version: 66.02
glider: 103
mission: 7
dive: 402
start: 1 21 108 7 6 0
data:
$ID,103
$MISSION,7
$DIVE,402
$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,-70293.328
$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,26
$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
$GPS1,065831,6232.346,-1050.973,39,1.9,44,-10.6
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-56.2
$GPS2,070527,6232.421,-1050.993,16,1.8,16,-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,114.6,18504,-11.1,-6.000
$D_GRID,640
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-66.20,0.000,6,0.000,0.000,45,2903,3500
$GC,99,-1.10,-146.6,5.3,-7.8,4,120,11.93,2.60,0.00,0.000,4,0.156,0.056,2166,1496,3501
$GC,346,-1.10,-146.6,34.4,-6.8,15,351,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2900,3502
$GC,673,-1.10,-146.6,57.3,-6.4,31,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,982,-1.10,-146.6,75.8,-6.3,46,986,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1492,3502
$GC,1031,-1.10,-146.6,79.1,-7.0,48,1036,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2908,3502
$GC,1347,-1.10,-146.6,99.3,-6.2,63,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,1657,-1.10,-146.6,118.0,-6.0,78,1661,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1492,3502
$GC,1723,-1.10,-146.6,122.5,-6.5,81,1728,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2903,3502
$GC,2044,-1.10,-146.6,144.9,-6.8,97,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,2354,-1.10,-146.6,166.6,-7.0,112,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,2662,-1.10,-146.6,188.6,-6.9,127,2667,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1493,3502
$GC,2718,-1.10,-146.6,192.6,-7.4,129,2724,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2907,3502
$GC,3034,-1.10,-146.6,216.4,-7.7,145,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,3343,-1.10,-146.6,241.3,-8.3,160,3347,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1492,3502
$GC,3398,-1.10,-146.6,246.0,-8.2,162,3404,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2902,3502
$GC,3714,-1.10,-146.6,271.3,-7.8,178,3718,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1494,3502
$GC,3741,-1.10,-146.6,273.5,-8.1,179,3745,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2906,3502
$GC,4056,-1.10,-146.6,294.9,-6.6,194,4060,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1488,3502
$GC,4101,-1.10,-146.6,298.0,-6.9,196,4105,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2901,3502
$GC,4421,-1.10,-146.6,318.2,-6.2,212,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,4730,-1.10,-146.6,338.6,-6.8,227,4735,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1492,3502
$GC,4766,-1.10,-146.6,341.0,-7.3,228,4772,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3502
$GC,5081,-1.10,-146.6,361.8,-6.2,244,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,5390,-1.10,-146.6,381.5,-6.5,259,5395,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1491,3502
$GC,5435,-1.10,-146.6,384.8,-6.9,261,5439,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2900,3502
$GC,5755,-1.10,-146.6,409.6,-9.1,277,5759,0.00,1.70,0.00,0.000,4,0.000,0.093,2166,3790,3502
$GC,5801,-1.10,-146.6,414.1,-10.3,279,5805,0.00,1.55,0.00,0.000,6,0.000,0.042,2166,2905,3502
