version: 66.02
glider: 103
mission: 7
dive: 377
start: 1 15 108 21 0 48
data:
$ID,103
$MISSION,7
$DIVE,377
$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,-2
$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,-69857.281
$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,23
$R_STBD_OVSHOOT,17
$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
$GPS1,205338,6257.074,-1251.281,32,1.0,32,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-59.2
$GPS2,205939,6257.009,-1251.319,13,1.0,13,-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,342.7,6345,-11.1,-6.000
$D_GRID,649
$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,-146.6,0.0,0.0,0,98,0.00,0.00,-70.88,0.000,6,0.000,0.000,44,2897,3501
$GC,101,-1.10,-146.6,2.2,-5.9,3,117,11.90,1.75,0.00,0.000,4,0.156,0.094,2165,3779,3503
$GC,321,-1.10,-146.6,30.5,-9.6,12,325,0.00,1.55,0.00,0.000,6,0.000,0.048,2165,2909,3503
$GC,653,-1.10,-146.6,60.7,-7.9,28,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3503
$GC,963,-1.10,-146.6,78.1,-3.9,43,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3503
$GC,1273,-1.10,-146.6,93.7,-7.6,58,1278,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1484,3503
$GC,1306,-1.10,-146.6,96.6,-8.2,59,1313,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2896,3503
$GC,1623,-1.10,-146.6,118.5,-5.4,75,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3503
$GC,1933,-1.10,-146.6,141.5,-7.9,90,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3503
$GC,2241,-1.10,-146.6,160.4,-4.5,105,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2896,3503
$GC,2550,-1.10,-146.6,183.5,-9.0,120,2554,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1485,3503
$GC,2589,-1.10,-146.6,187.0,-8.7,122,2593,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2905,3503
$GC,2915,-1.10,-146.6,216.5,-8.9,138,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3503
$GC,3225,-1.10,-146.6,246.3,-8.8,153,3229,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3503
$GC,3264,-1.10,-146.6,249.2,-7.7,155,3268,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2906,3503
$GC,3590,-1.10,-146.6,273.6,-6.9,171,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,3900,-1.10,-146.6,294.8,-6.7,186,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,4209,-1.10,-146.6,311.8,-5.0,201,4214,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1487,3503
$GC,4254,-1.10,-146.6,314.1,-4.7,203,4258,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2900,3503
$GC,4575,-1.10,-146.6,331.3,-6.2,219,4579,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1485,3503
$GC,4607,-1.10,-146.6,333.4,-6.3,220,4614,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2901,3503
$GC,4923,-1.10,-146.6,354.2,-7.3,236,4928,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1479,3503
$GC,4956,-1.10,-146.6,357.1,-8.3,237,4962,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2899,3503
$GC,5272,-1.10,-146.6,382.0,-7.9,253,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,5581,-1.10,-146.6,408.3,-8.6,268,5585,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1486,3503
$GC,5636,-1.10,-146.6,413.1,-8.2,270,5643,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2900,3503
$GC,5952,-1.10,-146.6,437.7,-7.7,286,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,6262,-1.10,-146.6,459.1,-6.6,301,6266,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1478,3503
$GC,6317,-1.10,-146.6,463.3,-7.8,303,6323,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2907,3503
$GC,6633,-1.10,-146.6,485.6,-6.7,319,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,6942,-1.10,-146.6,506.1,-6.8,334,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3503
$GC,7254,-1.10,-146.6,525.0,-5.8,349,7259,0.00,2.58,0.00,0.000,4,0.000,0.056,2165,1476,3503
$GC,7289,-1.10,-146.6,527.2,-6.4,350,7295,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2904,3503
$GC,7605,-1.10,-146.6,545.9,-6.2,366,7609,0.00,2.55,0.00,0.000,4,0.000,0.056,2165,1482,3503
$GC,7637,-1.10,-146.6,548.1,-7.0,367,7643,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2904,3503
$GC,7954,-1.10,-146.6,566.8,-5.1,383,7958,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1480,3503
$GC,8054,-1.10,-146.6,571.6,-4.4,387,8060,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2900,3503
$GC,8370,-1.10,-146.6,588.8,-6.4,403,8374,0.00,1.65,0.00,0.000,4,0.000,0.086,2166,3783,3503
$GC,8415,-1.10,-146.6,592.1,-7.3,405,8419,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2896,3503
$GC,8748,-1.10,-146.6,615.2,-7.5,421,8752,0.00,2.53,0.00,0.000,4,0.000,0.056,2165,1476,3503
$GC,8821,-1.10,-146.6,620.7,-7.4,424,8825,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2899,3503
$GC,9136,-1.10,-146.6,641.7,-6.3,439,9140,0.00,2.53,0.00,0.000,4,0.000,0.055,2165,1483,3503
$STATE,9157,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9157,begin apogee
$GC,9164,-0.42,0.0,643.3,6.8,440,9299,0.75,0.00,127.43,1.233,6,0.094,0.000,2316,2112,2901
$STATE,9300,end apogee,CONTROL_FINISHED_OK
$STATE,9300,begin climb
$GC,9303,1.10,146.6,648.2,0.0,447,9434,1.55,2.65,123.07,1.201,4,0.058,0.055,2649,690,2303
