version: 66.02
glider: 103
mission: 7
dive: 394
start: 1 19 108 15 27 5
data:
$ID,103
$MISSION,7
$DIVE,394
$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,-70144.539
$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,15
$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
$GPS1,150937,6237.767,-1050.146,41,1.0,41,-10.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.27
$_SM_ANGLEo,-57.1
$GPS2,152633,6237.939,-1050.156,15,1.9,15,-10.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$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,141.1,22656,-11.1,-6.000
$D_GRID,598
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-66.35,0.000,6,0.000,0.000,46,2901,3499
$GC,96,-1.10,-146.6,2.2,-5.8,3,112,11.93,1.75,0.00,0.000,4,0.156,0.094,2165,3780,3501
$GC,365,-1.10,-146.6,33.3,-9.0,14,368,0.00,1.60,0.00,0.000,6,0.000,0.057,2165,2899,3501
$GC,692,-1.10,-146.6,62.4,-7.9,30,696,0.00,1.75,0.00,0.000,4,0.000,0.098,2165,3785,3502
$GC,770,-1.10,-146.6,68.2,-8.0,33,774,0.00,1.60,0.00,0.000,6,0.000,0.053,2165,2899,3501
$GC,1092,-1.10,-146.6,91.9,-7.3,49,1096,0.00,2.60,0.00,0.000,4,0.000,0.070,2165,1486,3501
$GC,1132,-1.10,-146.6,94.7,-6.9,51,1136,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2896,3502
$GC,1458,-1.10,-146.6,115.3,-6.2,67,1462,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1482,3501
$GC,1498,-1.10,-146.6,117.7,-6.1,69,1502,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2900,3501
$GC,1825,-1.10,-146.6,137.6,-6.1,85,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,2133,-1.10,-146.6,156.4,-5.7,100,2138,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1484,3502
$GC,2174,-1.10,-146.6,158.9,-5.9,102,2178,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2904,3502
$GC,2500,-1.10,-146.6,177.9,-5.5,118,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,2809,-1.10,-146.6,195.7,-6.1,133,2813,0.00,2.60,0.00,0.000,4,0.000,0.059,2165,1478,3502
$GC,2842,-1.10,-146.6,197.7,-6.1,134,2848,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2904,3502
$GC,3157,-1.10,-146.6,217.7,-6.4,150,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,3466,-1.10,-146.6,236.8,-6.0,165,3471,0.00,2.60,0.00,0.000,4,0.000,0.059,2165,1475,3502
$GC,3494,-1.10,-146.6,238.6,-6.3,166,3498,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2909,3502
$GC,3810,-1.10,-146.6,260.1,-6.7,181,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,4119,-1.10,-146.6,280.8,-6.6,196,4124,0.00,2.60,0.00,0.000,4,0.000,0.060,2166,1482,3502
$GC,4146,-1.10,-146.6,282.6,-6.1,197,4151,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2901,3502
$GC,4463,-1.10,-146.6,300.8,-5.5,212,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,4772,-1.10,-146.6,317.2,-5.0,227,4776,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1484,3502
$GC,4834,-1.10,-146.6,320.4,-5.0,230,4838,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2908,3502
$GC,5161,-1.10,-146.6,337.6,-5.4,246,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,5470,-1.10,-146.6,355.5,-6.2,261,5474,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1484,3502
$GC,5504,-1.10,-146.6,357.8,-6.4,262,5510,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2903,3502
$GC,5820,-1.10,-146.6,380.1,-7.4,278,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,6129,-1.10,-146.6,403.5,-7.5,293,6133,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1480,3502
$GC,6178,-1.10,-146.6,407.1,-7.3,295,6183,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2906,3501
$GC,6494,-1.10,-146.6,429.2,-7.1,310,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3502
$GC,6803,-1.10,-146.6,449.6,-6.5,325,6807,0.00,2.58,0.00,0.000,4,0.000,0.057,2165,1478,3502
$GC,6848,-1.10,-146.6,452.4,-6.4,327,6853,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2904,3502
$GC,7175,-1.10,-146.6,473.6,-6.3,343,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3501
$GC,7483,-1.10,-146.6,494.0,-6.8,358,7488,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1482,3501
$GC,7546,-1.10,-146.6,498.4,-7.3,361,7551,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3501
$GC,7873,-1.10,-146.6,521.5,-7.2,377,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,8182,-1.10,-146.6,542.2,-6.2,392,8186,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1480,3501
$GC,8232,-1.10,-146.6,545.3,-5.9,394,8236,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2908,3502
$GC,8548,-1.10,-146.6,566.3,-7.6,409,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,8857,-1.10,-146.6,587.1,-6.0,424,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$STATE,9039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9039,begin apogee
