version: 66.02
glider: 103
mission: 7
dive: 410
start: 1 22 108 22 38 53
data:
$ID,103
$MISSION,7
$DIVE,410
$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,-70445.461
$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,23
$R_STBD_OVSHOOT,10
$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
$GPS1,223207,6223.282,-1003.585,41,1.1,47,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-56.6
$GPS2,223821,6223.252,-1003.448,11,1.2,11,-10.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$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,127.6,13039,-11.1,-6.000
$D_GRID,649
$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,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-67.45,0.000,6,0.000,0.000,47,2901,3500
$GC,99,-1.10,-146.6,2.0,-5.3,3,115,12.02,1.75,0.00,0.000,4,0.160,0.086,2167,3790,3502
$GC,121,-1.10,-146.6,13.6,-33.1,3,125,0.00,1.60,0.00,0.000,6,0.000,0.054,2167,2905,3502
$GC,448,-1.10,-146.6,44.3,-10.9,19,452,0.00,1.73,0.00,0.000,4,0.000,0.096,2167,3785,3503
$GC,459,-1.10,-146.6,45.5,-10.7,19,462,0.00,1.60,0.00,0.000,6,0.000,0.054,2167,2898,3503
$GC,780,-1.10,-146.6,76.6,-10.5,35,784,0.00,1.75,0.00,0.000,4,0.000,0.096,2167,3787,3503
$GC,1038,-1.10,-146.6,99.7,-10.1,46,1042,0.00,1.60,0.00,0.000,6,0.000,0.051,2167,2892,3503
$GC,1360,-1.10,-146.6,127.9,-7.8,62,1363,0.00,1.75,0.00,0.000,4,0.000,0.096,2167,3786,3503
$GC,1444,-1.10,-146.6,134.4,-8.3,65,1450,0.00,1.60,0.00,0.000,6,0.000,0.051,2167,2901,3503
$GC,1759,-1.10,-146.6,157.7,-6.6,81,1764,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1481,3503
$GC,1804,-1.10,-146.6,161.3,-7.7,83,1808,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2904,3503
$GC,2125,-1.10,-146.6,183.9,-6.5,99,2129,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1484,3503
$GC,2169,-1.10,-146.6,186.8,-5.9,101,2173,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2906,3503
$GC,2489,-1.10,-146.6,207.2,-7.4,117,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,2799,-1.10,-146.6,230.9,-8.0,132,2803,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1488,3503
$GC,2849,-1.10,-146.6,234.8,-7.4,134,2853,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2899,3503
$GC,3164,-1.10,-146.6,258.8,-7.4,149,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,3474,-1.10,-146.6,281.6,-7.6,164,3478,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1486,3503
$GC,3513,-1.10,-146.6,284.7,-7.7,166,3518,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2903,3503
$GC,3840,-1.10,-146.6,309.3,-7.0,182,3844,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1480,3503
$GC,3867,-1.10,-146.6,311.3,-7.0,183,3872,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2908,3503
$GC,4183,-1.10,-146.6,334.6,-7.4,198,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3503
$GC,4492,-1.10,-146.6,359.8,-8.6,213,4496,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1481,3503
$GC,4553,-1.10,-146.6,365.3,-9.0,215,4560,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2899,3503
$GC,4870,-1.10,-146.6,390.6,-7.5,231,4874,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1486,3503
$GC,4896,-1.10,-146.6,392.9,-7.9,232,4901,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2908,3503
$GC,5212,-1.10,-146.6,416.3,-7.4,247,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3503
$GC,5521,-1.10,-146.6,441.4,-8.7,262,5526,0.00,2.58,0.00,0.000,4,0.000,0.057,2167,1476,3503
