version: 66.02
glider: 103
mission: 7
dive: 471
start: 2 3 108 6 2 8
data:
$ID,103
$MISSION,7
$DIVE,471
$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,-72667.805
$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,11
$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
$GPS1,055432,6135.067,-911.940,41,1.1,41,-9.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.64
$_SM_ANGLEo,-45.4
$GPS2,060133,6135.071,-912.218,12,1.2,12,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6145.870,-912.218
$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,9.4,20000,-11.1,-6.000
$D_GRID,781
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-99.55,0.000,6,0.000,0.000,33,2908,3499
$GC,135,-1.10,-146.6,4.1,-5.2,5,156,12.18,1.73,0.00,0.000,4,0.162,0.085,2163,3786,3502
$GC,352,-1.10,-146.6,33.0,-8.9,14,358,0.00,1.60,0.00,0.000,6,0.000,0.052,2163,2904,3502
$GC,669,-1.10,-146.6,55.1,-6.2,30,674,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1490,3502
$GC,693,-1.10,-146.6,56.6,-5.9,31,698,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2899,3503
$GC,1015,-1.10,-146.6,78.1,-4.7,47,1019,0.00,1.73,0.00,0.000,4,0.000,0.097,2163,3789,3502
$GC,1063,-1.10,-146.6,80.5,-5.9,49,1067,0.00,1.58,0.00,0.000,6,0.000,0.053,2164,2901,3502
$GC,1399,-1.10,-146.6,96.8,-5.0,65,1402,0.00,1.73,0.00,0.000,4,0.000,0.097,2164,3783,3502
$GC,1472,-1.10,-146.6,101.3,-6.0,68,1475,0.00,1.58,0.00,0.000,6,0.000,0.054,2164,2898,3502
$GC,1801,-1.10,-146.6,120.4,-7.0,84,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,2109,-1.10,-146.6,149.4,-11.0,99,2113,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1480,3502
$GC,2156,-1.10,-146.6,154.9,-12.3,101,2160,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2904,3502
$GC,2482,-1.10,-146.6,192.4,-10.4,117,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,2792,-1.10,-146.6,224.2,-9.4,132,2796,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1488,3502
$GC,2831,-1.10,-146.6,227.4,-7.9,134,2836,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2904,3502
$GC,3158,-1.10,-146.6,261.4,-11.6,150,3163,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1488,3502
$GC,3199,-1.10,-146.6,266.2,-11.9,152,3203,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2901,3502
$GC,3525,-1.10,-146.6,306.0,-13.5,168,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,3835,-1.10,-146.6,344.8,-12.9,183,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,4144,-1.10,-146.6,382.8,-11.6,198,4148,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1484,3502
$GC,4217,-1.10,-146.6,392.2,-12.4,201,4222,0.00,2.65,0.00,0.000,6,0.000,0.066,2163,2909,3502
$GC,4534,-1.10,-146.6,425.0,-9.0,216,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3502
$GC,4843,-1.10,-146.6,452.6,-8.8,231,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3502
$GC,5153,-1.10,-146.6,479.7,-8.5,246,5157,0.00,2.55,0.00,0.000,4,0.000,0.053,2163,1487,3502
$GC,5215,-1.10,-146.6,484.9,-8.7,249,5220,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2901,3502
$GC,5542,-1.10,-146.6,511.0,-7.6,265,5547,0.00,2.53,0.00,0.000,4,0.000,0.049,2163,1482,3502
