version: 66.02
glider: 103
mission: 7
dive: 427
start: 1 26 108 3 34 29
data:
$ID,103
$MISSION,7
$DIVE,427
$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,-70765.211
$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,23
$R_STBD_OVSHOOT,17
$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
$GPS1,032825,6154.080,-928.931,37,1.6,37,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-50.3
$GPS2,033356,6154.030,-928.926,11,1.7,11,-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,108.5,12303,-11.1,-6.000
$D_GRID,608
$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,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,107,0.00,0.00,-80.35,0.000,2,0.000,0.000,46,2903,3346
$GC,111,-1.10,-146.6,3.4,-6.2,4,133,12.05,1.77,-2.65,0.000,4,0.160,0.125,2167,3777,3502
$GC,385,-1.10,-146.6,30.8,-6.7,16,389,0.00,1.58,0.00,0.000,6,0.000,0.057,2168,2906,3502
$GC,712,-1.10,-146.6,58.7,-6.9,32,716,0.00,1.70,0.00,0.000,4,0.000,0.094,2167,3779,3502
$GC,894,-1.10,-146.6,72.1,-6.9,40,897,0.00,1.58,0.00,0.000,6,0.000,0.055,2168,2899,3502
$GC,1227,-1.10,-146.6,93.3,-5.7,56,1231,0.00,2.60,0.00,0.000,4,0.000,0.068,2168,1482,3502
$GC,1321,-1.10,-146.6,100.3,-8.6,60,1326,0.00,2.67,0.00,0.000,6,0.000,0.073,2168,2900,3502
$GC,1638,-1.10,-146.6,125.7,-7.1,75,1641,0.00,1.70,0.00,0.000,4,0.000,0.097,2167,3784,3502
$GC,1671,-1.10,-146.6,129.1,-10.1,76,1675,0.00,1.58,0.00,0.000,6,0.000,0.050,2168,2897,3502
$GC,1992,-1.10,-146.6,157.4,-9.4,92,1996,0.00,2.58,0.00,0.000,4,0.000,0.066,2167,1480,3502
$GC,2031,-1.10,-146.6,160.7,-8.8,93,2037,0.00,2.67,0.00,0.000,6,0.000,0.070,2168,2907,3502
$GC,2346,-1.10,-146.6,186.9,-8.0,109,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2908,3502
$GC,2656,-1.10,-146.6,208.6,-6.8,124,2660,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1488,3502
$GC,2689,-1.10,-146.6,211.0,-7.0,125,2695,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2900,3502
$GC,3005,-1.10,-146.6,234.2,-7.6,141,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2900,3502
$GC,3314,-1.10,-146.6,257.4,-7.1,156,3318,0.00,2.58,0.00,0.000,4,0.000,0.058,2168,1486,3502
$GC,3347,-1.10,-146.6,260.0,-7.6,157,3353,0.00,2.62,0.00,0.000,6,0.000,0.064,2168,2901,3502
$GC,3663,-1.10,-146.6,286.0,-8.4,173,3667,0.00,2.60,0.00,0.000,4,0.000,0.062,2168,1482,3502
$GC,3695,-1.10,-146.6,288.9,-8.1,174,3701,0.00,2.65,0.00,0.000,6,0.000,0.067,2168,2903,3502
$GC,4011,-1.10,-146.6,313.2,-7.3,190,4015,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1484,3502
$GC,4038,-1.10,-146.6,315.3,-7.2,191,4043,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2900,3502
$GC,4354,-1.10,-146.6,337.5,-6.5,206,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,4664,-1.10,-146.6,359.8,-7.8,221,4668,0.00,2.60,0.00,0.000,4,0.000,0.061,2168,1478,3502
$GC,4714,-1.10,-146.6,363.7,-8.0,223,4718,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2900,3502
