version: 66.02
glider: 103
mission: 7
dive: 401
start: 1 21 108 1 53 1
data:
$ID,103
$MISSION,7
$DIVE,401
$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,-70274.32
$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,22
$R_STBD_OVSHOOT,20
$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
$GPS1,014325,6230.187,-1050.446,40,1.2,40,-10.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-55.0
$GPS2,015227,6230.169,-1050.661,16,2.0,16,-10.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$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,101.6,17672,-11.1,-6.000
$D_GRID,655
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-61.17,0.000,2,0.000,0.000,46,2910,3358
$GC,90,-1.10,-146.6,3.1,-8.2,3,113,11.95,2.58,-2.67,0.000,4,0.156,0.072,2167,1493,3502
$GC,348,-1.10,-146.6,30.3,-9.4,14,353,0.00,2.62,0.00,0.000,6,0.000,0.070,2167,2895,3503
$GC,666,-1.10,-146.6,59.0,-7.2,29,670,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1491,3503
$GC,730,-1.10,-146.6,63.0,-5.4,32,735,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2902,3503
$GC,1058,-1.10,-146.6,85.7,-7.0,48,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,1366,-1.10,-146.6,108.5,-7.2,63,1370,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1486,3503
$GC,1399,-1.10,-146.6,111.5,-8.8,64,1405,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2898,3503
$GC,1716,-1.10,-146.6,137.8,-7.1,80,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3503
$GC,2024,-1.10,-146.6,159.4,-7.7,95,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3503
$GC,2333,-1.10,-146.6,181.2,-7.6,110,2337,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3503
$GC,2401,-1.10,-146.6,186.5,-8.0,113,2406,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2908,3503
$GC,2728,-1.10,-146.6,213.3,-8.3,129,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3503
$GC,3038,-1.10,-146.6,236.9,-7.4,144,3042,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,1480,3503
$GC,3087,-1.10,-146.6,241.0,-8.3,146,3092,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2902,3503
$GC,3403,-1.10,-146.6,265.4,-8.0,161,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,3713,-1.10,-146.6,293.3,-8.8,176,3717,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1485,3503
$GC,3752,-1.10,-146.6,296.6,-8.3,178,3756,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2904,3503
$GC,4079,-1.10,-146.6,325.6,-9.0,194,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,4387,-1.10,-146.6,352.7,-8.2,209,4392,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1484,3503
$GC,4437,-1.10,-146.6,356.9,-8.1,211,4442,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2900,3503
$GC,4754,-1.10,-146.6,380.7,-7.4,226,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,5062,-1.10,-146.6,401.3,-6.1,241,5067,0.00,2.55,0.00,0.000,4,0.000,0.058,2167,1481,3503
$GC,5140,-1.10,-146.6,406.3,-7.1,244,5146,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2906,3503
$GC,5457,-1.10,-146.6,423.9,-5.6,260,5461,0.00,2.55,0.00,0.000,4,0.000,0.057,2167,1488,3503
$GC,5534,-1.10,-146.6,428.7,-6.0,263,5540,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2900,3503
$GC,5850,-1.10,-146.6,446.5,-5.6,279,5854,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1483,3503
$GC,5890,-1.10,-146.6,448.3,-4.5,280,5896,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2899,3503
