version: 66.02
glider: 103
mission: 7
dive: 453
start: 1 31 108 5 30 10
data:
$ID,103
$MISSION,7
$DIVE,453
$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,-71198.539
$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,5
$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
$GPS1,051738,6122.103,-912.084,27,1.4,27,-9.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.46
$_SM_ANGLEo,-56.7
$GPS2,052938,6122.014,-912.205,11,1.9,16,-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,6.9,57438,-11.1,-6.000
$D_GRID,457
$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,-146.6,0.0,0.0,0,95,0.00,0.00,-68.68,0.000,6,0.000,0.000,41,2895,3499
$GC,99,-1.10,-146.6,2.0,-6.3,3,120,11.95,2.60,0.00,0.000,4,0.156,0.057,2165,1492,3502
$GC,144,-1.10,-146.6,16.3,-13.2,5,149,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2905,3502
$GC,472,-1.10,-146.6,38.2,-6.1,21,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3502
$GC,781,-1.10,-146.6,63.9,-8.4,36,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3502
$GC,1090,-1.10,-146.6,88.6,-7.2,51,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3502
$GC,1401,-1.10,-146.6,114.6,-9.3,66,1405,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1489,3502
$GC,1434,-1.10,-146.6,117.6,-8.4,67,1440,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2909,3502
$GC,1750,-1.10,-146.6,143.5,-8.2,83,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,2059,-1.10,-146.6,166.0,-7.0,98,2063,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1480,3502
$GC,2103,-1.10,-146.6,169.1,-7.3,100,2107,0.00,2.65,0.00,0.000,6,0.000,0.065,2165,2905,3502
$GC,2424,-1.10,-146.6,192.4,-7.1,116,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3502
$GC,2733,-1.10,-146.6,213.7,-7.0,131,2737,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1484,3502
$GC,2788,-1.10,-146.6,217.6,-7.3,133,2794,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2909,3502
$GC,3104,-1.10,-146.6,240.5,-7.3,149,3108,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1487,3502
$GC,3144,-1.10,-146.6,243.7,-7.7,151,3148,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2901,3502
$GC,3470,-1.10,-146.6,266.5,-6.8,167,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,3780,-1.10,-146.6,288.5,-6.8,182,3784,0.00,2.58,0.00,0.000,4,0.000,0.057,2165,1482,3502
$GC,3825,-1.10,-146.6,291.6,-6.9,184,3829,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2902,3502
$GC,4145,-1.10,-146.6,314.9,-7.3,200,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,4455,-1.10,-146.6,338.3,-7.5,215,4459,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1489,3502
$GC,4495,-1.10,-146.6,341.2,-7.1,217,4499,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2898,3501
$GC,4821,-1.10,-146.6,363.9,-6.8,233,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,5131,-1.10,-146.6,385.2,-6.9,248,5135,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1480,3501
$GC,5170,-1.10,-146.6,387.9,-6.8,250,5175,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2906,3502
$GC,5497,-1.10,-146.6,411.6,-7.6,266,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3502
$GC,5807,-1.10,-146.6,433.3,-6.8,281,5811,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1484,3502
$GC,5841,-1.10,-146.6,435.7,-7.1,282,5847,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2901,3502
$STATE,6154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6154,begin apogee
$GC,6163,-0.42,0.0,457.7,7.0,298,6291,0.75,0.00,124.55,1.102,6,0.092,0.000,2315,2095,2901
$STATE,6292,end apogee,CONTROL_FINISHED_OK
$STATE,6292,begin climb
$GC,6295,1.10,146.6,462.2,0.0,304,6426,1.58,2.65,120.60,1.066,4,0.063,0.055,2647,690,2303
$GC,6578,1.11,150.6,454.5,5.9,317,6588,0.00,2.50,5.07,0.782,6,0.000,0.035,2647,2116,2287
$GC,6899,1.13,165.4,436.9,5.6,332,6920,0.00,2.62,14.23,0.986,4,0.000,0.064,2648,3505,2226
