version: 66.02
glider: 103
mission: 7
dive: 426
start: 1 25 108 23 38 36
data:
$ID,103
$MISSION,7
$DIVE,426
$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,-70751.336
$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,7
$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
$GPS1,233228,6154.740,-929.505,28,2.7,47,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-47.9
$GPS2,233803,6154.772,-929.496,16,2.0,16,-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,114.1,13070,-11.1,-6.000
$D_GRID,591
$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,25,-1.10,-146.6,0.0,0.0,0,127,0.00,0.00,-96.25,0.000,6,0.000,0.000,29,2903,3500
$GC,130,-1.10,-146.6,5.6,-7.0,5,151,12.10,1.73,0.00,0.000,4,0.159,0.079,2164,3794,3502
$GC,162,-1.10,-146.6,18.3,-28.2,6,166,0.00,1.60,0.00,0.000,6,0.000,0.050,2164,2905,3503
$GC,484,-1.10,-146.6,39.4,-8.1,22,488,0.00,1.73,0.00,0.000,4,0.000,0.095,2164,3790,3503
$GC,742,-1.10,-146.6,72.3,-12.4,33,746,0.00,1.60,0.00,0.000,6,0.000,0.051,2164,2892,3503
$GC,1064,-1.10,-146.6,96.3,-6.2,49,1068,0.00,1.75,0.00,0.000,4,0.000,0.094,2164,3789,3503
$GC,1200,-1.10,-146.6,106.1,-7.7,55,1204,0.00,1.58,0.00,0.000,6,0.000,0.052,2164,2899,3502
$GC,1535,-1.10,-146.6,138.0,-10.2,71,1538,0.00,1.75,0.00,0.000,4,0.000,0.095,2164,3792,3503
$GC,1581,-1.10,-146.6,141.0,-4.6,73,1585,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2900,3503
$GC,1914,-1.10,-146.6,163.2,-7.9,89,1918,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1486,3503
$GC,1980,-1.10,-146.6,167.9,-7.0,92,1985,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2906,3503
$GC,2301,-1.10,-146.6,191.2,-6.8,108,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3503
$GC,2610,-1.10,-146.6,209.0,-5.7,123,2615,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1489,3503
$GC,2666,-1.10,-146.6,212.4,-6.4,125,2672,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2898,3503
$GC,2983,-1.10,-146.6,230.1,-6.5,141,2986,0.00,1.73,0.00,0.000,4,0.000,0.098,2164,3789,3503
$GC,3044,-1.10,-146.6,234.7,-8.1,143,3050,0.00,1.60,0.00,0.000,6,0.000,0.051,2164,2888,3503
$GC,3360,-1.10,-146.6,258.6,-7.2,159,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2888,3503
$GC,3669,-1.10,-146.6,283.9,-9.1,174,3673,0.00,2.55,0.00,0.000,4,0.000,0.066,2164,1490,3503
$GC,3709,-1.10,-146.6,287.4,-8.8,176,3713,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2906,3503
$GC,4035,-1.10,-146.6,311.6,-6.9,192,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,4344,-1.10,-146.6,333.1,-6.8,207,4348,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1483,3503
$GC,4377,-1.10,-146.6,335.0,-5.6,208,4383,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2908,3503
$GC,4693,-1.10,-146.6,358.1,-9.2,224,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,5002,-1.10,-146.6,385.4,-9.4,239,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,5311,-1.10,-146.6,409.4,-6.9,254,5315,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1487,3503
$GC,5368,-1.10,-146.6,413.8,-7.9,256,5374,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2908,3503
$GC,5684,-1.10,-146.6,440.0,-7.3,272,5688,0.00,2.58,0.00,0.000,4,0.000,0.057,2164,1479,3503
$GC,5728,-1.10,-146.6,443.8,-8.3,274,5732,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2899,3503
$GC,6049,-1.10,-146.6,464.6,-5.8,290,6054,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1488,3503
$GC,6071,-1.10,-146.6,466.4,-7.6,291,6075,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2905,3503
$GC,6392,-1.10,-146.6,485.3,-6.3,307,6396,0.00,1.70,0.00,0.000,4,0.000,0.095,2164,3778,3503
$GC,6419,-1.10,-146.6,487.4,-7.6,308,6423,0.00,1.55,0.00,0.000,6,0.000,0.043,2164,2903,3503
$GC,6746,-1.10,-146.6,512.7,-7.1,324,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,7055,-1.10,-146.6,543.2,-11.7,339,7059,0.00,1.70,0.00,0.000,4,0.000,0.090,2164,3786,3503
