version: 66.02
glider: 103
mission: 7
dive: 415
start: 1 24 108 0 3 29
data:
$ID,103
$MISSION,7
$DIVE,415
$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,-70529.438
$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,8
$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
$GPS1,234725,6213.439,-949.272,26,1.7,44,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-59.5
$GPS2,000257,6213.316,-948.833,10,1.6,10,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AE
$TGT_LATLONG,6153.000,-915.000
$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,151.8,47829,-11.1,-6.000
$D_GRID,669
$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,25,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-65.72,0.000,6,0.000,0.000,44,2897,3500
$GC,95,-1.10,-146.6,2.9,-8.3,3,109,11.98,0.00,0.00,0.000,6,0.156,0.000,2167,2897,3501
$GC,427,-1.10,-146.6,38.6,-8.5,19,430,0.00,1.73,0.00,0.000,4,0.000,0.094,2167,3786,3502
$GC,466,-1.10,-146.6,42.6,-10.1,20,472,0.00,1.58,0.00,0.000,6,0.000,0.048,2167,2905,3502
$GC,783,-1.10,-146.6,70.2,-8.1,36,788,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1480,3502
$GC,851,-1.10,-146.6,75.8,-7.4,39,855,0.00,2.70,0.00,0.000,6,0.000,0.073,2167,2905,3502
$GC,1172,-1.10,-146.6,100.2,-7.4,55,1176,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1490,3502
$GC,1212,-1.10,-146.6,103.0,-7.8,57,1216,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2908,3502
$GC,1539,-1.10,-146.6,125.0,-7.2,73,1543,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1485,3503
$GC,1566,-1.10,-146.6,126.9,-6.5,74,1570,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2899,3503
$GC,1881,-1.10,-146.6,152.2,-8.0,89,1886,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1488,3502
$GC,1915,-1.10,-146.6,155.0,-7.9,90,1921,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2900,3502
$GC,2231,-1.10,-146.6,179.9,-7.9,106,2235,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1481,3503
$GC,2258,-1.10,-146.6,182.2,-8.2,107,2262,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2900,3502
$GC,2574,-1.10,-146.6,207.1,-7.8,122,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,2883,-1.10,-146.6,231.3,-7.2,137,2887,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1487,3503
$GC,2922,-1.10,-146.6,234.1,-6.9,139,2927,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2909,3503
$GC,3249,-1.10,-146.6,256.3,-7.3,155,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2909,3502
$GC,3558,-1.10,-146.6,277.2,-6.3,170,3562,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1488,3502
$GC,3613,-1.10,-146.6,280.7,-6.8,172,3619,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2902,3503
$GC,3929,-1.10,-146.6,302.0,-7.2,188,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,4238,-1.10,-146.6,324.2,-7.3,203,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,4548,-1.10,-146.6,350.1,-8.0,218,4552,0.00,2.58,0.00,0.000,4,0.000,0.059,2167,1480,3502
$GC,4598,-1.10,-146.6,354.3,-8.0,220,4603,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2906,3503
$GC,4913,-1.10,-146.6,377.1,-7.5,235,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,5223,-1.10,-146.6,399.3,-6.7,250,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,5533,-1.10,-146.6,422.0,-7.2,265,5537,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1479,3503
