version: 66.02
glider: 103
mission: 7
dive: 470
start: 2 3 108 0 55 40
data:
$ID,103
$MISSION,7
$DIVE,470
$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,0
$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,-72654.281
$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,18
$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
$GPS1,003538,6132.831,-909.884,39,1.7,45,-9.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-58.1
$GPS2,005508,6132.757,-909.945,13,1.0,13,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6143.557,-909.945
$TGT_RADIUS,1852.000
$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,9.3,20000,-11.1,-6.000
$D_GRID,744
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-1.10,-146.6,0.0,0.0,0,102,0.00,0.00,-67.60,0.000,6,0.000,0.000,48,2897,3499
$GC,105,-1.10,-146.6,2.5,-7.2,3,121,11.98,1.75,0.00,0.000,4,0.157,0.088,2163,3786,3501
$GC,312,-1.10,-146.6,28.7,-8.3,11,316,0.00,1.58,0.00,0.000,6,0.000,0.049,2163,2894,3502
$GC,634,-1.10,-146.6,53.1,-8.1,27,639,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1492,3501
$GC,675,-1.10,-146.6,56.5,-7.9,29,679,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2904,3502
$GC,1001,-1.10,-146.6,85.6,-6.5,45,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,1312,-1.10,-146.6,105.1,-5.9,60,1316,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,1483,3502
$GC,1352,-1.10,-146.6,107.1,-5.5,62,1356,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2908,3502
$GC,1679,-1.10,-146.6,133.5,-8.3,78,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,1989,-1.10,-146.6,154.9,-6.0,93,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,2297,-1.10,-146.6,173.7,-6.1,108,2301,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1482,3502
$GC,2347,-1.10,-146.6,176.9,-6.1,110,2351,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2903,3502
$GC,2669,-1.10,-146.6,205.3,-8.4,126,2672,0.00,1.70,0.00,0.000,4,0.000,0.098,2163,3783,3502
$GC,2719,-1.10,-146.6,209.6,-8.2,128,2723,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2897,3502
$GC,3046,-1.10,-146.6,235.9,-8.6,144,3050,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1482,3502
$GC,3114,-1.10,-146.6,240.4,-6.1,147,3119,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2902,3502
$GC,3441,-1.10,-146.6,260.7,-6.1,163,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,3750,-1.10,-146.6,281.0,-7.2,178,3754,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1488,3501
$GC,3772,-1.10,-146.6,282.3,-5.9,179,3777,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2906,3502
$GC,4094,-1.10,-146.6,303.4,-6.5,195,4098,0.00,2.60,0.00,0.000,4,0.000,0.060,2163,1482,3502
$GC,4143,-1.10,-146.6,306.8,-6.3,197,4148,0.00,2.65,0.00,0.000,6,0.000,0.065,2163,2907,3502
$GC,4460,-1.10,-146.6,327.3,-7.1,212,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3502
$GC,4768,-1.10,-146.6,347.6,-6.6,227,4773,0.00,2.60,0.00,0.000,4,0.000,0.060,2163,1479,3502
$GC,4813,-1.10,-146.6,350.6,-7.2,229,4817,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2900,3502
$GC,5134,-1.10,-146.6,372.1,-7.2,245,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5443,-1.10,-146.6,394.4,-7.0,260,5447,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1482,3502
$GC,5487,-1.10,-146.6,397.6,-7.1,262,5491,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2900,3502
