version: 66.02
glider: 103
mission: 7
dive: 482
start: 2 5 108 9 32 4
data:
$ID,103
$MISSION,7
$DIVE,482
$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,-72847.883
$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,13
$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
$GPS1,092508,6147.549,-906.136,40,1.7,40,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-55.4
$GPS2,093132,6147.429,-906.072,10,1.6,15,-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,158.0,44316,-11.1,-6.000
$D_GRID,668
$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,23,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,97,0.00,0.00,-68.15,0.000,6,0.000,0.000,42,2903,3501
$GC,100,-1.10,-146.6,1.8,-5.6,3,121,12.05,1.75,0.00,0.000,4,0.158,0.092,2165,3783,3503
$GC,312,-1.10,-146.6,31.1,-6.8,12,316,0.00,1.60,0.00,0.000,6,0.000,0.058,2165,2904,3503
$GC,634,-1.10,-146.6,54.8,-6.4,28,638,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1480,3503
$GC,698,-1.10,-146.6,59.9,-8.1,31,702,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2898,3503
$GC,1027,-1.10,-146.6,84.1,-7.4,47,1030,0.00,1.73,0.00,0.000,4,0.000,0.096,2165,3790,3503
$GC,1055,-1.10,-146.6,86.8,-8.3,48,1058,0.00,1.60,0.00,0.000,6,0.000,0.051,2165,2893,3503
$GC,1382,-1.10,-146.6,114.5,-9.3,64,1386,0.00,2.53,0.00,0.000,4,0.000,0.058,2165,1490,3503
$GC,1432,-1.10,-146.6,119.1,-8.7,66,1437,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2908,3503
$GC,1748,-1.10,-146.6,145.2,-8.1,81,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3503
$GC,2058,-1.10,-146.6,174.0,-9.9,96,2062,0.00,2.60,0.00,0.000,4,0.000,0.058,2165,1480,3503
$GC,2120,-1.10,-146.6,179.7,-8.5,99,2125,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2903,3503
$GC,2446,-1.10,-146.6,208.0,-8.8,115,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2756,-1.10,-146.6,235.6,-8.9,130,2761,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1482,3504
$GC,2829,-1.10,-146.6,242.0,-8.1,133,2833,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2901,3504
$GC,3145,-1.10,-146.6,269.4,-9.2,148,3148,0.00,1.70,0.00,0.000,4,0.000,0.094,2165,3787,3504
$GC,3190,-1.10,-146.6,273.8,-9.6,150,3194,0.00,1.58,0.00,0.000,6,0.000,0.049,2165,2885,3504
$GC,3524,-1.10,-146.6,302.8,-8.0,166,3528,0.00,2.53,0.00,0.000,4,0.000,0.063,2165,1490,3503
$GC,3586,-1.10,-146.6,307.8,-8.2,169,3591,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2909,3504
$GC,3912,-1.10,-146.6,333.3,-7.8,185,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3503
$GC,4222,-1.10,-146.6,357.2,-8.1,200,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2910,3504
$GC,4531,-1.10,-146.6,382.0,-7.9,215,4535,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1491,3503
$GC,4609,-1.10,-146.6,388.5,-8.4,218,4615,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2900,3503
$GC,4925,-1.10,-146.6,415.2,-8.7,234,4929,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1491,3504
$GC,4952,-1.10,-146.6,417.7,-8.5,235,4956,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2910,3503
$GC,5268,-1.10,-146.6,441.1,-7.1,250,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2910,3504
