version: 66.02
glider: 103
mission: 7
dive: 417
start: 1 24 108 10 9 31
data:
$ID,103
$MISSION,7
$DIVE,417
$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,-70560.648
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,095855,6210.248,-933.104,38,1.9,55,-9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-56.9
$GPS2,100857,6210.354,-932.603,15,1.8,15,-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,164.2,35622,-11.1,-6.000
$D_GRID,611
$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,-60.72,0.000,2,0.000,0.000,43,2909,3336
$GC,90,-1.10,-146.6,3.1,-8.1,3,113,11.98,1.75,-3.00,0.000,4,0.157,0.123,2163,3770,3502
$GC,365,-1.10,-146.6,30.0,-9.0,15,369,0.00,1.58,0.00,0.000,6,0.000,0.055,2164,2896,3502
$GC,693,-1.10,-146.6,53.6,-8.7,31,696,0.00,1.75,0.00,0.000,4,0.000,0.097,2163,3783,3502
$GC,810,-1.10,-146.6,65.4,-8.5,36,814,0.00,1.58,0.00,0.000,6,0.000,0.053,2163,2898,3503
$GC,1137,-1.10,-146.6,90.7,-6.4,52,1142,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1481,3502
$GC,1178,-1.10,-146.6,93.5,-8.0,54,1182,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2897,3503
$GC,1505,-1.10,-146.6,120.6,-8.0,70,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3503
$GC,1814,-1.10,-146.6,145.5,-6.2,85,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3503
$GC,2123,-1.10,-146.6,169.9,-9.1,100,2127,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1489,3503
$GC,2185,-1.10,-146.6,175.4,-9.2,103,2190,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2900,3503
$GC,2512,-1.10,-146.6,199.9,-6.8,119,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,2822,-1.10,-146.6,222.8,-7.7,134,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3131,-1.10,-146.6,247.1,-7.8,149,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3440,-1.10,-146.6,270.6,-7.5,164,3444,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1486,3503
$GC,3484,-1.10,-146.6,274.2,-7.9,166,3489,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2906,3503
$GC,3805,-1.10,-146.6,299.0,-7.7,182,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,4114,-1.10,-146.6,323.6,-8.0,197,4118,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1482,3503
$GC,4158,-1.10,-146.6,327.2,-8.4,199,4163,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2899,3503
$GC,4479,-1.10,-146.6,351.5,-7.2,215,4483,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1488,3503
$GC,4506,-1.10,-146.6,353.4,-7.4,216,4510,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2899,3503
$GC,4822,-1.10,-146.6,374.7,-7.0,231,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,5132,-1.10,-146.6,399.3,-8.0,246,5136,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1486,3503
$GC,5181,-1.10,-146.6,403.5,-8.4,248,5186,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2899,3503
$GC,5497,-1.10,-146.6,431.6,-8.4,263,5501,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1484,3503
