version: 66.02
glider: 103
mission: 7
dive: 376
start: 1 15 108 16 6 8
data:
$ID,103
$MISSION,7
$DIVE,376
$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,-69842.992
$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,25
$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
$GPS1,155925,6300.854,-1248.809,42,1.1,42,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-56.2
$GPS2,160538,6300.801,-1248.657,14,1.1,31,-11.9
$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,266.4,5535,-11.1,-6.000
$D_GRID,600
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-60.88,0.000,2,0.000,0.000,44,2896,3325
$GC,89,-1.10,-146.6,3.1,-8.4,3,111,11.95,1.73,-3.25,0.000,4,0.157,0.112,2165,3786,3502
$GC,364,-1.10,-146.6,28.1,-7.3,15,368,0.00,1.58,0.00,0.000,6,0.000,0.046,2165,2892,3502
$GC,691,-1.10,-146.6,51.5,-8.6,31,694,0.00,1.73,0.00,0.000,4,0.000,0.086,2165,3790,3502
$GC,949,-1.10,-146.6,76.8,-8.3,42,952,0.00,1.58,0.00,0.000,6,0.000,0.037,2165,2880,3503
$GC,1270,-1.10,-146.6,102.0,-7.8,58,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2880,3503
$GC,1580,-1.10,-146.6,124.9,-6.5,73,1584,0.00,2.55,0.00,0.000,4,0.000,0.070,2166,1488,3503
$GC,1630,-1.10,-146.6,128.0,-5.6,75,1634,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2902,3503
$GC,1945,-1.10,-146.6,146.9,-6.0,90,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2255,-1.10,-146.6,164.5,-5.7,105,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,2563,-1.10,-146.6,183.4,-6.3,120,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2873,-1.10,-146.6,202.8,-6.3,135,2877,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1480,3503
$GC,2917,-1.10,-146.6,205.8,-6.9,137,2921,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2900,3503
$GC,3237,-1.10,-146.6,226.6,-6.5,153,3241,0.00,1.67,0.00,0.000,4,0.000,0.084,2166,3779,3503
$GC,3275,-1.10,-146.6,229.4,-7.3,154,3281,0.00,1.52,0.00,0.000,6,0.000,0.035,2166,2899,3503
$GC,3594,-1.10,-146.6,250.4,-6.8,170,3598,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1481,3503
$GC,3649,-1.10,-146.6,254.1,-6.7,172,3655,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2906,3503
$GC,3964,-1.10,-146.6,274.1,-6.3,188,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,4274,-1.10,-146.6,292.8,-5.9,203,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,4583,-1.10,-146.6,311.2,-6.1,218,4587,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1484,3503
$GC,4632,-1.10,-146.6,314.2,-6.5,220,4636,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,4948,-1.10,-146.6,333.3,-6.3,235,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,5258,-1.10,-146.6,350.6,-4.8,250,5262,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3503
$GC,5285,-1.10,-146.6,351.8,-4.4,251,5289,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2901,3503
$GC,5601,-1.10,-146.6,369.2,-5.5,266,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,5910,-1.10,-146.6,388.1,-6.5,281,5914,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1484,3503
$GC,5937,-1.10,-146.6,389.8,-5.9,282,5942,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2908,3503
$GC,6253,-1.10,-146.6,408.8,-5.8,297,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,6563,-1.10,-146.6,425.7,-4.9,312,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3503
$GC,6872,-1.10,-146.6,443.8,-5.9,327,6876,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1488,3503
$GC,6905,-1.10,-146.6,445.5,-5.9,328,6911,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2899,3503
$GC,7220,-1.10,-146.6,463.8,-5.9,344,7224,0.00,1.67,0.00,0.000,4,0.000,0.087,2166,3789,3503
$GC,7270,-1.10,-146.6,467.4,-7.4,346,7274,0.00,1.55,0.00,0.000,6,0.000,0.037,2166,2895,3503
$GC,7597,-1.10,-146.6,489.6,-6.3,362,7602,0.00,2.55,0.00,0.000,4,0.000,0.062,2166,1480,3503
$GC,7637,-1.10,-146.6,492.2,-6.7,364,7641,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2900,3503
$GC,7963,-1.10,-146.6,516.4,-7.4,380,7967,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1486,3503
$GC,7990,-1.10,-146.6,518.5,-7.8,381,7994,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2900,3502
$GC,8306,-1.10,-146.6,540.0,-7.0,396,8310,0.00,1.65,0.00,0.000,4,0.000,0.087,2166,3785,3502
$GC,8468,-1.10,-146.6,552.5,-7.2,403,8472,0.00,1.52,0.00,0.000,6,0.000,0.038,2166,2905,3502
$GC,8795,-1.10,-146.6,575.1,-6.8,419,8799,0.00,1.70,0.00,0.000,4,0.000,0.087,2166,3780,3503
$STATE,8883,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8884,begin apogee
$GC,8893,-0.42,0.0,581.5,7.5,423,9026,0.77,0.00,126.75,1.189,6,0.097,0.000,2319,2092,2901
$STATE,9027,end apogee,CONTROL_FINISHED_OK
$STATE,9027,begin climb
$GC,9030,1.10,146.6,587.1,0.0,430,9162,1.55,2.62,121.95,1.157,4,0.060,0.056,2648,691,2304
