version: 66.02
glider: 103
mission: 7
dive: 473
start: 2 3 108 16 30 26
data:
$ID,103
$MISSION,7
$DIVE,473
$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,-72719.328
$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,17
$R_STBD_OVSHOOT,6
$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
$GPS1,161901,6144.461,-923.036,38,1.8,38,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.61
$_SM_ANGLEo,-53.0
$GPS2,162951,6144.537,-923.204,16,1.6,16,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6155.336,-923.204
$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,9.5,20000,-11.1,-6.000
$D_GRID,819
$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,25,begin dive
$GC,29,-1.10,-146.6,0.0,0.0,0,130,0.00,0.00,-94.68,0.000,6,0.000,0.000,32,2885,3500
$GC,134,-1.10,-146.6,6.2,-8.0,5,155,12.20,1.80,0.00,0.000,4,0.163,0.091,2163,3790,3503
$GC,407,-1.10,-146.6,41.3,-7.2,17,411,0.00,1.60,0.00,0.000,6,0.000,0.051,2163,2890,3503
$GC,735,-1.10,-146.6,71.4,-9.1,33,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2890,3503
$GC,1046,-1.10,-146.6,100.2,-9.6,48,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2890,3503
$GC,1353,-1.10,-146.6,130.5,-11.2,63,1357,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1486,3503
$GC,1420,-1.10,-146.6,139.1,-11.3,66,1425,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2904,3503
$GC,1742,-1.10,-146.6,167.7,-5.4,82,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,2051,-1.10,-146.6,183.5,-5.5,97,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,2360,-1.10,-146.6,203.9,-6.3,112,2364,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1490,3503
$GC,2388,-1.10,-146.6,205.5,-5.4,113,2392,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2904,3503
$GC,2704,-1.10,-146.6,223.1,-6.0,128,2708,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1482,3503
$GC,2737,-1.10,-146.6,224.7,-4.3,129,2744,0.00,2.67,0.00,0.000,6,0.000,0.069,2163,2909,3503
$GC,3054,-1.10,-146.6,240.4,-4.7,145,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,3362,-1.10,-146.6,255.9,-6.0,160,3366,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1490,3503
$GC,3395,-1.10,-146.6,258.6,-8.3,161,3401,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2909,3503
$GC,3712,-1.10,-146.6,276.0,-6.5,177,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,4020,-1.10,-146.6,295.9,-5.4,192,4024,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1487,3503
$GC,4072,-1.10,-146.6,298.7,-5.5,194,4076,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2909,3503
$GC,4393,-1.10,-146.6,316.7,-6.6,210,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,4702,-1.10,-146.6,344.5,-9.2,225,4706,0.00,2.60,0.00,0.000,4,0.000,0.060,2163,1485,3503
$GC,4735,-1.10,-146.6,348.1,-10.6,226,4741,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2908,3503
$GC,5051,-1.10,-146.6,379.5,-9.2,242,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,5360,-1.10,-146.6,409.8,-9.8,257,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,5669,-1.10,-146.6,438.1,-9.1,272,5673,0.00,2.58,0.00,0.000,4,0.000,0.054,2163,1482,3503
$GC,5719,-1.10,-146.6,442.4,-8.4,274,5723,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2900,3503
$GC,6035,-1.10,-146.6,463.3,-6.1,289,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,6344,-1.10,-146.6,481.6,-6.6,304,6348,0.00,2.53,0.00,0.000,4,0.000,0.050,2163,1486,3503
$GC,6400,-1.10,-146.6,485.6,-7.6,306,6406,0.00,2.60,0.00,0.000,6,0.000,0.060,2163,2902,3503
