version: 66.02
glider: 103
mission: 7
dive: 452
start: 1 31 108 1 53 24
data:
$ID,103
$MISSION,7
$DIVE,452
$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,-71180.992
$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,9
$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
$GPS1,014802,6120.742,-910.580,39,1.0,39,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-54.6
$GPS2,015251,6120.708,-910.634,9,1.3,9,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$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,5.7,59926,-11.1,-6.000
$D_GRID,423
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-68.22,0.000,6,0.000,0.000,42,2891,3500
$GC,99,-1.10,-146.6,1.9,-5.7,3,113,12.10,0.00,0.00,0.000,6,0.156,0.000,2166,2891,3501
$GC,418,-1.10,-146.6,37.8,-7.7,19,421,0.00,1.75,0.00,0.000,4,0.000,0.097,2166,3787,3502
$GC,457,-1.10,-146.6,41.0,-7.7,20,463,0.00,1.62,0.00,0.000,6,0.000,0.056,2167,2906,3503
$GC,773,-1.10,-146.6,65.1,-7.3,36,777,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1482,3503
$GC,822,-1.10,-146.6,68.9,-6.9,38,827,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2900,3503
$GC,1138,-1.10,-146.6,92.0,-7.2,53,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,1448,-1.10,-146.6,112.3,-6.3,68,1453,0.00,2.62,0.00,0.000,4,0.000,0.065,2167,1480,3503
$GC,1481,-1.10,-146.6,114.7,-7.2,69,1487,0.00,2.67,0.00,0.000,6,0.000,0.072,2167,2906,3503
$GC,1799,-1.10,-146.6,134.6,-6.5,85,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,2106,-1.10,-146.6,154.9,-6.6,100,2111,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1483,3502
$GC,2146,-1.10,-146.6,157.6,-6.4,102,2151,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2903,3503
$GC,2473,-1.10,-146.6,179.7,-6.7,118,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,2785,-1.10,-146.6,200.8,-6.7,133,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,3092,-1.10,-146.6,221.8,-7.0,148,3096,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,1474,3503
$GC,3124,-1.10,-146.6,224.3,-7.3,149,3130,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,3440,-1.10,-146.6,246.1,-7.2,165,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3749,-1.10,-146.6,267.3,-6.7,180,3754,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1480,3503
$GC,3789,-1.10,-146.6,269.9,-6.7,182,3794,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2901,3503
$GC,4117,-1.10,-146.6,290.8,-6.1,198,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,4426,-1.10,-146.6,309.9,-5.8,213,4430,0.00,2.58,0.00,0.000,4,0.000,0.056,2167,1478,3503
$GC,4466,-1.10,-146.6,312.2,-5.7,215,4470,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,4793,-1.10,-146.6,331.1,-6.1,231,4797,0.00,2.58,0.00,0.000,4,0.000,0.056,2166,1478,3503
$GC,4825,-1.10,-146.6,333.5,-6.2,232,4831,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2901,3503
$GC,5141,-1.10,-146.6,353.3,-6.0,248,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,5451,-1.10,-146.6,372.1,-6.4,263,5455,0.00,2.58,0.00,0.000,4,0.000,0.057,2167,1480,3503
$GC,5490,-1.10,-146.6,374.7,-7.4,265,5500,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2906,3502
$GC,5828,-1.10,-146.6,400.2,-8.3,281,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,6138,-1.10,-146.6,422.0,-6.3,296,6142,0.00,2.55,0.00,0.000,4,0.000,0.053,2167,1478,3503
$STATE,6151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6151,begin apogee
$GC,6159,-0.42,0.0,423.1,5.7,296,6287,0.75,0.00,124.15,1.082,6,0.105,0.000,2315,2109,2901
