version: 66.02
glider: 103
mission: 7
dive: 381
start: 1 16 108 17 47 21
data:
$ID,103
$MISSION,7
$DIVE,381
$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,-69908.641
$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,11
$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
$GPS1,173508,6251.128,-1232.327,36,1.4,36,-11.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-52.8
$GPS2,174645,6251.032,-1232.157,12,1.3,12,-11.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$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,117.3,41520,-11.1,-6.000
$D_GRID,671
$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,-146.6,0.0,0.0,0,93,0.00,0.00,-66.40,0.000,6,0.000,0.000,41,2898,3501
$GC,96,-1.10,-146.6,2.8,-7.6,3,112,11.90,1.75,0.00,0.000,4,0.155,0.088,2164,3784,3502
$GC,240,-1.10,-146.6,25.4,-7.7,8,247,0.00,1.55,0.00,0.000,6,0.000,0.043,2164,2904,3503
$GC,557,-1.10,-146.6,61.3,-11.1,24,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,866,-1.10,-146.6,84.5,-8.7,39,870,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1492,3503
$GC,928,-1.10,-146.6,89.5,-7.2,42,932,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3503
$GC,1255,-1.10,-146.6,115.0,-9.8,58,1259,0.00,2.60,0.00,0.000,4,0.000,0.062,2164,1486,3503
$GC,1287,-1.10,-146.6,118.0,-8.5,59,1294,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2908,3503
$GC,1605,-1.10,-146.6,143.0,-7.6,75,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,1912,-1.10,-146.6,167.3,-8.2,90,1916,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1487,3503
$GC,1944,-1.10,-146.6,170.1,-8.2,91,1951,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2898,3503
$GC,2260,-1.10,-146.6,194.2,-6.9,107,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,2570,-1.10,-146.6,215.5,-6.6,122,2574,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1492,3503
$GC,2609,-1.10,-146.6,218.0,-6.8,124,2613,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2899,3504
$GC,2935,-1.10,-146.6,241.2,-7.4,140,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,3244,-1.10,-146.6,262.7,-6.6,155,3249,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1484,3503
$GC,3289,-1.10,-146.6,265.7,-6.5,157,3293,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2902,3503
$GC,3609,-1.10,-146.6,284.7,-6.2,173,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,3919,-1.10,-146.6,305.0,-6.7,188,3923,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1487,3504
$GC,3958,-1.10,-146.6,307.7,-6.6,190,3963,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2902,3503
$GC,4284,-1.10,-146.6,329.1,-7.3,206,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,4594,-1.10,-146.6,349.5,-7.1,221,4602,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1490,3503
$GC,4644,-1.10,-146.6,353.0,-7.8,223,4648,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2902,3503
$GC,4970,-1.10,-146.6,373.4,-6.0,239,4974,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1489,3503
$GC,4998,-1.10,-146.6,375.1,-6.1,240,5002,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2899,3503
$GC,5313,-1.10,-146.6,393.6,-6.5,255,5317,0.00,1.67,0.00,0.000,4,0.000,0.083,2164,3785,3503
$GC,5368,-1.10,-146.6,397.6,-7.4,257,5372,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2899,3503
$GC,5690,-1.10,-146.6,420.0,-6.8,273,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,5998,-1.10,-146.6,442.2,-7.0,288,6003,0.00,2.53,0.00,0.000,4,0.000,0.059,2163,1489,3503
$GC,6065,-1.10,-146.6,446.8,-7.2,291,6070,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2908,3503
$GC,6387,-1.10,-146.6,469.9,-7.4,307,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,6696,-1.10,-146.6,494.6,-7.9,322,6700,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1485,3503
$GC,6750,-1.10,-146.6,499.1,-8.2,324,6757,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,7066,-1.10,-146.6,524.4,-7.8,340,7071,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1480,3503
$GC,7132,-1.10,-146.6,529.5,-7.4,343,7137,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2903,3504
$GC,7454,-1.10,-146.6,551.3,-6.4,359,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,7763,-1.10,-146.6,570.5,-5.8,374,7767,0.00,1.67,0.00,0.000,4,0.000,0.081,2164,3789,3503
$GC,7841,-1.10,-146.6,575.7,-6.4,377,7844,0.00,1.52,0.00,0.000,6,0.000,0.036,2164,2907,3503
$GC,8162,-1.10,-146.6,595.3,-6.1,393,8166,0.00,2.53,0.00,0.000,4,0.000,0.056,2164,1487,3503
$GC,8269,-1.10,-146.6,602.3,-6.8,398,8273,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2907,3503
$GC,8595,-1.10,-146.6,624.7,-7.2,414,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,8905,-1.10,-146.6,643.6,-6.0,429,8909,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1487,3503
$GC,8982,-1.10,-146.6,648.3,-5.6,432,8988,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2901,3503
$GC,9299,-1.10,-146.6,667.5,-5.9,448,9303,0.00,2.50,0.00,0.000,4,0.000,0.053,2164,1486,3503
$STATE,9352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9352,begin apogee