$GC,6716,-1.10,-146.6,502.4,-3.1,322,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,7025,-1.10,-146.6,513.6,-3.7,337,7030,0.00,2.50,0.00,0.000,4,0.000,0.049,2163,1485,3503
$GC,7059,-1.10,-146.6,514.1,-1.9,338,7065,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2901,3503
$GC,7376,-1.10,-146.6,526.9,-5.3,354,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,7684,-1.10,-146.6,546.3,-6.7,369,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,7994,-1.10,-146.6,565.2,-6.3,384,7999,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1479,3503
$GC,8035,-1.10,-146.6,567.8,-6.8,386,8039,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2909,3503
$GC,8361,-1.10,-146.6,589.1,-6.4,402,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,8671,-1.10,-146.6,610.0,-6.4,417,8675,0.00,2.53,0.00,0.000,4,0.000,0.047,2163,1482,3503
$GC,8711,-1.10,-146.6,612.8,-6.6,419,8715,0.00,2.58,0.00,0.000,6,0.000,0.059,2163,2900,3503
$GC,9037,-1.10,-146.6,632.1,-5.5,435,9042,0.00,2.50,0.00,0.000,4,0.000,0.045,2163,1484,3503
$GC,9139,-1.10,-146.6,637.5,-5.6,439,9145,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2906,3503
$GC,9455,-1.10,-146.6,657.9,-8.0,455,9459,0.00,2.50,0.00,0.000,4,0.000,0.044,2163,1475,3503
$GC,9567,-1.10,-146.6,667.5,-8.0,460,9571,0.00,2.60,0.00,0.000,6,0.000,0.057,2163,2901,3503
$GC,9888,-1.10,-146.6,691.6,-7.2,476,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,10197,-1.10,-146.6,714.6,-7.0,491,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,10507,-1.10,-146.6,730.2,-6.0,506,10511,0.00,2.58,0.00,0.000,4,0.000,0.063,2162,1488,3503
$GC,10642,-1.10,-146.6,737.9,-9.9,512,10647,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2897,3503
$GC,10970,-1.10,-146.6,765.3,-9.9,528,10973,0.00,1.73,0.00,0.000,4,0.000,0.100,2163,3789,3502
$GC,11043,-1.10,-146.6,770.4,-6.3,531,11047,0.00,1.60,0.00,0.000,6,0.000,0.048,2163,2901,3503
$STATE,11078,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11078,begin apogee
$GC,11087,-0.42,0.0,773.2,7.6,533,11221,0.77,0.00,128.98,1.373,6,0.085,0.000,2321,2102,2901
$STATE,11222,end apogee,CONTROL_FINISHED_OK
$STATE,11222,begin climb
$GC,11226,1.10,146.6,776.2,0.0,540,11361,1.55,2.70,125.50,1.318,4,0.059,0.065,2649,688,2303
$GC,11618,1.16,195.3,756.2,4.7,558,11667,0.00,2.53,43.03,1.319,6,0.000,0.041,2649,2115,2104
$GC,11992,1.16,195.3,727.8,6.5,576,11996,0.00,2.62,0.00,0.000,4,0.000,0.074,2649,3511,2101
$GC,12032,1.16,195.3,724.7,6.1,578,12036,0.00,2.53,0.00,0.000,6,0.000,0.044,2649,2093,2101
$GC,12359,1.16,195.3,702.1,6.8,594,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,2100
$GC,12667,1.16,195.3,676.9,9.7,609,12672,0.00,2.60,0.00,0.000,4,0.000,0.068,2649,692,2099
$GC,12757,1.16,195.3,669.8,6.9,613,12762,0.00,2.53,0.00,0.000,6,0.000,0.046,2649,2100,2099
$GC,13079,1.16,195.3,645.9,8.3,629,13083,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3514,2097
$GC,13111,1.16,195.3,643.2,7.8,630,13118,0.00,2.50,0.00,0.000,6,0.000,0.041,2649,2098,2097
$GC,13428,1.16,195.3,617.9,8.7,646,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2098,2096
$GC,13737,1.18,208.2,597.6,5.6,661,13753,0.00,2.60,10.93,1.195,4,0.000,0.060,2649,698,2052
$GC,13905,1.18,208.2,587.8,6.3,667,13911,0.00,2.50,0.00,0.000,6,0.000,0.040,2649,2109,2052
$GC,14221,1.18,208.2,566.1,6.7,683,14225,0.00,2.58,0.00,0.000,4,0.000,0.064,2649,3512,2052
$GC,14299,1.18,208.2,560.5,7.1,686,14305,0.00,2.47,0.00,0.000,6,0.000,0.037,2649,2097,2052
$GC,14615,1.18,208.2,537.6,7.5,702,14619,0.00,2.62,0.00,0.000,4,0.000,0.063,2649,3516,2052
