version: 66.02
glider: 103
mission: 7
dive: 411
start: 1 23 108 3 50 46
data:
$ID,103
$MISSION,7
$DIVE,411
$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,-70456.25
$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,21
$R_STBD_OVSHOOT,8
$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
$GPS1,033638,6220.391,-1000.843,31,1.1,31,-10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-57.6
$GPS2,035015,6220.281,-1001.066,10,2.0,10,-10.1
$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,103.2,9530,-11.1,-6.000
$D_GRID,669
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-66.00,0.000,6,0.000,0.000,46,2885,3500
$GC,97,-1.10,-146.6,2.7,-7.4,3,113,11.93,1.77,0.00,0.000,4,0.156,0.089,2163,3787,3502
$GC,304,-1.10,-146.6,35.1,-9.3,11,307,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2903,3502
$GC,626,-1.10,-146.6,65.9,-9.0,27,630,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1489,3502
$GC,665,-1.10,-146.6,68.6,-7.1,29,670,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2901,3502
$GC,993,-1.10,-146.6,90.8,-6.9,45,997,0.00,2.60,0.00,0.000,4,0.000,0.059,2164,1480,3502
$GC,1020,-1.10,-146.6,92.8,-7.3,46,1024,0.00,2.70,0.00,0.000,6,0.000,0.074,2164,2909,3502
$GC,1336,-1.10,-146.6,115.5,-7.1,61,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,1647,-1.10,-146.6,135.9,-6.4,76,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,1954,-1.10,-146.6,157.0,-6.1,91,1958,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1490,3502
$GC,2004,-1.10,-146.6,160.1,-6.4,93,2008,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2903,3502
$GC,2320,-1.10,-146.6,179.4,-6.1,108,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2628,-1.10,-146.6,199.6,-6.9,123,2633,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1490,3502
$GC,2655,-1.10,-146.6,201.4,-6.5,124,2660,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3502
$GC,2971,-1.10,-146.6,221.4,-6.6,139,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,3280,-1.10,-146.6,242.3,-6.5,154,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,3589,-1.10,-146.6,263.2,-7.1,169,3594,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1480,3502
$GC,3640,-1.10,-146.6,267.0,-6.8,171,3644,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2904,3502
$GC,3956,-1.10,-146.6,290.2,-8.1,186,3961,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1489,3502
$GC,4001,-1.10,-146.6,294.2,-9.0,188,4005,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3502
$GC,4322,-1.10,-146.6,320.4,-8.7,204,4326,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1486,3502
$GC,4362,-1.10,-146.6,323.6,-8.0,206,4366,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2909,3502
$GC,4688,-1.10,-146.6,348.2,-7.2,222,4692,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1487,3502
$GC,4732,-1.10,-146.6,351.4,-7.1,224,4736,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,5054,-1.10,-146.6,376.3,-7.6,240,5058,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1481,3502
$GC,5132,-1.10,-146.6,382.3,-7.6,243,5138,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2906,3502
$GC,5448,-1.10,-146.6,402.1,-5.9,259,5452,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1486,3502
$GC,5504,-1.10,-146.6,405.9,-6.1,261,5510,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2902,3502
