version: 66.02
glider: 103
mission: 7
dive: 412
start: 1 23 108 8 48 9
data:
$ID,103
$MISSION,7
$DIVE,412
$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,-70488.641
$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,37
$R_STBD_OVSHOOT,17
$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
$GPS1,084101,6220.558,-956.920,46,2.0,51,-10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-49.1
$GPS2,084738,6220.651,-956.732,14,0.9,31,-10.0
$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,111.8,5914,-11.1,-6.000
$D_GRID,650
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-70.97,0.000,2,0.000,0.000,44,2874,3370
$GC,103,-1.10,-146.6,3.0,-4.9,4,125,12.05,1.83,-2.42,0.000,4,0.160,0.123,2167,3770,3502
$GC,378,-1.10,-146.6,26.0,-11.7,16,382,0.00,1.55,0.00,0.000,6,0.000,0.054,2167,2922,3503
$GC,705,-1.10,-146.6,51.7,-10.5,32,708,0.00,1.67,0.00,0.000,4,0.000,0.095,2167,3779,3503
$GC,874,-1.10,-146.6,63.5,-5.7,39,877,0.00,1.60,0.00,0.000,6,0.000,0.052,2167,2900,3503
$GC,1195,-1.10,-146.6,96.2,-9.1,55,1199,0.00,1.73,0.00,0.000,4,0.000,0.097,2167,3779,3503
$GC,1251,-1.10,-146.6,101.2,-8.8,57,1254,0.00,1.58,0.00,0.000,6,0.000,0.053,2167,2899,3503
$GC,1573,-1.10,-146.6,122.4,-5.7,73,1577,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1489,3503
$GC,1640,-1.10,-146.6,126.6,-5.6,76,1644,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2893,3503
$GC,1961,-1.10,-146.6,146.4,-6.6,92,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2893,3503
$GC,2270,-1.10,-146.6,167.3,-6.9,107,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2894,3503
$GC,2579,-1.10,-146.6,186.3,-6.1,122,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2893,3503
$GC,2889,-1.10,-146.6,206.9,-6.8,137,2893,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1478,3503
$GC,2916,-1.10,-146.6,208.8,-7.3,138,2920,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2901,3503
$GC,3232,-1.10,-146.6,229.1,-6.0,153,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,3541,-1.10,-146.6,247.9,-5.9,168,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,3850,-1.10,-146.6,265.1,-5.3,183,3854,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1487,3503
$GC,3894,-1.10,-146.6,267.6,-5.3,185,3899,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2900,3503
$GC,4217,-1.10,-146.6,286.9,-6.2,201,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,4525,-1.10,-146.6,308.6,-7.1,216,4529,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1484,3503
$GC,4558,-1.10,-146.6,310.9,-6.7,217,4564,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2903,3503
$GC,4874,-1.10,-146.6,332.3,-6.3,233,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3503
$GC,5184,-1.10,-146.6,351.2,-6.1,248,5188,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1484,3503
$GC,5217,-1.10,-146.6,353.4,-6.4,249,5223,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2899,3503
$GC,5533,-1.10,-146.6,371.9,-5.6,265,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,5842,-1.10,-146.6,387.1,-4.7,280,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,6151,-1.10,-146.6,401.2,-4.6,295,6155,0.00,2.58,0.00,0.000,4,0.000,0.059,2167,1482,3503
$GC,6179,-1.10,-146.6,402.5,-4.6,296,6183,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2899,3503