$GC,9359,-0.42,0.0,671.2,6.5,450,9491,0.75,0.00,127.40,1.268,6,0.100,0.000,2314,2113,2901
$STATE,9492,end apogee,CONTROL_FINISHED_OK
$STATE,9492,begin climb
$GC,9495,1.10,146.6,676.9,0.0,457,9626,1.55,2.65,123.30,1.226,4,0.057,0.057,2647,691,2303
$GC,9802,1.10,146.6,665.9,6.4,471,9807,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2110,2302
$GC,10119,1.20,225.6,651.3,3.8,486,10190,0.10,0.00,68.03,1.237,6,0.048,0.000,2685,2110,1981
$GC,10487,1.20,225.6,625.7,7.8,504,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2110,1978
$GC,10797,1.20,225.6,602.2,7.6,519,10801,0.00,2.62,0.00,0.000,4,0.000,0.074,2685,3505,1978
$GC,10847,1.20,225.6,597.9,8.5,521,10851,0.00,2.50,0.00,0.000,6,0.000,0.042,2685,2100,1977
$GC,11167,1.20,225.6,570.8,8.2,537,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1977
$GC,11477,1.20,225.6,546.8,7.4,552,11481,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3501,1976
$GC,11521,1.20,225.6,543.2,8.1,554,11525,0.00,2.50,0.00,0.000,6,0.000,0.043,2685,2095,1976
$GC,11841,1.20,225.6,517.5,8.3,570,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1976
$GC,12150,1.20,225.6,492.4,7.7,585,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2095,1976
$GC,12460,1.20,225.6,469.2,7.0,600,12464,0.00,2.62,0.00,0.000,4,0.000,0.070,2685,3501,1976
$GC,12499,1.20,225.6,466.3,7.1,602,12503,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2097,1976
$GC,12825,1.20,225.6,443.9,6.9,618,12829,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3511,1976
$GC,12858,1.20,225.6,441.4,7.1,619,12864,0.00,2.50,0.00,0.000,6,0.000,0.043,2685,2099,1976
$GC,13173,1.20,225.6,419.7,6.7,635,13174,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1976
$GC,13483,1.20,225.6,397.1,7.1,650,13487,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3502,1977
$GC,13522,1.20,225.6,394.2,7.7,652,13527,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2102,1977
$GC,13849,1.20,225.6,369.2,7.8,668,13853,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3502,1977
$GC,13882,1.20,225.6,366.4,8.3,669,13888,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2097,1977
$GC,14197,1.20,225.6,339.4,9.4,685,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2097,1977
$GC,14506,1.20,225.6,310.1,9.3,700,14510,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3506,1978
$GC,14545,1.20,225.6,306.2,10.1,702,14550,0.00,2.47,0.00,0.000,6,0.000,0.045,2685,2099,1978
$GC,14872,1.20,225.6,275.1,9.4,718,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1978
$GC,15181,1.20,225.6,248.3,8.4,733,15185,0.00,2.55,0.00,0.000,4,0.000,0.062,2685,689,1978
$GC,15204,1.20,225.6,246.0,10.4,734,15208,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2094,1978
$GC,15524,1.20,225.6,216.9,7.7,750,15525,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2094,1978
$GC,15834,1.20,225.6,190.8,7.9,765,15838,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3518,1978
$GC,15878,1.20,225.6,187.0,9.1,767,15882,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2100,1979
$GC,16204,1.20,225.6,159.5,8.1,783,16205,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1979
$GC,16514,1.20,225.6,131.5,9.2,798,16518,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3516,1979
$GC,16546,1.20,225.6,129.3,7.0,799,16553,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2094,1979
$GC,16864,1.20,225.6,105.6,9.0,815,16865,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2094,1979
$GC,17172,1.20,225.6,80.0,7.8,830,17176,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3512,1979
$GC,17221,1.20,225.6,75.2,9.3,832,17226,0.00,2.47,0.00,0.000,6,0.000,0.040,2685,2099,1979
$GC,17539,1.20,225.6,51.7,10.3,847,17543,0.00,2.55,0.00,0.000,4,0.000,0.064,2685,692,1979
$GC,17572,1.20,225.6,48.3,9.5,848,17578,0.00,2.53,0.00,0.000,6,0.000,0.055,2685,2097,1979
$GC,17888,1.20,225.6,17.2,10.7,864,17892,0.00,2.62,0.00,0.000,4,0.000,0.073,2685,695,1979
$GC,17898,1.20,225.6,16.6,9.7,864,17904,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2114,1979
$STATE,18109,end climb,SURFACE_DEPTH_REACHED
$STATE,18110,begin surface coast
$FINISH,-1.2,1.027156
$STATE,18130,end surface coast,CONTROL_FINISHED_OK
$STATE,18130,begin surface
$SM_CCo,18154,61.03,0.796,2,0,1678,300.00
$SM_GC,0.19,0.00,0.00,61.03,0.000,0.000,0.796,41,2897,1678,-10.89,-0.08,300.00
$IRIDIUM_FIX,6225.82,-1229.69,160108,212129
$TT8_MAMPS,0.029146
$HUMID,2056
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,626.0,74.1
$24V_AH,23.2,64.103
$10V_AH,10.1,29.316
$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,25.925,153.950,318.725,61.025,0.000,79.838,69.646,349.879,5.750,0.000,0.000,12.770,1596.593,14109.607,541.230,1845.576,846.207,0.000,1477.156,0.000,1827.493,0.000,36.335
$DEVICE_MAMPS,154.934,88.205,1267.851,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,647.143,611.169,526.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44205,876
$CFSIZE,260165632,238325760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,2,0
$GPS,160108,225232,6247.632,-1226.324,42,1.7,48,-11.6