version: 66.02
glider: 103
mission: 7
dive: 474
start: 2 3 108 22 29 11
data:
$ID,103
$MISSION,7
$DIVE,474
$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,-72734.258
$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,15
$R_STBD_OVSHOOT,9
$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
$GPS1,221408,6150.110,-923.946,27,1.3,27,-9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.55
$_SM_ANGLEo,-57.6
$GPS2,222839,6150.244,-923.979,14,1.2,14,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6201.043,-923.979
$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,9.6,20000,-11.1,-6.000
$D_GRID,687
$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,-146.6,0.0,0.0,0,100,0.00,0.00,-68.35,0.000,6,0.000,0.000,47,2900,3500
$GC,104,-1.10,-146.6,2.4,-6.7,3,120,11.98,1.75,0.00,0.000,4,0.158,0.087,2162,3786,3502
$GC,373,-1.10,-146.6,34.4,-6.8,14,376,0.00,1.60,0.00,0.000,6,0.000,0.053,2162,2891,3502
$GC,702,-1.10,-146.6,57.7,-7.2,30,706,0.00,1.77,0.00,0.000,4,0.000,0.099,2163,3787,3502
$GC,764,-1.10,-146.6,63.1,-8.2,32,770,0.00,1.60,0.00,0.000,6,0.000,0.054,2162,2910,3502
$GC,1080,-1.10,-146.6,84.1,-6.2,48,1084,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1488,3502
$GC,1130,-1.10,-146.6,87.1,-6.2,50,1134,0.00,2.67,0.00,0.000,6,0.000,0.071,2162,2906,3502
$GC,1446,-1.10,-146.6,104.6,-7.7,65,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,1755,-1.10,-146.6,122.6,-6.1,80,1759,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1487,3502
$GC,1822,-1.10,-146.6,125.2,-2.7,83,1827,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2901,3502
$GC,2144,-1.10,-146.6,136.5,-5.5,99,2148,0.00,2.58,0.00,0.000,4,0.000,0.056,2163,1479,3502
$GC,2184,-1.10,-146.6,138.7,-5.2,101,2189,0.00,2.70,0.00,0.000,6,0.000,0.075,2163,2902,3502
$GC,2512,-1.10,-146.6,163.1,-8.5,117,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,2821,-1.10,-146.6,187.4,-8.3,132,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,3130,-1.10,-146.6,215.3,-7.6,147,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2902,3502
$GC,3440,-1.10,-146.6,235.7,-7.2,162,3444,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1480,3502
$GC,3484,-1.10,-146.6,239.0,-6.3,164,3488,0.00,2.67,0.00,0.000,6,0.000,0.071,2162,2906,3502
$GC,3805,-1.10,-146.6,261.8,-7.5,180,3809,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1479,3503
$GC,3838,-1.10,-146.6,264.3,-8.0,181,3844,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2904,3502
$GC,4154,-1.10,-146.6,287.3,-7.8,197,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,4463,-1.10,-146.6,307.3,-4.8,212,4468,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1480,3502
$GC,4508,-1.10,-146.6,310.9,-7.9,214,4513,0.00,2.65,0.00,0.000,6,0.000,0.066,2163,2904,3502
$GC,4830,-1.10,-146.6,331.8,-5.3,230,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,5139,-1.10,-146.6,354.5,-8.0,245,5143,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1483,3502
$GC,5184,-1.10,-146.6,358.3,-8.4,247,5188,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2903,3502
$GC,5504,-1.10,-146.6,380.9,-6.5,263,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,5814,-1.10,-146.6,403.8,-7.6,278,5818,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1483,3502
$GC,5881,-1.10,-146.6,409.4,-8.5,281,5885,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2902,3502
$GC,6201,-1.10,-146.6,433.6,-7.7,297,6206,0.00,2.55,0.00,0.000,4,0.000,0.055,2163,1477,3502