$GC,5555,-1.10,-146.6,444.5,-9.2,263,5560,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2904,3503
$GC,5871,-1.10,-146.6,471.3,-8.2,279,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,6179,-1.10,-146.6,493.6,-6.1,294,6184,0.00,2.55,0.00,0.000,4,0.000,0.053,2167,1480,3503
$GC,6246,-1.10,-146.6,497.4,-5.9,297,6251,0.00,2.62,0.00,0.000,6,0.000,0.063,2167,2906,3503
$GC,6568,-1.10,-146.6,518.4,-6.7,313,6572,0.00,2.53,0.00,0.000,4,0.000,0.050,2166,1480,3503
$GC,6601,-1.10,-146.6,520.4,-6.0,314,6605,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2899,3503
$GC,6917,-1.10,-146.6,535.7,-5.0,329,6921,0.00,2.50,0.00,0.000,4,0.000,0.050,2167,1474,3503
$GC,6979,-1.10,-146.6,539.0,-5.3,332,6984,0.00,2.62,0.00,0.000,6,0.000,0.063,2167,2907,3503
$GC,7306,-1.10,-146.6,557.1,-5.7,348,7311,0.00,2.53,0.00,0.000,4,0.000,0.050,2167,1477,3503
$GC,7363,-1.10,-146.6,560.5,-6.4,350,7369,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2900,3503
$GC,7679,-1.10,-146.6,579.5,-5.6,366,7683,0.00,2.53,0.00,0.000,4,0.000,0.048,2167,1473,3503
$GC,7746,-1.10,-146.6,583.5,-6.0,369,7751,0.00,2.62,0.00,0.000,6,0.000,0.060,2167,2906,3503
$GC,8067,-1.10,-146.6,601.5,-5.5,385,8072,0.00,2.53,0.00,0.000,4,0.000,0.048,2167,1469,3503
$GC,8108,-1.10,-146.6,603.8,-5.8,387,8112,0.00,2.60,0.00,0.000,6,0.000,0.060,2167,2899,3503
$GC,8434,-1.10,-146.6,623.3,-6.2,403,8437,0.00,1.67,0.00,0.000,4,0.000,0.087,2167,3789,3503
$GC,8490,-1.10,-146.6,627.0,-6.6,405,8494,0.00,1.58,0.00,0.000,6,0.000,0.038,2167,2869,3502
$GC,8811,-1.10,-146.6,646.5,-6.2,421,8815,0.00,2.40,0.00,0.000,4,0.000,0.048,2167,1489,3502
$STATE,8848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8848,begin apogee
$GC,8855,-0.42,0.0,649.1,6.7,422,8986,0.73,0.00,126.82,1.277,6,0.087,0.000,2317,2106,2901
$STATE,8986,end apogee,CONTROL_FINISHED_OK
$STATE,8986,begin climb
$GC,8990,1.10,146.6,653.9,0.0,429,9121,1.55,2.62,123.10,1.228,4,0.052,0.055,2650,700,2303
$GC,9265,1.10,146.6,644.5,6.0,442,9269,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2112,2302
$GC,9597,1.11,148.9,625.3,5.9,458,9601,0.00,2.55,0.00,0.000,4,0.000,0.061,2650,3504,2301
$GC,9674,1.11,148.9,620.3,6.4,461,9681,0.00,2.42,0.00,0.000,6,0.000,0.035,2650,2098,2301
$GC,9991,1.11,150.7,601.4,6.0,477,10001,0.00,2.58,4.88,0.933,4,0.000,0.060,2650,3496,2286
$GC,10091,1.14,173.9,595.3,5.4,481,10118,0.00,2.45,21.05,1.209,6,0.000,0.035,2650,2097,2192
$GC,10427,1.15,182.5,574.5,5.8,498,10438,0.00,0.00,9.00,1.113,6,0.000,0.000,2650,2097,2157
$GC,10736,1.19,216.7,556.7,5.1,513,10768,0.00,0.00,30.10,1.222,6,0.000,0.000,2650,2097,2017
$GC,11086,1.19,216.7,535.1,6.8,530,11090,0.00,2.62,0.00,0.000,4,0.000,0.066,2650,3500,2016
$GC,11130,1.19,216.7,531.8,7.5,532,11135,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2096,2016
$GC,11451,1.19,216.7,509.2,6.9,548,11455,0.00,2.60,0.00,0.000,4,0.000,0.066,2650,3501,2016
$GC,11513,1.19,216.7,504.8,6.9,551,11517,0.00,2.45,0.00,0.000,6,0.000,0.038,2650,2098,2016
$GC,11840,1.20,222.5,483.8,5.8,567,11853,0.00,2.67,6.45,0.996,4,0.000,0.066,2650,3495,1993
$GC,11905,1.20,227.5,479.8,5.9,570,11916,0.00,2.45,5.97,0.966,6,0.000,0.039,2650,2099,1973
$GC,12233,1.25,270.1,464.2,4.8,586,12273,0.15,0.00,37.08,1.164,6,0.046,0.000,2692,2098,1799
$GC,12582,1.25,270.1,439.6,7.3,603,12586,0.00,2.62,0.00,0.000,4,0.000,0.070,2692,3497,1798
