version: 66.02
glider: 103
mission: 7
dive: 472
start: 2 3 108 11 26 29
data:
$ID,103
$MISSION,7
$DIVE,472
$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,-72701.859
$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,20
$R_STBD_OVSHOOT,5
$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
$GPS1,111757,6139.147,-917.526,41,5.0,60,-9.4
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-51.6
$GPS2,112556,6139.180,-917.751,14,2.0,31,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6149.979,-917.751
$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,830
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,30,-1.10,-146.6,0.0,0.0,0,101,0.00,0.00,-69.15,0.000,6,0.000,0.000,37,2897,3500
$GC,105,-1.10,-146.6,2.5,-6.8,3,125,12.20,1.77,0.00,0.000,4,0.163,0.090,2164,3792,3502
$GC,378,-1.10,-146.6,37.1,-10.0,15,382,0.00,1.62,0.00,0.000,6,0.000,0.058,2164,2897,3502
$GC,707,-1.10,-146.6,64.7,-8.1,31,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3502
$GC,1015,-1.10,-146.6,87.1,-7.5,46,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3502
$GC,1325,-1.10,-146.6,104.3,-7.1,61,1329,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1480,3502
$GC,1357,-1.10,-146.6,107.2,-7.7,62,1364,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2911,3502
$GC,1675,-1.10,-146.6,135.4,-10.0,78,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2911,3502
$GC,1982,-1.10,-146.6,166.9,-10.2,93,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2911,3502
$GC,2292,-1.10,-146.6,196.7,-7.9,108,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2911,3502
$GC,2601,-1.10,-146.6,222.6,-8.0,123,2606,0.00,2.62,0.00,0.000,4,0.000,0.064,2164,1484,3502
$GC,2646,-1.10,-146.6,226.6,-8.7,125,2650,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2907,3502
$GC,2967,-1.10,-146.6,242.5,-3.5,141,2971,0.00,1.70,0.00,0.000,4,0.000,0.097,2164,3788,3502
$GC,3008,-1.10,-146.6,244.0,-4.0,142,3013,0.00,1.60,0.00,0.000,6,0.000,0.052,2164,2892,3502
$GC,3324,-1.10,-146.6,264.1,-5.6,158,3328,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1482,3502
$GC,3397,-1.10,-146.6,267.9,-5.6,161,3401,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2899,3502
$GC,3713,-1.10,-146.6,282.7,-4.9,176,3717,0.00,1.73,0.00,0.000,4,0.000,0.094,2164,3783,3502
$GC,3752,-1.10,-146.6,284.8,-5.7,177,3758,0.00,1.58,0.00,0.000,6,0.000,0.049,2164,2894,3502
$GC,4068,-1.10,-146.6,309.7,-9.7,193,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3502
$GC,4377,-1.10,-146.6,340.3,-9.8,208,4381,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1483,3502
$GC,4427,-1.10,-146.6,346.4,-12.0,210,4431,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2902,3502
$GC,4743,-1.10,-146.6,382.0,-10.8,225,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5052,-1.10,-146.6,411.0,-9.1,240,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,5361,-1.10,-146.6,434.5,-7.1,255,5365,0.00,1.70,0.00,0.000,4,0.000,0.088,2164,3783,3502
$GC,5417,-1.10,-146.6,438.8,-7.3,257,5421,0.00,1.58,0.00,0.000,6,0.000,0.041,2164,2876,3502
$GC,5739,-1.10,-146.6,467.0,-9.5,273,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2876,3502