$GC,5600,-1.10,-146.6,427.8,-9.2,268,5605,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2902,3503
$GC,5922,-1.10,-146.6,450.2,-7.3,284,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,6230,-1.10,-146.6,472.0,-6.5,299,6234,0.00,2.53,0.00,0.000,4,0.000,0.057,2167,1486,3502
$GC,6271,-1.10,-146.6,474.6,-6.8,301,6276,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2900,3502
$GC,6604,-1.10,-146.6,497.6,-6.2,317,6607,0.00,1.70,0.00,0.000,4,0.000,0.089,2167,3785,3502
$GC,6710,-1.10,-146.6,504.1,-5.7,321,6716,0.00,1.55,0.00,0.000,6,0.000,0.038,2167,2898,3503
$GC,7026,-1.10,-146.6,524.1,-6.6,337,7030,0.00,2.50,0.00,0.000,4,0.000,0.052,2167,1480,3503
$GC,7098,-1.10,-146.6,528.9,-7.0,340,7103,0.00,2.62,0.00,0.000,6,0.000,0.063,2167,2908,3503
$GC,7414,-1.10,-146.6,546.9,-5.2,355,7417,0.00,1.65,0.00,0.000,4,0.000,0.087,2167,3783,3503
$GC,7566,-1.10,-146.6,555.4,-5.6,361,7572,0.00,1.55,0.00,0.000,6,0.000,0.037,2167,2895,3503
$GC,7882,-1.10,-146.6,573.5,-5.9,377,7886,0.00,2.47,0.00,0.000,4,0.000,0.050,2167,1484,3503
$GC,8044,-1.10,-146.6,584.2,-7.1,384,8048,0.00,2.60,0.00,0.000,6,0.000,0.060,2167,2904,3502
$GC,8359,-1.10,-146.6,606.9,-7.7,399,8364,0.00,2.50,0.00,0.000,4,0.000,0.048,2166,1483,3502
$GC,8393,-1.10,-146.6,609.7,-8.1,400,8399,0.00,2.58,0.00,0.000,6,0.000,0.061,2167,2902,3503
$GC,8709,-1.10,-146.6,633.0,-7.2,416,8713,0.00,2.50,0.00,0.000,4,0.000,0.048,2167,1477,3502
$GC,8726,-1.10,-146.6,634.2,-7.8,417,8730,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2899,3503
$STATE,8864,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8864,begin apogee
$GC,8872,-0.42,0.0,642.6,5.8,424,9007,0.75,0.00,127.78,1.282,6,0.087,0.000,2317,2090,2901
$STATE,9008,end apogee,CONTROL_FINISHED_OK
$STATE,9008,begin climb
$GC,9011,1.10,146.6,647.9,0.0,431,9141,1.52,2.58,123.00,1.243,4,0.054,0.058,2647,701,2303
$GC,9356,1.11,155.5,635.2,5.8,447,9370,0.00,2.47,8.90,1.085,6,0.000,0.037,2647,2117,2267
$GC,9687,1.11,155.5,615.3,7.1,463,9691,0.00,2.55,0.00,0.000,4,0.000,0.063,2647,3503,2265
$GC,9782,1.15,186.4,609.2,5.1,467,9817,0.00,2.47,27.42,1.242,6,0.000,0.038,2647,2097,2141
$GC,10147,1.17,203.7,588.0,5.5,485,10170,0.00,2.65,16.23,1.216,4,0.000,0.063,2647,3499,2070
$GC,10181,1.19,215.0,586.0,5.7,486,10197,0.00,2.50,11.12,1.146,6,0.000,0.037,2647,2093,2024
$GC,10519,1.21,231.5,566.6,5.5,503,10541,0.12,2.58,15.20,1.203,4,0.049,0.057,2685,701,1957
$GC,10588,1.21,231.5,561.6,7.8,506,10592,0.00,2.45,0.00,0.000,6,0.000,0.036,2685,2102,1957
$GC,10914,1.22,238.3,540.6,5.8,522,10929,0.00,2.67,7.35,1.085,4,0.000,0.067,2685,3502,1929
$GC,10988,1.22,238.3,536.0,6.4,525,10992,0.00,2.47,0.00,0.000,6,0.000,0.038,2685,2102,1929
$GC,11309,1.22,238.3,514.2,7.2,541,11313,0.00,2.62,0.00,0.000,4,0.000,0.067,2685,3505,1928
$GC,11330,1.22,238.3,512.3,8.3,542,11334,0.00,2.45,0.00,0.000,6,0.000,0.038,2685,2100,1928
$GC,11651,1.22,238.3,488.4,8.2,558,11655,0.00,2.62,0.00,0.000,4,0.000,0.068,2685,3505,1927
$GC,11706,1.22,238.3,483.5,8.4,560,11712,0.00,2.45,0.00,0.000,6,0.000,0.040,2685,2100,1927
$GC,12022,1.22,238.3,454.9,9.2,576,12026,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3504,1927
$GC,12044,1.22,238.3,452.6,10.3,577,12048,0.00,2.50,0.00,0.000,6,0.000,0.041,2685,2093,1927
$GC,12364,1.22,238.3,422.7,9.4,593,12369,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3506,1927
$GC,12404,1.22,238.3,418.6,9.4,595,12408,0.00,2.47,0.00,0.000,6,0.000,0.043,2685,2100,1927
