version: 66.02
glider: 103
mission: 7
dive: 409
start: 1 22 108 17 16 5
data:
$ID,103
$MISSION,7
$DIVE,409
$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,-70432.922
$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,27
$R_STBD_OVSHOOT,7
$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
$GPS1,170608,6223.428,-1011.125,79,1.1,79,-10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-55.3
$GPS2,171533,6223.414,-1010.989,12,1.4,12,-10.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BE
$TGT_LATLONG,6220.000,-950.000
$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,119.5,19124,-11.1,-6.000
$D_GRID,666
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-61.20,0.000,2,0.000,0.000,37,2899,3359
$GC,93,-1.10,-146.6,3.1,-7.3,3,116,11.95,1.73,-2.58,0.000,4,0.155,0.107,2163,3782,3502
$GC,369,-1.10,-146.6,30.3,-2.7,15,373,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2900,3503
$GC,696,-1.10,-146.6,49.9,-7.7,31,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,1008,-1.10,-146.6,76.4,-6.0,46,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,1316,-1.10,-146.6,96.1,-7.6,61,1320,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1489,3503
$GC,1365,-1.10,-146.6,100.5,-9.0,63,1370,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2909,3503
$GC,1681,-1.10,-146.6,125.1,-7.2,78,1685,0.00,1.67,0.00,0.000,4,0.000,0.095,2163,3783,3503
$GC,1731,-1.10,-146.6,128.7,-6.7,80,1734,0.00,1.58,0.00,0.000,6,0.000,0.048,2163,2893,3503
$GC,2058,-1.10,-146.6,155.1,-7.8,96,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3503
$GC,2367,-1.10,-146.6,179.5,-6.9,111,2371,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1482,3503
$GC,2445,-1.10,-146.6,184.8,-7.0,114,2451,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2901,3503
$GC,2760,-1.10,-146.6,209.1,-7.5,130,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,3070,-1.10,-146.6,235.4,-9.0,145,3074,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1482,3503
$GC,3149,-1.10,-146.6,242.8,-9.1,148,3155,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2908,3503
$GC,3465,-1.10,-146.6,269.9,-8.5,164,3469,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1484,3503
$GC,3492,-1.10,-146.6,272.3,-8.3,165,3497,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2897,3503
$GC,3808,-1.10,-146.6,297.8,-7.7,180,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3503
$GC,4117,-1.10,-146.6,319.9,-6.7,195,4121,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1487,3503
$GC,4166,-1.10,-146.6,323.2,-6.8,197,4171,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2899,3503
$GC,4483,-1.10,-146.6,342.5,-5.9,212,4487,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1487,3503
$GC,4516,-1.10,-146.6,344.7,-6.6,213,4522,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2906,3503
$GC,4831,-1.10,-146.6,363.6,-6.2,229,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3503
$GC,5141,-1.10,-146.6,385.0,-7.4,244,5145,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1487,3503
$GC,5196,-1.10,-146.6,389.1,-7.7,246,5202,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2909,3503
$GC,5511,-1.10,-146.6,411.0,-6.5,262,5516,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1483,3503
$GC,5547,-1.10,-146.6,413.1,-5.9,263,5553,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,5863,-1.10,-146.6,431.1,-5.4,279,5867,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1483,3503