$GC,9231,1.12,160.8,581.9,5.6,439,9250,0.00,2.50,13.77,1.053,6,0.000,0.036,2648,2113,2245
$GC,9573,1.16,193.8,563.4,5.1,456,9607,0.00,2.67,28.98,1.134,4,0.000,0.069,2648,3509,2111
$GC,9754,1.16,193.8,552.2,6.4,464,9759,0.00,2.50,0.00,0.000,6,0.000,0.039,2648,2089,2110
$GC,10076,1.16,193.8,533.0,6.1,480,10080,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3503,2109
$GC,10182,1.16,193.8,526.2,6.3,485,10187,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2095,2108
$GC,10510,1.16,193.8,506.3,6.0,501,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2095,2108
$GC,10819,1.16,195.2,487.7,6.0,516,10823,0.00,2.62,0.00,0.000,4,0.000,0.066,2648,3504,2107
$GC,10919,1.16,195.2,481.3,6.5,520,10925,0.00,2.45,0.00,0.000,6,0.000,0.042,2648,2100,2107
$GC,11235,1.16,195.2,458.3,7.5,536,11239,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3504,2106
$GC,11329,1.16,195.2,450.4,8.6,540,11334,0.00,2.45,0.00,0.000,6,0.000,0.041,2648,2102,2106
$GC,11645,1.16,195.2,427.9,6.7,555,11649,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3507,2106
$GC,11694,1.16,195.2,424.4,7.0,557,11699,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2097,2107
$GC,12010,1.18,209.8,404.7,5.6,572,12031,0.00,2.67,14.10,1.038,4,0.000,0.067,2648,3505,2045
$GC,12065,1.20,228.4,401.4,5.5,574,12090,0.10,2.50,16.95,1.058,6,0.050,0.042,2682,2102,1969
$GC,12408,1.20,228.4,375.3,7.1,591,12409,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2102,1969
$GC,12715,1.20,228.4,353.0,6.5,606,12719,0.00,2.65,0.00,0.000,4,0.000,0.072,2681,3507,1969
$GC,12799,1.20,228.4,347.1,7.3,610,12804,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2095,1969
$GC,13127,1.20,228.4,324.9,6.7,626,13131,0.00,2.62,0.00,0.000,4,0.000,0.069,2682,3502,1969
$GC,13170,1.20,228.4,321.3,8.5,628,13175,0.00,2.47,0.00,0.000,6,0.000,0.045,2682,2100,1969
$GC,13492,1.23,247.8,300.7,5.5,644,13516,0.00,2.72,17.40,0.972,4,0.000,0.071,2682,3504,1890
$GC,13563,1.24,261.7,296.8,5.6,647,13582,0.00,2.53,13.25,0.943,6,0.000,0.046,2682,2101,1833
$GC,13911,1.26,271.2,277.9,5.7,664,13925,0.00,2.67,9.43,0.890,4,0.000,0.071,2682,3505,1795
$GC,13993,1.26,271.2,272.2,6.5,667,13998,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2101,1794
$GC,14320,1.26,271.2,247.5,9.0,683,14324,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3502,1794
$GC,14375,1.26,271.2,242.6,8.5,685,14382,0.00,2.50,0.00,0.000,6,0.000,0.048,2682,2097,1794
$GC,14691,1.26,271.2,213.9,8.1,701,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1794
$GC,15000,1.26,271.2,188.7,8.4,716,15005,0.00,2.62,0.00,0.000,4,0.000,0.069,2682,3504,1795
$GC,15034,1.26,271.2,185.6,8.9,717,15040,0.00,2.50,0.00,0.000,6,0.000,0.045,2682,2099,1794
$GC,15349,1.26,271.2,159.5,9.1,733,15354,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3505,1794
$GC,15389,1.26,271.2,155.8,9.4,735,15393,0.00,2.47,0.00,0.000,6,0.000,0.044,2682,2094,1795
$GC,15716,1.26,271.2,127.9,8.8,751,15721,0.00,2.62,0.00,0.000,4,0.000,0.070,2682,3502,1795
$GC,15756,1.26,271.2,123.8,9.8,753,15761,0.00,2.47,0.00,0.000,6,0.000,0.046,2682,2101,1795
$GC,16083,1.26,271.2,89.8,10.8,769,16088,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3504,1795
$GC,16139,1.26,271.2,83.8,10.3,771,16146,0.00,2.47,0.00,0.000,6,0.000,0.047,2682,2102,1795
$GC,16455,1.26,271.2,52.0,9.3,787,16459,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3504,1795
$GC,16482,1.26,271.2,49.5,8.6,788,16486,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2090,1795
$GC,16798,1.33,334.2,28.3,4.3,803,16855,0.00,2.72,51.40,0.825,4,0.000,0.070,2682,3509,1537
$GC,16889,1.33,334.2,19.1,9.4,806,16893,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2101,1537
$STATE,17080,end climb,SURFACE_DEPTH_REACHED
$STATE,17080,begin surface coast
$FINISH,-1.2,1.027080
$STATE,17100,end surface coast,CONTROL_FINISHED_OK
$STATE,17100,begin surface
$SM_CCo,17184,0.00,0.000,0,0,1535,335.08
$SM_GC,-0.45,11.60,0.00,0.00,0.028,0.000,0.000,44,2896,1535,-10.80,-0.11,335.08
$IRIDIUM_FIX,6239.86,-1250.78,150108,151550
$TT8_MAMPS,0.028379
$HUMID,2062
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.0,65.1
$24V_AH,23.3,63.373
$10V_AH,10.1,28.898
$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,25.975,161.775,413.975,0.000,0.000,40.697,34.527,161.662,4.750,0.000,0.000,31.826,1533.749,12999.671,516.150,1976.104,541.225,0.000,1524.956,0.000,1923.731,0.000,29.827
$DEVICE_MAMPS,157.235,111.982,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,586.192,577.201,509.652,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41129,816
$CFSIZE,260165632,238645248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,150108,205338,6257.074,-1251.281,32,1.0,32,-11.9