$GC,5808,-1.10,-146.6,420.5,-7.6,278,5813,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1485,3502
$GC,5848,-1.10,-146.6,423.6,-7.8,280,5853,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2907,3502
$GC,6175,-1.10,-146.6,448.9,-7.9,296,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,6485,-1.10,-146.6,470.1,-5.5,311,6490,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1485,3502
$GC,6542,-1.10,-146.6,473.6,-5.7,313,6548,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2903,3502
$GC,6858,-1.10,-146.6,499.0,-7.2,329,6859,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,7167,-1.10,-146.6,516.8,-4.0,344,7171,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1481,3502
$GC,7194,-1.10,-146.6,517.9,-3.7,345,7199,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2901,3502
$GC,7511,-1.10,-146.6,531.7,-6.1,360,7515,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1478,3502
$GC,7555,-1.10,-146.6,534.8,-6.8,362,7559,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2900,3502
$GC,7875,-1.10,-146.6,565.9,-10.0,378,7880,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1476,3502
$GC,7943,-1.10,-146.6,572.3,-8.7,381,7947,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2900,3502
$GC,8265,-1.10,-146.6,601.3,-8.0,397,8269,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1476,3502
$GC,8343,-1.10,-146.6,607.5,-8.3,400,8350,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2907,3502
$GC,8660,-1.10,-146.6,630.6,-6.7,416,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3502
$GC,8971,-1.10,-146.6,650.8,-6.2,431,8975,0.00,2.53,0.00,0.000,4,0.000,0.045,2163,1471,3502
$GC,9011,-1.10,-146.6,653.5,-6.5,433,9016,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2906,3502
$GC,9339,-1.10,-146.6,670.3,-4.6,449,9343,0.00,2.47,0.00,0.000,4,0.000,0.044,2163,1478,3502
$GC,9384,-1.10,-146.6,672.5,-4.4,451,9388,0.00,2.58,0.00,0.000,6,0.000,0.059,2163,2898,3502
$GC,9705,-1.10,-146.6,689.6,-5.0,467,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,10014,-1.10,-146.6,706.8,-6.4,482,10018,0.00,2.47,0.00,0.000,4,0.000,0.044,2162,1478,3502
$GC,10092,-1.10,-146.6,712.3,-7.1,485,10096,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2903,3502
$GC,10407,-1.10,-146.6,734.1,-6.8,500,10412,0.00,2.50,0.00,0.000,4,0.000,0.044,2163,1476,3502
$GC,10498,-1.10,-146.6,740.8,-7.4,504,10502,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2905,3502
$STATE,10548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10548,begin apogee
$GC,10557,-0.42,0.0,744.5,7.2,507,10691,0.75,0.00,128.68,1.304,6,0.085,0.000,2315,2086,2901
$STATE,10692,end apogee,CONTROL_FINISHED_OK
$STATE,10692,begin climb
$GC,10695,1.10,146.6,749.8,0.0,514,10825,1.55,0.00,124.43,1.273,6,0.057,0.000,2648,2086,2303
$GC,11128,1.16,194.0,730.6,4.7,535,11177,0.00,2.72,42.08,1.241,4,0.000,0.056,2648,3518,2109
$GC,11240,1.16,194.0,723.5,7.0,540,11245,0.00,2.47,0.00,0.000,6,0.000,0.032,2648,2096,2109
$GC,11562,1.19,220.2,704.7,5.3,556,11592,0.00,2.67,23.67,1.212,4,0.000,0.058,2648,3523,2003
$GC,11660,1.19,220.2,698.8,6.6,560,11665,0.00,2.47,0.00,0.000,6,0.000,0.032,2648,2100,2003
$GC,11977,1.23,246.1,682.0,5.3,575,12003,0.12,0.00,23.52,1.213,6,0.043,0.000,2688,2100,1897
$GC,12306,1.23,246.1,657.0,7.6,591,12310,0.00,2.60,0.00,0.000,4,0.000,0.060,2689,3520,1896
$GC,12346,1.23,246.1,653.2,9.6,593,12350,0.00,2.45,0.00,0.000,6,0.000,0.033,2689,2100,1896