$GC,5582,-1.10,-146.6,514.0,-7.2,267,5587,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2900,3502
$GC,5910,-1.10,-146.6,537.4,-7.1,283,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,6219,-1.10,-146.6,556.7,-6.5,298,6223,0.00,2.55,0.00,0.000,4,0.000,0.053,2163,1480,3502
$GC,6282,-1.10,-146.6,560.9,-7.0,301,6287,0.00,2.60,0.00,0.000,6,0.000,0.060,2163,2904,3502
$GC,6609,-1.10,-146.6,576.9,-5.1,317,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,6918,-1.10,-146.6,594.6,-5.9,332,6922,0.00,2.53,0.00,0.000,4,0.000,0.049,2163,1475,3502
$GC,6945,-1.10,-146.6,596.6,-6.5,333,6949,0.00,2.62,0.00,0.000,6,0.000,0.061,2163,2905,3502
$GC,7262,-1.10,-146.6,613.8,-5.5,348,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3502
$GC,7570,-1.10,-146.6,627.6,-4.2,363,7575,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1480,3502
$GC,7621,-1.10,-146.6,629.9,-5.0,365,7625,0.00,2.60,0.00,0.000,6,0.000,0.060,2163,2901,3502
$GC,7937,-1.10,-146.6,652.6,-9.0,380,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,8246,-1.10,-146.6,686.4,-10.5,395,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,8555,-1.10,-146.6,711.7,-7.1,410,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,8865,-1.10,-146.6,734.9,-7.0,425,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,9174,-1.10,-146.6,742.1,-2.4,440,9178,0.00,2.50,0.00,0.000,4,0.000,0.043,2163,1474,3502
$GC,9362,-1.10,-146.6,753.4,-7.5,448,9366,0.00,2.60,0.00,0.000,6,0.000,0.056,2163,2902,3502
$GC,9677,-1.10,-146.6,779.2,-7.6,463,9682,0.00,2.50,0.00,0.000,4,0.000,0.042,2164,1472,3502
$STATE,9715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9715,begin apogee
$GC,9723,-0.42,0.0,781.2,5.5,465,9858,0.75,0.00,129.18,1.332,6,0.084,0.000,2316,2111,2901
$STATE,9858,end apogee,CONTROL_FINISHED_OK
$STATE,9858,begin climb
$GC,9862,1.10,146.6,788.7,0.0,472,9994,1.55,2.67,124.22,1.313,4,0.054,0.055,2651,688,2303
$GC,10211,1.10,146.6,763.4,6.8,488,10215,0.00,2.47,0.00,0.000,6,0.000,0.035,2651,2109,2302
$GC,10532,1.28,288.0,752.7,2.1,504,10659,0.15,2.65,120.28,1.309,4,0.040,0.055,2701,693,1726
$GC,10774,1.28,288.0,737.6,9.6,515,10779,0.00,2.47,0.00,0.000,6,0.000,0.035,2701,2103,1726
$GC,11090,1.28,288.0,707.7,10.6,530,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2106,1724
$GC,11400,1.28,288.0,671.9,11.6,545,11404,0.00,2.55,0.00,0.000,4,0.000,0.061,2701,3504,1724
$GC,11444,1.28,288.0,666.7,12.4,547,11448,0.00,2.45,0.00,0.000,6,0.000,0.034,2701,2084,1724
$GC,11770,1.28,288.0,633.4,9.5,563,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2084,1724
$GC,12080,1.28,288.0,603.5,10.2,578,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2084,1724
$GC,12389,1.28,288.0,572.1,10.2,593,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2084,1724
$GC,12698,1.28,288.0,541.7,9.7,608,12702,0.00,2.62,0.00,0.000,4,0.000,0.064,2701,3504,1723
$GC,12748,1.28,288.0,536.9,9.9,610,12752,0.00,2.45,0.00,0.000,6,0.000,0.037,2701,2106,1723
$GC,13064,1.28,288.0,507.8,9.1,625,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2106,1723
$GC,13373,1.28,288.0,483.2,7.6,640,13374,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2106,1723
