version: 66.02
glider: 103
mission: 7
dive: 481
start: 2 5 108 4 31 21
data:
$ID,103
$MISSION,7
$DIVE,481
$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,-72831.953
$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,24
$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
$GPS1,042038,6151.356,-906.931,42,0.9,42,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.44
$_SM_ANGLEo,-61.2
$GPS2,043045,6151.179,-907.026,14,1.5,14,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$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,161.3,50768,-11.1,-6.000
$D_GRID,605
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-66.22,0.000,6,0.000,0.000,49,2898,3500
$GC,96,-1.10,-146.6,2.9,-8.1,3,112,11.95,1.77,0.00,0.000,4,0.157,0.091,2166,3790,3502
$GC,365,-1.10,-146.6,36.0,-7.3,14,368,0.00,1.60,0.00,0.000,6,0.000,0.054,2166,2904,3503
$GC,693,-1.10,-146.6,60.3,-7.1,30,698,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1484,3503
$GC,744,-1.10,-146.6,64.3,-7.4,32,748,0.00,2.70,0.00,0.000,6,0.000,0.074,2166,2909,3503
$GC,1062,-1.10,-146.6,86.0,-6.9,47,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3503
$GC,1369,-1.10,-146.6,110.9,-9.4,62,1373,0.00,2.67,0.00,0.000,4,0.000,0.071,2166,1479,3503
$GC,1447,-1.10,-146.6,118.5,-8.8,65,1453,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2899,3503
$GC,1765,-1.10,-146.6,142.9,-7.7,81,1769,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1478,3503
$GC,1798,-1.10,-146.6,145.9,-8.6,82,1804,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2904,3503
$GC,2113,-1.10,-146.6,169.8,-7.4,98,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,2423,-1.10,-146.6,193.9,-8.0,113,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,2732,-1.10,-146.6,217.4,-7.8,128,2736,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1485,3503
$GC,2794,-1.10,-146.6,222.4,-8.1,131,2799,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2900,3503
$GC,3122,-1.10,-146.6,249.7,-8.2,147,3127,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1474,3503
$GC,3167,-1.10,-146.6,253.4,-7.9,149,3171,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2902,3503
$GC,3494,-1.10,-146.6,276.4,-7.0,165,3499,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1486,3503
$GC,3522,-1.10,-146.6,278.4,-7.3,166,3527,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,3839,-1.10,-146.6,300.9,-7.2,181,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,4148,-1.10,-146.6,324.0,-7.5,196,4152,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1476,3503
$GC,4215,-1.10,-146.6,329.1,-7.8,199,4219,0.00,2.65,0.00,0.000,6,0.000,0.065,2166,2904,3503
$GC,4536,-1.10,-146.6,351.7,-6.9,215,4540,0.00,2.60,0.00,0.000,4,0.000,0.060,2166,1476,3503
$GC,4568,-1.10,-146.6,353.8,-6.4,216,4574,0.00,2.67,0.00,0.000,6,0.000,0.070,2166,2906,3503
$GC,4885,-1.10,-146.6,374.1,-6.6,232,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,5193,-1.10,-146.6,394.8,-6.9,247,5198,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1480,3503
$GC,5244,-1.10,-146.6,398.5,-6.9,249,5248,0.00,2.65,0.00,0.000,6,0.000,0.066,2166,2907,3503
$GC,5560,-1.10,-146.6,420.3,-7.0,264,5564,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1478,3503
$GC,5610,-1.10,-146.6,424.0,-6.9,266,5614,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2904,3503