$GC,6134,-1.10,-146.6,440.6,-7.6,295,6138,0.00,2.53,0.00,0.000,4,0.000,0.056,2166,1480,3502
$GC,6291,-1.10,-146.6,453.6,-7.8,302,6296,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2901,3502
$GC,6619,-1.10,-146.6,478.1,-7.2,318,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,6928,-1.10,-146.6,499.5,-6.0,333,6931,0.00,1.67,0.00,0.000,4,0.000,0.091,2166,3785,3502
$GC,6996,-1.10,-146.6,503.5,-6.4,336,7000,0.00,1.55,0.00,0.000,6,0.000,0.039,2166,2898,3502
$GC,7329,-1.10,-146.6,522.2,-5.5,352,7334,0.00,2.50,0.00,0.000,4,0.000,0.051,2166,1480,3502
$GC,7520,-1.10,-146.6,533.1,-6.6,360,7527,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2908,3502
$GC,7837,-1.10,-146.6,555.1,-7.6,376,7841,0.00,1.67,0.00,0.000,4,0.000,0.094,2166,3783,3502
$GC,7870,-1.10,-146.6,557.9,-8.7,377,7874,0.00,1.52,0.00,0.000,6,0.000,0.041,2166,2907,3502
$GC,8191,-1.10,-146.6,580.3,-6.2,393,8196,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1483,3502
$GC,8232,-1.10,-146.6,583.8,-9.6,395,8236,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2899,3502
$GC,8558,-1.10,-146.6,607.3,-7.1,411,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$STATE,8720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8720,begin apogee
$GC,8728,-0.42,0.0,619.4,7.2,419,8863,0.75,0.00,127.50,1.298,6,0.088,0.000,2317,2095,2901
$STATE,8864,end apogee,CONTROL_FINISHED_OK
$STATE,8864,begin climb
$GC,8867,1.10,146.6,624.8,0.0,426,8999,1.52,2.75,123.18,1.256,4,0.052,0.074,2648,3514,2303
$GC,9256,1.10,146.6,618.0,7.2,443,9262,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2093,2301
$GC,9572,1.16,189.9,603.3,4.8,459,9614,0.00,2.78,37.30,1.282,4,0.000,0.066,2648,3518,2126
$GC,9828,1.17,199.6,587.6,5.7,470,9842,0.00,2.50,9.75,1.164,6,0.000,0.039,2648,2100,2087
$GC,10171,1.17,199.6,564.4,6.5,487,10175,0.00,2.65,0.00,0.000,4,0.000,0.067,2648,3519,2086
$GC,10237,1.17,199.6,559.6,8.1,490,10241,0.00,2.53,0.00,0.000,6,0.000,0.041,2648,2098,2086
$GC,10558,1.17,199.6,537.4,6.2,506,10562,0.00,2.65,0.00,0.000,4,0.000,0.070,2648,3515,2085
$GC,10626,1.17,199.6,533.4,6.2,509,10630,0.00,2.53,0.00,0.000,6,0.000,0.042,2648,2093,2085
$GC,10947,1.22,244.0,518.2,4.8,525,10992,0.12,2.62,37.75,1.294,4,0.045,0.061,2682,706,1906
$GC,11073,1.22,244.0,509.0,8.8,530,11079,0.00,2.47,0.00,0.000,6,0.000,0.040,2682,2109,1905
$GC,11389,1.22,244.0,484.0,7.4,546,11393,0.00,2.62,0.00,0.000,4,0.000,0.074,2682,3511,1903
$GC,11461,1.22,244.0,477.9,9.1,549,11465,0.00,2.50,0.00,0.000,6,0.000,0.043,2682,2100,1903
$GC,11776,1.22,244.0,453.1,7.8,564,11781,0.00,2.67,0.00,0.000,4,0.000,0.074,2682,3514,1903
$GC,11798,1.22,244.0,451.0,9.2,565,11803,0.00,2.53,0.00,0.000,6,0.000,0.044,2682,2098,1902
$GC,12120,1.22,244.0,422.3,8.3,581,12124,0.00,2.55,0.00,0.000,4,0.000,0.061,2682,688,1903
$GC,12182,1.22,244.0,416.9,8.5,584,12186,0.00,2.50,0.00,0.000,6,0.000,0.043,2682,2098,1903
$GC,12508,1.22,244.0,389.3,8.1,600,12512,0.00,2.65,0.00,0.000,4,0.000,0.075,2682,3511,1903
$GC,12585,1.22,244.0,382.3,9.2,603,12591,0.00,2.50,0.00,0.000,6,0.000,0.043,2682,2093,1903
$GC,12901,1.22,244.0,356.2,8.3,619,12906,0.00,2.65,0.00,0.000,4,0.000,0.073,2682,3515,1904
$GC,12934,1.22,244.0,353.0,9.4,620,12941,0.00,2.53,0.00,0.000,6,0.000,0.045,2682,2092,1904
