version: 66.02
glider: 103
mission: 7
dive: 404
start: 1 21 108 17 2 38
data:
$ID,103
$MISSION,7
$DIVE,404
$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,-70339.758
$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,12
$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
$GPS1,165201,6234.102,-1047.168,38,1.2,43,-10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-57.2
$GPS2,170207,6234.188,-1047.293,13,1.2,29,-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,128.3,16698,-11.1,-6.000
$D_GRID,613
$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,26,-1.10,-146.6,0.0,0.0,0,93,0.00,0.00,-64.90,0.000,6,0.000,0.000,47,2901,3499
$GC,96,-1.10,-146.6,2.6,-6.7,3,117,11.93,2.62,0.00,0.000,4,0.156,0.058,2166,1491,3501
$GC,370,-1.10,-146.6,32.5,-6.4,15,375,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2898,3501
$GC,692,-1.10,-146.6,54.9,-6.6,31,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,1002,-1.10,-146.6,76.5,-7.4,46,1006,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1484,3502
$GC,1051,-1.10,-146.6,80.7,-7.8,48,1056,0.00,2.70,0.00,0.000,6,0.000,0.076,2166,2904,3502
$GC,1369,-1.10,-146.6,106.3,-7.8,63,1373,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1491,3502
$GC,1393,-1.10,-146.6,108.2,-7.3,64,1397,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2908,3502
$GC,1714,-1.10,-146.6,131.1,-7.8,80,1718,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1492,3502
$GC,1754,-1.10,-146.6,134.5,-8.8,82,1758,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2906,3502
$GC,2080,-1.10,-146.6,161.2,-8.2,98,2084,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3502
$GC,2129,-1.10,-146.6,165.2,-8.1,100,2134,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2902,3502
$GC,2445,-1.10,-146.6,190.4,-7.9,115,2450,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1490,3502
$GC,2473,-1.10,-146.6,192.8,-9.1,116,2477,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2906,3502
$GC,2789,-1.10,-146.6,218.5,-8.0,131,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,3099,-1.10,-146.6,244.1,-8.4,146,3103,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1491,3502
$GC,3138,-1.10,-146.6,247.3,-8.7,148,3142,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2902,3502
$GC,3464,-1.10,-146.6,271.7,-7.6,164,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,3774,-1.10,-146.6,293.9,-7.2,179,3778,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1485,3502
$GC,3823,-1.10,-146.6,297.8,-7.1,181,3828,0.00,2.60,0.00,0.000,6,0.000,0.069,2166,2898,3502
$GC,4139,-1.10,-146.6,322.2,-7.5,196,4143,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1490,3502
$GC,4166,-1.10,-146.6,324.4,-7.8,197,4171,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2908,3502
$GC,4482,-1.10,-146.6,347.2,-7.2,212,4486,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1489,3502
$GC,4509,-1.10,-146.6,349.3,-7.9,213,4513,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3502
$GC,4825,-1.10,-146.6,372.2,-7.3,228,4829,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1491,3502
$GC,4864,-1.10,-146.6,374.8,-6.8,230,4869,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3502
$GC,5196,-1.10,-146.6,396.8,-6.1,246,5199,0.00,1.70,0.00,0.000,4,0.000,0.094,2166,3786,3502
$GC,5229,-1.10,-146.6,399.1,-6.8,247,5233,0.00,1.58,0.00,0.000,6,0.000,0.042,2166,2884,3502