$GC,6990,1.13,165.4,431.4,6.0,336,6995,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2093,2226
$GC,7317,1.16,191.0,413.0,5.3,352,7346,0.00,2.70,22.38,1.025,4,0.000,0.063,2647,3502,2122
$GC,7386,1.16,191.0,409.0,6.2,355,7390,0.00,2.50,0.00,0.000,6,0.000,0.039,2647,2097,2122
$GC,7708,1.16,191.0,389.5,6.3,371,7712,0.00,2.62,0.00,0.000,4,0.000,0.066,2647,3503,2122
$GC,7758,1.16,191.0,386.2,6.7,373,7762,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2094,2122
$GC,8073,1.16,191.0,365.5,6.5,388,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2094,2122
$GC,8383,1.16,191.0,345.9,6.1,403,8387,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3511,2121
$GC,8445,1.16,191.0,342.0,6.2,406,8450,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2101,2121
$GC,8773,1.16,193.1,322.3,5.9,422,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2101,2121
$GC,9082,1.17,203.2,304.5,5.7,437,9103,0.00,2.67,11.70,0.935,4,0.000,0.066,2647,3505,2072
$GC,9172,1.20,223.2,299.1,5.4,441,9197,0.10,2.47,18.02,0.962,6,0.050,0.041,2682,2100,1989
$GC,9525,1.20,223.2,274.8,7.2,458,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1989
$GC,9834,1.20,223.2,252.4,6.9,473,9838,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3502,1988
$GC,9883,1.20,223.2,248.7,7.3,475,9888,0.00,2.50,0.00,0.000,6,0.000,0.045,2682,2101,1988
$GC,10199,1.20,223.2,226.2,7.2,490,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2101,1988
$GC,10508,1.20,223.2,204.3,7.4,505,10512,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3505,1988
$GC,10552,1.20,223.2,200.7,7.8,507,10556,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2098,1988
$GC,10873,1.20,223.2,176.7,7.8,523,10877,0.00,2.55,0.00,0.000,4,0.000,0.061,2682,690,1988
$GC,10929,1.20,223.2,172.1,7.9,525,10935,0.00,2.47,0.00,0.000,6,0.000,0.044,2682,2094,1988
$GC,11245,1.20,223.2,142.9,10.5,541,11249,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3510,1988
$GC,11312,1.20,223.2,136.4,10.8,544,11316,0.00,2.47,0.00,0.000,6,0.000,0.038,2682,2094,1988
$GC,11633,1.20,223.2,111.5,8.7,560,11637,0.00,2.53,0.00,0.000,4,0.000,0.061,2682,699,1988
$GC,11666,1.20,223.2,108.1,9.5,561,11672,0.00,2.47,0.00,0.000,6,0.000,0.046,2682,2101,1988
$GC,11984,1.20,223.2,86.8,6.4,577,11988,0.00,2.62,0.00,0.000,4,0.000,0.072,2682,3512,1988
$GC,12024,1.20,223.2,83.3,7.5,579,12028,0.00,2.50,0.00,0.000,6,0.000,0.047,2682,2101,1988
$GC,12351,1.20,223.2,64.1,8.6,595,12355,0.00,2.53,0.00,0.000,4,0.000,0.057,2682,694,1988
$GC,12406,1.20,223.2,61.1,6.6,597,12413,0.00,2.47,0.00,0.000,6,0.000,0.045,2682,2101,1988
$GC,12722,1.20,223.2,42.2,8.1,613,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2102,1988
$GC,13032,1.20,223.2,10.5,7.9,628,13036,0.00,2.53,0.00,0.000,4,0.000,0.051,2682,691,1988
$GC,13095,1.20,223.2,3.8,12.3,631,13099,0.00,2.42,0.00,0.000,6,0.000,0.029,2682,2126,1988
$STATE,13130,end climb,SURFACE_DEPTH_REACHED
$STATE,13130,begin surface coast
$FINISH,-1.2,1.027343
$STATE,13154,end surface coast,CONTROL_FINISHED_OK
$STATE,13154,begin surface
$SM_CCo,13179,64.47,0.768,3,0,1678,300.00
$SM_GC,-0.95,0.00,0.00,64.47,0.000,0.000,0.768,43,2882,1678,-10.88,-0.51,300.00
$IRIDIUM_FIX,6059.36,-910.03,260497,050526
$TT8_MAMPS,0.029146
$HUMID,2043
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,426.1,78.8
$24V_AH,23.3,75.312
$10V_AH,10.1,35.082
$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,26.300,121.075,316.550,64.475,0.000,111.478,96.235,260.079,3.750,0.000,0.000,16.923,1175.049,10134.702,515.484,1400.494,770.876,0.000,1238.318,0.000,1384.977,0.000,23.384
$DEVICE_MAMPS,155.701,76.700,1102.179,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.156,442.142,465.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31697,634
$CFSIZE,260165632,234106880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,3,0
$GPS,310108,091307,6123.197,-914.299,75,1.5,80,-9.3