version: 66.02
glider: 103
mission: 7
dive: 419
start: 1 24 108 19 35 11
data:
$ID,103
$MISSION,7
$DIVE,419
$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,571.30371
$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,-70594.891
$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,18
$R_STBD_OVSHOOT,9
$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
$GPS1,190756,6205.908,-922.526,38,2.0,38,-9.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-57.0
$GPS2,193439,6206.253,-922.399,17,1.3,17,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AE
$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,174.9,25379,-11.1,-6.000
$D_GRID,516
$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,26,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-66.50,0.000,6,0.000,0.000,31,2898,3499
$GC,98,-1.10,-146.6,2.6,-7.2,3,119,12.12,2.62,0.00,0.000,4,0.160,0.060,2164,1489,3502
$GC,153,-1.10,-146.6,17.8,-8.8,5,158,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2903,3502
$GC,471,-1.10,-146.6,44.0,-8.6,20,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,778,-1.10,-146.6,67.1,-6.3,35,783,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1489,3502
$GC,828,-1.10,-146.6,70.2,-6.2,37,833,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2902,3502
$GC,1146,-1.10,-146.6,92.7,-7.1,52,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,1454,-1.10,-146.6,118.4,-8.6,67,1458,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1486,3502
$GC,1486,-1.10,-146.6,121.5,-8.9,68,1493,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2902,3502
$GC,1804,-1.10,-146.6,149.0,-8.7,84,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2112,-1.10,-146.6,176.4,-9.1,99,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2420,-1.10,-146.6,202.4,-8.6,114,2425,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1488,3502
$GC,2454,-1.10,-146.6,204.9,-7.0,115,2461,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2902,3502
$GC,2770,-1.10,-146.6,226.6,-6.8,131,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,3080,-1.10,-146.6,253.5,-8.8,146,3084,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1480,3502
$GC,3101,-1.10,-146.6,255.6,-9.0,147,3106,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2899,3502
$GC,3422,-1.10,-146.6,281.1,-7.5,163,3427,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1484,3502
$GC,3450,-1.10,-146.6,283.3,-7.7,164,3454,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,3766,-1.10,-146.6,304.6,-6.5,179,3770,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1486,3502
$GC,3793,-1.10,-146.6,306.5,-6.6,180,3797,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2903,3502
$GC,4108,-1.10,-146.6,330.6,-8.1,195,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,4418,-1.10,-146.6,360.7,-10.1,210,4422,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1486,3502
$GC,4473,-1.10,-146.6,366.3,-10.2,212,4479,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2900,3502
$GC,4788,-1.10,-146.6,395.2,-9.4,228,4793,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1486,3502
$GC,4816,-1.10,-146.6,398.1,-10.4,229,4821,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,5132,-1.10,-146.6,427.9,-9.6,244,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,5441,-1.10,-146.6,454.1,-8.3,259,5445,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1487,3502
$GC,5485,-1.10,-146.6,458.0,-8.5,261,5490,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2900,3502
$GC,5806,-1.10,-146.6,484.1,-7.7,277,5811,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1484,3502
$GC,5834,-1.10,-146.6,486.1,-7.5,278,5838,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2902,3502
$GC,6150,-1.10,-146.6,506.3,-5.9,293,6154,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1484,3502
$GC,6183,-1.10,-146.6,508.3,-5.9,294,6189,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2899,3502
$STATE,6351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6352,begin apogee
$GC,6360,-0.42,0.0,516.7,4.4,303,6487,0.80,0.00,123.72,1.188,6,0.108,0.000,2318,2093,2901
$STATE,6488,end apogee,CONTROL_FINISHED_OK
$STATE,6488,begin climb
$GC,6491,1.10,146.6,519.1,0.0,309,6618,1.55,2.70,119.57,1.157,4,0.061,0.060,2647,3520,2303
$GC,6680,1.13,169.0,512.9,5.4,318,6705,0.00,2.50,20.27,1.085,6,0.000,0.033,2647,2092,2211
$GC,7021,1.13,169.0,492.6,6.0,335,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2092,2210
$GC,7330,1.13,169.0,473.5,6.5,350,7335,0.00,2.65,0.00,0.000,4,0.000,0.065,2647,3514,2209
$GC,7392,1.13,169.0,469.1,7.2,353,7396,0.00,2.45,0.00,0.000,6,0.000,0.036,2647,2102,2209
