version: 66.02
glider: 103
mission: 7
dive: 422
start: 1 25 108 7 39 24
data:
$ID,103
$MISSION,7
$DIVE,422
$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,-70678.852
$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,19
$R_STBD_OVSHOOT,11
$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
$GPS1,072807,6201.005,-917.352,40,1.3,52,-9.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.55
$_SM_ANGLEo,-43.2
$GPS2,073850,6200.929,-917.312,12,1.2,17,-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,181.8,14822,-11.1,-6.000
$D_GRID,504
$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,-146.6,0.0,0.0,0,128,0.00,0.00,-101.18,0.000,2,0.000,0.000,44,2905,3368
$GC,131,-1.10,-146.6,3.3,-4.6,5,154,11.95,1.77,-2.42,0.000,4,0.156,0.123,2163,3782,3502
$GC,407,-1.10,-146.6,28.1,-9.5,17,411,0.00,1.60,0.00,0.000,6,0.000,0.058,2163,2901,3502
$GC,735,-1.10,-146.6,55.0,-3.7,33,738,0.00,1.75,0.00,0.000,4,0.000,0.098,2163,3790,3502
$GC,955,-1.10,-146.6,67.7,-10.0,42,961,0.00,1.62,0.00,0.000,6,0.000,0.055,2163,2903,3502
$GC,1271,-1.10,-146.6,95.1,-5.3,58,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,1580,-1.10,-146.6,108.9,-2.9,73,1584,0.00,1.73,0.00,0.000,4,0.000,0.097,2163,3785,3502
$GC,1636,-1.10,-146.6,113.7,-10.8,75,1640,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2894,3502
$GC,1958,-1.10,-146.6,140.4,-10.8,91,1961,0.00,1.75,0.00,0.000,4,0.000,0.095,2164,3786,3502
$GC,1991,-1.10,-146.6,144.7,-13.2,92,1995,0.00,1.60,0.00,0.000,6,0.000,0.052,2163,2898,3502
$GC,2313,-1.10,-146.6,173.9,-7.0,108,2317,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1482,3502
$GC,2379,-1.10,-146.6,178.2,-7.1,111,2383,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2899,3502
$GC,2699,-1.10,-146.6,202.3,-8.3,127,2703,0.00,1.70,0.00,0.000,4,0.000,0.096,2164,3784,3502
$GC,2745,-1.10,-146.6,206.2,-8.6,129,2749,0.00,1.58,0.00,0.000,6,0.000,0.052,2164,2893,3502
$GC,3078,-1.10,-146.6,230.0,-6.8,145,3082,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1490,3502
$GC,3128,-1.10,-146.6,233.4,-7.2,147,3132,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2899,3502
$GC,3449,-1.10,-146.6,253.0,-6.3,163,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,3758,-1.10,-146.6,273.6,-7.1,178,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,4067,-1.10,-146.6,296.9,-7.9,193,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,4377,-1.10,-146.6,322.8,-8.2,208,4381,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1488,3502
$GC,4426,-1.10,-146.6,327.0,-8.1,210,4430,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2900,3502
$GC,4743,-1.10,-146.6,350.8,-7.5,225,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,5051,-1.10,-146.6,371.2,-6.5,240,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5361,-1.10,-146.6,388.4,-4.8,255,5365,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1487,3502
$GC,5416,-1.10,-146.6,390.9,-4.8,257,5422,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2901,3502
$GC,5732,-1.10,-146.6,405.3,-4.9,273,5737,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1488,3502
$GC,5777,-1.10,-146.6,407.8,-6.0,275,5782,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2903,3502
$GC,6099,-1.10,-146.6,421.3,-3.7,291,6104,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1479,3502
$GC,6145,-1.10,-146.6,423.4,-5.1,293,6149,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2899,3502
$GC,6465,-1.10,-146.6,444.6,-6.7,309,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,6775,-1.10,-146.6,462.4,-6.7,324,6779,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1480,3502
$GC,6837,-1.10,-146.6,466.3,-5.5,327,6842,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2904,3502
$GC,7163,-1.10,-146.6,489.3,-7.7,343,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$STATE,7387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7387,begin apogee
$GC,7396,-0.42,0.0,505.7,8.2,354,7524,0.77,0.00,124.32,1.183,6,0.098,0.000,2316,2097,2901
$STATE,7524,end apogee,CONTROL_FINISHED_OK
$STATE,7524,begin climb