$GC,9563,1.13,165.1,639.5,5.5,459,9587,0.00,2.50,17.27,1.120,6,0.000,0.035,2649,2120,2228
$GC,9911,1.13,165.1,620.5,6.3,476,9915,0.00,2.55,0.00,0.000,4,0.000,0.067,2649,3497,2226
$GC,9960,1.13,165.1,617.2,7.0,478,9964,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2092,2226
$GC,10276,1.13,165.1,595.2,6.2,493,10280,0.00,2.53,0.00,0.000,4,0.000,0.058,2649,697,2225
$GC,10427,1.13,165.1,586.1,7.1,500,10432,0.00,2.42,0.00,0.000,6,0.000,0.038,2649,2093,2225
$GC,10760,1.13,165.1,565.1,6.1,516,10765,0.00,2.62,0.00,0.000,4,0.000,0.068,2649,3514,2223
$GC,10850,1.13,165.1,559.3,7.4,520,10854,0.00,2.47,0.00,0.000,6,0.000,0.040,2649,2099,2223
$GC,11171,1.13,165.1,537.0,7.4,536,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2099,2223
$GC,11481,1.13,165.1,516.4,6.2,551,11485,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3507,2222
$GC,11597,1.13,171.4,509.0,5.8,556,11609,0.00,2.47,5.88,0.959,6,0.000,0.041,2649,2101,2202
$GC,11918,1.15,186.4,491.7,5.6,572,11940,0.00,2.67,14.45,1.099,4,0.000,0.068,2649,3505,2140
$GC,12009,1.15,187.3,486.0,6.0,576,12013,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2093,2140
$GC,12335,1.15,187.3,466.0,6.0,592,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,2140
$GC,12645,1.18,211.3,448.3,5.3,607,12669,0.00,0.00,22.17,1.108,6,0.000,0.000,2649,2093,2039
$GC,12973,1.18,211.3,428.0,6.7,623,12978,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3510,2039
$GC,13035,1.18,211.3,423.6,7.5,626,13040,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2098,2039
$GC,13362,1.18,211.3,400.8,6.8,642,13366,0.00,2.65,0.00,0.000,4,0.000,0.070,2649,3512,2039
$GC,13401,1.18,211.3,397.7,7.7,644,13405,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2098,2039
$GC,13727,1.18,211.3,373.8,7.8,660,13731,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3505,2039
$GC,13771,1.18,211.3,370.0,8.2,662,13775,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2094,2039
$GC,14097,1.18,211.3,343.1,8.7,678,14101,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3508,2039
$GC,14146,1.18,211.3,338.8,9.0,680,14151,0.00,2.50,0.00,0.000,6,0.000,0.045,2649,2093,2039
$GC,14462,1.18,211.3,311.6,8.6,695,14463,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,2040
$GC,14771,1.18,211.3,286.3,7.8,710,14775,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3510,2040
$GC,14837,1.18,211.3,281.2,7.9,713,14841,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2101,2040
$GC,15159,1.18,211.3,257.6,7.7,729,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2101,2040
$GC,15468,1.18,211.3,236.4,7.4,744,15472,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3507,2041
$GC,15540,1.18,211.3,231.2,7.2,747,15544,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2093,2041
$GC,15855,1.18,211.3,210.9,6.7,762,15857,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,2041
$GC,16164,1.18,211.3,185.5,7.9,777,16169,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3510,2041
$GC,16220,1.18,211.3,180.9,8.0,779,16226,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2096,2041
$GC,16536,1.18,211.3,157.6,7.8,795,16540,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3512,2041
$GC,16579,1.18,211.3,154.3,6.4,797,16584,0.00,2.47,0.00,0.000,6,0.000,0.046,2649,2100,2041
$GC,16902,1.24,257.4,134.3,4.7,813,16947,0.15,2.72,38.42,0.897,4,0.042,0.071,2696,3504,1851
$GC,16992,1.24,257.4,127.9,6.8,817,16997,0.00,2.53,0.00,0.000,6,0.000,0.046,2696,2103,1850
$GC,17314,1.24,257.4,103.0,7.8,833,17318,0.00,2.58,0.00,0.000,4,0.000,0.062,2696,690,1850
$GC,17364,1.24,257.4,98.8,8.4,835,17368,0.00,2.50,0.00,0.000,6,0.000,0.044,2696,2097,1850
$GC,17679,1.24,257.4,72.1,8.4,850,17684,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3512,1850
$GC,17719,1.24,257.4,68.6,8.6,852,17724,0.00,2.50,0.00,0.000,6,0.000,0.047,2696,2099,1850
$GC,18047,1.24,257.4,44.1,6.7,868,18048,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2099,1850
$GC,18356,1.24,257.4,17.0,9.2,883,18357,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2098,1850
$STATE,18518,end climb,SURFACE_DEPTH_REACHED
$STATE,18518,begin surface coast
$FINISH,-0.4,1.027358
$STATE,18542,end surface coast,CONTROL_FINISHED_OK
$STATE,18542,begin surface
$SM_CCo,18566,36.78,0.759,2,0,1678,300.00
$SM_GC,-0.30,0.00,0.00,36.78,0.000,0.000,0.759,47,2896,1678,-10.87,-0.11,300.00
$IRIDIUM_FIX,6235.17,-1248.68,150108,202037
$TT8_MAMPS,0.029146
$HUMID,2056
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,575.4,77.6
$24V_AH,23.3,63.510
$10V_AH,10.1,28.983
$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,25.925,161.275,348.700,36.775,0.000,39.575,35.581,158.118,5.500,0.000,0.000,13.662,1649.397,14265.661,535.805,1987.432,585.496,0.000,1538.011,0.000,1957.953,0.000,33.099
$DEVICE_MAMPS,155.701,93.574,1232.569,759.330,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.568,626.614,559.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44354,892
$CFSIZE,260165632,238571520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,160108,021208,6257.653,-1253.403,30,1.4,30,-11.9