$GC,12731,1.22,238.3,388.3,9.0,611,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1928
$GC,13040,1.22,238.3,360.6,9.5,626,13044,0.00,2.53,0.00,0.000,4,0.000,0.058,2685,697,1929
$GC,13061,1.22,238.3,358.5,9.5,627,13066,0.00,2.45,0.00,0.000,6,0.000,0.040,2685,2096,1929
$GC,13383,1.22,238.3,331.4,9.8,643,13387,0.00,2.62,0.00,0.000,4,0.000,0.070,2685,3514,1929
$GC,13422,1.22,238.3,327.7,9.2,645,13427,0.00,2.47,0.00,0.000,6,0.000,0.043,2685,2103,1929
$GC,13749,1.22,238.3,299.7,8.9,661,13750,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2104,1930
$GC,14058,1.22,238.3,272.0,10.1,676,14063,0.00,2.62,0.00,0.000,4,0.000,0.068,2685,3512,1931
$GC,14091,1.22,238.3,268.5,9.2,677,14097,0.00,2.50,0.00,0.000,6,0.000,0.043,2685,2100,1931
$GC,14407,1.22,238.3,242.1,9.2,693,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1931
$GC,14716,1.22,238.3,217.7,7.0,708,14721,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3511,1931
$GC,14738,1.22,238.3,216.1,7.1,709,14742,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2094,1931
$GC,15059,1.22,238.3,190.8,8.1,725,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2094,1932
$GC,15369,1.22,238.3,166.6,7.9,740,15373,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3508,1932
$GC,15413,1.22,238.3,162.6,9.5,742,15417,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2096,1932
$GC,15734,1.22,238.3,136.3,7.8,758,15739,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3508,1932
$GC,15762,1.22,238.3,133.7,9.4,759,15767,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2097,1932
$GC,16078,1.22,238.3,106.4,7.9,774,16082,0.00,2.55,0.00,0.000,4,0.000,0.061,2685,688,1933
$GC,16105,1.22,238.3,104.1,8.3,775,16109,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2099,1933
$GC,16423,1.22,238.3,80.8,7.6,790,16424,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1933
$GC,16731,1.24,261.3,61.1,5.4,805,16757,0.00,2.72,20.98,0.860,4,0.000,0.076,2685,3513,1834
$GC,16802,1.24,261.3,57.2,6.3,808,16806,0.00,2.58,0.00,0.000,6,0.000,0.051,2685,2099,1834
$GC,17118,1.25,266.3,39.5,5.9,823,17126,0.00,0.00,5.80,0.722,6,0.000,0.000,2685,2099,1815
$GC,17428,1.25,266.3,21.4,6.6,838,17433,0.00,2.58,0.00,0.000,4,0.000,0.062,2685,685,1815
$GC,17439,1.25,266.3,19.7,7.9,838,17445,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2103,1815
$STATE,17649,end climb,SURFACE_DEPTH_REACHED
$STATE,17649,begin surface coast
$FINISH,0.4,1.027363
$STATE,17671,end surface coast,CONTROL_FINISHED_OK
$STATE,17671,begin surface
$SM_CCo,17696,29.98,0.766,2,0,1678,300.00
$SM_GC,0.06,0.00,0.00,29.98,0.000,0.000,0.766,45,2899,1678,-10.88,-0.03,300.00
$IRIDIUM_FIX,6148.92,-948.98,190497,000030
$TT8_MAMPS,0.029146
$HUMID,2068
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.3,76.3
$24V_AH,23.2,69.251
$10V_AH,10.1,32.180
$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,26.150,177.400,363.775,29.975,0.000,116.362,114.187,435.905,5.250,0.000,0.000,12.272,1585.682,13628.077,539.391,1893.930,1033.724,0.000,1525.095,0.000,1868.574,0.000,33.107
$DEVICE_MAMPS,156.468,94.341,1282.424,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,629.893,587.012,545.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44292,850
$CFSIZE,260165632,236163072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,240108,050025,6209.615,-942.391,24,1.1,42,-9.8