version: 66.02
glider: 103
mission: 7
dive: 421
start: 1 25 108 3 51 24
data:
$ID,103
$MISSION,7
$DIVE,421
$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,-70660.688
$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
$GPS1,033128,6204.183,-915.348,39,3.3,58,-9.6
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-54.1
$GPS2,035053,6203.917,-914.783,34,2.8,53,-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,190.1,20220,-11.1,-6.000
$D_GRID,477
$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,-60.35,0.000,2,0.000,0.000,51,2896,3265
$GC,90,-1.10,-146.6,3.4,-9.8,3,112,11.98,2.60,-3.90,0.000,4,0.160,0.076,2165,1492,3501
$GC,363,-1.10,-146.6,54.8,-12.7,15,367,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2906,3502
$GC,691,-1.10,-146.6,67.2,-2.9,31,695,0.00,1.70,0.00,0.000,4,0.000,0.095,2165,3787,3502
$GC,873,-1.10,-146.6,71.5,-2.9,39,876,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2890,3502
$GC,1206,-1.10,-146.6,90.6,-6.8,55,1210,0.00,2.58,0.00,0.000,4,0.000,0.071,2165,1490,3502
$GC,1306,-1.10,-146.6,93.2,-3.7,59,1312,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2908,3502
$GC,1624,-1.10,-146.6,101.5,-2.4,75,1627,0.00,1.70,0.00,0.000,4,0.000,0.096,2165,3792,3502
$GC,1675,-1.10,-146.6,103.1,-1.4,77,1678,0.00,1.58,0.00,0.000,6,0.000,0.046,2165,2896,3502
$GC,2002,-1.10,-146.6,118.6,-6.3,93,2005,0.00,1.75,0.00,0.000,4,0.000,0.096,2165,3789,3502
$GC,2108,-1.10,-146.6,124.8,-6.5,97,2114,0.00,1.60,0.00,0.000,6,0.000,0.048,2165,2899,3502
$GC,2426,-1.10,-146.6,149.1,-8.6,113,2430,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1489,3502
$GC,2459,-1.10,-146.6,152.4,-9.0,114,2465,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2902,3502
$GC,2774,-1.10,-146.6,174.2,-6.7,130,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,3084,-1.10,-146.6,195.7,-6.0,145,3088,0.00,1.73,0.00,0.000,4,0.000,0.096,2165,3786,3502
$GC,3140,-1.10,-146.6,200.2,-8.4,147,3144,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2893,3502
$GC,3461,-1.10,-146.6,221.2,-6.2,163,3466,0.00,2.53,0.00,0.000,4,0.000,0.063,2165,1488,3502
$GC,3512,-1.10,-146.6,224.7,-6.7,165,3517,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2912,3502
$GC,3834,-1.10,-146.6,243.8,-5.7,181,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2912,3502
$GC,4143,-1.10,-146.6,262.0,-6.4,196,4147,0.00,2.62,0.00,0.000,4,0.000,0.063,2165,1480,3502
$GC,4198,-1.10,-146.6,266.2,-7.5,198,4204,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2903,3502
$GC,4514,-1.10,-146.6,286.8,-6.1,214,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,4824,-1.10,-146.6,304.3,-6.0,229,4828,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1484,3502
$GC,4851,-1.10,-146.6,306.1,-6.2,230,4855,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2902,3502
$GC,5167,-1.10,-146.6,326.0,-6.4,245,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,5476,-1.10,-146.6,347.3,-7.7,260,5480,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1487,3502
$GC,5516,-1.10,-146.6,349.9,-6.1,262,5520,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2908,3502
$GC,5847,-1.10,-146.6,372.4,-7.3,278,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,6157,-1.10,-146.6,394.5,-7.7,293,6160,0.00,1.67,0.00,0.000,4,0.000,0.091,2165,3790,3502
$GC,6207,-1.10,-146.6,398.5,-8.7,295,6211,0.00,1.58,0.00,0.000,6,0.000,0.043,2165,2887,3502
$GC,6535,-1.10,-146.6,428.7,-9.9,311,6539,0.00,2.47,0.00,0.000,4,0.000,0.056,2165,1488,3502
$GC,6601,-1.10,-146.6,435.4,-9.7,314,6606,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2902,3502
$GC,6922,-1.10,-146.6,465.2,-9.3,330,6927,0.00,2.55,0.00,0.000,4,0.000,0.056,2165,1488,3502
$GC,6972,-1.10,-146.6,469.9,-9.2,332,6977,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2900,3502
