version: 66.02
glider: 103
mission: 7
dive: 429
start: 1 26 108 13 6 22
data:
$ID,103
$MISSION,7
$DIVE,429
$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,-70811.211
$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,25
$R_STBD_OVSHOOT,14
$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
$GPS1,124838,6154.836,-920.446,40,1.7,40,-9.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-51.6
$GPS2,130551,6154.931,-919.914,33,1.5,33,-9.5
$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,139.3,5584,-11.1,-6.000
$D_GRID,570
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-67.28,0.000,6,0.000,0.000,28,2904,3500
$GC,97,-1.10,-146.6,2.0,-4.8,3,118,12.05,1.73,0.00,0.000,4,0.156,0.087,2166,3782,3502
$GC,371,-1.10,-146.6,27.5,-1.7,15,375,0.00,1.60,0.00,0.000,6,0.000,0.059,2166,2902,3502
$GC,698,-1.10,-146.6,50.5,-5.1,31,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,1010,-1.10,-146.6,65.5,-5.6,46,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,1317,-1.10,-146.6,89.0,-7.4,61,1321,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1482,3502
$GC,1361,-1.10,-146.6,92.0,-6.3,63,1365,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2898,3502
$GC,1682,-1.10,-146.6,113.7,-7.4,79,1686,0.00,1.70,0.00,0.000,4,0.000,0.092,2166,3786,3502
$GC,1817,-1.10,-146.6,126.3,-10.8,85,1821,0.00,1.58,0.00,0.000,6,0.000,0.054,2166,2899,3502
$GC,2150,-1.10,-146.6,158.9,-11.1,101,2154,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1490,3502
$GC,2217,-1.10,-146.6,166.7,-10.8,104,2221,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2899,3502
$GC,2537,-1.10,-146.6,203.2,-12.1,120,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,2847,-1.10,-146.6,232.6,-8.9,135,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,3156,-1.10,-146.6,257.2,-5.6,150,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,3466,-1.10,-146.6,276.8,-5.9,165,3470,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1483,3502
$GC,3506,-1.10,-146.6,279.0,-5.5,167,3510,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2901,3502
$GC,3832,-1.10,-146.6,299.1,-6.7,183,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4141,-1.10,-146.6,322.3,-7.3,198,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4451,-1.10,-146.6,344.1,-6.7,213,4455,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1484,3502
$GC,4495,-1.10,-146.6,347.1,-6.5,215,4499,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2902,3502
$GC,4816,-1.10,-146.6,365.3,-5.7,231,4820,0.00,1.67,0.00,0.000,4,0.000,0.090,2166,3783,3502
$GC,4907,-1.10,-146.6,372.4,-8.9,235,4911,0.00,1.58,0.00,0.000,6,0.000,0.044,2166,2872,3502
$GC,5240,-1.10,-146.6,397.5,-7.4,251,5244,0.00,2.47,0.00,0.000,4,0.000,0.056,2166,1487,3502
$GC,5267,-1.10,-146.6,399.6,-6.8,252,5272,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2903,3502
$GC,5584,-1.10,-146.6,419.2,-5.1,267,5588,0.00,2.55,0.00,0.000,4,0.000,0.055,2167,1486,3502
$GC,5633,-1.10,-146.6,422.0,-5.7,269,5638,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2899,3502
$GC,5949,-1.10,-146.6,440.0,-5.8,284,5954,0.00,2.53,0.00,0.000,4,0.000,0.051,2167,1484,3502
$GC,5985,-1.10,-146.6,442.1,-6.0,285,5991,0.00,2.58,0.00,0.000,6,0.000,0.061,2166,2900,3502
$GC,6301,-1.10,-146.6,461.8,-6.6,301,6305,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1481,3502
$GC,6352,-1.10,-146.6,465.2,-6.7,303,6357,0.00,2.58,0.00,0.000,6,0.000,0.057,2167,2902,3502
$GC,6668,-1.10,-146.6,485.7,-6.7,318,6672,0.00,2.50,0.00,0.000,4,0.000,0.048,2166,1486,3502
$GC,6712,-1.10,-146.6,489.0,-7.4,320,6716,0.00,2.58,0.00,0.000,6,0.000,0.056,2166,2903,3502
$GC,7033,-1.10,-146.6,510.6,-6.5,336,7037,0.00,1.65,0.00,0.000,4,0.000,0.081,2166,3789,3502
$GC,7207,-1.10,-146.6,524.2,-7.8,343,7213,0.00,1.55,0.00,0.000,6,0.000,0.034,2166,2889,3502
$GC,7523,-1.10,-146.6,546.0,-6.6,359,7526,0.00,1.67,0.00,0.000,4,0.000,0.076,2167,3785,3502
$GC,7758,-1.10,-146.6,559.1,-5.4,369,7762,0.00,1.52,0.00,0.000,6,0.000,0.034,2166,2898,3502
$STATE,7973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7974,begin apogee
$GC,7982,-0.42,0.0,570.9,5.4,380,8116,0.75,0.00,126.47,1.216,6,0.082,0.000,2320,2102,2900