$GC,5890,-1.10,-146.6,432.8,-6.4,280,5894,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2903,3503
$GC,6206,-1.10,-146.6,453.4,-6.9,295,6210,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1481,3503
$GC,6250,-1.10,-146.6,456.5,-6.8,297,6254,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2899,3503
$GC,6570,-1.10,-146.6,477.4,-6.2,313,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,6880,-1.10,-146.6,496.7,-6.4,328,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,7189,-1.10,-146.6,518.7,-7.1,343,7193,0.00,2.53,0.00,0.000,4,0.000,0.052,2163,1480,3503
$GC,7318,-1.10,-146.6,528.0,-8.1,349,7323,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2900,3503
$GC,7646,-1.10,-146.6,549.5,-5.3,365,7650,0.00,2.53,0.00,0.000,4,0.000,0.049,2163,1476,3503
$GC,7686,-1.10,-146.6,551.5,-5.6,367,7691,0.00,2.60,0.00,0.000,6,0.000,0.062,2163,2900,3503
$GC,8014,-1.10,-146.6,568.6,-5.4,383,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,8322,-1.10,-146.6,588.6,-7.0,398,8326,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1476,3503
$GC,8378,-1.10,-146.6,593.1,-8.8,400,8383,0.00,2.62,0.00,0.000,6,0.000,0.061,2163,2904,3503
$GC,8694,-1.10,-146.6,617.1,-7.0,415,8699,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1478,3503
$GC,8728,-1.10,-146.6,619.4,-6.4,416,8734,0.00,2.58,0.00,0.000,6,0.000,0.059,2163,2902,3503
$GC,9043,-1.10,-146.6,639.8,-6.6,432,9047,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1475,3502
$GC,9104,-1.10,-146.6,643.6,-6.4,434,9110,0.00,2.62,0.00,0.000,6,0.000,0.061,2163,2905,3502
$GC,9420,-1.10,-146.6,662.2,-6.0,450,9423,0.00,1.67,0.00,0.000,4,0.000,0.092,2163,3787,3501
$STATE,9479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9479,begin apogee
$GC,9489,-0.42,0.0,666.3,6.6,452,9619,0.73,0.00,127.10,1.296,6,0.084,0.000,2314,2086,2901
$STATE,9620,end apogee,CONTROL_FINISHED_OK
$STATE,9620,begin climb
$GC,9623,1.10,146.6,670.9,0.0,459,9754,1.55,2.60,122.97,1.256,4,0.056,0.056,2647,697,2303
$GC,9869,1.15,181.8,663.6,5.0,470,9906,0.00,2.47,31.17,1.208,6,0.000,0.035,2648,2117,2159
$GC,10230,1.16,191.5,643.3,5.7,488,10244,0.00,2.60,9.75,1.116,4,0.000,0.064,2648,3494,2121
$GC,10370,1.16,191.5,633.4,6.7,493,10374,0.00,2.47,0.00,0.000,6,0.000,0.036,2648,2088,2120
$GC,10686,1.17,205.0,614.7,5.6,508,10707,0.00,2.70,12.85,1.180,4,0.000,0.064,2647,3494,2064
$GC,10747,1.17,205.0,611.2,6.3,510,10753,0.00,2.42,0.00,0.000,6,0.000,0.036,2648,2100,2064
$GC,11063,1.17,205.0,593.2,6.2,526,11068,0.00,2.60,0.00,0.000,4,0.000,0.066,2648,3498,2063
$GC,11130,1.17,205.0,588.5,6.8,529,11134,0.00,2.45,0.00,0.000,6,0.000,0.037,2648,2102,2063
$GC,11451,1.19,216.7,569.0,5.7,545,11464,0.00,0.00,11.12,1.167,6,0.000,0.000,2648,2102,2017
$GC,11760,1.19,216.7,546.8,7.2,560,11765,0.00,2.60,0.00,0.000,4,0.000,0.068,2648,3497,2016
$GC,11872,1.22,238.3,540.2,5.4,565,11898,0.12,2.47,19.55,1.203,6,0.045,0.040,2686,2096,1929
$GC,12222,1.22,238.3,512.3,8.3,582,12227,0.00,2.53,0.00,0.000,4,0.000,0.056,2686,700,1928
$GC,12334,1.22,238.3,502.7,7.6,587,12339,0.00,2.42,0.00,0.000,6,0.000,0.038,2686,2090,1927
$GC,12655,1.22,238.3,480.2,6.3,603,12660,0.00,2.65,0.00,0.000,4,0.000,0.072,2686,3505,1927
$GC,12728,1.22,238.3,475.4,6.0,606,12732,0.00,2.47,0.00,0.000,6,0.000,0.040,2686,2093,1927
$GC,13044,1.22,238.3,454.8,6.8,621,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1927
$GC,13353,1.22,238.3,432.9,7.2,636,13358,0.00,2.67,0.00,0.000,4,0.000,0.073,2686,3512,1928
