version: 66.02
glider: 103
mission: 7
dive: 396
start: 1 20 108 0 56 11
data:
$ID,103
$MISSION,7
$DIVE,396
$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,-70173.516
$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,22
$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
$GPS1,004938,6235.949,-1046.014,32,1.8,32,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-51.1
$GPS2,005539,6235.891,-1046.098,14,1.9,14,-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,139.0,17566,-11.1,-6.000
$D_GRID,597
$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,-146.6,0.0,0.0,0,97,0.00,0.00,-68.95,0.000,6,0.000,0.000,45,2903,3500
$GC,100,-1.10,-146.6,4.5,-6.8,4,116,11.93,1.73,0.00,0.000,4,0.156,0.085,2164,3784,3501
$GC,368,-1.10,-146.6,34.6,-6.9,15,372,0.00,1.58,0.00,0.000,6,0.000,0.055,2164,2901,3502
$GC,696,-1.10,-146.6,59.1,-5.2,31,699,0.00,1.73,0.00,0.000,4,0.000,0.094,2164,3782,3502
$GC,931,-1.10,-146.6,76.3,-9.1,41,935,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2905,3502
$GC,1253,-1.10,-146.6,96.2,-5.9,57,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3502
$GC,1563,-1.10,-146.6,115.9,-5.7,72,1567,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1481,3503
$GC,1617,-1.10,-146.6,119.7,-6.9,74,1624,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2895,3502
$GC,1933,-1.10,-146.6,142.6,-7.5,90,1938,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1488,3502
$GC,1961,-1.10,-146.6,145.1,-8.9,91,1965,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2903,3503
$GC,2277,-1.10,-146.6,167.5,-7.1,106,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2586,-1.10,-146.6,191.0,-6.6,121,2590,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1480,3502
$GC,2658,-1.10,-146.6,195.8,-7.0,124,2662,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2900,3502
$GC,2974,-1.10,-146.6,218.9,-7.1,139,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,3283,-1.10,-146.6,240.6,-6.9,154,3287,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1482,3503
$GC,3317,-1.10,-146.6,242.7,-6.2,155,3323,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2903,3503
$GC,3633,-1.10,-146.6,265.1,-8.0,171,3637,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1486,3503
$GC,3677,-1.10,-146.6,268.8,-8.3,173,3681,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2902,3503
$GC,3997,-1.10,-146.6,292.6,-6.7,189,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,4307,-1.10,-146.6,312.9,-6.8,204,4311,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1487,3503
$GC,4347,-1.10,-146.6,315.3,-5.9,206,4351,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2900,3502
$GC,4673,-1.10,-146.6,336.0,-7.0,222,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,4982,-1.10,-146.6,358.7,-7.5,237,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5291,-1.10,-146.6,380.6,-6.4,252,5295,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1484,3503
$GC,5330,-1.10,-146.6,383.2,-6.7,253,5336,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2899,3503
$GC,5646,-1.10,-146.6,403.9,-6.4,269,5650,0.00,1.67,0.00,0.000,4,0.000,0.092,2165,3783,3503
$GC,5707,-1.10,-146.6,408.2,-6.9,271,5713,0.00,1.58,0.00,0.000,6,0.000,0.043,2165,2883,3502
$GC,6023,-1.10,-146.6,428.7,-6.4,287,6027,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1481,3503
$GC,6123,-1.10,-146.6,435.6,-7.3,291,6129,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2905,3503
$GC,6438,-1.10,-146.6,458.8,-7.6,307,6442,0.00,1.70,0.00,0.000,4,0.000,0.092,2164,3781,3503
$GC,6471,-1.10,-146.6,461.6,-8.5,308,6475,0.00,1.55,0.00,0.000,6,0.000,0.043,2165,2899,3503
$GC,6793,-1.10,-146.6,485.3,-6.9,324,6797,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1483,3502
$GC,6848,-1.10,-146.6,488.9,-6.3,326,6854,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2900,3503
$GC,7164,-1.10,-146.6,507.3,-6.7,342,7165,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,7473,-1.10,-146.6,527.4,-6.1,357,7477,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1482,3503
$GC,7535,-1.10,-146.6,530.5,-4.7,360,7539,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2900,3502
$GC,7862,-1.10,-146.6,549.0,-6.1,376,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,8171,-1.10,-146.6,567.3,-5.7,391,8175,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1480,3502
$GC,8238,-1.10,-146.6,570.9,-5.7,394,8242,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2903,3503
$GC,8558,-1.10,-146.6,591.3,-6.8,410,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$STATE,8638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8638,begin apogee
$GC,8646,-0.42,0.0,597.0,7.0,414,8774,0.75,0.00,125.00,1.273,6,0.087,0.000,2318,2094,2901
