version: 66.02
glider: 103
mission: 7
dive: 373
start: 1 15 108 1 45 41
data:
$ID,103
$MISSION,7
$DIVE,373
$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,-1
$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,-69762.07
$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,12
$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
$GPS1,013508,6313.117,-1257.192,30,1.9,30,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-52.9
$GPS2,014511,6312.968,-1257.111,14,2.1,33,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6300.000,-1255.000
$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,187.9,24083,-11.1,-6.000
$D_GRID,611
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,101,0.00,0.00,-73.70,0.000,6,0.000,0.000,41,2904,3500
$GC,104,-1.10,-146.6,1.8,-5.6,3,125,12.00,2.62,0.00,0.000,4,0.158,0.057,2165,1489,3503
$GC,344,-1.10,-146.6,31.8,-8.1,13,351,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2899,3504
$GC,660,-1.10,-146.6,51.3,-5.8,29,665,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1484,3503
$GC,683,-1.10,-146.6,52.3,-4.3,30,687,0.00,2.65,0.00,0.000,6,0.000,0.068,2166,2899,3504
$GC,1004,-1.10,-146.6,69.4,-5.6,46,1008,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1487,3503
$GC,1037,-1.10,-146.6,71.5,-6.0,47,1043,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2898,3504
$GC,1354,-1.10,-146.6,95.3,-7.6,63,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3504
$GC,1662,-1.10,-146.6,123.6,-9.8,78,1665,0.00,1.67,0.00,0.000,4,0.000,0.089,2166,3786,3504
$GC,1700,-1.10,-146.6,127.0,-8.8,79,1707,0.00,1.52,0.00,0.000,6,0.000,0.035,2166,2905,3503
$GC,2016,-1.10,-146.6,155.9,-6.1,95,2020,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1489,3504
$GC,2043,-1.10,-146.6,157.4,-4.5,96,2048,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2906,3504
$GC,2359,-1.10,-146.6,174.3,-5.6,111,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3504
$GC,2669,-1.10,-146.6,187.9,-4.7,126,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3504
$GC,2977,-1.10,-146.6,207.2,-7.8,141,2982,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1491,3504
$GC,3005,-1.10,-146.6,208.8,-5.9,142,3010,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2906,3504
$GC,3321,-1.10,-146.6,223.8,-4.3,157,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3504
$GC,3630,-1.10,-146.6,241.7,-5.7,172,3635,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1490,3503
$GC,3670,-1.10,-146.6,243.8,-5.2,174,3675,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2906,3504
$GC,3998,-1.10,-146.6,256.9,-4.2,190,4002,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1490,3504
$GC,4030,-1.10,-146.6,258.2,-4.0,191,4036,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2900,3504
$GC,4346,-1.10,-146.6,267.1,-0.5,207,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3504
$GC,4655,-1.10,-146.6,280.5,-6.4,222,4660,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1489,3504
$GC,4705,-1.10,-146.6,284.0,-6.6,224,4709,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2903,3504
$GC,5021,-1.10,-146.6,303.5,-5.7,239,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3504
$GC,5330,-1.10,-146.6,321.9,-6.3,254,5335,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1490,3504
$GC,5364,-1.10,-146.6,324.0,-5.8,255,5370,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2908,3504
$GC,5680,-1.10,-146.6,344.8,-6.8,271,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3504
$GC,5989,-1.10,-146.6,367.8,-8.4,286,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3504
$GC,6298,-1.10,-146.6,390.1,-6.3,301,6302,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1490,3504
$GC,6337,-1.10,-146.6,393.2,-8.1,303,6341,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2900,3504
$GC,6663,-1.10,-146.6,417.4,-8.1,319,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3504
$GC,6972,-1.10,-146.6,438.5,-7.1,334,6977,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1480,3504
$GC,7029,-1.10,-146.6,442.5,-6.5,336,7035,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2901,3504
$GC,7345,-1.10,-146.6,465.2,-7.2,352,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3504
$GC,7654,-1.10,-146.6,489.2,-8.6,367,7658,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1489,3503
$GC,7688,-1.10,-146.6,491.5,-7.2,368,7694,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2910,3504
$GC,8004,-1.10,-146.6,512.5,-6.8,384,8007,0.00,1.65,0.00,0.000,4,0.000,0.086,2166,3790,3503
$GC,8104,-1.10,-146.6,520.0,-8.0,388,8108,0.00,1.55,0.00,0.000,6,0.000,0.037,2166,2899,3504
$GC,8425,-1.10,-146.6,541.5,-7.4,404,8430,0.00,2.53,0.00,0.000,4,0.000,0.057,2166,1482,3504
$GC,8588,-1.10,-146.6,551.7,-6.8,411,8593,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2901,3504
$GC,8904,-1.10,-146.6,569.4,-5.1,426,8909,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1478,3504
$GC,8977,-1.10,-146.6,573.5,-5.1,429,8982,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2903,3504