$GC,5926,-1.10,-146.6,446.7,-7.4,281,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,6236,-1.10,-146.6,470.5,-7.9,296,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,6544,-1.10,-146.6,493.0,-6.6,311,6549,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1483,3503
$GC,6634,-1.10,-146.6,498.7,-6.9,315,6638,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2902,3503
$GC,6956,-1.10,-146.6,518.9,-6.6,331,6960,0.00,2.55,0.00,0.000,4,0.000,0.053,2166,1476,3503
$GC,7011,-1.10,-146.6,522.9,-7.2,333,7017,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2902,3503
$GC,7328,-1.10,-146.6,542.4,-5.2,349,7332,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1480,3503
$GC,7361,-1.10,-146.6,544.0,-4.6,350,7367,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2904,3503
$GC,7677,-1.10,-146.6,563.3,-7.2,366,7681,0.00,1.67,0.00,0.000,4,0.000,0.090,2166,3776,3503
$GC,7919,-1.10,-146.6,579.3,-6.3,376,7925,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2881,3503
$GC,8236,-1.10,-146.6,597.9,-5.2,392,8240,0.00,2.47,0.00,0.000,4,0.000,0.055,2166,1491,3503
$GC,8326,-1.10,-146.6,602.9,-5.4,396,8330,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2901,3503
$STATE,8376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8376,begin apogee
$GC,8384,-0.42,0.0,605.8,5.3,399,8519,0.75,0.00,127.47,1.244,6,0.092,0.000,2316,2100,2901
$STATE,8520,end apogee,CONTROL_FINISHED_OK
$STATE,8520,begin climb
$GC,8523,1.10,146.6,609.8,0.0,406,8654,1.55,2.65,122.43,1.230,4,0.061,0.062,2647,706,2302
$GC,8849,1.10,146.6,596.0,6.1,421,8854,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2114,2301
$GC,9177,1.16,193.1,580.6,4.7,437,9223,0.00,2.65,40.15,1.255,4,0.000,0.067,2647,3504,2113
$GC,9268,1.16,193.4,575.5,6.0,441,9272,0.00,2.50,0.00,0.000,6,0.000,0.040,2647,2097,2112
$GC,9585,1.17,197.6,556.7,5.9,456,9591,0.00,0.00,5.05,0.952,6,0.000,0.000,2647,2096,2095
$GC,9894,1.17,197.6,534.4,7.9,471,9898,0.00,2.60,0.00,0.000,4,0.000,0.067,2647,3502,2094
$GC,10023,1.17,197.6,524.2,7.5,477,10028,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2102,2093
$GC,10350,1.17,197.6,501.6,6.6,493,10354,0.00,2.60,0.00,0.000,4,0.000,0.066,2647,691,2092
$GC,10412,1.17,197.6,497.2,7.4,496,10417,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2093,2092
$GC,10739,1.17,197.6,474.2,6.6,512,10744,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3514,2091
$GC,10818,1.17,197.6,468.6,6.5,515,10824,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2098,2091
$GC,11134,1.17,197.6,447.5,6.6,531,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2098,2091
$GC,11443,1.17,197.6,427.5,6.3,546,11447,0.00,2.65,0.00,0.000,4,0.000,0.067,2647,3516,2091
$GC,11471,1.17,197.6,425.5,6.9,547,11475,0.00,2.53,0.00,0.000,6,0.000,0.043,2647,2095,2091
$GC,11787,1.17,204.9,406.2,5.8,562,11801,0.00,2.70,7.40,1.011,4,0.000,0.068,2647,3502,2064
$GC,11824,1.19,216.7,404.0,5.7,563,11841,0.00,2.50,11.25,1.065,6,0.000,0.042,2647,2101,2017
$GC,12157,1.19,216.7,381.8,6.8,580,12161,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3509,2017
$GC,12207,1.19,216.7,378.1,7.2,582,12211,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2101,2017
$GC,12523,1.19,216.7,356.9,6.7,597,12527,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3510,2018
