version: 66.02
glider: 103
mission: 7
dive: 403
start: 1 21 108 12 12 5
data:
$ID,103
$MISSION,7
$DIVE,403
$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,-70309.508
$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,25
$R_STBD_OVSHOOT,6
$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
$GPS1,120201,6234.297,-1047.100,42,1.9,42,-10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-57.5
$GPS2,121133,6234.316,-1047.221,15,1.9,15,-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,129.1,16757,-11.1,-6.000
$D_GRID,613
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.40,0.000,2,0.000,0.000,43,2894,3354
$GC,90,-1.10,-146.6,3.4,-8.5,3,112,11.93,2.58,-2.67,0.000,4,0.156,0.074,2163,1494,3502
$GC,362,-1.10,-146.6,33.4,-7.1,15,367,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2903,3503
$GC,690,-1.10,-146.6,56.0,-7.0,31,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3503
$GC,998,-1.10,-146.6,76.6,-6.5,46,1002,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1492,3503
$GC,1037,-1.10,-146.6,79.2,-6.5,48,1042,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2902,3503
$GC,1365,-1.10,-146.6,100.3,-6.3,64,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,1674,-1.10,-146.6,121.0,-6.8,79,1678,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1487,3504
$GC,1718,-1.10,-146.6,124.6,-7.5,81,1722,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2902,3504
$GC,2039,-1.10,-146.6,148.9,-7.7,97,2043,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1492,3504
$GC,2061,-1.10,-146.6,150.4,-6.1,98,2066,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2902,3504
$GC,2382,-1.10,-146.6,171.5,-6.4,114,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3504
$GC,2691,-1.10,-146.6,192.8,-7.1,129,2696,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1493,3504
$GC,2735,-1.10,-146.6,195.8,-7.0,131,2740,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2902,3504
$GC,3056,-1.10,-146.6,218.1,-7.1,147,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3504
$GC,3366,-1.10,-146.6,239.4,-6.6,162,3370,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1495,3504
$GC,3416,-1.10,-146.6,243.0,-7.4,164,3421,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2902,3504
$GC,3737,-1.10,-146.6,265.0,-7.1,180,3741,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1489,3503
$GC,3763,-1.10,-146.6,267.1,-7.4,181,3768,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3504
$GC,4080,-1.10,-146.6,289.1,-6.9,196,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3504
$GC,4389,-1.10,-146.6,310.6,-7.1,211,4393,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1485,3504
$GC,4432,-1.10,-146.6,313.8,-7.1,213,4437,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2902,3504
$GC,4754,-1.10,-146.6,336.7,-6.8,229,4758,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1490,3504
$GC,4786,-1.10,-146.6,338.8,-6.1,230,4793,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2898,3504
$GC,5103,-1.10,-146.6,358.8,-6.3,246,5107,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1484,3504
$GC,5130,-1.10,-146.6,360.5,-6.1,247,5134,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3504
$GC,5445,-1.10,-146.6,379.7,-5.6,262,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3504
$GC,5755,-1.10,-146.6,394.6,-4.2,277,5759,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1493,3504
$GC,5795,-1.10,-146.6,396.5,-4.7,279,5799,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2900,3504
$GC,6121,-1.10,-146.6,419.4,-7.7,295,6125,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1483,3504
$GC,6153,-1.10,-146.6,421.8,-8.1,296,6159,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3503
$GC,6470,-1.10,-146.6,441.2,-4.8,312,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3504
$GC,6778,-1.10,-146.6,464.4,-8.0,327,6782,0.00,2.55,0.00,0.000,4,0.000,0.056,2164,1487,3504
$GC,6799,-1.10,-146.6,466.1,-7.2,328,6804,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2904,3504
$GC,7121,-1.10,-146.6,488.0,-5.2,344,7125,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1482,3504
$GC,7195,-1.10,-146.6,491.9,-4.7,347,7199,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2897,3504
$GC,7511,-1.10,-146.6,509.0,-6.0,362,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3504
$GC,7820,-1.10,-146.6,524.8,-4.9,377,7830,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1478,3504
$GC,7875,-1.10,-146.6,527.9,-5.8,379,7879,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2902,3504
$GC,8196,-1.10,-146.6,551.2,-7.7,395,8200,0.00,2.53,0.00,0.000,4,0.000,0.053,2164,1484,3504
$GC,8318,-1.10,-146.6,561.3,-7.9,400,8325,0.00,2.58,0.00,0.000,6,0.000,0.062,2164,2900,3504