$STATE,9229,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9229,begin apogee
$GC,9237,-0.42,0.0,586.3,5.3,441,9371,0.77,0.00,126.75,1.197,6,0.097,0.000,2320,2097,2901
$STATE,9371,end apogee,CONTROL_FINISHED_OK
$STATE,9371,begin climb
$GC,9374,1.10,146.6,590.9,0.0,448,9505,1.52,2.62,122.28,1.164,4,0.057,0.056,2648,694,2303
$GC,9655,1.10,146.6,580.2,7.0,461,9660,0.00,2.47,0.00,0.000,6,0.000,0.037,2648,2114,2303
$GC,9981,1.10,146.6,558.6,6.7,477,9986,0.00,2.60,0.00,0.000,4,0.000,0.069,2648,3508,2302
$GC,10054,1.10,146.6,553.5,6.4,480,10059,0.00,2.50,0.00,0.000,6,0.000,0.040,2648,2094,2301
$GC,10370,1.15,184.6,537.6,4.9,495,10412,0.00,2.72,32.95,1.160,4,0.000,0.071,2648,3498,2148
$GC,10485,1.16,194.2,531.1,5.7,500,10502,0.00,2.50,9.70,1.042,6,0.000,0.043,2647,2100,2109
$GC,10811,1.19,221.5,512.6,5.2,516,10843,0.10,2.60,24.55,1.141,4,0.052,0.058,2682,696,1997
$GC,10860,1.19,221.5,509.8,6.7,518,10865,0.00,2.50,0.00,0.000,6,0.000,0.038,2682,2100,1997
$GC,11176,1.19,221.5,488.2,6.9,533,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1995
$GC,11485,1.19,221.5,465.4,6.8,548,11489,0.00,2.62,0.00,0.000,4,0.000,0.072,2682,3508,1995
$GC,11534,1.19,221.5,461.8,6.7,550,11539,0.00,2.50,0.00,0.000,6,0.000,0.042,2682,2099,1995
$GC,11850,1.27,280.3,443.2,4.4,565,11902,0.00,0.00,49.60,1.121,6,0.000,0.000,2682,2098,1758
$GC,12199,1.27,280.3,421.9,7.4,582,12204,0.00,2.67,0.00,0.000,4,0.000,0.072,2682,3515,1757
$GC,12221,1.27,280.3,420.4,6.4,583,12226,0.00,2.53,0.00,0.000,6,0.000,0.044,2682,2100,1758
$GC,12542,1.27,280.3,398.5,7.2,599,12546,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3512,1757
$GC,12575,1.27,280.3,396.3,7.1,600,12581,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2100,1757
$GC,12891,1.27,280.3,372.3,8.2,616,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1758
$GC,13200,1.27,280.3,345.2,8.7,631,13204,0.00,2.65,0.00,0.000,4,0.000,0.073,2682,3508,1758
$GC,13232,1.27,280.3,342.3,8.5,632,13238,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2095,1758
$GC,13548,1.27,280.3,317.1,8.0,648,13553,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3515,1759
$GC,13580,1.27,280.3,314.1,8.6,649,13587,0.00,2.50,0.00,0.000,6,0.000,0.045,2682,2101,1759
$GC,13896,1.27,280.3,290.3,7.0,665,13900,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3514,1759
$GC,13923,1.27,280.3,288.2,7.3,666,13927,0.00,2.50,0.00,0.000,6,0.000,0.048,2682,2104,1759
$GC,14244,1.27,280.3,269.0,7.2,682,14248,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3515,1759
$GC,14270,1.27,280.3,266.5,9.2,683,14275,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2097,1759
$GC,14586,1.27,280.3,237.0,8.8,698,14591,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3509,1760
$GC,14619,1.27,280.3,234.0,8.9,699,14625,0.00,2.53,0.00,0.000,6,0.000,0.049,2682,2091,1759
$GC,14935,1.27,280.3,205.5,9.5,715,14939,0.00,2.67,0.00,0.000,4,0.000,0.074,2682,3509,1759
$GC,14974,1.27,280.3,201.5,9.9,717,14978,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2089,1759
$GC,15300,1.27,280.3,168.7,10.7,733,15305,0.00,2.67,0.00,0.000,4,0.000,0.073,2682,3509,1759
$GC,15329,1.27,280.3,165.5,11.4,734,15334,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2098,1759
$GC,15645,1.27,280.3,131.6,10.1,749,15646,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1759
$GC,15955,1.27,280.3,102.4,10.2,764,15959,0.00,2.67,0.00,0.000,4,0.000,0.075,2681,3514,1759
$GC,15998,1.27,280.3,98.2,8.9,766,16003,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2103,1759
$GC,16319,1.27,280.3,71.8,7.5,782,16320,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,1760
$GC,16630,1.27,280.3,43.2,10.2,797,16635,0.00,2.65,0.00,0.000,4,0.000,0.073,2682,3511,1760
$GC,16663,1.27,280.3,40.0,9.3,798,16670,0.00,2.50,0.00,0.000,6,0.000,0.050,2682,2094,1760
$GC,16979,1.27,280.3,8.7,12.6,814,16984,0.00,2.67,0.00,0.000,4,0.000,0.074,2682,3514,1760
$GC,16997,1.27,280.3,6.5,12.2,815,17002,0.00,2.55,0.00,0.000,6,0.000,0.055,2682,2102,1761
$STATE,17054,end climb,SURFACE_DEPTH_REACHED
$STATE,17054,begin surface coast
$FINISH,0.0,1.027376
$STATE,17076,end surface coast,CONTROL_FINISHED_OK
$STATE,17076,begin surface
$SM_CCo,17100,18.70,0.708,2,0,1678,300.00
$SM_GC,-0.23,0.00,0.00,18.70,0.000,0.000,0.708,45,2897,1678,-10.88,-0.08,300.00
$IRIDIUM_FIX,6249.28,-1300.75,150108,050517
$TT8_MAMPS,0.029146
$HUMID,2063
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,15.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.1,69.5
$24V_AH,23.3,62.958
$10V_AH,10.1,28.663
$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,26.050,170.475,365.825,18.700,0.000,72.060,163.401,165.582,4.750,0.000,0.000,34.454,1513.472,13146.847,559.617,1816.020,707.028,0.000,1484.720,0.000,1767.555,0.000,29.837
$DEVICE_MAMPS,158.002,88.972,1196.520,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,599.153,564.458,509.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41182,819
$CFSIZE,260165632,238821376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,0
$GPS,150108,063231,6307.792,-1255.593,39,1.2,44,-12.0