$STATE,8775,end apogee,CONTROL_FINISHED_OK
$STATE,8775,begin climb
$GC,8778,1.10,146.6,602.7,0.0,420,8909,1.55,2.67,121.38,1.236,4,0.059,0.059,2648,687,2303
$GC,9059,1.22,240.6,595.8,3.4,433,9145,0.12,2.53,79.30,1.195,6,0.042,0.038,2684,2121,1920
$GC,9472,1.22,240.6,568.3,6.9,453,9476,0.00,2.62,0.00,0.000,4,0.000,0.077,2684,3506,1918
$GC,9534,1.22,240.6,563.6,7.9,456,9538,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2095,1917
$GC,9860,1.22,240.6,537.6,7.9,472,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1916
$GC,10169,1.22,240.6,512.5,8.5,487,10173,0.00,2.67,0.00,0.000,4,0.000,0.075,2684,3504,1915
$GC,10235,1.22,240.6,506.2,10.0,490,10240,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2100,1915
$GC,10557,1.22,240.6,477.3,8.7,506,10561,0.00,2.65,0.00,0.000,4,0.000,0.072,2684,3506,1913
$GC,10589,1.22,240.6,474.0,9.3,507,10595,0.00,2.53,0.00,0.000,6,0.000,0.048,2684,2093,1913
$GC,10905,1.22,240.6,447.5,7.8,523,10909,0.00,2.65,0.00,0.000,4,0.000,0.073,2684,3502,1913
$GC,10937,1.22,240.6,444.8,8.2,524,10943,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2100,1913
$GC,11253,1.22,240.6,417.9,9.2,540,11258,0.00,2.62,0.00,0.000,4,0.000,0.072,2684,3502,1913
$GC,11275,1.22,240.6,415.6,10.7,541,11279,0.00,2.50,0.00,0.000,6,0.000,0.046,2684,2093,1913
$GC,11596,1.22,240.6,390.5,7.6,557,11601,0.00,2.65,0.00,0.000,4,0.000,0.071,2684,3510,1913
$GC,11652,1.22,240.6,386.1,8.0,559,11658,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2094,1913
$GC,11968,1.22,240.6,363.6,6.6,575,11972,0.00,2.65,0.00,0.000,4,0.000,0.071,2684,3505,1913
$GC,12000,1.22,240.6,361.3,6.3,576,12006,0.00,2.47,0.00,0.000,6,0.000,0.044,2684,2101,1914
$GC,12316,1.22,240.6,341.1,6.3,592,12320,0.00,2.65,0.00,0.000,4,0.000,0.072,2684,3509,1914
$GC,12382,1.22,240.6,336.6,6.5,595,12387,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2104,1914
$GC,12704,1.22,240.6,314.8,6.8,611,12708,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,691,1914
$GC,12743,1.22,240.6,312.0,7.3,613,12748,0.00,2.47,0.00,0.000,6,0.000,0.043,2684,2092,1914
$GC,13070,1.22,240.6,287.8,7.5,629,13074,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3510,1914
$GC,13119,1.22,240.6,283.7,8.1,631,13124,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2096,1914
$GC,13436,1.22,240.6,258.5,8.1,646,13440,0.00,2.67,0.00,0.000,4,0.000,0.074,2684,3514,1915
$GC,13457,1.22,240.6,256.5,8.3,647,13461,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2093,1915
$GC,13777,1.22,240.6,230.4,8.4,663,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2093,1915
$GC,14087,1.22,240.6,204.0,8.6,678,14092,0.00,2.67,0.00,0.000,4,0.000,0.073,2685,3511,1916
$GC,14120,1.22,240.6,201.1,7.9,679,14126,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2100,1916
$GC,14436,1.22,240.6,175.5,7.9,695,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1917
$GC,14746,1.22,240.6,147.9,9.4,710,14751,0.00,2.65,0.00,0.000,4,0.000,0.074,2684,3509,1916
$GC,14786,1.22,240.6,143.9,10.3,712,14791,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2099,1916
$GC,15114,1.22,240.6,115.2,7.7,728,15118,0.00,2.65,0.00,0.000,4,0.000,0.071,2684,3512,1916
$GC,15141,1.22,240.6,112.8,8.1,729,15145,0.00,2.53,0.00,0.000,6,0.000,0.048,2684,2097,1917
$GC,15457,1.22,240.6,86.8,8.0,744,15458,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1917
$GC,15766,1.22,240.6,58.6,10.0,759,15767,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1917
$GC,16077,1.22,240.6,31.3,10.6,774,16078,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1917
$GC,16384,1.22,240.6,4.5,9.7,789,16389,0.00,2.62,0.00,0.000,4,0.000,0.065,2684,3512,1917
$STATE,16415,end climb,SURFACE_DEPTH_REACHED
$STATE,16415,begin surface coast
$FINISH,1.0,1.027353
$STATE,16423,end surface coast,CONTROL_FINISHED_OK
$STATE,16423,begin surface
$SM_CCo,16446,49.65,0.790,2,0,1678,300.00
$SM_GC,-0.62,0.00,0.00,49.65,0.000,0.000,0.790,37,2870,1678,-10.92,-0.85,300.00
$IRIDIUM_FIX,6211.90,-1049.25,200108,000052
$TT8_MAMPS,0.029146
$HUMID,2074
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.2,73.5
$24V_AH,23.2,66.345
$10V_AH,10.1,30.605
$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,25.900,152.825,325.675,49.650,0.000,37.283,35.882,163.277,5.000,0.000,0.000,14.353,1470.959,12549.640,513.656,1796.912,550.672,0.000,1432.945,0.000,1770.124,0.000,31.466
$DEVICE_MAMPS,156.468,94.341,1273.220,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.138,564.834,509.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41089,791
$CFSIZE,260165632,237371392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,2,0
$GPS,200108,053231,6234.242,-1049.248,36,1.9,36,-10.6