$GC,13250,1.22,244.0,326.6,7.7,636,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2092,1905
$GC,13559,1.22,244.0,301.5,8.2,651,13563,0.00,2.67,0.00,0.000,4,0.000,0.073,2682,3510,1905
$GC,13603,1.22,244.0,297.7,8.2,653,13608,0.00,2.53,0.00,0.000,6,0.000,0.046,2682,2098,1905
$GC,13924,1.22,244.0,274.0,7.0,669,13925,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2097,1906
$GC,14234,1.22,244.0,253.1,6.9,684,14238,0.00,2.67,0.00,0.000,4,0.000,0.074,2682,3515,1906
$GC,14278,1.22,244.0,249.7,7.1,686,14282,0.00,2.53,0.00,0.000,6,0.000,0.046,2682,2099,1907
$GC,14598,1.22,244.0,228.8,6.4,702,14603,0.00,2.65,0.00,0.000,4,0.000,0.073,2682,3511,1907
$GC,14632,1.22,244.0,226.5,6.6,703,14638,0.00,2.53,0.00,0.000,6,0.000,0.045,2683,2090,1907
$GC,14948,1.22,244.0,205.6,6.7,719,14952,0.00,2.67,0.00,0.000,4,0.000,0.072,2683,3512,1907
$GC,14969,1.22,244.0,204.0,7.0,720,14973,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2101,1908
$GC,15290,1.22,244.0,180.7,7.7,736,15294,0.00,2.65,0.00,0.000,4,0.000,0.070,2682,3516,1908
$GC,15317,1.22,244.0,178.2,8.9,737,15322,0.00,2.53,0.00,0.000,6,0.000,0.044,2683,2092,1908
$GC,15633,1.22,244.0,155.0,6.1,752,15637,0.00,2.65,0.00,0.000,4,0.000,0.070,2683,3510,1908
$GC,15682,1.22,244.0,151.7,6.7,754,15687,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2104,1908
$GC,15999,1.22,244.0,129.4,7.4,769,16003,0.00,2.62,0.00,0.000,4,0.000,0.070,2683,3509,1909
$GC,16025,1.22,244.0,127.2,7.5,770,16030,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2099,1909
$GC,16341,1.22,244.0,102.5,8.2,785,16346,0.00,2.65,0.00,0.000,4,0.000,0.069,2682,3517,1909
$GC,16382,1.22,244.0,98.8,9.6,787,16387,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2091,1909
$GC,16708,1.22,244.0,70.9,8.1,803,16713,0.00,2.67,0.00,0.000,4,0.000,0.071,2683,3516,1910
$GC,16748,1.22,244.0,67.6,7.7,805,16752,0.00,2.50,0.00,0.000,6,0.000,0.049,2683,2101,1910
$GC,17081,1.22,244.0,40.5,8.0,821,17086,0.00,2.65,0.00,0.000,4,0.000,0.070,2683,3515,1910
$GC,17122,1.22,244.0,37.0,8.0,823,17126,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2097,1910
$GC,17454,1.22,244.0,11.1,8.3,839,17455,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1910
$STATE,17575,end climb,SURFACE_DEPTH_REACHED
$STATE,17575,begin surface coast
$FINISH,-0.8,1.027373
$STATE,17598,end surface coast,CONTROL_FINISHED_OK
$STATE,17598,begin surface
$SM_CCo,17622,48.60,0.804,2,0,1678,300.00
$SM_GC,-0.43,0.00,0.00,48.60,0.000,0.000,0.804,43,2891,1678,-10.88,-0.25,300.00
$IRIDIUM_FIX,6207.28,-1052.07,210108,050540
$TT8_MAMPS,0.029146
$HUMID,2068
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,15.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.2,102.9
$24V_AH,23.2,67.250
$10V_AH,10.1,31.108
$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,25.875,178.400,335.475,48.600,0.000,38.672,35.494,207.511,4.750,0.000,0.000,18.377,1588.329,13350.753,532.535,2009.076,628.701,0.000,1559.624,0.000,1974.657,0.000,29.928
$DEVICE_MAMPS,155.701,93.574,1297.764,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,630.947,584.447,548.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44272,846
$CFSIZE,260165632,236969984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,27,2,0
$GPS,210108,120201,6234.297,-1047.100,42,1.9,42,-10.6