$GC,5030,-1.10,-146.6,384.4,-5.6,238,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2900,3502
$GC,5339,-1.10,-146.6,408.0,-7.4,253,5343,0.00,2.58,0.00,0.000,4,0.000,0.061,2168,1486,3502
$GC,5411,-1.10,-146.6,411.6,-7.5,256,5415,0.00,2.60,0.00,0.000,6,0.000,0.063,2168,2900,3502
$GC,5727,-1.10,-146.6,435.9,-8.3,271,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2900,3502
$GC,6037,-1.10,-146.6,446.9,-1.2,286,6041,0.00,1.70,0.00,0.000,4,0.000,0.092,2167,3789,3502
$GC,6054,-1.10,-146.6,447.2,-0.4,286,6060,0.00,1.58,0.00,0.000,6,0.000,0.044,2168,2890,3502
$GC,6369,-1.10,-146.6,470.6,-8.7,302,6373,0.00,1.73,0.00,0.000,4,0.000,0.091,2167,3785,3502
$GC,6509,-1.10,-146.6,483.5,-9.2,308,6513,0.00,1.58,0.00,0.000,6,0.000,0.043,2168,2882,3502
$GC,6836,-1.10,-146.6,517.8,-10.1,324,6839,0.00,1.75,0.00,0.000,4,0.000,0.090,2167,3790,3502
$GC,6914,-1.10,-146.6,526.5,-10.5,327,6918,0.00,1.58,0.00,0.000,6,0.000,0.041,2168,2883,3502
$GC,7236,-1.10,-146.6,553.5,-7.5,343,7239,0.00,1.73,0.00,0.000,4,0.000,0.087,2168,3786,3502
$GC,7449,-1.10,-146.6,567.4,-3.4,352,7452,0.00,1.55,0.00,0.000,6,0.000,0.041,2168,2903,3502
$GC,7770,-1.10,-146.6,584.4,-6.7,368,7774,0.00,2.50,0.00,0.000,4,0.000,0.051,2167,1480,3503
$GC,7893,-1.10,-146.6,592.9,-6.3,373,7897,0.00,2.62,0.00,0.000,6,0.000,0.061,2168,2908,3503
$STATE,8082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8082,begin apogee
$GC,8091,-0.42,0.0,608.9,9.0,382,8225,0.75,0.00,126.78,1.234,6,0.094,0.000,2316,2102,2900
$STATE,8226,end apogee,CONTROL_FINISHED_OK
$STATE,8226,begin climb
$GC,8229,1.10,146.6,616.9,0.0,389,8360,1.55,2.65,122.18,1.202,4,0.060,0.057,2648,695,2303
$GC,8606,1.10,146.6,611.4,6.4,406,8610,0.00,2.50,0.00,0.000,6,0.000,0.036,2647,2123,2302
$GC,8927,1.16,197.0,595.5,4.6,422,8972,0.00,0.00,43.55,1.223,6,0.000,0.000,2647,2123,2097
$GC,9278,1.20,225.7,581.1,5.2,439,9309,0.10,2.65,25.35,1.209,4,0.050,0.071,2677,3504,1980
$GC,9408,1.27,279.3,568.8,4.5,445,9459,0.00,2.50,45.53,1.224,6,0.000,0.045,2677,2100,1762
$GC,9777,1.27,279.3,540.2,11.4,463,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2097,1760
$GC,10084,1.27,279.3,516.1,7.7,478,10089,0.00,2.62,0.00,0.000,4,0.000,0.072,2677,3498,1759
$GC,10156,1.27,279.3,509.8,8.1,481,10161,0.00,2.50,0.00,0.000,6,0.000,0.041,2677,2090,1759
$GC,10473,1.27,279.3,481.1,8.8,496,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2089,1759
$GC,10782,1.27,279.3,456.5,8.3,511,10783,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2089,1759
$GC,11091,1.27,279.3,433.5,7.8,526,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2089,1759
$GC,11400,1.27,279.3,411.1,7.0,541,11404,0.00,2.65,0.00,0.000,4,0.000,0.071,2677,3498,1759
$GC,11462,1.27,279.3,406.6,7.9,544,11466,0.00,2.47,0.00,0.000,6,0.000,0.046,2677,2101,1759