$GC,13682,1.28,288.0,460.5,7.1,655,13686,0.00,2.60,0.00,0.000,4,0.000,0.070,2701,3502,1723
$GC,13709,1.28,288.0,458.5,7.8,656,13714,0.00,2.47,0.00,0.000,6,0.000,0.042,2701,2098,1724
$GC,14027,1.28,288.0,436.0,7.4,671,14031,0.00,2.55,0.00,0.000,4,0.000,0.058,2701,685,1724
$GC,14071,1.28,288.0,432.2,8.2,673,14076,0.00,2.47,0.00,0.000,6,0.000,0.040,2701,2093,1724
$GC,14392,1.28,288.0,405.1,8.5,689,14397,0.00,2.62,0.00,0.000,4,0.000,0.071,2701,3510,1723
$GC,14426,1.28,288.0,401.8,9.5,690,14432,0.00,2.50,0.00,0.000,6,0.000,0.043,2701,2093,1724
$GC,14742,1.28,288.0,372.7,9.8,706,14746,0.00,2.65,0.00,0.000,4,0.000,0.072,2701,3512,1724
$GC,14769,1.28,288.0,370.0,9.8,707,14774,0.00,2.53,0.00,0.000,6,0.000,0.044,2701,2093,1724
$GC,15085,1.28,288.0,338.5,9.9,722,15086,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,1724
$GC,15394,1.28,288.0,306.8,11.0,737,15396,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,1724
$GC,15704,1.28,288.0,274.0,10.7,752,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,1724
$GC,16013,1.28,288.0,243.8,9.8,767,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,1724
$GC,16322,1.28,288.0,216.9,8.8,782,16323,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,1724
$GC,16632,1.28,288.0,187.8,8.4,797,16633,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,1724
$GC,16941,1.28,288.0,158.8,9.7,812,16945,0.00,2.67,0.00,0.000,4,0.000,0.076,2701,3511,1724
$GC,16986,1.28,288.0,154.4,10.6,814,16991,0.00,2.53,0.00,0.000,6,0.000,0.048,2701,2102,1724
$GC,17308,1.28,288.0,123.0,9.4,830,17313,0.00,2.58,0.00,0.000,4,0.000,0.064,2701,691,1724
$GC,17371,1.28,288.0,117.7,9.5,833,17376,0.00,2.50,0.00,0.000,6,0.000,0.046,2701,2101,1724
$GC,17699,1.30,304.9,95.2,5.5,849,17721,0.00,2.70,15.15,0.857,4,0.000,0.077,2701,3511,1657
$GC,17778,1.30,304.9,90.1,8.2,852,17782,0.00,2.58,0.00,0.000,6,0.000,0.051,2701,2093,1657
$GC,18094,1.31,315.2,73.8,5.7,867,18109,0.00,2.60,9.93,0.812,4,0.000,0.064,2701,692,1616
$GC,18165,1.31,315.2,67.4,9.7,869,18170,0.00,2.53,0.00,0.000,6,0.000,0.045,2701,2102,1616
$GC,18482,1.31,315.2,28.8,13.3,884,18483,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2102,1616
$STATE,18747,end climb,SURFACE_DEPTH_REACHED
$STATE,18747,begin surface coast
$FINISH,-0.5,1.027367
$STATE,18768,end surface coast,CONTROL_FINISHED_OK
$STATE,18768,begin surface
$SM_CCo,18853,0.00,0.000,0,0,1614,315.70
$SM_GC,-0.33,11.55,0.00,0.00,0.024,0.000,0.000,37,2893,1614,-10.80,-0.20,315.70
$IRIDIUM_FIX,6108.28,-912.90,290497,010137
$TT8_MAMPS,0.029146
$HUMID,2079
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,726.3,104.7
$24V_AH,23.0,78.541
$10V_AH,10.1,36.411
$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,26.175,133.700,398.750,0.000,0.000,38.304,37.234,205.601,6.750,0.000,0.000,12.899,1631.994,14532.630,518.961,1949.632,651.461,0.000,1509.009,0.000,1922.554,0.000,42.901
$DEVICE_MAMPS,161.837,110.448,1331.512,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.190,620.979,554.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44326,898
$CFSIZE,260165632,233209856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,030208,111757,6139.147,-917.526,41,5.0,60,-9.4