$GC,6495,-1.10,-146.6,415.4,-4.0,311,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,6805,-1.10,-146.6,427.8,-4.5,326,6809,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1478,3502
$GC,6833,-1.10,-146.6,429.1,-4.4,327,6837,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2908,3503
$GC,7148,-1.10,-146.6,443.5,-4.9,342,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3503
$GC,7458,-1.10,-146.6,457.6,-3.8,357,7462,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1480,3503
$GC,7502,-1.10,-146.6,459.4,-3.3,359,7507,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2898,3503
$GC,7823,-1.10,-146.6,471.2,-4.2,375,7828,0.00,2.53,0.00,0.000,4,0.000,0.053,2167,1482,3503
$GC,7864,-1.10,-146.6,472.9,-5.3,377,7868,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2904,3503
$GC,8191,-1.10,-146.6,487.2,-4.8,393,8195,0.00,2.53,0.00,0.000,4,0.000,0.051,2167,1481,3503
$GC,8291,-1.10,-146.6,493.2,-6.3,397,8297,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2899,3503
$GC,8607,-1.10,-146.6,517.3,-8.7,413,8611,0.00,2.50,0.00,0.000,4,0.000,0.047,2167,1475,3503
$GC,8630,-1.10,-146.6,519.2,-8.2,414,8634,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2902,3503
$GC,8956,-1.10,-146.6,549.1,-9.5,430,8960,0.00,2.50,0.00,0.000,4,0.000,0.045,2167,1473,3503
$GC,9045,-1.10,-146.6,558.0,-10.0,434,9049,0.00,2.60,0.00,0.000,6,0.000,0.058,2167,2900,3503
$GC,9366,-1.10,-146.6,585.2,-9.1,450,9369,0.00,1.67,0.00,0.000,4,0.000,0.086,2167,3790,3503
$GC,9404,-1.10,-146.6,588.8,-8.8,451,9410,0.00,1.55,0.00,0.000,6,0.000,0.037,2167,2887,3502
$GC,9720,-1.10,-146.6,613.8,-6.8,467,9724,0.00,2.42,0.00,0.000,4,0.000,0.045,2167,1491,3502
$GC,9766,-1.10,-146.6,617.3,-7.6,469,9770,0.00,2.55,0.00,0.000,6,0.000,0.058,2167,2906,3502
$STATE,10007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10007,begin apogee
$GC,10016,-0.42,0.0,633.1,7.0,481,10150,0.73,0.00,127.32,1.275,6,0.080,0.000,2315,2098,2900
$STATE,10150,end apogee,CONTROL_FINISHED_OK
$STATE,10150,begin climb
$GC,10154,1.10,146.6,638.1,0.0,488,10288,1.55,2.62,123.05,1.231,4,0.056,0.055,2648,702,2303
$GC,10350,1.12,158.7,633.0,5.7,497,10367,0.00,2.47,12.02,1.109,6,0.000,0.035,2648,2117,2253
$GC,10676,1.12,158.7,614.5,6.1,513,10680,0.00,2.55,0.00,0.000,4,0.000,0.061,2648,3505,2252
$GC,10715,1.16,191.7,612.6,5.1,515,10750,0.00,2.45,29.17,1.218,6,0.000,0.035,2648,2100,2119
$GC,11067,1.22,239.6,592.8,4.7,532,11116,0.12,2.62,41.22,1.236,4,0.044,0.058,2688,3495,1923
$GC,11161,1.22,239.6,587.3,6.1,536,11165,0.00,2.42,0.00,0.000,6,0.000,0.035,2687,2100,1923
$GC,11482,1.22,239.6,562.7,9.6,552,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1922
$GC,11791,1.22,239.6,535.2,8.3,567,11795,0.00,2.60,0.00,0.000,4,0.000,0.063,2687,3504,1921
$GC,11835,1.22,239.6,531.8,7.4,569,11839,0.00,2.47,0.00,0.000,6,0.000,0.036,2687,2093,1921
$GC,12156,1.22,239.6,511.0,6.4,585,12160,0.00,2.53,0.00,0.000,4,0.000,0.056,2687,697,1920
$GC,12211,1.22,239.6,506.9,6.8,587,12217,0.00,2.42,0.00,0.000,6,0.000,0.035,2688,2092,1920
$GC,12527,1.22,241.6,486.7,5.9,603,12531,0.00,2.53,0.00,0.000,4,0.000,0.054,2687,701,1919
$GC,12560,1.23,246.8,484.6,5.9,604,12574,0.00,2.45,7.00,1.042,6,0.000,0.038,2688,2098,1894
$GC,12896,1.23,246.8,459.1,8.5,621,12901,0.00,2.62,0.00,0.000,4,0.000,0.071,2688,3508,1893
$GC,12936,1.23,246.8,455.5,9.7,623,12941,0.00,2.47,0.00,0.000,6,0.000,0.039,2688,2096,1893
$GC,13263,1.23,246.8,427.5,8.3,639,13265,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1893