$GC,5530,-1.10,-146.6,434.6,-8.8,264,5536,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,5846,-1.10,-146.6,451.8,-4.7,280,5850,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3790,3503
$GC,5897,-1.10,-146.6,454.7,-6.0,282,5901,0.00,1.58,0.00,0.000,6,0.000,0.041,2163,2899,3503
$GC,6223,-1.10,-146.6,477.4,-8.4,298,6227,0.00,2.53,0.00,0.000,4,0.000,0.056,2164,1487,3503
$GC,6273,-1.10,-146.6,481.1,-7.0,300,6278,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2900,3503
$GC,6592,-1.10,-146.6,500.1,-5.9,315,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6898,-1.10,-146.6,520.5,-6.2,330,6899,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,7208,-1.10,-146.6,536.2,-5.0,345,7211,0.00,1.67,0.00,0.000,4,0.000,0.088,2164,3786,3503
$GC,7332,-1.10,-146.6,541.4,-4.5,350,7335,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2900,3503
$GC,7654,-1.10,-146.6,559.9,-7.5,366,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,7966,-1.10,-146.6,575.2,-4.5,381,7970,0.00,1.70,0.00,0.000,4,0.000,0.087,2163,3790,3503
$GC,8067,-1.10,-146.6,576.4,-1.9,385,8071,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2903,3503
$GC,8389,-1.10,-146.6,594.4,-8.3,401,8393,0.00,2.50,0.00,0.000,4,0.000,0.050,2163,1483,3502
$GC,8444,-1.10,-146.6,599.5,-7.8,403,8450,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2902,3502
$STATE,8612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8613,begin apogee
$GC,8621,-0.42,0.0,612.4,6.4,412,8755,0.77,0.00,126.62,1.253,6,0.095,0.000,2317,2094,2900
$STATE,8755,end apogee,CONTROL_FINISHED_OK
$STATE,8755,begin climb
$GC,8758,1.10,146.6,619.3,0.0,419,8890,1.58,2.67,122.12,1.230,4,0.056,0.057,2651,3510,2303
$GC,8914,1.11,151.9,614.1,5.9,426,8927,0.00,2.50,6.45,0.966,6,0.000,0.033,2651,2086,2281
$GC,9250,1.13,168.5,592.0,5.5,443,9272,0.00,2.70,15.50,1.144,4,0.000,0.058,2651,3521,2213
$GC,9312,1.14,175.3,588.3,5.8,445,9326,0.00,2.47,7.15,1.013,6,0.000,0.035,2651,2102,2186
$GC,9648,1.14,175.3,556.4,9.7,462,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2102,2185
$GC,9958,1.14,175.3,532.3,7.4,477,9962,0.00,2.62,0.00,0.000,4,0.000,0.064,2651,3518,2185
$GC,9991,1.14,175.3,529.2,8.8,478,9997,0.00,2.47,0.00,0.000,6,0.000,0.037,2651,2104,2184
$GC,10306,1.14,175.3,506.3,6.4,494,10310,0.00,2.62,0.00,0.000,4,0.000,0.064,2651,3521,2184
$GC,10451,1.14,175.3,495.2,8.3,500,10458,0.00,2.50,0.00,0.000,6,0.000,0.039,2651,2093,2184
$GC,10768,1.21,232.1,472.7,4.4,516,10822,0.00,2.75,47.70,1.185,4,0.000,0.068,2651,3512,1954
$GC,10856,1.25,263.6,469.1,5.1,520,10894,0.15,2.53,27.50,1.151,6,0.040,0.041,2693,2101,1826
$GC,11207,1.32,323.4,451.1,4.3,537,11262,0.00,0.00,51.05,1.157,6,0.000,0.000,2693,2101,1582
$GC,11572,1.32,323.4,431.6,7.8,555,11576,0.00,2.65,0.00,0.000,4,0.000,0.071,2693,3514,1582
$GC,11612,1.32,323.4,428.0,9.9,557,11616,0.00,2.50,0.00,0.000,6,0.000,0.045,2693,2105,1582
$GC,11938,1.32,323.4,394.4,10.8,573,11942,0.00,2.65,0.00,0.000,4,0.000,0.068,2693,3521,1582
$GC,11959,1.32,323.4,391.9,10.6,574,11964,0.00,2.53,0.00,0.000,6,0.000,0.045,2693,2095,1582