$GC,5577,-1.10,-146.6,463.7,-7.8,265,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2910,3503
$GC,5886,-1.10,-146.6,487.8,-7.2,280,5890,0.00,2.58,0.00,0.000,4,0.000,0.056,2165,1483,3504
$GC,5949,-1.10,-146.6,492.4,-7.4,283,5954,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2902,3504
$GC,6276,-1.10,-146.6,514.4,-6.3,299,6280,0.00,1.67,0.00,0.000,4,0.000,0.087,2165,3790,3503
$GC,6327,-1.10,-146.6,517.5,-6.0,301,6330,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2907,3503
$GC,6654,-1.10,-146.6,537.2,-6.0,317,6659,0.00,2.50,0.00,0.000,4,0.000,0.051,2165,1486,3503
$GC,6699,-1.10,-146.6,540.1,-6.5,319,6703,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2900,3503
$GC,7020,-1.10,-146.6,565.3,-8.4,335,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3504
$GC,7329,-1.10,-146.6,590.5,-7.5,350,7333,0.00,1.67,0.00,0.000,4,0.000,0.087,2165,3787,3504
$GC,7458,-1.10,-146.6,601.7,-8.7,355,7464,0.00,1.55,0.00,0.000,6,0.000,0.037,2165,2898,3503
$GC,7775,-1.10,-146.6,619.0,-5.2,371,7779,0.00,1.70,0.00,0.000,4,0.000,0.085,2165,3782,3504
$GC,7880,-1.10,-146.6,627.0,-8.0,375,7887,0.00,1.55,0.00,0.000,6,0.000,0.037,2165,2892,3504
$GC,8197,-1.10,-146.6,650.2,-5.3,391,8201,0.00,2.45,0.00,0.000,4,0.000,0.051,2165,1492,3503
$GC,8237,-1.10,-146.6,653.0,-7.6,393,8241,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2900,3503
$STATE,8416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8416,begin apogee
$GC,8425,-0.42,0.0,668.8,9.3,402,8559,0.75,0.00,128.50,1.313,6,0.088,0.000,2316,2095,2901
$STATE,8560,end apogee,CONTROL_FINISHED_OK
$STATE,8560,begin climb
$GC,8564,1.10,146.6,677.9,0.0,409,8696,1.58,2.67,124.25,1.286,4,0.063,0.066,2649,696,2303
$GC,8957,1.10,146.6,659.1,9.0,427,8961,0.00,2.53,0.00,0.000,6,0.000,0.047,2649,2105,2301
$GC,9284,1.15,181.8,637.2,5.0,443,9320,0.00,2.72,30.98,1.293,4,0.000,0.076,2649,3508,2158
$GC,9344,1.19,215.5,633.6,5.1,445,9379,0.00,2.55,29.73,1.276,6,0.000,0.044,2649,2096,2023
$GC,9697,1.22,240.8,612.8,5.3,462,9726,0.12,2.78,22.60,1.276,4,0.045,0.075,2687,3505,1919
$GC,9806,1.22,240.8,604.0,8.7,467,9811,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2101,1918
$GC,10133,1.22,240.8,578.4,8.1,483,10137,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3514,1916
$GC,10166,1.22,240.8,575.9,7.2,484,10172,0.00,2.53,0.00,0.000,6,0.000,0.043,2687,2100,1916
$GC,10482,1.25,265.2,557.5,5.3,500,10506,0.00,0.00,21.85,1.255,6,0.000,0.000,2687,2100,1819
$GC,10812,1.25,265.2,537.7,6.8,516,10816,0.00,2.62,0.00,0.000,4,0.000,0.067,2688,3509,1818
$GC,10897,1.25,265.2,531.3,7.6,520,10901,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,2098,1818
$GC,11223,1.25,265.2,507.0,8.0,536,11228,0.00,2.55,0.00,0.000,4,0.000,0.059,2687,695,1818
$GC,11246,1.25,265.2,505.0,8.6,537,11250,0.00,2.47,0.00,0.000,6,0.000,0.039,2688,2101,1818
$GC,11568,1.25,265.2,478.4,8.0,553,11572,0.00,2.62,0.00,0.000,4,0.000,0.071,2688,3512,1818
$GC,11617,1.25,265.2,474.3,8.2,555,11622,0.00,2.50,0.00,0.000,6,0.000,0.041,2688,2093,1818
$GC,11933,1.25,265.2,445.6,10.0,570,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2093,1819
$GC,12242,1.25,265.2,410.9,11.8,585,12247,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3508,1819