$GC,13397,1.22,238.3,429.4,7.6,638,13402,0.00,2.50,0.00,0.000,6,0.000,0.041,2686,2100,1928
$GC,13718,1.22,238.3,403.5,8.3,654,13719,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1928
$GC,14028,1.22,238.3,379.3,8.0,669,14032,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3512,1928
$GC,14068,1.22,238.3,376.0,8.8,671,14072,0.00,2.50,0.00,0.000,6,0.000,0.044,2686,2097,1928
$GC,14394,1.22,238.3,350.4,7.0,687,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1929
$GC,14703,1.22,238.3,329.0,6.7,702,14708,0.00,2.67,0.00,0.000,4,0.000,0.077,2686,3511,1929
$GC,14737,1.22,238.3,326.8,6.0,703,14743,0.00,2.53,0.00,0.000,6,0.000,0.044,2686,2093,1929
$GC,15052,1.22,238.3,303.8,7.7,719,15054,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1930
$GC,15362,1.22,238.3,282.7,6.5,734,15366,0.00,2.67,0.00,0.000,4,0.000,0.073,2686,3512,1930
$GC,15395,1.22,238.3,280.2,7.2,735,15401,0.00,2.50,0.00,0.000,6,0.000,0.046,2686,2100,1930
$GC,15711,1.22,238.3,256.9,7.5,751,15712,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1930
$GC,16020,1.22,238.3,234.5,7.4,766,16024,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3507,1930
$GC,16060,1.22,238.3,231.6,7.6,768,16064,0.00,2.50,0.00,0.000,6,0.000,0.045,2686,2093,1930
$GC,16386,1.22,238.3,208.5,7.0,784,16387,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1930
$GC,16696,1.22,238.3,184.4,7.8,799,16700,0.00,2.67,0.00,0.000,4,0.000,0.073,2686,3514,1931
$GC,16723,1.22,238.3,182.3,8.3,800,16727,0.00,2.53,0.00,0.000,6,0.000,0.045,2686,2093,1931
$GC,17038,1.22,238.3,157.0,8.8,815,17043,0.00,2.53,0.00,0.000,4,0.000,0.061,2686,696,1931
$GC,17060,1.22,238.3,155.2,8.3,816,17065,0.00,2.50,0.00,0.000,6,0.000,0.051,2686,2097,1931
$GC,17382,1.22,238.3,131.7,10.0,832,17383,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1931
$GC,17691,1.22,238.3,103.0,10.2,847,17692,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1932
$GC,18000,1.22,238.3,70.9,8.0,862,18005,0.00,2.58,0.00,0.000,4,0.000,0.061,2686,695,1932
$GC,18022,1.22,238.3,68.5,10.2,863,18027,0.00,2.50,0.00,0.000,6,0.000,0.047,2686,2105,1932
$GC,18344,1.22,238.3,33.0,9.1,879,18346,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2105,1932
$GC,18653,1.22,238.3,9.3,7.4,894,18657,0.00,2.58,0.00,0.000,4,0.000,0.061,2686,696,1932
$GC,18698,1.22,238.3,6.2,6.4,896,18702,0.00,2.55,0.00,0.000,6,0.000,0.056,2686,2101,1932
$STATE,18769,end climb,SURFACE_DEPTH_REACHED
$STATE,18769,begin surface coast
$FINISH,-0.5,1.027365
$STATE,18790,end surface coast,CONTROL_FINISHED_OK
$STATE,18790,begin surface
$SM_CCo,18814,52.53,0.793,2,0,1679,300.00
$SM_GC,-0.48,0.00,0.00,52.53,0.000,0.000,0.793,47,2899,1679,-10.87,-0.03,300.00
$IRIDIUM_FIX,6158.08,-1010.41,170497,171759
$TT8_MAMPS,0.029146
$HUMID,2056
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.8,108.3
$24V_AH,23.2,68.301
$10V_AH,10.1,31.678
$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,26.000,172.250,334.525,52.525,0.000,74.906,72.428,231.037,5.250,0.000,0.000,12.078,1662.429,14509.758,538.471,2007.990,737.648,0.000,1557.450,0.000,1982.030,0.000,33.182
$DEVICE_MAMPS,154.934,107.380,1296.230,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.364,627.903,543.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47389,901
$CFSIZE,260165632,236539904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,220108,223207,6223.282,-1003.585,41,1.1,47,-10.1