$GC,12562,1.19,216.7,354.1,6.9,599,12566,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2099,2017
$GC,12888,1.19,216.7,331.7,7.0,615,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2099,2018
$GC,13198,1.19,216.7,310.0,6.7,630,13202,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3515,2018
$GC,13248,1.19,216.7,306.4,7.3,632,13252,0.00,2.53,0.00,0.000,6,0.000,0.046,2647,2094,2018
$GC,13563,1.19,216.7,285.2,6.7,647,13568,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3509,2018
$GC,13597,1.19,216.7,282.9,7.1,648,13603,0.00,2.53,0.00,0.000,6,0.000,0.044,2647,2091,2018
$GC,13913,1.19,216.7,261.9,6.6,664,13917,0.00,2.67,0.00,0.000,4,0.000,0.071,2647,3514,2019
$GC,13946,1.19,216.7,259.4,7.1,665,13952,0.00,2.50,0.00,0.000,6,0.000,0.045,2647,2099,2019
$GC,14262,1.19,216.7,239.6,6.0,681,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2099,2019
$GC,14572,1.21,233.2,221.8,5.5,696,14594,0.12,2.72,15.65,0.957,4,0.048,0.074,2686,3508,1949
$GC,14634,1.21,233.2,217.1,7.9,698,14640,0.00,2.55,0.00,0.000,6,0.000,0.048,2686,2101,1949
$GC,14950,1.21,233.2,193.7,7.7,714,14951,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2101,1950
$GC,15259,1.21,233.2,171.0,7.1,729,15263,0.00,2.58,0.00,0.000,4,0.000,0.062,2686,687,1949
$GC,15280,1.21,233.2,169.3,7.2,730,15285,0.00,2.50,0.00,0.000,6,0.000,0.043,2686,2099,1950
$GC,15602,1.21,233.2,146.7,7.0,746,15606,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3515,1950
$GC,15642,1.21,233.2,143.9,6.9,748,15647,0.00,2.53,0.00,0.000,6,0.000,0.047,2686,2089,1950
$GC,15969,1.21,233.2,120.8,7.3,764,15974,0.00,2.67,0.00,0.000,4,0.000,0.072,2687,3511,1950
$GC,15997,1.21,233.2,118.6,7.8,765,16001,0.00,2.50,0.00,0.000,6,0.000,0.044,2686,2101,1950
$GC,16315,1.21,233.2,94.5,7.9,780,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2101,1950
$GC,16622,1.21,233.2,69.3,8.3,795,16627,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3512,1950
$GC,16641,1.21,233.2,67.9,8.3,796,16645,0.00,2.50,0.00,0.000,6,0.000,0.044,2686,2098,1950
$GC,16968,1.21,233.2,40.2,8.7,812,16969,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1950
$GC,17278,1.21,233.2,16.0,6.4,827,17283,0.00,2.55,0.00,0.000,4,0.000,0.063,2686,694,1951
$GC,17306,1.21,233.2,13.7,7.8,828,17311,0.00,2.50,0.00,0.000,6,0.000,0.043,2687,2105,1951
$STATE,17434,end climb,SURFACE_DEPTH_REACHED
$STATE,17434,begin surface coast
$FINISH,0.4,1.027372
$STATE,17456,end surface coast,CONTROL_FINISHED_OK
$STATE,17456,begin surface
$SM_CCo,17482,56.28,0.795,2,0,1678,300.00
$SM_GC,-0.32,0.00,0.00,56.28,0.000,0.000,0.795,42,2900,1678,-10.89,0.00,300.00
$IRIDIUM_FIX,6126.23,-905.24,010597,040436
$TT8_MAMPS,0.029146
$HUMID,2079
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,23.0,80.079
$10V_AH,10.1,37.189
$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,26.225,175.500,329.400,56.275,0.000,79.477,68.338,264.191,5.500,0.000,0.000,14.252,1566.708,13359.644,541.077,1928.256,778.283,0.000,1524.316,0.000,1888.200,0.000,34.556
$DEVICE_MAMPS,157.235,90.506,1254.812,795.379,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.647,573.530,525.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41163,835
$CFSIZE,260165632,232640512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,050208,092508,6147.549,-906.136,40,1.7,40,-9.4