$GC,8634,-1.10,-146.6,584.5,-7.1,416,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,8944,-1.10,-146.6,605.7,-7.5,431,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$STATE,9044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9044,begin apogee
$GC,9052,-0.42,0.0,613.9,8.1,436,9186,0.77,0.00,127.07,1.293,6,0.090,0.000,2319,2098,2901
$STATE,9187,end apogee,CONTROL_FINISHED_OK
$STATE,9187,begin climb
$GC,9190,1.10,146.6,620.5,0.0,443,9324,1.52,2.62,123.53,1.245,4,0.054,0.060,2648,698,2303
$GC,9580,1.18,207.6,603.8,4.3,461,9642,0.00,2.50,52.25,1.241,6,0.000,0.039,2648,2119,2054
$GC,9955,1.18,207.6,583.2,6.1,479,9959,0.00,2.62,0.00,0.000,4,0.000,0.058,2648,697,2052
$GC,9976,1.18,207.6,581.2,7.6,480,9980,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2099,2052
$GC,10297,1.18,207.6,562.6,6.4,496,10302,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3508,2051
$GC,10347,1.18,207.6,559.0,6.7,498,10352,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2097,2051
$GC,10663,1.18,207.6,535.6,7.5,513,10667,0.00,2.53,0.00,0.000,4,0.000,0.061,2648,701,2050
$GC,10689,1.18,207.6,533.4,8.3,514,10694,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2097,2050
$GC,11005,1.18,207.6,508.0,7.9,529,11009,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3512,2048
$GC,11105,1.18,207.6,501.4,6.0,533,11111,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2101,2048
$GC,11421,1.25,263.6,487.0,4.5,549,11476,0.15,2.78,46.92,1.253,4,0.048,0.072,2689,3508,1825
$GC,11498,1.25,263.6,480.8,9.2,552,11504,0.00,2.53,0.00,0.000,6,0.000,0.042,2689,2094,1825
$GC,11814,1.25,263.6,454.9,7.4,568,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2094,1824
$GC,12123,1.25,263.6,421.7,13.4,583,12128,0.00,2.65,0.00,0.000,4,0.000,0.071,2689,3508,1824
$GC,12156,1.25,263.6,417.2,13.2,584,12163,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,2104,1824
$GC,12472,1.25,263.6,382.4,11.8,600,12477,0.00,2.58,0.00,0.000,4,0.000,0.061,2689,688,1824
$GC,12512,1.25,263.6,377.5,11.9,602,12516,0.00,2.50,0.00,0.000,6,0.000,0.042,2689,2100,1824
$GC,12838,1.25,263.6,343.0,10.1,618,12842,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3512,1824
$GC,12901,1.25,263.6,336.8,9.7,621,12905,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,2101,1824
$GC,13227,1.25,263.6,306.1,9.1,637,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2101,1825
$GC,13536,1.25,263.6,277.9,9.2,652,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2101,1826
$GC,13846,1.25,263.6,250.1,8.7,667,13850,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3510,1826
$GC,13879,1.25,263.6,247.2,8.5,668,13885,0.00,2.50,0.00,0.000,6,0.000,0.045,2689,2100,1826
$GC,14194,1.25,263.6,219.4,9.1,684,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,1827
$GC,14503,1.25,263.6,191.6,8.9,699,14508,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3515,1828
$GC,14544,1.25,263.6,187.8,9.8,701,14549,0.00,2.53,0.00,0.000,6,0.000,0.046,2689,2094,1828
$GC,14871,1.25,263.6,159.1,8.6,717,14872,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2094,1829
$GC,15182,1.25,263.6,132.6,8.3,732,15187,0.00,2.67,0.00,0.000,4,0.000,0.075,2689,3508,1829
$GC,15216,1.25,263.6,129.4,9.0,733,15222,0.00,2.50,0.00,0.000,6,0.000,0.047,2689,2100,1829
$GC,15532,1.25,263.6,99.8,9.7,749,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,1830
$GC,15842,1.25,263.6,71.5,8.8,764,15847,0.00,2.65,0.00,0.000,4,0.000,0.071,2689,3509,1830
$GC,15866,1.25,263.6,69.2,8.9,765,15870,0.00,2.53,0.00,0.000,6,0.000,0.045,2689,2094,1830
$GC,16187,1.25,263.6,41.3,8.4,781,16191,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3510,1830
$GC,16231,1.25,263.6,37.5,8.9,783,16235,0.00,2.53,0.00,0.000,6,0.000,0.049,2689,2100,1830
$GC,16553,1.25,263.6,8.0,10.1,799,16554,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,1830
$STATE,16632,end climb,SURFACE_DEPTH_REACHED
$STATE,16632,begin surface coast
$FINISH,-1.0,1.027384
$STATE,16654,end surface coast,CONTROL_FINISHED_OK
$STATE,16654,begin surface
$SM_CCo,16678,32.28,0.809,1,0,1678,300.00
$SM_GC,-0.02,0.00,0.00,32.28,0.000,0.000,0.809,47,2901,1678,-10.87,0.03,300.00
$IRIDIUM_FIX,6207.28,-1047.49,210108,161622
$TT8_MAMPS,0.029146
$HUMID,2081
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,525.1,97.6
$24V_AH,23.2,67.403
$10V_AH,10.1,31.188
$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,25.975,158.200,349.775,32.275,0.000,78.959,68.220,225.355,5.500,0.000,0.000,15.555,1486.970,12822.090,516.031,1779.082,695.638,0.000,1431.935,0.000,1748.542,0.000,29.934
$DEVICE_MAMPS,155.701,98.943,1293.162,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.313,555.893,519.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41093,804
$CFSIZE,260165632,236920832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,210108,165201,6234.102,-1047.168,38,1.2,43,-10.6