version: 66.02
glider: 103
mission: 7
dive: 400
start: 1 20 108 20 58 29
data:
$ID,103
$MISSION,7
$DIVE,400
$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,-70257.664
$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,21
$R_STBD_OVSHOOT,10
$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
$GPS1,205132,6230.668,-1050.767,38,1.7,38,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-53.4
$GPS2,205757,6230.660,-1050.756,16,1.7,16,-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,104.5,17792,-11.1,-6.000
$D_GRID,650
$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,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-66.85,0.000,6,0.000,0.000,47,2897,3500
$GC,98,-1.10,-146.6,2.5,-6.8,3,119,11.93,2.62,0.00,0.000,4,0.157,0.058,2165,1488,3502
$GC,372,-1.10,-146.6,35.6,-9.4,15,376,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2902,3502
$GC,693,-1.10,-146.6,75.6,-13.3,31,697,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,748,-1.10,-146.6,83.5,-13.4,33,754,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2903,3502
$GC,1064,-1.10,-146.6,103.9,-5.5,49,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,1375,-1.10,-146.6,124.6,-5.0,64,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,1683,-1.10,-146.6,140.5,-5.9,79,1687,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1486,3502
$GC,1750,-1.10,-146.6,144.3,-5.8,82,1754,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2898,3502
$GC,2070,-1.10,-146.6,170.6,-9.2,98,2073,0.00,1.70,0.00,0.000,4,0.000,0.098,2165,3782,3502
$GC,2116,-1.10,-146.6,174.8,-9.2,100,2124,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2884,3502
$GC,2451,-1.10,-146.6,203.3,-8.5,116,2455,0.00,2.50,0.00,0.000,4,0.000,0.059,2165,1488,3502
$GC,2507,-1.10,-146.6,208.4,-8.7,118,2511,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2902,3502
$GC,2823,-1.10,-146.6,231.1,-7.1,133,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,3132,-1.10,-146.6,254.7,-8.5,148,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,3441,-1.10,-146.6,278.3,-6.9,163,3445,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1487,3502
$GC,3474,-1.10,-146.6,280.5,-6.7,164,3480,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2903,3502
$GC,3790,-1.10,-146.6,300.0,-5.7,180,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,4099,-1.10,-146.6,322.5,-7.3,195,4103,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1486,3502
$GC,4126,-1.10,-146.6,324.6,-7.9,196,4132,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2908,3502
$GC,4453,-1.10,-146.6,345.7,-5.5,212,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,4762,-1.10,-146.6,366.9,-7.2,227,4766,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1486,3502
$GC,4812,-1.10,-146.6,370.8,-7.7,229,4817,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2908,3502
$GC,5128,-1.10,-146.6,393.8,-7.2,244,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,5437,-1.10,-146.6,417.3,-8.0,259,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,5747,-1.10,-146.6,444.8,-8.6,274,5751,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1479,3502
$GC,5802,-1.10,-146.6,449.9,-9.5,276,5812,0.00,2.62,0.00,0.000,6,0.000,0.063,2165,2902,3502
$GC,6117,-1.10,-146.6,474.2,-6.5,292,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,6427,-1.10,-146.6,493.1,-6.2,307,6432,0.00,2.53,0.00,0.000,4,0.000,0.050,2165,1476,3502
$GC,6490,-1.10,-146.6,496.9,-5.9,310,6495,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2902,3502
$GC,6817,-1.10,-146.6,513.5,-5.1,326,6821,0.00,2.53,0.00,0.000,4,0.000,0.049,2165,1472,3502
$GC,6974,-1.10,-146.6,520.5,-4.4,333,6979,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2900,3502
$GC,7295,-1.10,-146.6,537.1,-6.2,349,7298,0.00,1.67,0.00,0.000,4,0.000,0.087,2165,3786,3502
$GC,7379,-1.10,-146.6,543.1,-7.2,352,7385,0.00,1.55,0.00,0.000,6,0.000,0.037,2165,2895,3502
$GC,7694,-1.10,-146.6,566.3,-7.6,368,7698,0.00,2.47,0.00,0.000,4,0.000,0.048,2165,1483,3502
$GC,7734,-1.10,-146.6,569.1,-6.8,370,7738,0.00,2.58,0.00,0.000,6,0.000,0.059,2165,2900,3502
$GC,8061,-1.10,-146.6,592.6,-7.6,386,8065,0.00,2.50,0.00,0.000,4,0.000,0.046,2165,1484,3502
$GC,8116,-1.10,-146.6,596.6,-7.3,388,8122,0.00,2.58,0.00,0.000,6,0.000,0.058,2165,2903,3502
$GC,8432,-1.10,-146.6,619.9,-7.2,404,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$STATE,8677,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8677,begin apogee
$GC,8686,-0.42,0.0,636.2,5.9,416,8819,0.75,0.00,127.28,1.313,6,0.079,0.000,2319,2085,2901
$STATE,8820,end apogee,CONTROL_FINISHED_OK
$STATE,8820,begin climb
$GC,8823,1.10,146.6,640.4,0.0,423,8955,1.52,2.60,123.40,1.269,4,0.056,0.058,2647,711,2302