$GC,5551,-1.10,-146.6,419.5,-6.6,263,5555,0.00,2.53,0.00,0.000,4,0.000,0.061,2166,1484,3502
$GC,5636,-1.10,-146.6,424.8,-6.0,267,5640,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2899,3502
$GC,5968,-1.10,-146.6,442.1,-4.9,283,5972,0.00,1.70,0.00,0.000,4,0.000,0.094,2166,3789,3502
$GC,6024,-1.10,-146.6,445.5,-6.0,285,6027,0.00,1.58,0.00,0.000,6,0.000,0.041,2166,2880,3502
$GC,6346,-1.10,-146.6,464.1,-5.1,301,6350,0.00,2.50,0.00,0.000,4,0.000,0.060,2166,1492,3502
$GC,6458,-1.10,-146.6,469.3,-4.4,306,6463,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2902,3502
$GC,6780,-1.10,-146.6,483.8,-4.9,322,6784,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1489,3502
$GC,6842,-1.10,-146.6,487.2,-6.1,325,6847,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2904,3502
$GC,7168,-1.10,-146.6,509.4,-7.1,341,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,7478,-1.10,-146.6,531.6,-7.6,356,7481,0.00,1.67,0.00,0.000,4,0.000,0.093,2166,3785,3502
$GC,7680,-1.10,-146.6,546.8,-8.0,365,7684,0.00,1.55,0.00,0.000,6,0.000,0.040,2166,2900,3502
$GC,8013,-1.10,-146.6,568.2,-5.3,381,8017,0.00,2.50,0.00,0.000,4,0.000,0.054,2165,1482,3502
$GC,8059,-1.10,-146.6,570.7,-5.7,383,8063,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2909,3502
$GC,8385,-1.10,-146.6,588.1,-5.7,399,8390,0.00,2.58,0.00,0.000,4,0.000,0.055,2166,1478,3502
$GC,8413,-1.10,-146.6,589.7,-6.2,400,8417,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2906,3502
$STATE,8623,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8623,begin apogee
$GC,8631,-0.42,0.0,602.3,5.6,410,8765,0.77,0.00,126.65,1.278,6,0.099,0.000,2318,2093,2901
$STATE,8766,end apogee,CONTROL_FINISHED_OK
$STATE,8766,begin climb
$GC,8769,1.10,146.6,606.8,0.0,417,8900,1.55,2.62,122.90,1.232,4,0.061,0.062,2648,698,2303
$GC,8992,1.10,146.6,596.9,7.7,427,8996,0.00,2.50,0.00,0.000,6,0.000,0.037,2648,2124,2302
$GC,9308,1.11,152.4,580.2,5.8,442,9321,0.00,2.60,6.32,1.012,4,0.000,0.067,2648,3502,2279
$GC,9419,1.13,169.4,574.1,5.5,447,9441,0.00,2.47,16.00,1.186,6,0.000,0.039,2648,2095,2210
$GC,9750,1.17,200.1,557.0,5.1,463,9784,0.00,2.72,27.25,1.232,4,0.000,0.067,2648,3495,2085
$GC,9837,1.18,208.5,552.3,5.8,467,9851,0.00,2.47,8.62,1.096,6,0.000,0.040,2648,2101,2051
$GC,10167,1.18,208.5,533.6,6.3,483,10172,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3504,2050
$GC,10252,1.18,208.5,528.0,6.6,487,10256,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2094,2049
$GC,10578,1.18,208.5,505.3,6.6,503,10583,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3495,2048
$GC,10651,1.18,209.4,500.9,6.0,506,10655,0.00,2.47,0.00,0.000,6,0.000,0.044,2648,2103,2048
$GC,10967,1.23,247.5,485.1,4.9,521,11009,0.12,2.72,33.25,1.230,4,0.051,0.074,2681,3488,1892
$GC,11056,1.23,247.5,479.3,7.3,525,11060,0.00,2.50,0.00,0.000,6,0.000,0.044,2681,2093,1892
$GC,11382,1.23,247.5,453.1,8.9,541,11387,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3502,1891
$GC,11423,1.23,247.5,449.1,10.4,543,11427,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2101,1891
$GC,11749,1.23,247.5,419.3,8.7,559,11753,0.00,2.55,0.00,0.000,4,0.000,0.061,2681,696,1890
$GC,11810,1.23,247.5,413.4,9.8,561,11816,0.00,2.45,0.00,0.000,6,0.000,0.041,2681,2089,1890
$GC,12126,1.23,247.5,384.1,9.1,577,12130,0.00,2.67,0.00,0.000,4,0.000,0.077,2681,3507,1891