$GC,6252,-1.10,-146.6,437.2,-6.9,299,6256,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2901,3502
$GC,6568,-1.10,-146.6,460.2,-7.7,314,6572,0.00,2.53,0.00,0.000,4,0.000,0.053,2162,1482,3502
$GC,6612,-1.10,-146.6,463.6,-7.4,316,6616,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2900,3502
$GC,6933,-1.10,-146.6,486.7,-6.5,332,6937,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1482,3502
$GC,6977,-1.10,-146.6,489.9,-6.8,334,6982,0.00,2.62,0.00,0.000,6,0.000,0.061,2163,2907,3502
$GC,7299,-1.10,-146.6,509.0,-5.9,350,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,7608,-1.10,-146.6,529.2,-7.8,365,7612,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1484,3502
$GC,7739,-1.10,-146.6,541.1,-9.6,371,7743,0.00,2.60,0.00,0.000,6,0.000,0.062,2163,2902,3502
$GC,8065,-1.10,-146.6,565.6,-6.1,387,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,8375,-1.10,-146.6,582.6,-5.4,402,8380,0.00,2.55,0.00,0.000,4,0.000,0.051,2163,1477,3502
$GC,8454,-1.10,-146.6,586.5,-4.6,405,8460,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2908,3502
$GC,8772,-1.10,-146.6,602.3,-6.9,421,8776,0.00,2.55,0.00,0.000,4,0.000,0.050,2163,1477,3502
$GC,8934,-1.10,-146.6,614.4,-6.7,428,8939,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2897,3502
$GC,9250,-1.10,-146.6,632.1,-5.6,443,9255,0.00,2.55,0.00,0.000,4,0.000,0.053,2163,1477,3502
$GC,9291,-1.10,-146.6,634.6,-6.5,445,9295,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2901,3502
$GC,9618,-1.10,-146.6,656.3,-8.1,461,9622,0.00,1.67,0.00,0.000,4,0.000,0.091,2162,3783,3502
$GC,9664,-1.10,-146.6,659.5,-8.6,463,9667,0.00,1.55,0.00,0.000,6,0.000,0.040,2163,2888,3502
$GC,9997,-1.10,-146.6,663.1,1.0,479,10001,0.00,1.75,0.00,0.000,4,0.000,0.088,2163,3783,3502
$GC,10256,-1.10,-146.6,663.3,-0.1,490,10260,0.00,1.52,0.00,0.000,6,0.000,0.038,2163,2910,3501
$STATE,10327,end dive,NO_VERTICAL_VELOCITY
$STATE,10327,begin apogee
$GC,10336,-0.42,0.0,663.4,0.0,494,10470,0.73,0.00,127.35,1.315,6,0.056,0.000,2321,2098,2901
$STATE,10471,end apogee,CONTROL_FINISHED_OK
$STATE,10471,begin climb
$GC,10474,1.10,146.6,663.3,0.0,501,10606,1.55,2.65,124.15,1.260,4,0.061,0.063,2650,698,2304
$GC,10626,1.19,215.2,656.4,4.1,508,10691,0.00,2.53,59.40,1.225,6,0.000,0.040,2649,2110,2023
$GC,11009,1.19,215.2,629.6,6.6,527,11013,0.00,2.62,0.00,0.000,4,0.000,0.073,2649,3506,2022
$GC,11109,1.19,215.2,622.9,7.0,531,11115,0.00,2.53,0.00,0.000,6,0.000,0.044,2649,2095,2021
$GC,11425,1.19,215.2,602.0,7.7,547,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2095,2020
$GC,11735,1.19,215.2,578.6,6.3,562,11738,0.00,2.58,0.00,0.000,4,0.000,0.065,2649,691,2019
$GC,11853,1.19,215.2,570.6,7.8,567,11857,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2096,2019
$GC,12173,1.19,215.2,547.1,8.3,583,12177,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3510,2018
$GC,12224,1.19,215.2,542.6,9.2,585,12228,0.00,2.53,0.00,0.000,6,0.000,0.044,2650,2093,2018
$GC,12546,1.19,215.2,517.0,6.1,601,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2093,2017
$GC,12855,1.19,215.2,498.5,6.4,616,12859,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3509,2017
$GC,12950,1.19,219.8,492.6,5.9,620,12961,0.00,2.50,4.62,0.885,6,0.000,0.042,2650,2093,2004
$GC,13272,1.21,230.0,473.8,5.7,636,13284,0.10,0.00,10.32,1.087,6,0.055,0.000,2681,2093,1963
$GC,13580,1.21,230.0,450.7,7.8,651,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2093,1963