$GC,12672,1.23,246.1,619.6,11.5,609,12676,0.00,2.53,0.00,0.000,4,0.000,0.054,2689,698,1896
$GC,12713,1.23,246.1,615.7,10.6,611,12717,0.00,2.45,0.00,0.000,6,0.000,0.033,2689,2118,1896
$GC,13040,1.23,246.1,581.1,12.9,627,13044,0.00,2.55,0.00,0.000,4,0.000,0.052,2689,704,1896
$GC,13112,1.23,246.1,571.0,9.1,630,13116,0.00,2.45,0.00,0.000,6,0.000,0.037,2689,2101,1896
$GC,13427,1.23,246.1,545.4,8.9,645,13432,0.00,2.58,0.00,0.000,4,0.000,0.067,2689,3508,1895
$GC,13540,1.23,246.1,532.9,11.8,650,13544,0.00,2.45,0.00,0.000,6,0.000,0.037,2689,2105,1895
$GC,13862,1.23,246.1,498.2,10.2,666,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2105,1896
$GC,14170,1.23,246.1,468.8,8.8,681,14175,0.00,2.62,0.00,0.000,4,0.000,0.071,2689,3504,1895
$GC,14221,1.23,246.1,463.7,10.4,683,14225,0.00,2.47,0.00,0.000,6,0.000,0.042,2689,2103,1895
$GC,14537,1.23,246.1,429.1,12.4,698,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2103,1895
$GC,14846,1.23,246.1,392.5,11.8,713,14850,0.00,2.58,0.00,0.000,4,0.000,0.064,2689,691,1895
$GC,14964,1.23,246.1,382.7,8.1,718,14968,0.00,2.47,0.00,0.000,6,0.000,0.039,2689,2098,1896
$GC,15279,1.23,246.1,351.5,12.9,733,15284,0.00,2.62,0.00,0.000,4,0.000,0.073,2689,3508,1895
$GC,15324,1.23,246.1,348.1,9.4,735,15329,0.00,2.50,0.00,0.000,6,0.000,0.047,2689,2103,1896
$GC,15646,1.35,347.5,321.8,3.2,751,15736,0.00,2.67,83.93,1.035,4,0.000,0.063,2689,685,1484
$GC,15772,1.54,501.9,318.4,1.7,757,15908,0.25,2.53,126.75,0.997,6,0.032,0.044,2759,2096,855
$GC,16226,1.54,501.9,243.7,26.6,779,16231,0.00,2.60,0.00,0.000,4,0.000,0.059,2760,682,854
$GC,16299,1.54,501.9,229.5,18.3,782,16304,0.00,2.58,0.00,0.000,6,0.000,0.050,2760,2100,854
$GC,16615,1.54,501.9,179.7,16.0,797,16619,0.00,2.67,0.00,0.000,4,0.000,0.077,2759,3515,854
$GC,16659,1.54,501.9,171.7,17.3,799,16663,0.00,2.55,0.00,0.000,6,0.000,0.049,2759,2101,854
$GC,16981,1.54,501.9,121.6,16.1,815,16986,0.00,2.70,0.00,0.000,4,0.000,0.077,2760,3516,853
$GC,17003,1.54,501.9,117.2,18.8,816,17007,0.00,2.55,0.00,0.000,6,0.000,0.045,2760,2095,854
$GC,17324,1.54,501.9,67.1,15.3,832,17329,0.00,2.70,0.00,0.000,4,0.000,0.078,2759,3512,854
$GC,17369,1.54,501.9,59.8,18.2,834,17374,0.00,2.55,0.00,0.000,6,0.000,0.051,2759,2096,853
$GC,17690,1.54,501.9,9.5,15.5,850,17695,0.00,2.55,0.00,0.000,4,0.000,0.059,2760,688,853
$GC,17724,1.54,501.9,3.4,15.7,851,17730,0.00,2.55,0.00,0.000,6,0.000,0.056,2759,2098,853
$STATE,17748,end climb,SURFACE_DEPTH_REACHED
$STATE,17748,begin surface coast
$FINISH,-1.0,1.013912
$STATE,17770,end surface coast,CONTROL_FINISHED_OK
$STATE,17770,begin surface
$SM_CCo,17856,0.00,0.000,0,0,853,502.62
$SM_GC,-0.55,11.85,0.00,0.00,0.026,0.000,0.000,33,2903,853,-10.78,0.08,502.62
$IRIDIUM_FIX,6108.28,-909.17,290497,000000
$TT8_MAMPS,0.027612
$HUMID,2063
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,725.8,68.2
$24V_AH,23.0,78.379
$10V_AH,10.1,36.326
$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,26.500,179.750,553.050,0.000,0.000,152.763,232.475,452.935,7.000,0.000,0.000,13.934,1587.701,13619.242,622.835,1966.878,1237.780,0.000,1670.205,0.000,1930.408,0.000,42.791
$DEVICE_MAMPS,157.235,98.176,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,622.897,594.555,479.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44151,854
$CFSIZE,260165632,233263104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,030208,055432,6135.067,-911.940,41,1.1,41,-9.4