$GC,6049,-1.10,-146.6,501.4,-11.4,288,6053,0.00,2.45,0.00,0.000,4,0.000,0.051,2164,1486,3502
$GC,6104,-1.10,-146.6,507.5,-11.3,290,6111,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2906,3502
$GC,6421,-1.10,-146.6,536.3,-8.2,306,6425,0.00,2.53,0.00,0.000,4,0.000,0.047,2164,1482,3502
$GC,6454,-1.10,-146.6,539.1,-8.0,307,6460,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2900,3502
$GC,6770,-1.10,-146.6,556.9,-4.4,323,6774,0.00,2.53,0.00,0.000,4,0.000,0.048,2164,1477,3502
$GC,6804,-1.10,-146.6,558.3,-3.9,324,6810,0.00,2.60,0.00,0.000,6,0.000,0.055,2164,2909,3502
$GC,7120,-1.10,-146.6,568.4,-2.9,340,7124,0.00,2.50,0.00,0.000,4,0.000,0.044,2164,1483,3502
$GC,7184,-1.10,-146.6,569.4,-2.0,343,7188,0.00,2.58,0.00,0.000,6,0.000,0.057,2164,2906,3502
$GC,7510,-1.10,-146.6,572.9,-1.4,359,7515,0.00,2.50,0.00,0.000,4,0.000,0.044,2164,1484,3502
$GC,7551,-1.10,-146.6,574.2,-3.2,361,7556,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2901,3502
$GC,7878,-1.10,-146.6,597.9,-9.3,377,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,8187,-1.10,-146.6,627.3,-9.2,392,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,8496,-1.10,-146.6,653.7,-7.4,407,8500,0.00,2.47,0.00,0.000,4,0.000,0.042,2164,1477,3502
$GC,8559,-1.10,-146.6,657.6,-6.3,410,8563,0.00,2.58,0.00,0.000,6,0.000,0.055,2164,2905,3502
$GC,8886,-1.10,-146.6,674.9,-5.1,426,8891,0.00,2.50,0.00,0.000,4,0.000,0.041,2164,1472,3502
$GC,8947,-1.10,-146.6,679.9,-8.4,428,8953,0.00,2.60,0.00,0.000,6,0.000,0.056,2164,2904,3502
$GC,9263,-1.10,-146.6,709.6,-15.0,444,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3502
$GC,9573,-1.10,-146.6,751.3,-13.8,459,9577,0.00,2.47,0.00,0.000,4,0.000,0.038,2164,1475,3502
$GC,9611,-1.10,-146.6,756.6,-13.5,460,9618,0.00,2.58,0.00,0.000,6,0.000,0.052,2164,2909,3502
$GC,9929,-1.10,-146.6,777.9,-3.0,476,9933,0.00,2.50,0.00,0.000,4,0.000,0.040,2164,1474,3502
$GC,10024,-1.10,-146.6,776.6,1.4,480,10029,0.00,2.58,0.00,0.000,6,0.000,0.051,2164,2903,3502
$GC,10340,-1.10,-146.6,797.1,-7.2,495,10344,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1488,3502
$GC,10415,-1.10,-146.6,800.2,-3.6,498,10420,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2897,3502
$GC,10731,-1.10,-146.6,814.2,-10.1,513,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3502
$STATE,10872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10872,begin apogee
$GC,10882,-0.42,0.0,832.9,13.8,520,11022,0.77,0.00,132.12,1.381,6,0.096,0.000,2318,2106,2901
$STATE,11023,end apogee,CONTROL_FINISHED_OK
$STATE,11023,begin climb
$GC,11027,1.10,146.6,848.0,0.0,527,11161,1.58,2.70,126.75,1.363,4,0.058,0.064,2650,687,2303
$GC,11414,1.10,146.6,830.0,7.2,545,11421,0.00,2.60,0.00,0.000,6,0.000,0.057,2650,2105,2301
$GC,11731,1.19,213.9,812.6,4.1,561,11792,0.00,0.00,58.33,1.406,6,0.000,0.000,2650,2106,2028
$GC,12103,1.51,480.1,808.7,-1.4,579,12342,0.38,2.78,227.50,1.404,4,0.041,0.069,2739,688,943
$GC,12472,1.51,480.1,781.9,17.6,596,12476,0.00,2.62,0.00,0.000,6,0.000,0.057,2739,2106,942
$GC,12788,1.51,480.1,718.2,21.4,611,12792,0.00,2.62,0.00,0.000,4,0.000,0.062,2739,681,940
$GC,12832,1.51,480.1,709.6,17.7,613,12837,0.00,2.55,0.00,0.000,6,0.000,0.048,2739,2100,940
