version: 66.02
glider: 103
mission: 7
dive: 382
start: 1 16 108 23 12 17
data:
$ID,103
$MISSION,7
$DIVE,382
$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,-69922.25
$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,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
$GPS1,225232,6247.632,-1226.324,42,1.7,48,-11.6
$_CALLS,4
$_XMS_NAKs,27
$_XMS_TOUTs,2
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-51.5
$GPS2,231144,6247.730,-1226.148,10,1.5,10,-11.6
$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,109.8,35257,-11.1,-6.000
$D_GRID,703
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-61.03,0.000,2,0.000,0.000,41,2897,3342
$GC,90,-1.10,-146.6,3.0,-6.2,3,113,12.07,2.60,-2.92,0.000,4,0.160,0.075,2166,1491,3501
$GC,264,-1.10,-146.6,20.9,-6.5,10,270,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2902,3502
$GC,581,-1.10,-146.6,39.2,-7.4,26,585,0.00,1.67,0.00,0.000,4,0.000,0.086,2166,3787,3502
$GC,610,-1.10,-146.6,42.1,-9.9,27,614,0.00,1.58,0.00,0.000,6,0.000,0.036,2167,2877,3502
$GC,938,-1.10,-146.6,71.2,-8.3,43,941,0.00,1.73,0.00,0.000,4,0.000,0.081,2166,3784,3502
$GC,1038,-1.10,-146.6,77.6,-4.3,47,1042,0.00,1.55,0.00,0.000,6,0.000,0.037,2166,2901,3502
$GC,1360,-1.10,-146.6,101.7,-7.6,63,1364,0.00,2.60,0.00,0.000,4,0.000,0.070,2167,1491,3502
$GC,1409,-1.10,-146.6,105.6,-8.6,65,1414,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2899,3502
$GC,1725,-1.10,-146.6,129.6,-7.4,80,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,2034,-1.10,-146.6,149.9,-6.6,95,2042,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1492,3502
$GC,2076,-1.10,-146.6,153.1,-7.5,96,2082,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2906,3502
$GC,2392,-1.10,-146.6,175.6,-7.2,112,2397,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,1483,3502
$GC,2425,-1.10,-146.6,178.1,-7.2,113,2431,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2899,3502
$GC,2742,-1.10,-146.6,200.9,-7.3,129,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,3050,-1.10,-146.6,225.0,-7.9,144,3054,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1482,3502
$GC,3076,-1.10,-146.6,227.2,-8.3,145,3081,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2900,3502
$GC,3398,-1.10,-146.6,251.8,-8.0,161,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,3707,-1.10,-146.6,277.0,-8.1,176,3712,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1491,3502
$GC,3757,-1.10,-146.6,281.1,-8.2,178,3762,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2901,3502
$GC,4073,-1.10,-146.6,307.1,-8.6,193,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,4382,-1.10,-146.6,335.0,-8.9,208,4387,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1487,3502
$GC,4432,-1.10,-146.6,339.2,-7.7,210,4437,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2908,3502
$GC,4748,-1.10,-146.6,359.1,-6.5,225,4752,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1486,3502
$GC,4787,-1.10,-146.6,361.7,-7.1,227,4791,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2903,3502
$GC,5113,-1.10,-146.6,385.0,-6.9,243,5117,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1490,3502
$GC,5157,-1.10,-146.6,388.1,-7.2,245,5161,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2901,3502
$GC,5478,-1.10,-146.6,409.3,-6.7,261,5483,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1489,3502
$GC,5518,-1.10,-146.6,412.0,-6.8,263,5522,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2907,3502
$GC,5844,-1.10,-146.6,432.2,-6.2,279,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,6153,-1.10,-146.6,452.4,-6.7,294,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3502
$GC,6463,-1.10,-146.6,475.2,-7.8,309,6468,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1484,3502
$GC,6519,-1.10,-146.6,479.8,-8.3,311,6525,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2908,3502
$GC,6835,-1.10,-146.6,504.0,-7.7,327,6839,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1489,3502
$GC,6890,-1.10,-146.6,508.6,-8.5,329,6896,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,7205,-1.10,-146.6,532.0,-7.3,345,7210,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1479,3502
$GC,7268,-1.10,-146.6,536.5,-7.8,348,7272,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2904,3502
$GC,7594,-1.10,-146.6,559.0,-6.8,364,7598,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1479,3502
$GC,7634,-1.10,-146.6,561.7,-6.8,366,7638,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2904,3502
$GC,7960,-1.10,-146.6,581.8,-6.3,382,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3502
$GC,8269,-1.10,-146.6,599.8,-5.3,397,8276,0.00,2.55,0.00,0.000,4,0.000,0.057,2167,1483,3502
$GC,8366,-1.10,-146.6,605.8,-6.6,401,8370,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2906,3502
$GC,8687,-1.10,-146.6,624.2,-5.6,417,8691,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1480,3502
$GC,8731,-1.10,-146.6,627.1,-6.5,419,8735,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2900,3502
$GC,9052,-1.10,-146.6,646.6,-6.5,435,9055,0.00,1.67,0.00,0.000,4,0.000,0.087,2167,3790,3502
$GC,9085,-1.10,-146.6,649.0,-7.5,436,9089,0.00,1.55,0.00,0.000,6,0.000,0.037,2166,2895,3502