$GC,7724,1.13,169.0,447.8,6.1,369,7728,0.00,2.62,0.00,0.000,4,0.000,0.065,2647,3522,2209
$GC,7779,1.13,169.0,444.0,7.6,371,7785,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2100,2209
$GC,8095,1.13,169.0,422.9,7.0,387,8099,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3514,2209
$GC,8139,1.13,169.0,419.6,7.5,389,8143,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2101,2209
$GC,8459,1.13,169.0,397.4,7.0,405,8464,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3514,2209
$GC,8509,1.13,169.0,393.2,8.4,407,8513,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2095,2209
$GC,8831,1.13,169.0,367.6,7.9,423,8835,0.00,2.65,0.00,0.000,4,0.000,0.067,2647,3518,2209
$GC,8864,1.13,169.0,364.8,8.3,424,8870,0.00,2.47,0.00,0.000,6,0.000,0.040,2647,2098,2209
$GC,9179,1.13,169.0,340.1,8.3,440,9184,0.00,2.65,0.00,0.000,4,0.000,0.067,2647,3520,2209
$GC,9212,1.13,169.0,337.3,8.7,441,9218,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2100,2209
$GC,9528,1.13,169.0,312.0,7.3,457,9532,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3514,2208
$GC,9577,1.13,169.0,308.0,7.9,459,9582,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2096,2208
$GC,9893,1.13,169.0,286.0,7.0,474,9897,0.00,2.65,0.00,0.000,4,0.000,0.068,2647,3517,2208
$GC,9915,1.13,169.0,284.3,7.2,475,9919,0.00,2.50,0.00,0.000,6,0.000,0.042,2647,2101,2208
$GC,10236,1.14,178.3,265.1,5.7,491,10250,0.00,2.70,8.50,0.932,4,0.000,0.067,2647,3517,2174
$GC,10268,1.14,178.3,263.1,6.1,492,10273,0.00,2.53,0.00,0.000,6,0.000,0.039,2647,2094,2174
$GC,10585,1.16,195.2,244.8,5.5,507,10606,0.00,2.70,15.32,0.992,4,0.000,0.067,2647,3514,2105
$GC,10634,1.16,195.2,241.6,6.1,509,10639,0.00,2.53,0.00,0.000,6,0.000,0.038,2647,2092,2105
$GC,10956,1.18,208.7,220.7,5.6,525,10978,0.00,2.72,12.57,0.930,4,0.000,0.069,2647,3505,2050
$GC,11024,1.18,210.7,216.8,5.9,528,11029,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2102,2050
$GC,11350,1.18,210.7,195.0,6.6,544,11355,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3515,2049
$GC,11395,1.18,210.7,191.7,7.3,546,11400,0.00,2.53,0.00,0.000,6,0.000,0.044,2647,2095,2050
$GC,11716,1.18,210.7,169.9,6.6,562,11721,0.00,2.67,0.00,0.000,4,0.000,0.071,2647,3519,2050
$GC,11802,1.18,210.7,163.1,8.4,566,11806,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2093,2050
$GC,12129,1.18,210.7,137.3,7.2,582,12134,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3512,2049
$GC,12169,1.18,210.7,133.9,7.9,584,12174,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2099,2049
$GC,12497,1.18,210.7,111.5,6.6,600,12501,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3512,2049
$GC,12524,1.18,210.7,109.7,6.7,601,12528,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2097,2049
$GC,12841,1.18,210.7,89.4,6.5,616,12845,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3515,2050
$GC,12891,1.18,210.7,85.7,6.9,618,12895,0.00,2.50,0.00,0.000,6,0.000,0.040,2647,2093,2050
$GC,13208,1.18,210.7,64.7,6.7,633,13213,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3512,2049
$GC,13264,1.18,210.7,60.4,7.2,635,13270,0.00,2.47,0.00,0.000,6,0.000,0.040,2647,2102,2049
$GC,13579,1.18,210.7,41.4,6.2,651,13584,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3514,2049
$GC,13613,1.18,210.7,39.1,7.1,652,13619,0.00,2.50,0.00,0.000,6,0.000,0.047,2647,2100,2050
$GC,13930,1.18,210.7,16.1,7.5,668,13934,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3514,2050
$GC,13979,1.18,210.7,12.4,7.3,670,13984,0.00,2.53,0.00,0.000,6,0.000,0.046,2647,2095,2050
$STATE,14109,end climb,SURFACE_DEPTH_REACHED
$STATE,14109,begin surface coast
$FINISH,0.5,1.027356
$STATE,14129,end surface coast,CONTROL_FINISHED_OK
$STATE,14129,begin surface
$SM_CCo,14153,285.55,0.803,2,0,571,571.30
$SM_GC,-0.75,0.00,0.00,285.55,0.000,0.000,0.803,44,2913,571,-10.88,0.37,571.30
$IRIDIUM_FIX,6144.36,-918.67,190497,191957
$TT8_MAMPS,0.029146
$HUMID,1966
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.7,96.2
$24V_AH,23.3,69.928
$10V_AH,10.1,32.499
$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,26.100,168.525,299.975,285.550,0.000,197.790,177.327,829.406,4.000,0.000,0.000,17.233,1276.936,11016.369,751.848,1486.050,1536.889,0.000,1533.198,0.000,1462.684,0.000,25.056
$DEVICE_MAMPS,160.303,72.098,1188.083,803.049,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,496.978,475.137,487.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34833,677
$CFSIZE,260165632,235937792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,0
$GPS,240108,233707,6206.931,-917.414,29,1.1,29,-9.6