$GC,11788,1.27,279.3,382.3,7.6,560,11790,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2101,1760
$GC,12097,1.27,279.3,358.5,7.6,575,12102,0.00,2.62,0.00,0.000,4,0.000,0.074,2677,3505,1761
$GC,12137,1.27,279.3,355.3,7.7,577,12141,0.00,2.50,0.00,0.000,6,0.000,0.046,2677,2094,1761
$GC,12463,1.27,279.3,329.4,8.6,593,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2094,1761
$GC,12772,1.27,279.3,302.3,8.6,608,12777,0.00,2.60,0.00,0.000,4,0.000,0.070,2677,3498,1761
$GC,12822,1.27,279.3,297.8,9.3,610,12826,0.00,2.50,0.00,0.000,6,0.000,0.048,2677,2100,1761
$GC,13138,1.27,279.3,265.5,10.6,625,13142,0.00,2.62,0.00,0.000,4,0.000,0.072,2677,3498,1762
$GC,13171,1.27,279.3,261.9,10.4,626,13177,0.00,2.50,0.00,0.000,6,0.000,0.048,2677,2101,1762
$GC,13486,1.27,279.3,230.9,9.4,642,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2101,1762
$GC,13796,1.27,279.3,201.6,9.4,657,13800,0.00,2.62,0.00,0.000,4,0.000,0.071,2677,3505,1762
$GC,13842,1.27,279.3,197.4,8.9,659,13846,0.00,2.53,0.00,0.000,6,0.000,0.050,2677,2097,1762
$GC,14162,1.27,279.3,169.9,8.9,675,14163,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2097,1762
$GC,14472,1.27,279.3,143.4,8.1,690,14476,0.00,2.65,0.00,0.000,4,0.000,0.074,2677,3501,1763
$GC,14535,1.27,279.3,138.2,7.8,693,14539,0.00,2.50,0.00,0.000,6,0.000,0.049,2677,2095,1763
$GC,14863,1.27,279.3,112.0,7.6,709,14864,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2095,1763
$GC,15171,1.27,279.3,84.9,9.5,724,15176,0.00,2.53,0.00,0.000,4,0.000,0.061,2677,698,1763
$GC,15221,1.27,279.3,79.4,9.3,726,15226,0.00,2.42,0.00,0.000,6,0.000,0.041,2677,2090,1762
$GC,15537,1.27,279.3,57.9,7.1,741,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2091,1763
$GC,15847,1.27,279.3,31.8,8.5,756,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2091,1762
$GC,16156,1.27,279.3,3.2,10.4,771,16160,0.00,2.55,0.00,0.000,4,0.000,0.060,2677,690,1763
$STATE,16171,end climb,SURFACE_DEPTH_REACHED
$STATE,16171,begin surface coast
$FINISH,0.9,1.027353
$STATE,16182,end surface coast,CONTROL_FINISHED_OK
$STATE,16182,begin surface
$SM_CCo,16209,19.08,0.762,1,0,1678,300.00
$SM_GC,-0.34,0.00,0.00,19.08,0.000,0.000,0.762,44,2897,1678,-10.88,-0.11,300.00
$IRIDIUM_FIX,6130.75,-933.75,200497,232312
$TT8_MAMPS,0.028379
$HUMID,2076
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.3,90.6
$24V_AH,23.2,71.250
$10V_AH,10.1,33.067
$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,26.250,129.275,363.375,19.075,0.000,37.390,34.172,145.578,5.000,0.000,0.000,13.249,1439.234,12286.988,501.385,1822.129,532.443,0.000,1422.830,0.000,1797.590,0.000,31.509
$DEVICE_MAMPS,160.303,125.021,1234.103,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.891,535.874,501.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37918,772
$CFSIZE,260165632,235552768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,260108,080608,6153.282,-926.862,28,1.1,28,-9.6