$GC,6206,-1.10,-146.6,459.7,-4.3,296,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,6515,-1.10,-146.6,480.1,-8.5,311,6519,0.00,1.70,0.00,0.000,4,0.000,0.093,2167,3789,3503
$GC,6683,-1.10,-146.6,494.6,-8.3,318,6687,0.00,1.55,0.00,0.000,6,0.000,0.040,2167,2907,3503
$GC,7004,-1.10,-146.6,519.0,-7.5,334,7009,0.00,2.50,0.00,0.000,4,0.000,0.050,2167,1484,3503
$GC,7077,-1.10,-146.6,524.4,-7.9,337,7081,0.00,2.60,0.00,0.000,6,0.000,0.059,2167,2903,3503
$GC,7393,-1.10,-146.6,541.2,-5.6,352,7397,0.00,1.70,0.00,0.000,4,0.000,0.088,2167,3785,3503
$GC,7445,-1.10,-146.6,544.9,-7.7,354,7449,0.00,1.55,0.00,0.000,6,0.000,0.038,2167,2899,3503
$GC,7772,-1.10,-146.6,568.9,-7.3,370,7776,0.00,2.50,0.00,0.000,4,0.000,0.051,2167,1480,3503
$GC,7906,-1.10,-146.6,578.6,-7.0,376,7910,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2900,3503
$GC,8231,-1.10,-146.6,600.1,-6.3,392,8235,0.00,2.53,0.00,0.000,4,0.000,0.049,2167,1480,3503
$GC,8298,-1.10,-146.6,604.8,-7.0,395,8302,0.00,2.60,0.00,0.000,6,0.000,0.060,2167,2900,3503
$GC,8619,-1.10,-146.6,626.7,-7.8,411,8623,0.00,2.53,0.00,0.000,4,0.000,0.050,2167,1482,3502
$GC,8658,-1.10,-146.6,629.6,-6.3,413,8662,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2901,3502
$STATE,8920,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8920,begin apogee
$GC,8929,-0.42,0.0,648.7,6.6,426,9062,0.73,0.00,127.00,1.327,6,0.081,0.000,2315,2095,2901
$STATE,9063,end apogee,CONTROL_FINISHED_OK
$STATE,9063,begin climb
$GC,9066,1.10,146.6,653.6,0.0,433,9198,1.55,2.72,122.85,1.288,4,0.058,0.064,2646,3510,2303
$GC,9455,1.10,146.8,637.5,6.0,450,9461,0.00,2.50,0.00,0.000,6,0.000,0.038,2646,2096,2301
$GC,9771,1.13,169.9,625.0,5.4,466,9797,0.00,2.72,20.77,1.271,4,0.000,0.066,2646,3515,2208
$GC,9944,1.15,181.9,616.2,5.7,474,9965,0.00,2.50,11.50,1.206,6,0.000,0.039,2646,2098,2159
$GC,10274,1.19,214.7,599.8,5.1,490,10309,0.10,2.72,29.02,1.302,4,0.052,0.066,2679,3521,2025
$GC,10354,1.19,214.7,594.1,6.9,493,10360,0.00,2.53,0.00,0.000,6,0.000,0.038,2679,2093,2024
$GC,10670,1.19,214.7,572.4,6.9,509,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2093,2023
$GC,10980,1.21,234.0,553.1,5.5,524,11004,0.00,2.75,17.40,1.262,4,0.000,0.068,2679,3511,1946
$GC,11049,1.21,234.0,548.4,6.5,527,11053,0.00,2.50,0.00,0.000,6,0.000,0.041,2679,2094,1945
$GC,11377,1.21,234.0,523.5,7.9,543,11381,0.00,2.67,0.00,0.000,4,0.000,0.071,2679,3516,1944
$GC,11404,1.21,234.0,521.1,8.4,544,11408,0.00,2.50,0.00,0.000,6,0.000,0.041,2679,2102,1945
$GC,11719,1.21,234.0,493.6,10.3,559,11724,0.00,2.65,0.00,0.000,4,0.000,0.069,2679,3519,1944
$GC,11759,1.21,234.0,489.8,9.3,561,11763,0.00,2.50,0.00,0.000,6,0.000,0.041,2679,2099,1944
$GC,12085,1.21,234.0,460.0,8.9,577,12090,0.00,2.65,0.00,0.000,4,0.000,0.069,2678,3521,1943
$GC,12129,1.21,234.0,456.2,8.1,579,12134,0.00,2.50,0.00,0.000,6,0.000,0.042,2679,2101,1943
$GC,12451,1.21,234.0,432.8,6.5,595,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2101,1943
$GC,12760,1.21,234.0,411.9,6.3,610,12764,0.00,2.53,0.00,0.000,4,0.000,0.060,2679,698,1944
$GC,12822,1.21,234.0,407.8,7.0,613,12826,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2109,1944
$GC,13148,1.24,259.4,389.2,5.3,629,13172,0.00,0.00,22.40,1.137,6,0.000,0.000,2679,2109,1843
$GC,13477,1.24,259.4,370.8,6.1,645,13481,0.00,2.62,0.00,0.000,4,0.000,0.074,2679,3515,1843
$GC,13554,1.24,259.4,365.3,7.3,648,13561,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2103,1843