$GC,13890,1.21,230.0,423.1,10.2,666,13894,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3509,1963
$GC,13935,1.21,230.0,418.4,10.1,668,13940,0.00,2.50,0.00,0.000,6,0.000,0.044,2681,2102,1963
$GC,14257,1.21,230.0,389.8,8.5,684,14258,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2102,1963
$GC,14567,1.21,230.0,364.6,8.3,699,14571,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3515,1964
$GC,14606,1.21,230.0,361.2,9.0,701,14611,0.00,2.53,0.00,0.000,6,0.000,0.045,2681,2096,1964
$GC,14933,1.21,230.0,338.5,6.3,717,14935,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2096,1965
$GC,15243,1.21,230.0,316.2,7.7,732,15248,0.00,2.67,0.00,0.000,4,0.000,0.073,2680,3512,1965
$GC,15277,1.21,230.0,313.3,8.3,733,15283,0.00,2.53,0.00,0.000,6,0.000,0.045,2681,2101,1965
$GC,15592,1.21,230.0,288.7,7.7,749,15597,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3515,1965
$GC,15633,1.21,230.0,285.4,8.0,751,15637,0.00,2.53,0.00,0.000,6,0.000,0.047,2681,2098,1965
$GC,15960,1.21,230.0,259.6,8.0,767,15961,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2098,1965
$GC,16269,1.21,230.0,233.5,8.7,782,16273,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3511,1965
$GC,16331,1.21,230.0,227.7,9.4,785,16335,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2095,1965
$GC,16658,1.21,230.0,199.5,8.5,801,16660,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2095,1965
$GC,16967,1.21,230.0,172.7,7.7,816,16972,0.00,2.65,0.00,0.000,4,0.000,0.074,2681,3508,1966
$GC,17000,1.21,230.0,169.9,9.9,817,17006,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2097,1966
$GC,17317,1.21,230.0,143.6,8.3,833,17318,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2097,1966
$GC,17625,1.21,230.0,116.6,8.8,848,17630,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3514,1966
$GC,17665,1.21,230.0,113.0,9.1,850,17669,0.00,2.50,0.00,0.000,6,0.000,0.049,2681,2101,1967
$GC,17999,1.21,230.0,84.0,8.5,866,18000,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2101,1968
$GC,18309,1.21,230.0,59.9,8.6,881,18310,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2101,1968
$GC,18617,1.21,230.0,34.5,7.8,896,18621,0.00,2.67,0.00,0.000,4,0.000,0.076,2681,3512,1968
$GC,18667,1.21,230.0,30.2,8.4,898,18671,0.00,2.50,0.00,0.000,6,0.000,0.045,2681,2101,1968
$GC,18984,1.21,231.3,8.3,6.0,913,18989,0.00,0.00,3.85,0.607,6,0.000,0.000,2681,2100,1958
$STATE,19083,end climb,SURFACE_DEPTH_REACHED
$STATE,19083,begin surface coast
$FINISH,0.0,1.027353
$STATE,19107,end surface coast,CONTROL_FINISHED_OK
$STATE,19107,begin surface
$SM_CCo,19132,54.78,0.820,0,0,1678,300.00
$SM_GC,-0.36,0.00,0.00,54.78,0.000,0.000,0.820,46,2909,1678,-10.87,0.25,300.00
$IRIDIUM_FIX,6126.23,-926.99,290497,222204
$TT8_MAMPS,0.029146
$HUMID,2061
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.2,52.1
$24V_AH,23.0,79.100
$10V_AH,10.1,36.681
$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,25.925,161.525,329.700,54.775,0.000,114.885,296.447,191.496,6.000,0.000,0.000,14.304,1701.454,14765.256,519.244,2071.383,1010.083,0.000,1555.875,0.000,2045.076,0.000,39.191
$DEVICE_MAMPS,158.002,98.943,1315.405,819.923,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.782,645.165,584.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47376,919
$CFSIZE,260165632,233000960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,040208,035008,6154.769,-923.110,31,1.4,31,-9.6