$STATE,7079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7079,begin apogee
$GC,7088,-0.42,0.0,477.9,7.0,337,7216,0.77,0.00,124.43,1.131,6,0.103,0.000,2316,2091,2901
$STATE,7216,end apogee,CONTROL_FINISHED_OK
$STATE,7216,begin climb
$GC,7219,1.10,146.6,480.1,0.0,343,7348,1.55,2.58,120.38,1.095,4,0.058,0.051,2647,691,2303
$GC,7423,1.20,229.3,476.0,3.7,352,7499,0.12,2.47,69.32,1.076,6,0.044,0.031,2687,2118,1966
$GC,7821,1.20,229.3,447.8,7.3,372,7825,0.00,2.60,0.00,0.000,4,0.000,0.053,2688,684,1964
$GC,7898,1.20,229.3,442.0,8.0,375,7905,0.00,2.47,0.00,0.000,6,0.000,0.038,2688,2091,1964
$GC,8215,1.20,229.3,413.9,10.5,391,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2091,1964
$GC,8523,1.20,229.3,378.2,11.3,406,8528,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3510,1963
$GC,8579,1.20,229.3,372.3,10.1,408,8585,0.00,2.50,0.00,0.000,6,0.000,0.041,2688,2096,1963
$GC,8895,1.20,229.3,346.2,7.5,424,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1963
$GC,9204,1.20,229.3,324.4,7.1,439,9208,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3509,1963
$GC,9248,1.20,229.3,320.9,8.0,441,9252,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2100,1962
$GC,9569,1.20,229.3,295.1,8.7,457,9573,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3510,1962
$GC,9591,1.20,229.3,292.8,10.0,458,9596,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2102,1963
$GC,9912,1.20,229.3,259.3,11.2,474,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1962
$GC,10223,1.20,229.3,226.9,9.5,489,10227,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3508,1962
$GC,10256,1.20,229.3,223.7,8.8,490,10262,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2101,1963
$GC,10572,1.20,229.3,198.1,6.6,506,10576,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3507,1963
$GC,10594,1.21,237.8,196.8,5.8,507,10611,0.00,2.53,8.15,0.861,6,0.000,0.047,2688,2094,1931
$GC,10920,1.21,237.8,168.4,10.5,523,10924,0.00,2.55,0.00,0.000,4,0.000,0.064,2687,693,1931
$GC,10947,1.21,237.8,164.1,15.4,524,10952,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2105,1931
$GC,11269,1.21,237.8,133.9,6.5,540,11274,0.00,2.60,0.00,0.000,4,0.000,0.062,2688,689,1931
$GC,11370,1.21,237.8,123.1,13.5,544,11377,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2101,1931
$GC,11686,1.33,333.0,96.9,3.4,560,11770,0.00,2.75,76.55,0.894,4,0.000,0.070,2688,688,1543
$GC,11814,1.33,333.0,87.1,12.0,566,11819,0.00,2.53,0.00,0.000,6,0.000,0.047,2688,2100,1543
$GC,12142,1.33,333.0,53.1,8.6,582,12146,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3515,1542
$GC,12175,1.33,333.0,49.4,9.7,583,12182,0.00,2.55,0.00,0.000,6,0.000,0.050,2688,2102,1542
$GC,12491,1.33,333.0,16.0,12.8,599,12492,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1542
$STATE,12673,end climb,SURFACE_DEPTH_REACHED
$STATE,12673,begin surface coast
$FINISH,-1.0,1.009066
$STATE,12695,end surface coast,CONTROL_FINISHED_OK
$STATE,12695,begin surface
$SM_CCo,12720,188.27,0.800,1,0,572,571.30
$SM_GC,-0.58,0.00,0.00,188.27,0.000,0.000,0.800,44,2906,572,-10.88,0.17,571.30
$IRIDIUM_FIX,6139.81,-912.66,200497,030310
$TT8_MAMPS,0.029913
$HUMID,2001
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,426.6,81.6
$24V_AH,23.3,70.255
$10V_AH,10.1,32.641
$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,26.000,122.850,398.825,188.275,0.000,193.599,224.198,306.678,3.750,0.000,0.000,54.538,1152.154,9714.605,675.276,1508.718,1043.798,0.000,1446.980,0.000,1450.288,0.000,23.415
$DEVICE_MAMPS,159.536,95.875,1130.558,799.981,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.615,421.807,468.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31743,609
$CFSIZE,260165632,235859968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,250108,072807,6201.005,-917.352,40,1.3,52,-9.6