$GC,5821,-1.10,-146.6,425.8,-5.9,277,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,6130,-1.10,-146.6,445.8,-7.1,292,6134,0.00,2.55,0.00,0.000,4,0.000,0.055,2164,1477,3502
$GC,6173,-1.10,-146.6,449.2,-7.1,294,6178,0.00,2.62,0.00,0.000,6,0.000,0.061,2164,2909,3502
$GC,6494,-1.10,-146.6,472.8,-8.2,310,6498,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1480,3502
$GC,6527,-1.10,-146.6,475.8,-9.2,311,6533,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2907,3502
$GC,6842,-1.10,-146.6,502.9,-8.1,327,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,7152,-1.10,-146.6,525.2,-7.8,342,7157,0.00,2.50,0.00,0.000,4,0.000,0.046,2164,1480,3502
$GC,7193,-1.10,-146.6,528.8,-8.8,344,7197,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2906,3502
$GC,7519,-1.10,-146.6,557.3,-8.3,360,7522,0.00,1.65,0.00,0.000,4,0.000,0.088,2164,3783,3502
$GC,7580,-1.10,-146.6,562.6,-8.8,362,7586,0.00,1.55,0.00,0.000,6,0.000,0.036,2164,2890,3502
$GC,7896,-1.10,-146.6,585.8,-7.2,378,7900,0.00,2.42,0.00,0.000,4,0.000,0.044,2164,1486,3502
$GC,7996,-1.10,-146.6,592.8,-6.9,382,8002,0.00,2.55,0.00,0.000,6,0.000,0.056,2164,2900,3502
$GC,8312,-1.10,-146.6,611.6,-5.8,398,8316,0.00,2.47,0.00,0.000,4,0.000,0.044,2164,1478,3502
$GC,8403,-1.10,-146.6,617.5,-6.8,402,8407,0.00,2.55,0.00,0.000,6,0.000,0.057,2164,2899,3502
$GC,8729,-1.10,-146.6,638.7,-6.5,418,8733,0.00,2.47,0.00,0.000,4,0.000,0.042,2164,1485,3502
$GC,8779,-1.10,-146.6,641.9,-5.9,420,8784,0.00,2.58,0.00,0.000,6,0.000,0.056,2164,2902,3502
$GC,9095,-1.10,-146.6,660.9,-6.0,435,9099,0.00,2.47,0.00,0.000,4,0.000,0.042,2163,1481,3501
$GC,9150,-1.10,-146.6,664.4,-6.1,437,9154,0.00,2.55,0.00,0.000,6,0.000,0.055,2164,2899,3501
$STATE,9236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9236,begin apogee
$GC,9245,-0.42,0.0,669.9,6.4,441,9379,0.75,0.00,127.45,1.295,6,0.080,0.000,2318,2087,2901
$STATE,9380,end apogee,CONTROL_FINISHED_OK
$STATE,9380,begin climb
$GC,9383,1.10,146.6,676.0,0.0,448,9517,1.52,2.58,123.70,1.256,4,0.054,0.054,2647,706,2303
$GC,9674,1.10,146.6,666.9,6.2,461,9680,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2120,2302
$GC,9990,1.14,174.2,651.2,5.2,477,10020,0.00,2.60,24.70,1.231,4,0.000,0.061,2647,3499,2190
$GC,10077,1.18,206.7,646.6,5.1,481,10113,0.00,2.45,28.98,1.232,6,0.000,0.035,2647,2102,2058
$GC,10423,1.19,219.3,627.5,5.7,498,10445,0.10,2.67,12.05,1.165,4,0.051,0.059,2681,3502,2007
$GC,10497,1.19,219.3,622.5,6.9,501,10501,0.00,2.47,0.00,0.000,6,0.000,0.035,2681,2097,2007
$GC,10818,1.27,278.6,606.0,4.4,517,10878,0.00,2.65,51.33,1.266,4,0.000,0.054,2681,699,1765
$GC,10903,1.27,279.3,601.9,6.0,521,10907,0.00,2.45,0.00,0.000,6,0.000,0.035,2681,2100,1765
$GC,11229,1.27,279.3,581.9,6.5,537,11233,0.00,2.60,0.00,0.000,4,0.000,0.064,2681,3505,1763
$GC,11263,1.27,279.3,579.3,7.5,538,11269,0.00,2.47,0.00,0.000,6,0.000,0.035,2681,2093,1763
$GC,11578,1.27,279.3,552.8,9.5,554,11582,0.00,2.50,0.00,0.000,4,0.000,0.054,2681,701,1763
$GC,11656,1.27,279.3,544.1,11.0,557,11662,0.00,2.45,0.00,0.000,6,0.000,0.036,2681,2102,1762
$GC,11972,1.27,279.3,509.5,9.8,573,11976,0.00,2.60,0.00,0.000,4,0.000,0.068,2681,3502,1762
$GC,12072,1.27,279.3,498.6,11.2,577,12078,0.00,2.47,0.00,0.000,6,0.000,0.038,2681,2095,1761
$GC,12387,1.27,279.3,466.3,9.5,593,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2095,1761