$GC,7527,1.10,146.6,510.6,0.0,360,7658,1.55,2.60,120.32,1.142,4,0.061,0.054,2646,691,2303
$GC,7733,1.10,146.8,507.4,6.0,369,7739,0.00,2.47,0.00,0.000,6,0.000,0.034,2646,2114,2302
$GC,8049,1.12,159.3,490.4,5.7,385,8071,0.00,2.67,12.12,1.048,4,0.000,0.063,2646,3508,2251
$GC,8139,1.12,159.3,484.1,7.5,389,8144,0.00,2.47,0.00,0.000,6,0.000,0.035,2646,2093,2251
$GC,8466,1.12,159.3,461.1,7.0,405,8470,0.00,2.53,0.00,0.000,4,0.000,0.058,2646,698,2250
$GC,8555,1.17,200.5,455.8,4.9,409,8595,0.00,2.47,35.08,1.140,6,0.000,0.040,2646,2098,2083
$GC,8925,1.17,200.5,434.7,6.1,427,8929,0.00,2.62,0.00,0.000,4,0.000,0.069,2646,3508,2082
$GC,8980,1.17,200.5,430.8,6.8,429,8986,0.00,2.47,0.00,0.000,6,0.000,0.041,2646,2102,2082
$GC,9296,1.18,212.6,411.5,5.7,445,9309,0.00,0.00,11.30,1.046,6,0.000,0.000,2646,2102,2034
$GC,9629,1.25,269.2,396.0,4.4,461,9683,0.17,2.75,47.38,1.114,4,0.046,0.072,2696,3507,1803
$GC,9717,1.25,269.2,390.7,6.9,465,9722,0.00,2.53,0.00,0.000,6,0.000,0.044,2697,2102,1802
$GC,10039,1.25,269.2,369.9,6.6,481,10043,0.00,2.58,0.00,0.000,4,0.000,0.060,2697,688,1801
$GC,10127,1.25,269.2,363.8,6.3,485,10132,0.00,2.53,0.00,0.000,6,0.000,0.043,2697,2105,1802
$GC,10449,1.25,269.2,341.3,8.0,501,10453,0.00,2.60,0.00,0.000,4,0.000,0.071,2697,3512,1802
$GC,10476,1.25,269.2,338.9,9.2,502,10481,0.00,2.53,0.00,0.000,6,0.000,0.044,2697,2097,1801
$GC,10792,1.25,269.2,311.6,9.0,517,10796,0.00,2.67,0.00,0.000,4,0.000,0.074,2697,3517,1801
$GC,10813,1.25,269.2,309.6,9.0,518,10818,0.00,2.53,0.00,0.000,6,0.000,0.044,2696,2102,1801
$GC,11134,1.25,269.2,281.1,8.9,534,11139,0.00,2.67,0.00,0.000,4,0.000,0.074,2696,3517,1801
$GC,11156,1.25,269.2,279.2,8.9,535,11160,0.00,2.53,0.00,0.000,6,0.000,0.047,2697,2099,1801
$GC,11483,1.25,269.2,253.0,7.5,551,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2099,1802
$GC,11793,1.25,269.2,226.6,9.7,566,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2099,1802
$GC,12101,1.25,269.2,198.9,8.7,581,12105,0.00,2.58,0.00,0.000,4,0.000,0.065,2696,691,1802
$GC,12124,1.25,269.2,196.3,11.0,582,12129,0.00,2.50,0.00,0.000,6,0.000,0.047,2697,2099,1802
$GC,12451,1.25,269.2,166.9,8.5,598,12455,0.00,2.65,0.00,0.000,4,0.000,0.075,2697,3515,1802
$GC,12468,1.25,269.2,164.9,10.7,599,12472,0.00,2.53,0.00,0.000,6,0.000,0.047,2697,2094,1802
$GC,12795,1.25,269.2,133.1,9.5,615,12799,0.00,2.58,0.00,0.000,4,0.000,0.067,2697,688,1803
$GC,12838,1.25,269.2,129.0,9.2,617,12843,0.00,2.53,0.00,0.000,6,0.000,0.047,2697,2110,1803
$GC,13166,1.25,269.2,102.9,7.8,633,13170,0.00,2.60,0.00,0.000,4,0.000,0.063,2697,695,1803
$GC,13210,1.25,269.2,99.1,8.5,635,13215,0.00,2.50,0.00,0.000,6,0.000,0.047,2697,2097,1803
$GC,13532,1.25,269.2,68.8,7.8,651,13533,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2097,1803
$GC,13843,1.25,269.2,42.4,9.1,666,13848,0.00,2.65,0.00,0.000,4,0.000,0.075,2697,3514,1803
$GC,13854,1.25,269.2,41.0,9.0,666,13861,0.00,2.53,0.00,0.000,6,0.000,0.045,2696,2076,1803
$GC,14170,1.25,269.2,7.4,11.5,682,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2073,1802
$STATE,14250,end climb,SURFACE_DEPTH_REACHED
$STATE,14250,begin surface coast
$FINISH,-1.0,1.027373
$STATE,14272,end surface coast,CONTROL_FINISHED_OK
$STATE,14272,begin surface
$SM_CCo,14297,26.73,0.793,1,0,1678,300.00
$SM_GC,-0.19,0.00,0.00,26.73,0.000,0.000,0.793,38,2896,1678,-10.91,-0.08,300.00
$IRIDIUM_FIX,6135.28,-920.97,200497,070751
$TT8_MAMPS,0.029146
$HUMID,2078
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.3,75.7
$24V_AH,23.3,70.400
$10V_AH,10.1,32.714
$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,25.925,128.250,350.525,26.725,0.000,80.250,69.598,305.108,4.250,0.000,0.000,17.543,1284.121,10848.980,510.987,1581.911,764.937,0.000,1333.561,0.000,1560.273,0.000,27.949
$DEVICE_MAMPS,156.468,122.720,1182.714,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,515.266,471.902,474.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34908,687
$CFSIZE,260165632,235819008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,250108,113932,6200.271,-917.220,42,1.5,42,-9.6