version: 66.02
glider: 103
mission: 7
dive: 469
start: 2 2 108 19 18 29
data:
$ID,103
$MISSION,7
$DIVE,469
$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,-72639.719
$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,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
$GPS1,191137,6130.995,-910.426,39,1.5,39,-9.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-61.1
$GPS2,191757,6130.986,-910.369,14,1.4,14,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6141.785,-910.369
$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,9.3,20000,-11.1,-6.000
$D_GRID,689
$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,29,begin dive
$GC,32,-1.10,-146.6,0.0,0.0,0,99,0.00,0.00,-65.25,0.000,6,0.000,0.000,51,2903,3500
$GC,103,-1.10,-146.6,2.8,-7.1,3,124,11.98,2.65,0.00,0.000,4,0.158,0.060,2163,1487,3501
$GC,298,-1.10,-146.6,28.5,-7.3,11,305,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2902,3502
$GC,615,-1.10,-146.6,48.4,-7.9,27,619,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1490,3501
$GC,647,-1.10,-146.6,51.3,-9.1,28,654,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2902,3501
$GC,966,-1.10,-146.6,73.9,-5.9,44,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1273,-1.10,-146.6,88.7,-4.2,59,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1582,-1.10,-146.6,100.8,-5.5,74,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1891,-1.10,-146.6,122.2,-7.7,89,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,2201,-1.10,-146.6,150.2,-9.2,104,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,2509,-1.10,-146.6,173.0,-6.5,119,2514,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1482,3502
$GC,2544,-1.10,-146.6,175.2,-6.0,120,2550,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3502
$GC,2860,-1.10,-146.6,192.9,-6.4,136,2864,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1488,3502
$GC,2909,-1.10,-146.6,197.2,-8.0,138,2914,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2899,3502
$GC,3226,-1.10,-146.6,224.6,-8.4,153,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,3535,-1.10,-146.6,251.2,-7.7,168,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,3844,-1.10,-146.6,274.8,-5.7,183,3852,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1489,3502
$GC,3886,-1.10,-146.6,277.1,-5.6,184,3892,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2903,3502
$GC,4202,-1.10,-146.6,297.0,-6.0,200,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,4511,-1.10,-146.6,319.0,-8.8,215,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,4821,-1.10,-146.6,340.0,-6.2,230,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,5130,-1.10,-146.6,361.3,-7.5,245,5134,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1489,3502
$GC,5169,-1.10,-146.6,363.9,-6.9,247,5174,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2900,3502
$GC,5497,-1.10,-146.6,385.0,-8.9,263,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5806,-1.10,-146.6,408.5,-5.3,278,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,6118,-1.10,-146.6,426.0,-4.9,293,6122,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1482,3502
$GC,6158,-1.10,-146.6,428.0,-4.8,295,6163,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2909,3502
$GC,6487,-1.10,-146.6,445.3,-5.6,311,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3502
$GC,6795,-1.10,-146.6,463.8,-6.3,326,6800,0.00,2.55,0.00,0.000,4,0.000,0.053,2163,1486,3502
$GC,6863,-1.10,-146.6,468.3,-6.7,329,6867,0.00,2.60,0.00,0.000,6,0.000,0.062,2163,2903,3502
$GC,7184,-1.10,-146.6,493.0,-7.9,345,7188,0.00,2.55,0.00,0.000,4,0.000,0.052,2163,1478,3502
$GC,7233,-1.10,-146.6,496.9,-8.5,347,7238,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2899,3502
$GC,7549,-1.10,-146.6,520.7,-6.9,362,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,7858,-1.10,-146.6,540.9,-6.5,377,7863,0.00,2.53,0.00,0.000,4,0.000,0.048,2163,1477,3502
$GC,7892,-1.10,-146.6,543.1,-6.5,378,7898,0.00,2.62,0.00,0.000,6,0.000,0.061,2163,2908,3502
$GC,8208,-1.10,-146.6,564.9,-7.2,394,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,8517,-1.10,-146.6,587.8,-6.9,409,8521,0.00,2.53,0.00,0.000,4,0.000,0.046,2163,1479,3502
$GC,8612,-1.10,-146.6,595.2,-7.7,413,8616,0.00,2.60,0.00,0.000,6,0.000,0.059,2163,2900,3502
$GC,8928,-1.10,-146.6,614.1,-6.7,428,8932,0.00,2.50,0.00,0.000,4,0.000,0.046,2163,1480,3502
$GC,8983,-1.10,-146.6,618.4,-8.8,430,8989,0.00,2.58,0.00,0.000,6,0.000,0.058,2163,2903,3502
$GC,9299,-1.10,-146.6,641.9,-7.6,446,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,9609,-1.10,-146.6,662.8,-7.3,461,9613,0.00,2.50,0.00,0.000,4,0.000,0.046,2163,1480,3502
$GC,9648,-1.10,-146.6,666.0,-8.9,463,9653,0.00,2.58,0.00,0.000,6,0.000,0.058,2163,2901,3502
