version: 66.02
glider: 103
mission: 7
dive: 424
start: 1 25 108 15 58 26
data:
$ID,103
$MISSION,7
$DIVE,424
$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,-70714.391
$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,27
$R_STBD_OVSHOOT,8
$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
$GPS1,154026,6157.170,-921.451,54,1.6,54,-9.6
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-55.4
$GPS2,155751,6156.989,-921.746,13,1.6,13,-9.6
$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,151.0,9447,-11.1,-6.000
$D_GRID,548
$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,24,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-60.35,0.000,2,0.000,0.000,52,2896,3436
$GC,89,-1.10,-146.6,4.7,-12.1,3,112,12.05,1.83,-1.05,0.000,4,0.161,0.120,2166,3797,3502
$GC,364,-1.10,-146.6,39.5,-9.2,15,368,0.00,1.60,0.00,0.000,6,0.000,0.057,2166,2910,3503
$GC,691,-1.10,-146.6,64.0,-6.6,31,695,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1489,3503
$GC,712,-1.10,-146.6,65.4,-6.1,32,717,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2903,3503
$GC,1034,-1.10,-146.6,88.7,-6.8,48,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,1343,-1.10,-146.6,113.8,-7.7,63,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,1652,-1.10,-146.6,145.4,-10.7,78,1656,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1480,3503
$GC,1674,-1.10,-146.6,148.8,-14.7,79,1678,0.00,2.67,0.00,0.000,6,0.000,0.069,2167,2907,3503
$GC,1994,-1.10,-146.6,179.9,-9.1,95,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,2304,-1.10,-146.6,201.4,-7.5,110,2309,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1480,3503
$GC,2338,-1.10,-146.6,204.3,-7.8,111,2344,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2900,3503
$GC,2654,-1.10,-146.6,224.2,-6.0,127,2657,0.00,1.73,0.00,0.000,4,0.000,0.098,2166,3777,3503
$GC,2709,-1.10,-146.6,227.4,-5.5,129,2713,0.00,1.58,0.00,0.000,6,0.000,0.050,2166,2889,3503
$GC,3031,-1.10,-146.6,247.8,-7.2,145,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2889,3503
$GC,3340,-1.10,-146.6,268.4,-5.9,160,3345,0.00,2.55,0.00,0.000,4,0.000,0.065,2167,1489,3503
$GC,3390,-1.10,-146.6,271.7,-6.6,162,3395,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2909,3503
$GC,3707,-1.10,-146.6,287.5,-4.8,177,3710,0.00,1.67,0.00,0.000,4,0.000,0.097,2166,3782,3503
$GC,3752,-1.10,-146.6,290.0,-5.2,179,3756,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2879,3503
$GC,4085,-1.10,-146.6,302.9,-3.7,195,4090,0.00,2.50,0.00,0.000,4,0.000,0.062,2166,1485,3503
$GC,4126,-1.10,-146.6,304.4,-3.5,197,4131,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2897,3503
$GC,4452,-1.10,-146.6,316.5,-4.2,213,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2897,3503
$GC,4762,-1.10,-146.6,333.6,-6.0,228,4765,0.00,1.70,0.00,0.000,4,0.000,0.097,2166,3785,3503
$GC,4790,-1.10,-146.6,335.4,-6.6,229,4794,0.00,1.58,0.00,0.000,6,0.000,0.046,2166,2901,3503
$GC,5117,-1.10,-146.6,355.0,-6.0,245,5121,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1484,3503
$GC,5167,-1.10,-146.6,358.0,-6.0,247,5171,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2900,3503
$GC,5483,-1.10,-146.6,373.0,-4.6,262,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,5791,-1.10,-146.6,389.1,-6.9,277,5796,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1487,3503
$GC,5859,-1.10,-146.6,394.5,-8.3,280,5863,0.00,2.60,0.00,0.000,6,0.000,0.062,2166,2901,3503
$GC,6180,-1.10,-146.6,416.0,-6.3,296,6184,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1481,3503
$GC,6219,-1.10,-146.6,418.4,-6.0,298,6224,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2902,3503
$GC,6547,-1.10,-146.6,437.6,-6.7,314,6551,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1487,3503
$GC,6608,-1.10,-146.6,442.6,-8.1,317,6613,0.00,2.58,0.00,0.000,6,0.000,0.059,2166,2902,3503
$GC,6938,-1.10,-146.6,475.4,-12.1,333,6941,0.00,1.67,0.00,0.000,4,0.000,0.088,2166,3790,3502