$GC,9048,-0.42,0.0,598.1,5.8,433,9182,0.77,0.00,126.50,1.228,6,0.097,0.000,2320,2093,2901
$STATE,9182,end apogee,CONTROL_FINISHED_OK
$STATE,9182,begin climb
$GC,9185,1.10,146.6,602.3,0.0,440,9316,1.55,2.75,121.82,1.205,4,0.061,0.067,2649,3509,2303
$GC,9574,1.15,182.6,589.5,5.0,457,9610,0.00,2.53,31.30,1.198,6,0.000,0.039,2649,2086,2156
$GC,9928,1.15,184.6,570.7,5.9,475,9933,0.00,2.70,0.00,0.000,4,0.000,0.071,2649,3515,2154
$GC,10035,1.15,184.6,562.9,8.2,480,10040,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2103,2154
$GC,10362,1.18,208.3,541.3,5.3,496,10391,0.00,2.72,22.38,1.226,4,0.000,0.071,2649,3502,2050
$GC,10449,1.18,208.3,536.1,6.3,500,10453,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2097,2050
$GC,10776,1.21,233.3,517.9,5.3,516,10805,0.12,2.80,21.77,1.210,4,0.047,0.074,2683,3516,1949
$GC,10845,1.21,233.3,512.7,8.0,519,10849,0.00,2.53,0.00,0.000,6,0.000,0.044,2683,2104,1948
$GC,11165,1.21,233.3,487.3,8.5,535,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2104,1947
$GC,11474,1.21,233.3,457.8,9.8,550,11479,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3516,1947
$GC,11541,1.21,233.3,451.1,9.7,553,11545,0.00,2.50,0.00,0.000,6,0.000,0.047,2683,2100,1946
$GC,11868,1.21,233.3,422.0,8.9,569,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1947
$GC,12177,1.21,233.3,394.4,8.8,584,12181,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3511,1947
$GC,12239,1.21,233.3,388.7,9.5,587,12243,0.00,2.50,0.00,0.000,6,0.000,0.044,2683,2099,1947
$GC,12565,1.21,233.3,362.8,6.9,603,12570,0.00,2.65,0.00,0.000,4,0.000,0.070,2683,3515,1947
$GC,12593,1.21,233.3,360.6,7.9,604,12597,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2100,1947
$GC,12908,1.21,233.3,336.8,7.7,619,12913,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3514,1948
$GC,12930,1.21,233.3,335.0,7.5,620,12935,0.00,2.50,0.00,0.000,6,0.000,0.044,2683,2095,1948
$GC,13252,1.21,233.3,308.4,8.9,636,13256,0.00,2.65,0.00,0.000,4,0.000,0.072,2682,3515,1948
$GC,13291,1.21,233.3,304.5,10.1,638,13295,0.00,2.50,0.00,0.000,6,0.000,0.047,2683,2098,1948
$GC,13617,1.21,233.3,274.8,8.5,654,13622,0.00,2.65,0.00,0.000,4,0.000,0.070,2683,3514,1948
$GC,13645,1.21,233.3,272.4,9.1,655,13649,0.00,2.50,0.00,0.000,6,0.000,0.045,2683,2101,1949
$GC,13960,1.21,233.3,246.1,8.4,670,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2101,1949
$GC,14270,1.21,233.3,219.0,9.0,685,14274,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3515,1950
$GC,14319,1.21,233.3,214.5,8.7,687,14323,0.00,2.50,0.00,0.000,6,0.000,0.050,2683,2101,1950
$GC,14635,1.21,233.3,188.1,8.4,702,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2101,1950
$GC,14944,1.21,233.3,161.6,8.4,717,14949,0.00,2.65,0.00,0.000,4,0.000,0.070,2683,3516,1950
$GC,15000,1.21,233.3,156.6,9.4,719,15006,0.00,2.50,0.00,0.000,6,0.000,0.045,2683,2097,1950
$GC,15316,1.21,233.3,129.2,9.1,735,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2097,1951
$GC,15625,1.21,233.3,101.1,9.5,750,15630,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3512,1951
$GC,15653,1.21,233.3,98.1,11.5,751,15657,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2102,1951
$GC,15970,1.21,233.3,68.5,9.7,766,15974,0.00,2.65,0.00,0.000,4,0.000,0.073,2683,3514,1951
$GC,15993,1.21,233.3,66.3,9.2,767,15998,0.00,2.55,0.00,0.000,6,0.000,0.051,2683,2089,1951
$GC,16315,1.21,233.3,35.3,9.0,783,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2089,1952
$GC,16625,1.34,339.6,15.7,3.1,798,16713,0.00,0.00,85.38,0.841,6,0.000,0.000,2683,2086,1516
$STATE,16805,end climb,SURFACE_DEPTH_REACHED
$STATE,16805,begin surface coast
$FINISH,-0.9,1.027339
$STATE,16828,end surface coast,CONTROL_FINISHED_OK
$STATE,16828,begin surface
$SM_CCo,16912,0.00,0.000,0,0,1514,340.23
$SM_GC,-0.33,11.73,0.00,0.00,0.033,0.000,0.000,50,2896,1514,-10.79,-0.11,340.23
$IRIDIUM_FIX,6211.90,-1053.84,190108,191943
$TT8_MAMPS,0.028379
$HUMID,2077
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.9,107.4
$24V_AH,23.2,66.061
$10V_AH,10.1,30.451
$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,26.100,145.275,409.150,0.000,0.000,157.705,139.293,387.508,4.500,0.000,0.000,15.620,1486.983,13126.992,511.796,1797.704,1014.510,0.000,1429.176,0.000,1768.067,0.000,28.321
$DEVICE_MAMPS,156.468,98.176,1227.967,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.676,558.917,519.964,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41038,808
$CFSIZE,260165632,237477888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,190108,201037,6238.502,-1045.582,66,1.2,66,-10.6