,1.21,230.3,553.2,6.8,512,10760,0.00,2.55,0.00,0.000,4,0.000,0.058,2684,698,1960
$GC,10818,1.21,230.3,548.6,7.6,515,10822,0.00,2.42,0.00,0.000,6,0.000,0.037,2684,2092,1960
$GC,11145,1.21,230.3,526.1,7.7,531,11149,0.00,2.62,0.00,0.000,4,0.000,0.067,2684,3514,1960
$GC,11184,1.21,230.3,522.6,8.5,533,11188,0.00,2.47,0.00,0.000,6,0.000,0.038,2684,2103,1959
$GC,11510,1.21,230.3,492.9,9.8,549,11514,0.00,2.60,0.00,0.000,4,0.000,0.067,2684,3506,1959
$GC,11537,1.21,230.3,490.1,10.3,550,11542,0.00,2.45,0.00,0.000,6,0.000,0.039,2684,2100,1959
$GC,11853,1.21,230.3,458.8,9.0,565,11857,0.00,2.62,0.00,0.000,4,0.000,0.070,2684,3506,1959
$GC,11892,1.21,230.3,455.3,8.7,567,11897,0.00,2.47,0.00,0.000,6,0.000,0.041,2684,2098,1959
$GC,12219,1.21,230.3,428.4,8.1,583,12223,0.00,2.62,0.00,0.000,4,0.000,0.069,2684,3509,1959
$GC,12258,1.21,230.3,424.8,9.0,585,12262,0.00,2.47,0.00,0.000,6,0.000,0.043,2684,2096,1959
$GC,12584,1.21,230.3,398.7,8.6,601,12589,0.00,2.65,0.00,0.000,4,0.000,0.071,2684,3509,1960
$GC,12635,1.21,230.3,394.1,9.5,603,12639,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2102,1960
$GC,12950,1.21,230.3,369.0,8.0,618,12951,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1960
$GC,13259,1.21,230.3,342.8,8.5,633,13264,0.00,2.62,0.00,0.000,4,0.000,0.072,2684,3507,1961
$GC,13293,1.21,230.3,339.7,8.8,634,13299,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2096,1961
$GC,13608,1.21,230.3,315.3,7.4,650,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1961
$GC,13918,1.21,230.3,294.0,7.0,665,13919,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1962
$GC,14227,1.21,230.3,270.7,8.3,680,14232,0.00,2.65,0.00,0.000,4,0.000,0.073,2684,3507,1962
$GC,14267,1.21,230.3,267.0,9.2,682,14272,0.00,2.50,0.00,0.000,6,0.000,0.046,2684,2098,1962
$GC,14593,1.21,230.3,235.2,10.2,698,14598,0.00,2.65,0.00,0.000,4,0.000,0.075,2684,3505,1963
$GC,14615,1.21,230.3,232.8,10.5,699,14620,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2091,1963
$GC,14937,1.21,230.3,202.7,8.0,715,14938,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2091,1963
$GC,15246,1.21,230.3,175.8,8.5,730,15250,0.00,2.67,0.00,0.000,4,0.000,0.073,2684,3514,1964
$GC,15273,1.21,230.3,173.2,9.3,731,15277,0.00,2.53,0.00,0.000,6,0.000,0.046,2684,2098,1963
$GC,15589,1.21,230.3,149.0,6.1,746,15593,0.00,2.53,0.00,0.000,4,0.000,0.059,2684,691,1964
$GC,15650,1.21,230.3,144.6,7.0,748,15656,0.00,2.47,0.00,0.000,6,0.000,0.047,2684,2097,1964
$GC,15968,1.27,283.7,128.8,4.5,764,16015,0.00,0.00,44.90,0.915,6,0.000,0.000,2684,2097,1744
$GC,16317,1.27,283.7,98.9,9.3,781,16321,0.00,2.67,0.00,0.000,4,0.000,0.075,2684,3516,1742
$GC,16357,1.27,283.7,95.0,9.3,783,16361,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2100,1742
$GC,16684,1.27,283.7,65.0,9.1,799,16688,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3510,1742
$GC,16716,1.27,283.7,61.4,10.6,800,16723,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,2095,1742
$GC,17034,1.27,283.7,28.5,10.9,816,17038,0.00,2.62,0.00,0.000,4,0.000,0.075,2684,689,1742
$GC,17044,1.27,283.7,27.1,10.9,816,17051,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2098,1742
$STATE,17337,end climb,SURFACE_DEPTH_REACHED
$STATE,17337,begin surface coast
$FINISH,-1.1,1.027416
$STATE,17360,end surface coast,CONTROL_FINISHED_OK
$STATE,17360,begin surface
$SM_CCo,17384,15.45,0.742,1,0,1678,300.00
$SM_GC,-0.58,0.00,0.00,15.45,0.000,0.000,0.742,43,2907,1678,-10.89,0.20,300.00
$IRIDIUM_FIX,6148.92,-943.65,190497,000046
$TT8_MAMPS,0.029146
$HUMID,2075
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.8,50.6
$24V_AH,23.2,69.397
$10V_AH,10.1,32.261
$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,25.900,173.575,368.375,15.450,0.000,40.387,42.155,164.269,6.250,0.000,0.000,14.599,1563.203,13201.062,524.268,1922.730,585.426,0.000,1512.457,0.000,1884.040,0.000,42.137
$DEVICE_MAMPS,158.769,99.710,1291.628,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.166,581.101,504.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41060,832
$CFSIZE,260165632,236105728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,240108,095855,6210.248,-933.104,38,1.9,55,-9.8