$GC,12203,1.23,247.5,376.5,9.8,580,12210,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2094,1891
$GC,12520,1.23,247.5,349.4,8.6,596,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2094,1891
$GC,12829,1.23,247.5,323.1,8.5,611,12834,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3515,1891
$GC,12869,1.23,247.5,319.5,9.0,613,12873,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2098,1891
$GC,13201,1.23,247.5,292.3,8.2,629,13205,0.00,2.65,0.00,0.000,4,0.000,0.071,2681,3508,1891
$GC,13223,1.23,247.5,290.4,8.4,630,13227,0.00,2.50,0.00,0.000,6,0.000,0.044,2681,2101,1892
$GC,13544,1.23,247.5,264.4,8.1,646,13548,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3508,1891
$GC,13576,1.23,247.5,261.5,8.3,647,13582,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2095,1891
$GC,13892,1.23,247.5,234.6,8.2,663,13896,0.00,2.65,0.00,0.000,4,0.000,0.071,2681,3511,1893
$GC,13925,1.23,247.5,231.6,8.3,664,13931,0.00,2.53,0.00,0.000,6,0.000,0.047,2681,2097,1893
$GC,14240,1.23,247.5,204.6,8.7,680,14244,0.00,2.65,0.00,0.000,4,0.000,0.071,2681,3511,1893
$GC,14273,1.23,247.5,201.5,9.1,681,14279,0.00,2.50,0.00,0.000,6,0.000,0.043,2681,2099,1893
$GC,14589,1.23,247.5,173.4,8.9,697,14593,0.00,2.62,0.00,0.000,4,0.000,0.067,2681,3508,1894
$GC,14616,1.23,247.5,170.7,9.3,698,14620,0.00,2.47,0.00,0.000,6,0.000,0.039,2681,2098,1894
$GC,14934,1.23,247.5,142.8,8.7,713,14938,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3514,1895
$GC,14966,1.23,247.5,139.4,9.2,714,14973,0.00,2.45,0.00,0.000,6,0.000,0.039,2681,2100,1895
$GC,15282,1.23,247.5,113.0,8.4,730,15287,0.00,2.55,0.00,0.000,4,0.000,0.061,2681,694,1895
$GC,15315,1.23,247.5,109.4,10.6,731,15322,0.00,2.47,0.00,0.000,6,0.000,0.046,2681,2102,1895
$GC,15633,1.23,247.5,85.1,8.0,747,15638,0.00,2.62,0.00,0.000,4,0.000,0.073,2681,3511,1895
$GC,15660,1.23,247.5,82.8,8.0,748,15665,0.00,2.47,0.00,0.000,6,0.000,0.044,2682,2103,1896
$GC,15976,1.23,247.5,58.7,7.9,763,15981,0.00,2.58,0.00,0.000,4,0.000,0.064,2682,695,1896
$GC,16010,1.23,247.5,55.5,9.1,764,16016,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2111,1896
$GC,16327,1.23,247.5,32.0,6.2,780,16329,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2111,1896
$GC,16635,1.23,247.5,8.5,8.1,795,16639,0.00,2.62,0.00,0.000,4,0.000,0.075,2681,3512,1897
$GC,16657,1.23,247.5,6.8,6.9,796,16661,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2089,1896
$STATE,16727,end climb,SURFACE_DEPTH_REACHED
$STATE,16728,begin surface coast
$FINISH,-0.8,1.027369
$STATE,16749,end surface coast,CONTROL_FINISHED_OK
$STATE,16750,begin surface
$SM_CCo,16773,46.08,0.798,2,0,1678,300.00
$SM_GC,-0.35,0.00,0.00,46.08,0.000,0.000,0.798,43,2895,1678,-10.89,-0.14,300.00
$IRIDIUM_FIX,6207.28,-1047.49,210108,202019
$TT8_MAMPS,0.029146
$HUMID,2063
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.1,61.7
$24V_AH,23.2,67.556
$10V_AH,10.1,31.271
$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,25.875,198.775,341.000,46.075,0.000,81.438,68.583,244.961,5.000,0.000,0.000,29.614,1534.048,12697.861,542.749,1915.964,757.520,0.000,1539.438,0.000,1873.284,0.000,31.450
$DEVICE_MAMPS,156.468,94.341,1277.822,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.955,557.742,523.268,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41147,801
$CFSIZE,260165632,236847104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,210108,214425,6235.701,-1038.865,39,1.7,39,-10.5