$GC,13154,1.51,480.1,663.0,18.7,629,13158,0.00,2.65,0.00,0.000,4,0.000,0.073,2739,3515,939
$GC,13216,1.51,480.1,650.0,21.8,632,13220,0.00,2.50,0.00,0.000,6,0.000,0.039,2739,2088,938
$GC,13542,1.51,480.1,596.7,12.3,648,13547,0.00,2.67,0.00,0.000,4,0.000,0.067,2739,3522,938
$GC,13570,1.51,480.1,593.4,11.8,649,13574,0.00,2.50,0.00,0.000,6,0.000,0.036,2739,2099,939
$GC,13886,1.51,480.1,558.4,14.5,664,13890,0.00,2.55,0.00,0.000,4,0.000,0.058,2739,692,939
$GC,13926,1.51,480.1,552.9,14.2,666,13931,0.00,2.50,0.00,0.000,6,0.000,0.041,2739,2112,939
$GC,14252,1.51,480.1,504.4,15.5,682,14257,0.00,2.58,0.00,0.000,4,0.000,0.068,2739,3511,939
$GC,14308,1.51,480.1,494.8,18.2,684,14314,0.00,2.47,0.00,0.000,6,0.000,0.037,2739,2095,939
$GC,14624,1.51,480.1,442.7,16.4,700,14629,0.00,2.65,0.00,0.000,4,0.000,0.069,2739,3514,939
$GC,14652,1.51,480.1,437.4,19.8,701,14656,0.00,2.50,0.00,0.000,6,0.000,0.040,2739,2096,939
$GC,14968,1.51,480.1,382.0,16.8,716,14973,0.00,2.65,0.00,0.000,4,0.000,0.073,2739,3509,940
$GC,14996,1.51,480.1,376.9,17.6,717,15000,0.00,2.50,0.00,0.000,6,0.000,0.042,2739,2102,940
$GC,15311,1.51,480.1,322.3,17.4,732,15316,0.00,2.62,0.00,0.000,4,0.000,0.073,2739,3508,940
$GC,15339,1.51,480.1,317.2,18.6,733,15343,0.00,2.53,0.00,0.000,6,0.000,0.047,2739,2099,940
$GC,15655,1.51,480.1,262.0,17.4,748,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2099,940
$GC,15964,1.51,480.1,212.5,16.6,763,15968,0.00,2.67,0.00,0.000,4,0.000,0.077,2739,3515,941
$GC,16003,1.51,480.1,204.5,21.5,765,16007,0.00,2.53,0.00,0.000,6,0.000,0.050,2739,2095,941
$GC,16330,1.51,480.1,145.6,16.1,781,16334,0.00,2.70,0.00,0.000,4,0.000,0.077,2739,3515,941
$GC,16363,1.51,480.1,140.6,13.3,782,16370,0.00,2.55,0.00,0.000,6,0.000,0.050,2739,2095,941
$GC,16679,1.51,480.1,93.1,16.0,798,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2095,941
$GC,16989,1.51,480.1,50.2,10.8,813,16993,0.00,2.70,0.00,0.000,4,0.000,0.077,2739,3515,941
$GC,17022,1.51,480.1,45.2,15.0,814,17028,0.00,2.55,0.00,0.000,6,0.000,0.052,2739,2098,941
$GC,17340,1.51,480.1,6.9,12.4,830,17344,0.00,2.60,0.00,0.000,4,0.000,0.069,2739,686,941
$GC,17363,1.51,480.1,3.7,12.4,831,17367,0.00,2.45,0.00,0.000,6,0.000,0.031,2739,2113,941
$STATE,17372,end climb,SURFACE_DEPTH_REACHED
$STATE,17372,begin surface coast
$FINISH,-0.9,1.027360
$STATE,17394,end surface coast,CONTROL_FINISHED_OK
$STATE,17394,begin surface
$SM_CCo,17479,0.00,0.000,0,0,941,480.79
$SM_GC,-0.73,11.75,0.00,0.00,0.025,0.000,0.000,35,2880,941,-10.79,-0.57,480.79
$IRIDIUM_FIX,6112.75,-909.17,290497,060640
$TT8_MAMPS,0.028379
$HUMID,2109
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,800.2,69.7
$24V_AH,22.9,78.773
$10V_AH,10.1,36.494
$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,26.675,160.625,544.700,0.000,0.000,37.788,42.455,244.488,7.500,0.000,0.000,33.427,1528.965,13198.120,646.215,1902.910,690.679,0.000,1643.224,0.000,1852.611,0.000,47.666
$DEVICE_MAMPS,163.371,97.409,1405.911,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.744,573.079,472.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41149,833
$CFSIZE,260165632,233144320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,030208,161901,6144.461,-923.036,38,1.8,38,-9.5