version: 66.02
glider: 103
mission: 7
dive: 405
start: 1 21 108 21 51 36
data:
$ID,103
$MISSION,7
$DIVE,405
$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,-70370.305
$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,24
$R_STBD_OVSHOOT,9
$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
$GPS1,214425,6235.701,-1038.865,39,1.7,39,-10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-61.3
$GPS2,215105,6235.751,-1038.776,10,2.5,29,-10.5
$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,155.3,13029,-11.1,-6.000
$D_GRID,586
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-60.53,0.000,2,0.000,0.000,43,2898,3366
$GC,91,-1.10,-146.6,3.3,-8.8,3,114,11.98,2.55,-2.50,0.000,4,0.156,0.071,2167,1496,3502
$GC,245,-1.10,-146.6,21.1,-6.5,9,251,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2904,3503
$GC,561,-1.10,-146.6,43.3,-7.5,25,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3504
$GC,870,-1.10,-146.6,69.3,-8.4,40,874,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1492,3504
$GC,960,-1.10,-146.6,74.5,-5.8,44,964,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2900,3504
$GC,1282,-1.10,-146.6,102.1,-8.3,60,1286,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1491,3504
$GC,1305,-1.10,-146.6,103.6,-6.1,61,1309,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2904,3504
$GC,1627,-1.10,-146.6,125.3,-5.8,77,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,1937,-1.10,-146.6,141.5,-5.5,92,1941,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1488,3504
$GC,1969,-1.10,-146.6,143.9,-6.9,93,1976,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2902,3504
$GC,2285,-1.10,-146.6,167.2,-7.4,109,2290,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1490,3504
$GC,2325,-1.10,-146.6,170.1,-7.2,111,2330,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2903,3504
$GC,2652,-1.10,-146.6,191.7,-6.6,127,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3504
$GC,2961,-1.10,-146.6,212.2,-6.7,142,2966,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1492,3504
$GC,2989,-1.10,-146.6,214.1,-6.4,143,2993,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2898,3504
$GC,3304,-1.10,-146.6,235.8,-7.0,158,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3504
$GC,3614,-1.10,-146.6,258.0,-7.2,173,3618,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1490,3504
$GC,3658,-1.10,-146.6,261.0,-6.7,175,3662,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2902,3504
$GC,3979,-1.10,-146.6,281.9,-6.5,191,3983,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1489,3504
$GC,4006,-1.10,-146.6,283.7,-6.1,192,4011,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2906,3504
$GC,4322,-1.10,-146.6,304.3,-6.9,207,4323,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3504
$GC,4632,-1.10,-146.6,326.1,-7.0,222,4636,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1486,3504
$GC,4694,-1.10,-146.6,330.4,-7.0,225,4698,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2898,3504
$GC,5020,-1.10,-146.6,351.7,-6.4,241,5025,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1490,3504
$GC,5048,-1.10,-146.6,353.5,-6.2,242,5052,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2903,3504
$GC,5364,-1.10,-146.6,374.4,-6.7,257,5368,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1483,3504
$GC,5407,-1.10,-146.6,377.4,-6.3,259,5412,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2901,3504
$GC,5728,-1.10,-146.6,395.1,-5.2,275,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3504
$GC,6038,-1.10,-146.6,409.9,-4.7,290,6042,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1484,3504
$GC,6094,-1.10,-146.6,412.6,-5.0,292,6100,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2902,3504
$GC,6410,-1.10,-146.6,427.6,-4.7,308,6414,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1482,3503
$GC,6443,-1.10,-146.6,429.3,-5.1,309,6449,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2904,3504
$GC,6758,-1.10,-146.6,444.6,-5.1,325,6763,0.00,2.55,0.00,0.000,4,0.000,0.057,2167,1481,3504
$GC,6792,-1.10,-146.6,446.5,-5.2,326,6798,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2899,3503
$GC,7108,-1.10,-146.6,464.9,-6.2,342,7112,0.00,2.55,0.00,0.000,4,0.000,0.056,2167,1481,3504
$GC,7140,-1.10,-146.6,467.3,-6.9,343,7146,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2902,3504
$GC,7456,-1.10,-146.6,489.3,-7.1,359,7460,0.00,2.53,0.00,0.000,4,0.000,0.052,2167,1487,3504
$GC,7500,-1.10,-146.6,492.5,-7.0,361,7504,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,7820,-1.10,-146.6,514.2,-6.6,377,7824,0.00,1.67,0.00,0.000,4,0.000,0.092,2167,3782,3503
$GC,8033,-1.10,-146.6,529.1,-6.9,386,8037,0.00,1.52,0.00,0.000,6,0.000,0.038,2167,2903,3503
$GC,8355,-1.10,-146.6,549.2,-6.3,402,8359,0.00,2.53,0.00,0.000,4,0.000,0.054,2167,1482,3503
$GC,8405,-1.10,-146.6,552.5,-7.0,404,8410,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2902,3503
$GC,8721,-1.10,-146.6,572.8,-6.6,419,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$STATE,8925,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8925,begin apogee