$STATE,6288,end apogee,CONTROL_FINISHED_OK
$STATE,6288,begin climb
$GC,6291,1.10,146.6,426.6,0.0,303,6419,1.58,2.67,120.03,1.049,4,0.064,0.058,2648,687,2303
$GC,6556,1.10,146.6,416.3,6.3,315,6561,0.00,2.50,0.00,0.000,6,0.000,0.036,2647,2107,2303
$GC,6872,1.15,186.1,399.1,4.9,330,6914,0.00,2.70,33.80,1.019,4,0.000,0.066,2648,3508,2142
$GC,6993,1.15,186.1,392.5,6.0,335,6998,0.00,2.53,0.00,0.000,6,0.000,0.038,2648,2083,2142
$GC,7309,1.19,221.4,376.2,5.0,350,7342,0.00,0.00,30.60,1.015,6,0.000,0.000,2648,2083,1998
$GC,7640,1.22,238.8,356.7,5.5,366,7662,0.12,2.75,15.75,0.966,4,0.043,0.069,2687,3512,1927
$GC,7735,1.22,238.8,349.4,8.1,370,7739,0.00,2.53,0.00,0.000,6,0.000,0.042,2688,2100,1927
$GC,8057,1.22,238.8,323.5,7.8,386,8061,0.00,2.55,0.00,0.000,4,0.000,0.061,2687,691,1926
$GC,8095,1.22,238.8,320.0,8.9,387,8101,0.00,2.50,0.00,0.000,6,0.000,0.042,2688,2097,1926
$GC,8411,1.22,238.8,293.1,8.6,403,8415,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3512,1926
$GC,8478,1.22,238.8,287.1,8.6,406,8482,0.00,2.53,0.00,0.000,6,0.000,0.045,2688,2099,1926
$GC,8799,1.22,238.8,261.4,7.5,422,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1926
$GC,9108,1.22,238.8,238.5,7.6,437,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1926
$GC,9417,1.22,238.8,212.8,8.2,452,9422,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3512,1926
$GC,9467,1.22,238.8,208.4,8.3,454,9472,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2097,1926
$GC,9783,1.22,238.8,182.3,8.3,469,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1926
$GC,10092,1.22,238.8,157.0,8.5,484,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1926
$GC,10403,1.22,238.8,133.0,8.2,499,10407,0.00,2.67,0.00,0.000,4,0.000,0.074,2688,3515,1926
$GC,10446,1.22,238.8,128.9,8.6,501,10451,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2101,1926
$GC,10768,1.22,238.8,104.5,7.2,517,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1926
$GC,11078,1.22,238.8,79.6,8.4,532,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1926
$GC,11387,1.22,238.8,57.4,8.0,547,11391,0.00,2.67,0.00,0.000,4,0.000,0.075,2688,3515,1925
$GC,11427,1.22,238.8,53.8,9.6,549,11431,0.00,2.50,0.00,0.000,6,0.000,0.050,2688,2104,1926
$GC,11760,1.22,238.8,28.3,8.1,565,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2103,1926
$GC,12070,1.22,238.8,3.5,8.6,580,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1924
$STATE,12086,end climb,SURFACE_DEPTH_REACHED
$STATE,12087,begin surface coast
$FINISH,-1.3,1.027345
$STATE,12108,end surface coast,CONTROL_FINISHED_OK
$STATE,12109,begin surface
$SM_CCo,12133,50.08,0.788,1,0,1678,300.00
$SM_GC,-0.54,0.00,0.00,50.08,0.000,0.000,0.788,41,2893,1678,-10.90,-0.20,300.00
$IRIDIUM_FIX,6059.36,-909.31,250497,222213
$TT8_MAMPS,0.029146
$HUMID,2051
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,375.0,90.4
$24V_AH,23.3,75.179
$10V_AH,10.1,35.014
$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,26.175,92.050,324.325,50.075,0.000,40.980,33.725,111.053,3.250,0.000,0.000,9.874,1058.727,9288.710,478.579,1228.069,445.540,0.000,1114.121,0.000,1223.673,0.000,20.192
$DEVICE_MAMPS,156.468,97.409,1082.237,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.638,403.911,456.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28548,582
$CFSIZE,260165632,234164224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,310108,051738,6122.103,-912.084,27,1.4,27,-9.3