$GC,12264,1.25,265.2,408.2,11.5,586,12269,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2102,1819
$GC,12586,1.25,265.2,370.9,11.4,602,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1820
$GC,12895,1.25,265.2,337.6,10.2,617,12899,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3508,1821
$GC,12928,1.25,265.2,334.1,9.8,618,12934,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2098,1820
$GC,13244,1.25,265.2,303.5,9.2,634,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1821
$GC,13553,1.25,265.2,275.5,8.9,649,13557,0.00,2.67,0.00,0.000,4,0.000,0.074,2688,3511,1822
$GC,13602,1.25,265.2,270.9,9.0,651,13607,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2095,1822
$GC,13919,1.25,265.2,244.6,8.3,666,13920,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2095,1822
$GC,14228,1.25,265.2,220.2,7.8,681,14232,0.00,2.67,0.00,0.000,4,0.000,0.073,2687,3512,1823
$GC,14250,1.25,265.2,218.4,7.8,682,14254,0.00,2.55,0.00,0.000,6,0.000,0.048,2688,2097,1823
$GC,14571,1.25,265.2,197.6,6.3,698,14572,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2097,1823
$GC,14880,1.25,265.2,176.5,7.2,713,14884,0.00,2.70,0.00,0.000,4,0.000,0.077,2688,3515,1823
$GC,14912,1.25,265.2,173.8,7.6,714,14918,0.00,2.55,0.00,0.000,6,0.000,0.048,2688,2095,1823
$GC,15229,1.25,265.2,150.0,7.9,730,15230,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2095,1824
$GC,15539,1.25,265.2,125.7,8.4,745,15544,0.00,2.70,0.00,0.000,4,0.000,0.077,2688,3514,1824
$GC,15550,1.25,265.2,124.4,9.2,745,15556,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2099,1824
$GC,15866,1.25,265.2,99.6,9.1,761,15870,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3509,1824
$GC,15899,1.25,265.2,97.2,6.8,762,15906,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2091,1824
$GC,16217,1.25,265.2,70.0,9.5,778,16221,0.00,2.58,0.00,0.000,4,0.000,0.067,2687,687,1825
$GC,16240,1.25,265.2,67.9,9.0,779,16244,0.00,2.53,0.00,0.000,6,0.000,0.047,2688,2098,1825
$GC,16562,1.25,265.2,34.0,10.6,795,16563,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1825
$GC,16872,1.27,281.3,6.3,5.6,810,16894,0.00,2.72,15.40,0.825,4,0.000,0.078,2687,3512,1753
$STATE,16942,end climb,SURFACE_DEPTH_REACHED
$STATE,16942,begin surface coast
$FINISH,0.0,1.027366
$STATE,16966,end surface coast,CONTROL_FINISHED_OK
$STATE,16966,begin surface
$SM_CCo,16991,16.75,0.746,1,0,1678,300.00
$SM_GC,-0.83,0.00,0.00,16.75,0.000,0.000,0.746,46,2894,1678,-10.87,-0.17,300.00
$IRIDIUM_FIX,6126.23,-909.02,010597,040445
$TT8_MAMPS,0.028379
$HUMID,2079
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,625.2,106.3
$24V_AH,22.9,80.231
$10V_AH,10.1,37.269
$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,26.175,154.500,373.300,16.750,0.000,38.900,36.786,168.484,5.500,0.000,0.000,15.306,1519.795,12914.767,517.002,1859.332,597.473,0.000,1469.071,0.000,1819.710,0.000,36.416
$DEVICE_MAMPS,158.002,95.875,1313.104,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,600.673,556.846,506.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41112,814
$CFSIZE,260165632,232587264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,050208,141728,6141.840,-908.500,53,2.2,72,-9.4