$GC,12281,1.32,323.4,356.9,11.0,590,12285,0.00,2.65,0.00,0.000,4,0.000,0.071,2693,3514,1582
$GC,12314,1.32,323.4,353.0,11.1,591,12319,0.00,2.53,0.00,0.000,6,0.000,0.047,2693,2101,1582
$GC,12629,1.32,323.4,320.8,9.7,607,12633,0.00,2.65,0.00,0.000,4,0.000,0.070,2693,3521,1583
$GC,12656,1.32,323.4,317.9,10.3,608,12660,0.00,2.53,0.00,0.000,6,0.000,0.046,2694,2097,1582
$GC,12972,1.32,323.4,288.2,9.6,623,12976,0.00,2.65,0.00,0.000,4,0.000,0.071,2693,3516,1583
$GC,12999,1.32,323.4,285.5,10.3,624,13003,0.00,2.50,0.00,0.000,6,0.000,0.045,2693,2100,1583
$GC,13314,1.32,323.4,255.3,9.4,639,13319,0.00,2.65,0.00,0.000,4,0.000,0.070,2693,3515,1583
$GC,13336,1.32,323.4,253.1,9.0,640,13341,0.00,2.53,0.00,0.000,6,0.000,0.045,2693,2099,1582
$GC,13657,1.32,323.4,221.3,9.8,656,13661,0.00,2.65,0.00,0.000,4,0.000,0.069,2693,3516,1583
$GC,13674,1.32,323.4,219.3,10.8,657,13678,0.00,2.50,0.00,0.000,6,0.000,0.048,2693,2101,1583
$GC,14007,1.32,323.4,184.9,9.8,673,14011,0.00,2.65,0.00,0.000,4,0.000,0.069,2693,3518,1583
$GC,14028,1.32,323.4,182.5,10.6,674,14032,0.00,2.55,0.00,0.000,6,0.000,0.048,2694,2097,1583
$GC,14349,1.32,323.4,151.2,9.4,690,14353,0.00,2.65,0.00,0.000,4,0.000,0.071,2693,3512,1583
$GC,14393,1.32,323.4,147.0,9.1,692,14397,0.00,2.55,0.00,0.000,6,0.000,0.049,2693,2093,1583
$GC,14714,1.32,323.4,117.2,9.3,708,14718,0.00,2.67,0.00,0.000,4,0.000,0.071,2693,3516,1584
$GC,14754,1.32,323.4,113.3,9.4,710,14758,0.00,2.53,0.00,0.000,6,0.000,0.050,2693,2100,1584
$GC,15081,1.32,323.4,82.4,8.9,726,15085,0.00,2.65,0.00,0.000,4,0.000,0.071,2693,3515,1584
$GC,15113,1.32,323.4,78.7,10.4,727,15120,0.00,2.53,0.00,0.000,6,0.000,0.049,2693,2099,1584
$GC,15431,1.32,323.4,44.3,9.2,743,15435,0.00,2.67,0.00,0.000,4,0.000,0.072,2693,3521,1584
$GC,15454,1.32,323.4,42.0,9.9,744,15458,0.00,2.53,0.00,0.000,6,0.000,0.044,2694,2099,1584
$GC,15775,1.32,323.4,11.5,7.6,760,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2097,1584
$STATE,15875,end climb,SURFACE_DEPTH_REACHED
$STATE,15875,begin surface coast
$FINISH,0.0,1.027373
$STATE,15899,end surface coast,CONTROL_FINISHED_OK
$STATE,15899,begin surface
$SM_CCo,15983,0.00,0.000,0,0,1582,323.55
$SM_GC,-0.30,11.60,0.00,0.00,0.029,0.000,0.000,45,2898,1582,-10.78,-0.08,323.55
$IRIDIUM_FIX,6144.36,-929.25,190497,101054
$TT8_MAMPS,0.027612
$HUMID,2070
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.2,52.0
$24V_AH,23.2,69.556
$10V_AH,10.1,32.339
$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,26.075,154.175,404.100,0.000,0.000,75.885,165.085,168.832,5.500,0.000,0.000,15.361,1422.056,12193.634,526.223,1720.451,734.166,0.000,1418.413,0.000,1691.250,0.000,38.047
$DEVICE_MAMPS,157.235,122.720,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.375,532.089,485.792,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37982,766
$CFSIZE,260165632,236056576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,240108,143708,6208.877,-924.343,40,0.9,40,-9.7