$GC,12631,1.25,270.1,435.4,8.3,605,12636,0.00,2.47,0.00,0.000,6,0.000,0.040,2692,2099,1798
$GC,12947,1.25,270.1,410.3,7.9,620,12952,0.00,2.65,0.00,0.000,4,0.000,0.072,2692,3505,1798
$GC,12975,1.25,270.1,407.8,9.2,621,12979,0.00,2.47,0.00,0.000,6,0.000,0.042,2692,2103,1798
$GC,13291,1.25,270.1,381.1,8.8,636,13295,0.00,2.62,0.00,0.000,4,0.000,0.074,2692,3498,1799
$GC,13318,1.25,270.1,378.5,8.6,637,13322,0.00,2.50,0.00,0.000,6,0.000,0.044,2692,2099,1799
$GC,13633,1.25,270.1,349.2,9.5,652,13635,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1799
$GC,13943,1.25,270.1,317.6,10.1,667,13947,0.00,2.62,0.00,0.000,4,0.000,0.074,2692,3495,1800
$GC,13976,1.25,270.1,314.1,9.6,668,13982,0.00,2.50,0.00,0.000,6,0.000,0.046,2692,2099,1800
$GC,14291,1.25,270.1,283.6,9.4,684,14296,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3502,1800
$GC,14318,1.25,270.1,280.9,10.0,685,14322,0.00,2.50,0.00,0.000,6,0.000,0.046,2692,2094,1800
$GC,14634,1.25,270.1,252.9,8.5,700,14638,0.00,2.65,0.00,0.000,4,0.000,0.076,2692,3501,1800
$GC,14655,1.25,270.1,251.0,8.2,701,14660,0.00,2.50,0.00,0.000,6,0.000,0.046,2692,2092,1800
$GC,14977,1.25,270.1,222.3,8.9,717,14981,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3495,1800
$GC,14998,1.25,270.1,220.2,9.9,718,15002,0.00,2.47,0.00,0.000,6,0.000,0.045,2692,2100,1800
$GC,15319,1.25,270.1,194.0,8.0,734,15323,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3501,1800
$GC,15346,1.25,270.1,191.8,8.2,735,15350,0.00,2.47,0.00,0.000,6,0.000,0.047,2692,2099,1800
$GC,15662,1.25,270.1,166.9,8.0,750,15663,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1801
$GC,15971,1.25,270.1,143.2,8.0,765,15975,0.00,2.65,0.00,0.000,4,0.000,0.075,2692,3501,1801
$GC,16003,1.25,270.1,140.2,8.7,766,16010,0.00,2.50,0.00,0.000,6,0.000,0.047,2692,2092,1801
$GC,16321,1.25,270.1,114.0,8.3,782,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2092,1801
$GC,16629,1.25,270.1,90.6,7.1,797,16633,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3495,1801
$GC,16662,1.25,270.1,88.0,8.0,798,16668,0.00,2.47,0.00,0.000,6,0.000,0.048,2692,2096,1801
$GC,16979,1.25,270.1,62.5,8.3,814,16980,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2096,1801
$GC,17287,1.25,270.1,38.5,8.5,829,17288,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2096,1802
$GC,17596,1.25,270.1,12.1,9.6,844,17597,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2096,1802
$STATE,17717,end climb,SURFACE_DEPTH_REACHED
$STATE,17717,begin surface coast
$FINISH,-1.0,1.027387
$STATE,17741,end surface coast,CONTROL_FINISHED_OK
$STATE,17741,begin surface
$SM_CCo,17765,26.33,0.783,1,0,1678,300.00
$SM_GC,-0.09,0.00,0.00,26.33,0.000,0.000,0.783,46,2885,1678,-10.87,-0.42,300.00
$IRIDIUM_FIX,6158.08,-1011.23,170497,171737
$TT8_MAMPS,0.029146
$HUMID,2082
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.3,67.4
$24V_AH,23.2,68.448
$10V_AH,10.1,31.760
$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,26.075,176.025,364.450,26.325,0.000,39.667,40.199,164.991,5.500,0.000,0.000,11.914,1591.734,13588.083,532.317,1872.347,597.878,0.000,1506.219,0.000,1851.125,0.000,34.688
$DEVICE_MAMPS,159.536,95.875,1277.055,783.107,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.215,590.642,516.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44289,851
$CFSIZE,260165632,236482560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,230108,033638,6220.391,-1000.843,31,1.1,31,-10.1