$STATE,9952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9952,begin apogee
$GC,9961,-0.42,0.0,690.6,7.7,478,10095,0.77,0.00,127.78,1.266,6,0.089,0.000,2320,2089,2901
$STATE,10095,end apogee,CONTROL_FINISHED_OK
$STATE,10095,begin climb
$GC,10098,1.10,146.6,697.3,0.0,485,10233,1.52,2.55,123.85,1.232,4,0.056,0.051,2648,698,2303
$GC,10375,1.14,179.7,691.9,5.1,498,10410,0.00,2.45,29.77,1.180,6,0.000,0.031,2648,2123,2168
$GC,10724,1.20,228.1,674.7,4.7,514,10773,0.10,2.62,42.20,1.210,4,0.048,0.057,2686,3498,1971
$GC,10856,1.20,228.1,665.3,8.6,520,10861,0.00,2.42,0.00,0.000,6,0.000,0.031,2687,2092,1970
$GC,11183,1.20,228.1,637.5,7.8,536,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2092,1970
$GC,11493,1.20,228.1,613.7,7.6,551,11497,0.00,2.58,0.00,0.000,4,0.000,0.059,2687,3494,1969
$GC,11543,1.20,228.1,609.6,7.7,553,11547,0.00,2.42,0.00,0.000,6,0.000,0.033,2687,2096,1969
$GC,11858,1.20,228.1,586.0,7.3,568,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1969
$GC,12168,1.20,228.1,560.8,8.4,583,12172,0.00,2.58,0.00,0.000,4,0.000,0.063,2687,3495,1969
$GC,12201,1.20,228.1,557.8,8.3,584,12207,0.00,2.42,0.00,0.000,6,0.000,0.035,2687,2103,1969
$GC,12517,1.20,228.1,533.3,7.5,600,12521,0.00,2.53,0.00,0.000,4,0.000,0.054,2687,697,1969
$GC,12574,1.20,228.1,528.7,8.5,602,12580,0.00,2.42,0.00,0.000,6,0.000,0.036,2686,2089,1969
$GC,12890,1.20,228.1,503.2,8.2,618,12894,0.00,2.60,0.00,0.000,4,0.000,0.067,2687,3505,1969
$GC,12945,1.20,228.1,498.2,9.1,620,12952,0.00,2.47,0.00,0.000,6,0.000,0.038,2686,2093,1969
$GC,13262,1.20,228.1,473.0,8.8,636,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2093,1969
$GC,13571,1.20,228.1,448.0,7.6,651,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2093,1969
$GC,13880,1.20,228.1,421.6,9.0,666,13884,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3504,1969
$GC,13930,1.20,228.1,417.0,8.6,668,13934,0.00,2.47,0.00,0.000,6,0.000,0.041,2686,2102,1969
$GC,14246,1.20,228.1,392.6,7.3,683,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1969
$GC,14555,1.20,228.1,365.7,9.3,698,14556,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1969
$GC,14864,1.20,228.1,342.2,7.1,713,14868,0.00,2.62,0.00,0.000,4,0.000,0.071,2687,3511,1969
$GC,14897,1.20,228.1,339.5,7.5,714,14903,0.00,2.50,0.00,0.000,6,0.000,0.042,2686,2102,1969
$GC,15213,1.20,228.1,310.1,9.0,730,15214,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1969
$GC,15522,1.20,228.1,283.8,9.1,745,15523,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2102,1969
$GC,15832,1.20,228.1,257.0,8.1,760,15833,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1969
$GC,16141,1.20,228.1,234.9,7.3,775,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1969
$GC,16450,1.20,228.1,206.9,9.7,790,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2102,1969
$GC,16760,1.20,228.1,181.6,9.6,805,16764,0.00,2.62,0.00,0.000,4,0.000,0.075,2687,3504,1969
$GC,16815,1.20,228.1,177.5,6.6,807,16821,0.00,2.53,0.00,0.000,6,0.000,0.047,2687,2094,1969
$GC,17131,1.20,228.1,151.8,8.9,823,17135,0.00,2.55,0.00,0.000,4,0.000,0.063,2687,688,1969
$GC,17175,1.20,228.1,147.6,10.5,825,17180,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,2094,1969
$GC,17497,1.20,228.1,116.9,10.3,841,17501,0.00,2.65,0.00,0.000,4,0.000,0.076,2687,3511,1969
$GC,17541,1.20,228.1,112.1,10.7,843,17545,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2101,1969
$GC,17863,1.20,228.1,78.5,10.5,859,17864,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1969
$GC,18171,1.20,228.1,55.5,6.7,874,18173,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1969
$GC,18481,1.20,228.1,32.7,6.5,889,18485,0.00,2.55,0.00,0.000,4,0.000,0.059,2687,687,1969
$GC,18536,1.20,228.1,28.6,8.3,891,18543,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2105,1969
$STATE,18829,end climb,SURFACE_DEPTH_REACHED
$STATE,18829,begin surface coast
$FINISH,0.3,1.027364
$STATE,18851,end surface coast,CONTROL_FINISHED_OK
$STATE,18851,begin surface
$SM_CCo,18875,59.42,0.795,2,0,1678,300.00
$SM_GC,-0.27,0.00,0.00,59.42,0.000,0.000,0.795,48,2894,1678,-10.87,-0.17,300.00
$IRIDIUM_FIX,6103.81,-911.46,280497,151513
$TT8_MAMPS,0.029146
$HUMID,2054
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.2,65.5
$24V_AH,23.1,78.152
$10V_AH,10.1,36.234
$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,25.950,131.150,323.600,59.425,0.000,40.138,37.324,173.740,6.250,0.000,0.000,14.383,1615.018,14725.810,527.089,1866.027,606.850,0.000,1460.962,0.000,1842.724,0.000,39.898
$DEVICE_MAMPS,158.002,75.933,1265.550,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,661.437,632.889,562.485,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44197,907
$CFSIZE,260165632,233340928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
$GPS,030208,003538,6132.831,-909.884,39,1.7,45,-9.3