$GC,6983,-1.10,-146.6,481.1,-11.9,335,6987,0.00,1.55,0.00,0.000,6,0.000,0.040,2166,2888,3503
$GC,7317,-1.10,-146.6,509.5,-8.5,351,7321,0.00,2.45,0.00,0.000,4,0.000,0.051,2166,1497,3503
$GC,7412,-1.10,-146.6,517.8,-8.2,355,7416,0.00,2.58,0.00,0.000,6,0.000,0.061,2166,2903,3503
$GC,7727,-1.10,-146.6,542.1,-7.2,370,7732,0.00,2.50,0.00,0.000,4,0.000,0.048,2166,1489,3503
$GC,7795,-1.10,-146.6,545.5,-5.5,373,7799,0.00,2.58,0.00,0.000,6,0.000,0.060,2166,2902,3503
$STATE,7847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7848,begin apogee
$GC,7856,-0.42,0.0,550.1,8.9,376,7987,0.77,0.00,125.50,1.194,6,0.100,0.000,2318,2098,2901
$STATE,7988,end apogee,CONTROL_FINISHED_OK
$STATE,7988,begin climb
$GC,7991,1.10,146.6,553.2,0.0,383,8121,1.52,2.62,120.72,1.172,4,0.053,0.052,2649,698,2303
$GC,8287,1.10,146.6,542.8,7.3,396,8293,0.00,2.47,0.00,0.000,6,0.000,0.032,2649,2128,2303
$GC,8603,1.42,402.2,537.8,-1.1,412,8824,0.28,2.65,210.95,1.168,4,0.030,0.051,2728,699,1260
$GC,8870,1.42,402.2,514.1,12.1,424,8874,0.00,2.45,0.00,0.000,6,0.000,0.036,2728,2092,1260
$GC,9196,1.42,402.2,478.3,9.9,440,9201,0.00,2.62,0.00,0.000,4,0.000,0.068,2728,3505,1258
$GC,9224,1.42,402.2,475.3,10.9,441,9228,0.00,2.47,0.00,0.000,6,0.000,0.037,2728,2099,1258
$GC,9540,1.42,402.2,445.5,10.3,456,9544,0.00,2.53,0.00,0.000,4,0.000,0.054,2728,693,1258
$GC,9584,1.42,402.2,439.4,14.0,458,9588,0.00,2.47,0.00,0.000,6,0.000,0.041,2728,2095,1258
$GC,9905,1.42,402.2,390.0,17.7,474,9909,0.00,2.65,0.00,0.000,4,0.000,0.073,2728,3514,1257
$GC,9938,1.42,402.2,384.0,18.3,475,9944,0.00,2.47,0.00,0.000,6,0.000,0.042,2728,2106,1257
$GC,10254,1.42,402.2,325.4,17.3,491,10258,0.00,2.65,0.00,0.000,4,0.000,0.073,2728,3515,1257
$GC,10281,1.42,402.2,320.3,18.5,492,10285,0.00,2.50,0.00,0.000,6,0.000,0.044,2728,2102,1257
$GC,10597,1.42,402.2,270.3,16.2,507,10598,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2102,1257
$GC,10906,1.42,402.2,225.9,13.9,522,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2102,1257
$GC,11215,1.42,402.2,185.4,12.3,537,11219,0.00,2.62,0.00,0.000,4,0.000,0.072,2728,3510,1257
$GC,11232,1.42,402.2,183.3,12.1,538,11236,0.00,2.50,0.00,0.000,6,0.000,0.047,2728,2099,1257
$GC,11559,1.42,402.2,144.0,12.8,554,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2099,1258
$GC,11868,1.42,402.2,115.7,11.1,569,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2099,1258
$GC,12177,1.42,402.2,85.2,10.7,584,12182,0.00,2.67,0.00,0.000,4,0.000,0.074,2728,3515,1258
$GC,12210,1.42,402.2,82.0,9.2,585,12216,0.00,2.53,0.00,0.000,6,0.000,0.048,2728,2100,1258
$GC,12528,1.42,402.2,49.3,15.2,601,12532,0.00,2.58,0.00,0.000,4,0.000,0.065,2728,692,1258
$GC,12556,1.42,402.2,44.4,17.1,602,12561,0.00,2.53,0.00,0.000,6,0.000,0.050,2728,2099,1258
$GC,12872,1.42,402.2,11.4,9.2,617,12877,0.00,2.58,0.00,0.000,4,0.000,0.058,2728,687,1258
$GC,12883,1.42,402.2,9.2,15.3,617,12890,0.00,2.53,0.00,0.000,6,0.000,0.051,2728,2097,1258
$STATE,12949,end climb,SURFACE_DEPTH_REACHED
$STATE,12949,begin surface coast
$FINISH,-1.1,1.004608
$STATE,12971,end surface coast,CONTROL_FINISHED_OK
$STATE,12971,begin surface
$SM_CCo,13055,0.00,0.000,0,0,1258,403.03
$SM_GC,-0.39,11.75,0.00,0.00,0.028,0.000,0.000,29,2898,1258,-10.80,-0.06,403.03
$IRIDIUM_FIX,6135.28,-925.48,200497,161640
$TT8_MAMPS,0.029146
$HUMID,2077
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.1,47.1
$24V_AH,23.2,70.733
$10V_AH,10.1,32.856
$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,26.375,127.400,457.175,0.000,0.000,157.759,155.518,405.708,5.250,0.000,0.000,13.799,1168.268,9950.397,516.063,1462.831,1018.389,0.000,1304.237,0.000,1432.118,0.000,34.347
$DEVICE_MAMPS,161.070,119.652,1194.219,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.420,423.429,417.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31698,622
$CFSIZE,260165632,235716608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,250108,193707,6154.021,-928.481,32,1.2,32,-9.6