$GC,12697,1.27,279.3,437.2,9.0,608,12701,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3501,1762
$GC,12747,1.27,279.3,432.6,8.9,610,12751,0.00,2.47,0.00,0.000,6,0.000,0.043,2681,2104,1762
$GC,13062,1.27,279.3,405.9,8.0,625,13067,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3505,1762
$GC,13090,1.27,279.3,403.4,8.3,626,13094,0.00,2.47,0.00,0.000,6,0.000,0.043,2681,2101,1762
$GC,13406,1.27,279.3,378.8,8.0,641,13411,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3504,1762
$GC,13439,1.27,279.3,376.0,7.5,642,13445,0.00,2.47,0.00,0.000,6,0.000,0.043,2681,2100,1762
$GC,13755,1.27,279.3,350.0,8.4,658,13759,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3500,1762
$GC,13782,1.27,279.3,347.6,9.0,659,13786,0.00,2.47,0.00,0.000,6,0.000,0.044,2681,2097,1762
$GC,14098,1.27,279.3,319.0,9.2,674,14102,0.00,2.62,0.00,0.000,4,0.000,0.072,2681,3508,1762
$GC,14130,1.27,279.3,315.9,8.9,675,14137,0.00,2.47,0.00,0.000,6,0.000,0.044,2681,2101,1762
$GC,14446,1.27,279.3,286.9,9.2,691,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2101,1763
$GC,14756,1.27,279.3,257.0,10.2,706,14760,0.00,2.65,0.00,0.000,4,0.000,0.072,2681,3507,1763
$GC,14783,1.27,279.3,254.0,10.9,707,14787,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2103,1763
$GC,15099,1.27,279.3,222.0,9.8,722,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2103,1764
$GC,15408,1.27,279.3,192.8,8.0,737,15413,0.00,2.60,0.00,0.000,4,0.000,0.070,2681,3500,1764
$GC,15459,1.27,279.3,188.5,8.1,739,15463,0.00,2.50,0.00,0.000,6,0.000,0.047,2681,2095,1764
$GC,15774,1.27,279.3,164.4,8.9,754,15779,0.00,2.62,0.00,0.000,4,0.000,0.068,2681,3503,1764
$GC,15830,1.27,279.3,159.1,9.5,756,15836,0.00,2.47,0.00,0.000,6,0.000,0.047,2681,2100,1764
$GC,16146,1.35,348.7,138.9,4.1,772,16210,0.10,2.67,57.67,0.924,4,0.050,0.061,2715,699,1479
$GC,16227,1.35,348.7,130.7,13.9,775,16234,0.00,2.50,0.00,0.000,6,0.000,0.046,2715,2092,1479
$GC,16543,1.35,348.7,89.7,12.6,791,16548,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3511,1478
$GC,16584,1.35,348.7,83.4,17.7,793,16588,0.00,2.50,0.00,0.000,6,0.000,0.047,2715,2105,1478
$GC,16911,1.35,348.7,38.9,12.5,809,16912,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2104,1478
$GC,17219,1.35,348.7,2.5,10.4,824,17224,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3508,1478
$STATE,17234,end climb,SURFACE_DEPTH_REACHED
$STATE,17235,begin surface coast
$FINISH,0.1,1.027380
$STATE,17245,end surface coast,CONTROL_FINISHED_OK
$STATE,17245,begin surface
$SM_CCo,17329,0.00,0.000,0,0,1476,349.55
$SM_GC,-0.18,11.73,0.00,0.00,0.028,0.000,0.000,44,2875,1476,-10.79,-0.71,349.55
$IRIDIUM_FIX,6158.08,-1000.48,180497,030349
$TT8_MAMPS,0.028379
$HUMID,2091
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.1,61.4
$24V_AH,23.2,68.624
$10V_AH,10.1,31.844
$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,26.125,186.200,425.875,0.000,0.000,118.529,122.555,313.343,6.000,0.000,0.000,10.161,1531.173,13269.906,555.443,1888.655,908.965,0.000,1553.592,0.000,1858.593,0.000,39.223
$DEVICE_MAMPS,155.701,88.972,1295.463,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.539,563.562,482.418,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40994,825
$CFSIZE,260165632,236417024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,230108,084101,6220.558,-956.920,46,2.0,51,-10.0