$GC,13572,1.23,246.8,403.2,8.0,654,13577,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3507,1893
$GC,13621,1.23,246.8,398.7,9.4,656,13626,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2103,1893
$GC,13938,1.23,246.8,367.2,10.5,671,13942,0.00,2.65,0.00,0.000,4,0.000,0.075,2688,3506,1893
$GC,13959,1.23,246.8,364.7,9.9,672,13964,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2094,1893
$GC,14281,1.23,246.8,332.8,9.9,688,14285,0.00,2.67,0.00,0.000,4,0.000,0.074,2688,3512,1894
$GC,14330,1.23,246.8,327.9,9.6,690,14335,0.00,2.53,0.00,0.000,6,0.000,0.044,2687,2094,1894
$GC,14646,1.23,246.8,301.8,7.4,705,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1894
$GC,14955,1.23,246.8,271.8,9.8,720,14960,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3507,1895
$GC,14983,1.23,246.8,269.1,9.8,721,14987,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2098,1895
$GC,15298,1.23,246.8,241.7,8.0,736,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1895
$GC,15608,1.23,246.8,215.1,9.6,751,15612,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3511,1895
$GC,15658,1.23,246.8,210.2,9.3,753,15662,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2100,1896
$GC,15973,1.23,246.8,183.0,9.4,768,15978,0.00,2.58,0.00,0.000,4,0.000,0.064,2688,687,1896
$GC,16006,1.23,246.8,180.0,8.5,769,16013,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2098,1896
$GC,16322,1.23,246.8,151.0,10.4,785,16327,0.00,2.65,0.00,0.000,4,0.000,0.075,2688,3512,1896
$GC,16364,1.23,246.8,147.0,10.5,787,16368,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2093,1896
$GC,16691,1.23,246.8,117.9,8.1,803,16695,0.00,2.55,0.00,0.000,4,0.000,0.064,2688,691,1897
$GC,16717,1.23,246.8,115.4,8.5,804,16722,0.00,2.47,0.00,0.000,6,0.000,0.044,2688,2098,1897
$GC,17035,1.23,246.8,93.9,8.9,819,17040,0.00,2.60,0.00,0.000,4,0.000,0.063,2688,685,1897
$GC,17046,1.23,246.8,92.8,7.9,819,17052,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2102,1897
$GC,17364,1.23,246.8,71.7,6.5,835,17365,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1897
$GC,17672,1.23,246.8,46.6,8.1,850,17677,0.00,2.65,0.00,0.000,4,0.000,0.077,2688,3512,1897
$GC,17706,1.29,302.5,44.9,4.5,851,17757,0.00,2.50,46.33,0.867,6,0.000,0.047,2688,2100,1667
$GC,18082,1.29,302.5,16.6,6.9,870,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1667
$STATE,18241,end climb,SURFACE_DEPTH_REACHED
$STATE,18241,begin surface coast
$FINISH,0.0,1.027386
$STATE,18263,end surface coast,CONTROL_FINISHED_OK
$STATE,18263,begin surface
$SM_CCo,18347,0.00,0.000,0,0,1665,302.95
$SM_GC,-0.33,11.70,0.00,0.00,0.032,0.000,0.000,38,2908,1665,-10.80,0.20,302.95
$IRIDIUM_FIX,6153.50,-959.68,180497,030333
$TT8_MAMPS,0.028379
$HUMID,2087
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.1,66.0
$24V_AH,23.2,68.770
$10V_AH,10.1,31.929
$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,26.150,169.800,386.125,0.000,0.000,41.132,35.496,173.213,5.500,0.000,0.000,31.765,1613.040,14079.751,506.485,1951.689,600.909,0.000,1510.167,0.000,1905.740,0.000,36.000
$DEVICE_MAMPS,159.536,123.487,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.500,608.137,557.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44341,879
$CFSIZE,260165632,236351488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,230108,135508,6219.003,-951.354,38,0.9,38,-10.0