$GC,13870,1.24,259.4,343.5,7.0,664,13875,0.00,2.65,0.00,0.000,4,0.000,0.072,2679,3516,1843
$GC,13903,1.24,259.4,340.7,8.0,665,13910,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2100,1843
$GC,14219,1.24,259.4,317.4,7.4,681,14224,0.00,2.65,0.00,0.000,4,0.000,0.072,2679,3510,1844
$GC,14253,1.24,259.4,314.8,7.9,682,14259,0.00,2.53,0.00,0.000,6,0.000,0.044,2679,2094,1844
$GC,14568,1.24,259.4,292.3,7.0,698,14572,0.00,2.65,0.00,0.000,4,0.000,0.070,2679,3509,1844
$GC,14612,1.24,259.4,289.0,8.3,700,14616,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2094,1844
$GC,14933,1.24,259.4,264.5,8.1,716,14938,0.00,2.65,0.00,0.000,4,0.000,0.068,2679,3510,1845
$GC,14983,1.24,259.4,260.0,8.7,718,14987,0.00,2.50,0.00,0.000,6,0.000,0.045,2678,2101,1845
$GC,15298,1.24,259.4,235.2,7.5,733,15302,0.00,2.62,0.00,0.000,4,0.000,0.070,2679,3511,1846
$GC,15331,1.24,259.4,232.5,7.6,734,15337,0.00,2.50,0.00,0.000,6,0.000,0.043,2679,2099,1846
$GC,15646,1.24,259.4,208.1,7.8,750,15651,0.00,2.62,0.00,0.000,4,0.000,0.071,2679,3509,1846
$GC,15691,1.24,259.4,204.3,8.2,752,15695,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,2094,1846
$GC,16012,1.24,259.4,179.3,8.0,768,16016,0.00,2.65,0.00,0.000,4,0.000,0.071,2678,3509,1847
$GC,16055,1.24,259.4,175.2,8.7,770,16060,0.00,2.50,0.00,0.000,6,0.000,0.046,2679,2100,1847
$GC,16377,1.24,259.4,150.1,7.8,786,16381,0.00,2.67,0.00,0.000,4,0.000,0.074,2679,3515,1847
$GC,16404,1.24,259.4,148.3,7.1,787,16408,0.00,2.50,0.00,0.000,6,0.000,0.045,2679,2096,1847
$GC,16720,1.24,259.4,126.6,8.9,802,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2096,1847
$GC,17029,1.24,259.4,101.2,10.2,817,17034,0.00,2.65,0.00,0.000,4,0.000,0.071,2679,3508,1847
$GC,17073,1.24,259.4,96.5,10.2,819,17078,0.00,2.53,0.00,0.000,6,0.000,0.048,2679,2094,1847
$GC,17395,1.24,259.4,67.5,8.0,835,17399,0.00,2.65,0.00,0.000,4,0.000,0.070,2679,3511,1847
$GC,17450,1.24,259.4,63.2,8.2,837,17457,0.00,2.47,0.00,0.000,6,0.000,0.049,2679,2101,1847
$GC,17766,1.24,259.4,35.7,9.4,853,17767,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2102,1848
$GC,18077,1.24,259.4,8.5,9.1,868,18082,0.00,2.62,0.00,0.000,4,0.000,0.071,2679,3510,1848
$GC,18117,1.34,342.9,6.6,3.7,870,18163,0.10,2.50,39.85,0.841,2,0.051,0.050,2712,2100,1651
$STATE,18164,end climb,SURFACE_DEPTH_REACHED
$STATE,18164,begin surface coast
$FINISH,1.0,1.027401
$STATE,18167,end surface coast,CONTROL_FINISHED_OK
$STATE,18168,begin surface
$SM_CCo,18252,0.00,0.000,0,0,1648,307.36
$SM_GC,-0.25,12.10,0.00,0.00,0.040,0.000,0.000,45,2900,1648,-10.80,0.00,307.36
$IRIDIUM_FIX,6207.28,-1046.62,210108,050545
$TT8_MAMPS,0.028379
$HUMID,2066
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,18.80
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,600.1,57.6
$24V_AH,23.1,67.101
$10V_AH,10.1,31.023
$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,26.525,185.125,390.800,0.000,0.000,79.693,108.529,165.380,6.250,0.000,0.000,16.035,1633.787,13898.522,526.378,2053.368,694.303,0.000,1579.038,0.000,2012.548,0.000,37.583
$DEVICE_MAMPS,156.468,92.807,1326.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,642.150,601.759,535.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44226,872
$CFSIZE,260165632,237031424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,210108,065831,6232.346,-1050.973,39,1.9,44,-10.6