$GC,14655,1.18,208.2,534.2,7.9,704,14659,0.00,2.47,0.00,0.000,6,0.000,0.036,2649,2095,2052
$GC,14982,1.18,208.2,504.6,9.6,720,14986,0.00,2.62,0.00,0.000,4,0.000,0.063,2649,3515,2053
$GC,15037,1.18,208.2,498.8,9.9,722,15044,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2104,2053
$GC,15353,1.18,208.2,469.6,8.9,738,15357,0.00,2.60,0.00,0.000,4,0.000,0.065,2649,3516,2054
$GC,15399,1.18,208.2,465.5,8.7,740,15403,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2102,2054
$GC,15732,1.18,208.2,440.7,6.5,756,15733,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2102,2054
$GC,16041,1.18,208.2,421.7,6.3,771,16045,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3512,2055
$GC,16096,1.19,216.2,418.4,5.8,773,16110,0.00,2.50,9.07,1.007,6,0.000,0.041,2649,2097,2019
$GC,16434,1.30,305.7,401.8,3.5,790,16517,0.17,2.72,75.15,1.112,4,0.039,0.071,2700,3512,1653
$GC,16553,1.30,305.7,396.4,6.2,795,16558,0.00,2.55,0.00,0.000,6,0.000,0.044,2700,2100,1653
$GC,16870,1.30,305.7,366.4,10.4,810,16874,0.00,2.58,0.00,0.000,4,0.000,0.064,2700,695,1653
$GC,16954,1.30,305.7,358.0,9.3,814,16959,0.00,2.47,0.00,0.000,6,0.000,0.041,2700,2105,1653
$GC,17281,1.30,305.7,328.1,11.7,830,17286,0.00,2.62,0.00,0.000,4,0.000,0.071,2700,3513,1653
$GC,17315,1.30,305.7,324.2,11.0,831,17321,0.00,2.53,0.00,0.000,6,0.000,0.044,2700,2102,1653
$GC,17631,1.30,305.7,285.5,11.8,847,17635,0.00,2.55,0.00,0.000,4,0.000,0.063,2700,691,1654
$GC,17693,1.30,305.7,278.1,10.8,850,17698,0.00,2.50,0.00,0.000,6,0.000,0.046,2700,2096,1654
$GC,18021,1.30,305.7,243.3,11.4,866,18025,0.00,2.67,0.00,0.000,4,0.000,0.077,2700,3515,1654
$GC,18076,1.30,305.7,236.6,11.3,868,18082,0.00,2.55,0.00,0.000,6,0.000,0.048,2700,2097,1654
$GC,18392,1.30,305.7,197.8,11.0,884,18393,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2097,1654
$GC,18702,1.30,305.7,167.6,6.9,899,18703,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2097,1655
$GC,19011,1.30,305.7,145.9,7.0,914,19012,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,1655
$GC,19320,1.30,305.7,118.4,10.8,929,19321,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,1655
$GC,19630,1.30,305.7,80.9,12.4,944,19631,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,1655
$GC,19938,1.30,305.7,49.6,9.1,959,19940,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,1655
$GC,20249,1.30,305.7,20.3,9.8,974,20254,0.00,2.67,0.00,0.000,4,0.000,0.077,2700,3509,1655
$GC,20282,1.30,305.7,16.6,10.0,975,20289,0.00,2.55,0.00,0.000,6,0.000,0.055,2700,2104,1655
$STATE,20451,end climb,SURFACE_DEPTH_REACHED
$STATE,20451,begin surface coast
$FINISH,-1.2,1.027357
$STATE,20475,end surface coast,CONTROL_FINISHED_OK
$STATE,20475,begin surface
$SM_CCo,20560,0.00,0.000,0,0,1653,306.13
$SM_GC,-0.29,11.68,0.00,0.00,0.031,0.000,0.000,46,2898,1653,-10.79,-0.03,306.13
$IRIDIUM_FIX,6121.73,-925.50,290497,161610
$TT8_MAMPS,0.028379
$HUMID,2086
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.2,106.8
$24V_AH,23.0,78.940
$10V_AH,10.1,36.588
$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,26.375,164.450,392.650,0.000,0.000,80.419,174.231,192.423,6.250,0.000,0.000,16.843,1795.648,15836.563,549.185,2172.482,868.197,0.000,1660.760,0.000,2143.554,0.000,39.663
$DEVICE_MAMPS,162.604,99.710,1372.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.540,691.855,533.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50490,985
$CFSIZE,260165632,233062400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,030208,221408,6150.110,-923.946,27,1.3,27,-9.6