$GC,8933,-0.42,0.0,585.7,6.0,429,9068,0.75,0.00,126.90,1.256,6,0.092,0.000,2317,2087,2901
$STATE,9068,end apogee,CONTROL_FINISHED_OK
$STATE,9068,begin climb
$GC,9072,1.10,146.6,590.6,0.0,436,9203,1.55,2.60,122.72,1.216,4,0.056,0.058,2648,695,2303
$GC,9313,1.16,191.4,584.6,4.8,447,9357,0.00,2.50,38.90,1.187,6,0.000,0.038,2648,2117,2121
$GC,9683,1.17,198.7,562.6,5.8,465,9697,0.00,2.65,7.75,1.055,4,0.000,0.067,2648,3499,2091
$GC,9776,1.17,198.7,556.2,6.2,469,9781,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2097,2091
$GC,10098,1.17,198.7,534.3,7.1,485,10103,0.00,2.62,0.00,0.000,4,0.000,0.068,2648,3496,2089
$GC,10178,1.17,198.7,529.1,6.5,488,10184,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2099,2089
$GC,10494,1.21,236.1,510.8,5.0,504,10536,0.12,2.75,32.03,1.239,4,0.047,0.072,2686,3501,1938
$GC,10623,1.21,236.1,502.9,6.4,509,10629,0.00,2.50,0.00,0.000,6,0.000,0.042,2686,2103,1937
$GC,10938,1.21,236.1,482.1,6.9,525,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2103,1936
$GC,11248,1.21,236.1,458.2,8.1,540,11252,0.00,2.62,0.00,0.000,4,0.000,0.074,2686,3496,1936
$GC,11281,1.21,236.1,455.4,9.2,541,11287,0.00,2.47,0.00,0.000,6,0.000,0.044,2686,2095,1935
$GC,11596,1.21,236.1,428.5,8.7,557,11600,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3495,1935
$GC,11623,1.21,236.1,426.0,9.6,558,11628,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2097,1935
$GC,11939,1.21,236.1,397.0,9.2,573,11943,0.00,2.65,0.00,0.000,4,0.000,0.075,2686,3495,1935
$GC,12016,1.21,236.1,389.8,8.9,576,12022,0.00,2.47,0.00,0.000,6,0.000,0.047,2687,2100,1935
$GC,12332,1.21,236.1,364.0,8.2,592,12337,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3498,1935
$GC,12400,1.21,236.1,358.1,8.6,595,12404,0.00,2.50,0.00,0.000,6,0.000,0.046,2687,2100,1935
$GC,12721,1.21,236.1,332.7,7.6,611,12725,0.00,2.58,0.00,0.000,4,0.000,0.061,2687,685,1935
$GC,12742,1.21,236.1,330.7,8.9,612,12747,0.00,2.47,0.00,0.000,6,0.000,0.042,2686,2090,1935
$GC,13064,1.21,236.1,305.2,7.8,628,13068,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3510,1936
$GC,13113,1.21,236.1,301.0,8.3,630,13118,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2097,1936
$GC,13429,1.21,236.1,278.1,7.5,645,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2097,1936
$GC,13740,1.21,236.1,255.4,7.6,660,13744,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3509,1937
$GC,13772,1.21,236.1,252.8,8.0,661,13778,0.00,2.53,0.00,0.000,6,0.000,0.045,2687,2094,1937
$GC,14088,1.21,236.1,229.0,7.7,677,14092,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3510,1937
$GC,14109,1.21,236.1,227.2,8.0,678,14114,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2095,1937
$GC,14430,1.21,236.1,202.1,7.7,694,14435,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3510,1938
$GC,14463,1.21,236.1,199.4,7.1,695,14470,0.00,2.47,0.00,0.000,6,0.000,0.047,2687,2096,1938
$GC,14780,1.21,236.1,176.5,7.5,711,14784,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3517,1938
$GC,14801,1.21,236.1,174.7,7.8,712,14806,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2094,1938
$GC,15122,1.21,236.1,151.6,7.0,728,15126,0.00,2.65,0.00,0.000,4,0.000,0.070,2686,3509,1939
$GC,15143,1.21,236.1,150.0,7.5,729,15148,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2100,1939
$GC,15465,1.21,236.1,126.2,7.6,745,15466,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1940
$GC,15774,1.21,236.1,102.4,7.7,760,15778,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3509,1940
$GC,15807,1.21,236.1,99.5,7.9,761,15813,0.00,2.53,0.00,0.000,6,0.000,0.050,2687,2094,1940
$GC,16125,1.21,236.1,76.0,6.9,777,16130,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3508,1940
$GC,16166,1.21,236.1,73.0,7.3,779,16170,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2097,1940
$GC,16493,1.21,236.1,50.3,7.5,795,16497,0.00,2.65,0.00,0.000,4,0.000,0.072,2687,3508,1940
$GC,16525,1.21,236.1,47.7,8.1,796,16532,0.00,2.47,0.00,0.000,6,0.000,0.049,2687,2105,1940
$GC,16843,1.21,236.1,24.0,7.8,812,16844,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1940
$STATE,17129,end climb,SURFACE_DEPTH_REACHED
$STATE,17129,begin surface coast
$FINISH,-1.0,1.027374
$STATE,17149,end surface coast,CONTROL_FINISHED_OK
$STATE,17149,begin surface
$SM_CCo,17173,55.55,0.786,3,0,1678,300.00
$SM_GC,-0.13,0.00,0.00,55.55,0.000,0.000,0.786,41,2898,1678,-10.89,-0.08,300.00
$IRIDIUM_FIX,6207.28,-1047.49,210108,202016
$TT8_MAMPS,0.029146
$HUMID,2076
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.2,94.8
$24V_AH,23.2,67.698
$10V_AH,10.1,31.353
$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,25.975,187.550,328.300,55.550,0.000,40.951,33.607,177.695,4.500,0.000,0.000,29.919,1545.443,13094.605,557.055,1862.959,594.380,0.000,1514.747,0.000,1820.458,0.000,28.284
$DEVICE_MAMPS,156.468,92.040,1255.579,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,610.043,575.498,547.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41053,827
$CFSIZE,260165632,236785664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,3,0
$GPS,220108,024008,6232.042,-1031.799,29,1.6,29,-10.4