$GC,9212,1.11,149.6,627.8,5.9,440,9222,0.00,2.47,4.03,0.851,6,0.000,0.039,2647,2117,2290
$GC,9551,1.14,174.7,612.0,5.3,457,9580,0.00,2.67,22.42,1.262,4,0.000,0.064,2647,3502,2188
$GC,9625,1.15,187.6,608.3,5.6,460,9645,0.00,2.50,12.60,1.193,6,0.000,0.039,2647,2097,2136
$GC,9968,1.22,245.2,591.4,4.4,477,10023,0.12,2.67,49.50,1.294,4,0.044,0.066,2685,3499,1901
$GC,10057,1.22,245.2,585.7,7.0,480,10061,0.00,2.47,0.00,0.000,6,0.000,0.038,2685,2100,1900
$GC,10372,1.22,245.2,562.4,7.6,495,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1898
$GC,10682,1.22,245.2,535.3,9.2,510,10686,0.00,2.62,0.00,0.000,4,0.000,0.067,2685,3504,1897
$GC,10714,1.22,245.2,531.8,10.1,511,10721,0.00,2.47,0.00,0.000,6,0.000,0.038,2685,2098,1897
$GC,11030,1.22,245.2,501.7,9.5,527,11034,0.00,2.53,0.00,0.000,4,0.000,0.059,2685,701,1896
$GC,11126,1.22,245.2,492.8,9.2,531,11131,0.00,2.45,0.00,0.000,6,0.000,0.038,2685,2092,1895
$GC,11442,1.22,245.2,466.6,7.9,546,11447,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3512,1895
$GC,11526,1.22,245.2,459.9,7.7,550,11531,0.00,2.47,0.00,0.000,6,0.000,0.039,2685,2103,1895
$GC,11854,1.22,245.2,437.6,7.0,566,11858,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3507,1895
$GC,11903,1.22,245.2,433.8,7.6,568,11908,0.00,2.50,0.00,0.000,6,0.000,0.041,2685,2093,1895
$GC,12219,1.22,245.2,410.3,7.4,583,12224,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3510,1895
$GC,12259,1.22,245.2,407.2,8.1,585,12263,0.00,2.47,0.00,0.000,6,0.000,0.042,2685,2100,1895
$GC,12586,1.22,245.2,383.3,7.6,601,12590,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3507,1896
$GC,12629,1.22,245.2,379.5,8.1,603,12634,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2104,1896
$GC,12951,1.22,245.2,352.2,9.1,619,12955,0.00,2.60,0.00,0.000,4,0.000,0.070,2685,3507,1897
$GC,12978,1.22,245.2,349.7,8.8,620,12982,0.00,2.47,0.00,0.000,6,0.000,0.042,2685,2097,1897
$GC,13294,1.22,245.2,321.3,9.0,635,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2098,1898
$GC,13603,1.22,245.2,293.9,9.0,650,13607,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3507,1898
$GC,13646,1.22,245.2,289.4,9.9,652,13651,0.00,2.47,0.00,0.000,6,0.000,0.045,2686,2102,1898
$GC,13967,1.22,245.2,260.9,9.7,668,13968,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2102,1899
$GC,14276,1.22,245.2,229.1,9.8,683,14280,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3509,1899
$GC,14315,1.22,245.2,225.4,9.4,685,14320,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2094,1900
$GC,14643,1.22,245.2,198.6,9.2,701,14644,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2094,1901
$GC,14952,1.22,245.2,173.2,7.2,716,14956,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3506,1901
$GC,14973,1.22,245.2,171.5,7.6,717,14977,0.00,2.47,0.00,0.000,6,0.000,0.043,2685,2099,1901
$GC,15294,1.22,245.2,144.3,8.3,733,15299,0.00,2.62,0.00,0.000,4,0.000,0.070,2685,3506,1902
$GC,15335,1.22,245.2,140.7,9.3,735,15339,0.00,2.47,0.00,0.000,6,0.000,0.044,2686,2096,1902
$GC,15661,1.22,245.2,109.6,8.9,751,15666,0.00,2.65,0.00,0.000,4,0.000,0.069,2686,3512,1902
$GC,15695,1.22,245.2,106.1,9.6,752,15701,0.00,2.47,0.00,0.000,6,0.000,0.043,2685,2099,1902
$GC,16012,1.22,245.2,77.5,7.2,768,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1902
$GC,16321,1.22,245.2,51.8,8.4,783,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,1902
$GC,16629,1.22,245.2,25.9,6.0,798,16633,0.00,2.65,0.00,0.000,4,0.000,0.070,2685,3514,1903
$GC,16684,1.22,245.2,21.9,8.2,800,16691,0.00,2.50,0.00,0.000,6,0.000,0.043,2685,2093,1903
$STATE,16915,end climb,SURFACE_DEPTH_REACHED
$STATE,16915,begin surface coast
$FINISH,-0.9,1.027419
$STATE,16937,end surface coast,CONTROL_FINISHED_OK
$STATE,16937,begin surface
$SM_CCo,16961,47.12,0.798,2,0,1678,300.00
$SM_GC,-0.42,0.00,0.00,47.12,0.000,0.000,0.798,46,2910,1678,-10.87,0.28,300.00
$IRIDIUM_FIX,6202.67,-1051.20,200108,191932
$TT8_MAMPS,0.029146
$HUMID,2061
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.90
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,601.5,44.5
$24V_AH,23.2,66.944
$10V_AH,10.1,30.936
$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,25.925,153.400,339.225,47.125,0.000,32.781,57.066,161.433,6.500,0.000,0.000,16.422,1508.573,12939.893,528.430,1862.035,577.779,0.000,1475.712,0.000,1827.033,0.000,40.456
$DEVICE_MAMPS,157.235,98.176,1313.104,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,598.296,558.260,507.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41183,813
$CFSIZE,260165632,237109248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,2,0
$GPS,210108,014325,6230.187,-1050.446,40,1.2,40,-10.6