$STATE,8116,end apogee,CONTROL_FINISHED_OK
$STATE,8117,begin climb
$GC,8120,1.10,146.6,576.5,0.0,387,8251,1.52,2.62,122.28,1.177,4,0.057,0.058,2648,709,2303
$GC,8446,1.10,146.6,565.4,6.0,402,8450,0.00,2.45,0.00,0.000,6,0.000,0.035,2648,2117,2302
$GC,8772,1.15,188.6,549.0,4.8,418,8814,0.00,2.60,36.15,1.194,4,0.000,0.061,2648,3498,2132
$GC,8854,1.17,200.9,544.8,5.7,421,8873,0.00,2.47,12.52,1.102,6,0.000,0.038,2648,2101,2081
$GC,9191,1.21,233.9,527.9,5.1,438,9225,0.12,2.65,28.17,1.194,4,0.044,0.061,2687,3490,1946
$GC,9315,1.21,233.9,519.3,6.9,443,9321,0.00,2.45,0.00,0.000,6,0.000,0.038,2687,2101,1945
$GC,9631,1.21,233.9,495.5,7.2,459,9636,0.00,2.60,0.00,0.000,4,0.000,0.062,2686,3507,1944
$GC,9673,1.21,233.9,492.2,8.1,461,9678,0.00,2.47,0.00,0.000,6,0.000,0.038,2687,2094,1943
$GC,10000,1.21,233.9,465.1,8.3,477,10004,0.00,2.53,0.00,0.000,4,0.000,0.056,2686,695,1943
$GC,10113,1.21,233.9,455.2,9.2,482,10118,0.00,2.45,0.00,0.000,6,0.000,0.035,2686,2099,1943
$GC,10435,1.21,233.9,430.2,7.5,498,10439,0.00,2.53,0.00,0.000,4,0.000,0.052,2687,700,1942
$GC,10485,1.21,233.9,426.1,8.2,500,10489,0.00,2.45,0.00,0.000,6,0.000,0.035,2687,2106,1942
$GC,10801,1.21,233.9,401.8,7.2,515,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2106,1942
$GC,11110,1.21,233.9,376.2,8.7,530,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2107,1942
$GC,11420,1.21,233.9,348.2,8.5,545,11424,0.00,2.55,0.00,0.000,4,0.000,0.057,2687,699,1943
$GC,11469,1.21,233.9,343.8,9.5,547,11474,0.00,2.47,0.00,0.000,6,0.000,0.041,2687,2101,1943
$GC,11785,1.21,233.9,319.6,7.9,562,11789,0.00,2.55,0.00,0.000,4,0.000,0.056,2687,698,1944
$GC,11835,1.21,233.9,315.4,8.0,564,11839,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2104,1944
$GC,12150,1.21,233.9,289.9,8.2,579,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2104,1945
$GC,12460,1.21,233.9,264.6,7.4,594,12463,0.00,2.55,0.00,0.000,4,0.000,0.056,2686,695,1945
$GC,12510,1.21,233.9,260.6,8.0,596,12514,0.00,2.50,0.00,0.000,6,0.000,0.043,2686,2105,1945
$GC,12831,1.21,233.9,232.3,9.1,612,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2105,1945
$GC,13140,1.21,233.9,208.5,7.5,627,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2105,1946
$GC,13450,1.21,233.9,183.6,8.1,642,13454,0.00,2.55,0.00,0.000,4,0.000,0.058,2686,700,1946
$GC,13516,1.21,233.9,177.4,9.6,645,13520,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,2106,1946
$GC,13839,1.21,233.9,149.5,7.3,661,13844,0.00,2.55,0.00,0.000,4,0.000,0.059,2687,701,1946
$GC,13895,1.21,233.9,145.3,6.6,663,13902,0.00,2.47,0.00,0.000,6,0.000,0.046,2687,2099,1946
$GC,14211,1.21,233.9,124.9,6.5,679,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2099,1946
$GC,14521,1.41,395.9,115.9,1.5,694,14659,0.15,2.67,129.77,0.905,4,0.046,0.064,2728,705,1286
$GC,14717,1.41,395.9,99.5,13.2,703,14722,0.00,2.55,0.00,0.000,6,0.000,0.051,2728,2104,1286
$GC,15039,1.41,395.9,66.5,11.0,719,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2105,1286
$GC,15349,1.41,395.9,24.9,13.4,734,15353,0.00,2.55,0.00,0.000,4,0.000,0.056,2728,699,1286
$GC,15388,1.41,395.9,20.7,10.5,736,15393,0.00,2.50,0.00,0.000,6,0.000,0.049,2728,2100,1286
$STATE,15568,end climb,SURFACE_DEPTH_REACHED
$STATE,15569,begin surface coast
$FINISH,-0.8,1.027372
$STATE,15590,end surface coast,CONTROL_FINISHED_OK
$STATE,15591,begin surface
$SM_CCo,15675,0.00,0.000,0,0,1284,396.65
$SM_GC,-0.18,11.85,0.00,0.00,0.031,0.000,0.000,46,2900,1284,-10.81,0.00,396.65
$IRIDIUM_FIX,6130.75,-920.22,210497,131355
$TT8_MAMPS,0.028379
$HUMID,2079
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.2,71.583
$10V_AH,10.1,33.227
$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,26.450,131.350,455.375,0.000,0.000,152.647,137.457,393.618,5.250,0.000,0.000,33.800,1399.893,11946.357,526.398,1832.718,1011.980,0.000,1460.362,0.000,1781.185,0.000,34.328
$DEVICE_MAMPS,155.701,92.040,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,548.897,520.738,504.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37920,746
$CFSIZE,260165632,235433984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,260108,172838,6151.400,-916.810,27,1.7,27,-9.5