$GC,7303,-1.10,-146.6,569.7,-9.8,350,7307,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2899,3503
$GC,7636,-1.10,-146.6,590.5,-5.8,366,7640,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1483,3503
$STATE,7644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7644,begin apogee
$GC,7652,-0.42,0.0,591.4,5.8,366,7782,0.75,0.00,126.40,1.221,6,0.100,0.000,2314,2110,2901
$STATE,7782,end apogee,CONTROL_FINISHED_OK
$STATE,7782,begin climb
$GC,7785,1.10,146.6,597.0,0.0,373,7917,1.58,2.67,121.90,1.189,4,0.059,0.055,2649,698,2303
$GC,8060,1.10,146.6,585.2,7.5,385,8066,0.00,2.47,0.00,0.000,6,0.000,0.036,2649,2118,2302
$GC,8376,1.12,164.1,570.7,5.5,401,8395,0.00,0.00,16.27,1.142,6,0.000,0.000,2649,2118,2231
$GC,8705,1.15,187.6,549.4,5.4,417,8731,0.00,2.62,20.73,1.174,4,0.000,0.067,2649,3501,2136
$GC,8793,1.27,281.5,547.3,3.4,421,8878,0.17,2.50,78.95,1.210,6,0.039,0.039,2698,2094,1753
$GC,9201,1.27,281.5,517.8,7.5,441,9205,0.00,2.65,0.00,0.000,4,0.000,0.071,2698,3504,1750
$GC,9250,1.27,281.5,513.7,7.7,443,9254,0.00,2.50,0.00,0.000,6,0.000,0.043,2698,2101,1750
$GC,9566,1.31,314.6,495.7,5.1,458,9601,0.00,2.65,28.70,1.166,4,0.000,0.058,2698,699,1618
$GC,9669,1.31,314.6,489.3,7.2,462,9675,0.00,2.47,0.00,0.000,6,0.000,0.039,2698,2092,1618
$GC,9985,1.33,335.3,470.1,5.4,478,10006,0.00,0.00,18.85,1.122,6,0.000,0.000,2698,2092,1535
$GC,10314,1.45,429.3,454.3,3.4,494,10400,0.12,2.78,78.50,1.144,4,0.048,0.074,2732,3508,1151
$GC,10436,1.45,429.3,446.1,9.6,499,10442,0.00,2.53,0.00,0.000,6,0.000,0.043,2732,2103,1150
$GC,10752,1.45,429.3,410.6,12.9,515,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2103,1150
$GC,11061,1.45,429.3,368.6,13.0,530,11066,0.00,2.65,0.00,0.000,4,0.000,0.073,2732,3514,1150
$GC,11083,1.45,429.3,365.5,13.8,531,11087,0.00,2.53,0.00,0.000,6,0.000,0.044,2732,2094,1150
$GC,11403,1.45,429.3,321.6,14.2,547,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2094,1150
$GC,11713,1.45,429.3,277.4,14.3,562,11717,0.00,2.67,0.00,0.000,4,0.000,0.073,2732,3511,1151
$GC,11735,1.45,429.3,274.0,14.8,563,11739,0.00,2.53,0.00,0.000,6,0.000,0.044,2732,2095,1151
$GC,12055,1.45,429.3,225.3,15.8,579,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2095,1151
$GC,12365,1.45,429.3,180.5,13.9,594,12369,0.00,2.67,0.00,0.000,4,0.000,0.072,2732,3514,1151
$GC,12397,1.45,429.3,175.4,14.9,595,12404,0.00,2.53,0.00,0.000,6,0.000,0.047,2732,2093,1151
$GC,12713,1.45,429.3,127.9,15.2,611,12714,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2093,1151
$GC,13024,1.45,429.3,84.9,14.7,626,13029,0.00,2.65,0.00,0.000,4,0.000,0.070,2732,3509,1151
$GC,13042,1.45,429.3,81.5,16.4,627,13046,0.00,2.50,0.00,0.000,6,0.000,0.048,2732,2099,1151
$GC,13374,1.45,429.3,37.9,12.7,643,13379,0.00,2.60,0.00,0.000,4,0.000,0.072,2732,699,1151
$GC,13396,1.45,429.3,34.2,16.3,644,13401,0.00,2.47,0.00,0.000,6,0.000,0.041,2732,2100,1152
$STATE,13612,end climb,SURFACE_DEPTH_REACHED
$STATE,13612,begin surface coast
$FINISH,-1.1,1.023700
$STATE,13634,end surface coast,CONTROL_FINISHED_OK
$STATE,13634,begin surface
$SM_CCo,13718,0.00,0.000,0,0,1150,429.52
$SM_GC,-0.46,11.80,0.00,0.00,0.030,0.000,0.000,46,2903,1150,-10.79,0.08,429.52
$IRIDIUM_FIX,6130.75,-923.99,200497,191952
$TT8_MAMPS,0.029146
$HUMID,2088
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.1,70.1
$24V_AH,23.2,71.107
$10V_AH,10.1,32.990
$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,26.525,116.475,490.300,0.000,0.000,38.525,35.315,141.547,5.250,0.000,0.000,18.962,1211.494,10239.855,579.103,1540.125,497.131,0.000,1398.170,0.000,1507.411,0.000,34.401
$DEVICE_MAMPS,158.769,98.176,1221.064,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.720,456.692,403.991,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34737,656
$CFSIZE,260165632,235622400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,260108,032825,6154.080,-928.931,37,1.6,37,-9.6