$GC,9406,-1.10,-146.6,672.6,-6.5,452,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3502
$GC,9716,-1.10,-146.6,690.9,-6.2,467,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2892,3502
$STATE,9775,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9775,begin apogee
$GC,9783,-0.42,0.0,694.6,6.2,470,9918,0.77,0.00,127.97,1.300,6,0.103,0.000,2318,2098,2901
$STATE,9918,end apogee,CONTROL_FINISHED_OK
$STATE,9918,begin climb
$GC,9921,1.10,146.6,700.6,0.0,477,10056,1.55,2.72,124.00,1.266,4,0.064,0.065,2646,3521,2303
$GC,10310,1.17,200.5,685.3,4.5,495,10364,0.00,2.53,47.05,1.257,6,0.000,0.040,2646,2094,2083
$GC,10683,1.17,200.5,660.2,8.3,513,10687,0.00,2.67,0.00,0.000,4,0.000,0.069,2646,3521,2082
$GC,10816,1.17,200.5,649.5,7.3,519,10821,0.00,2.53,0.00,0.000,6,0.000,0.040,2646,2097,2081
$GC,11138,1.17,200.5,629.6,6.7,535,11142,0.00,2.67,0.00,0.000,4,0.000,0.071,2646,3521,2080
$GC,11199,1.17,200.5,624.9,8.0,538,11204,0.00,2.53,0.00,0.000,6,0.000,0.044,2646,2102,2080
$GC,11526,1.20,224.0,605.6,5.4,554,11553,0.12,2.75,20.62,1.238,4,0.044,0.072,2685,3521,1987
$GC,11614,1.20,224.0,599.0,7.9,558,11619,0.00,2.53,0.00,0.000,6,0.000,0.042,2685,2100,1986
$GC,11935,1.20,224.0,573.2,8.5,574,11936,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1985
$GC,12245,1.20,224.0,548.8,7.5,589,12249,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3515,1985
$GC,12301,1.20,224.0,544.1,8.9,591,12307,0.00,2.53,0.00,0.000,6,0.000,0.043,2685,2093,1985
$GC,12617,1.20,224.0,516.8,8.6,607,12621,0.00,2.53,0.00,0.000,4,0.000,0.058,2685,695,1985
$GC,12656,1.20,224.0,513.3,8.9,609,12661,0.00,2.47,0.00,0.000,6,0.000,0.040,2685,2107,1985
$GC,12983,1.20,224.0,488.9,6.9,625,12987,0.00,2.60,0.00,0.000,4,0.000,0.072,2685,3510,1985
$GC,13010,1.20,224.0,486.9,7.0,626,13014,0.00,2.47,0.00,0.000,6,0.000,0.039,2685,2093,1985
$GC,13326,1.20,224.0,463.1,7.3,641,13327,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2093,1985
$GC,13635,1.20,224.0,438.9,8.5,656,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2093,1985
$GC,13944,1.20,224.0,407.9,9.4,671,13949,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3510,1985
$GC,13972,1.20,224.0,405.5,8.6,672,13976,0.00,2.50,0.00,0.000,6,0.000,0.042,2685,2097,1985
$GC,14287,1.20,224.0,381.6,7.8,687,14292,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3512,1985
$GC,14331,1.20,224.0,378.0,8.4,689,14336,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2096,1985
$GC,14653,1.20,224.0,352.5,7.5,705,14654,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2096,1986
$GC,14962,1.20,224.0,327.9,7.9,720,14967,0.00,2.65,0.00,0.000,4,0.000,0.074,2685,3511,1986
$GC,15006,1.20,224.0,323.9,9.0,722,15010,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2093,1986
$GC,15327,1.20,224.0,298.5,8.2,738,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2093,1986
$GC,15635,1.20,224.0,274.1,7.7,753,15640,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3510,1986
$GC,15668,1.20,224.0,271.4,8.4,754,15674,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2095,1986
$GC,15984,1.20,224.0,245.0,8.7,770,15985,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2095,1987
$GC,16293,1.20,224.0,219.8,8.3,785,16297,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3508,1987
$GC,16393,1.20,224.0,210.7,10.0,789,16399,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2097,1987
$GC,16708,1.20,224.0,183.8,8.2,805,16713,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3510,1987
$GC,16793,1.20,224.0,175.1,11.2,809,16797,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2099,1987
$GC,17126,1.20,224.0,141.2,9.9,825,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2098,1987
$GC,17435,1.20,224.0,114.5,7.8,840,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2098,1988
$GC,17744,1.20,224.0,88.9,7.7,855,17748,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3510,1988
$GC,17810,1.20,224.0,82.5,9.4,858,17814,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2091,1988
$GC,18131,1.20,224.0,57.2,6.3,874,18133,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2090,1988
$GC,18440,1.20,224.0,39.1,10.6,889,18441,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2090,1989
$GC,18749,1.20,224.0,15.4,11.5,904,18754,0.00,2.67,0.00,0.000,4,0.000,0.075,2685,3510,1989
$GC,18776,1.20,224.0,12.0,13.7,905,18781,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2097,1989
$STATE,18945,end climb,SURFACE_DEPTH_REACHED
$STATE,18945,begin surface coast
$FINISH,-0.9,1.027339
$STATE,18967,end surface coast,CONTROL_FINISHED_OK
$STATE,18967,begin surface
$SM_CCo,18991,62.33,0.805,1,0,1678,300.00
$SM_GC,-0.32,0.00,0.00,62.33,0.000,0.000,0.805,43,2896,1678,-10.89,-0.11,300.00
$IRIDIUM_FIX,6221.17,-1228.67,170108,030338
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.2,103.2
$24V_AH,23.2,64.276
$10V_AH,10.1,29.411
$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,26.150,173.600,319.650,62.325,0.000,148.834,254.824,425.696,5.500,0.000,0.000,12.981,1680.722,14789.546,533.594,2034.056,1185.770,0.000,1561.598,0.000,2009.721,0.000,34.830
$DEVICE_MAMPS,160.303,95.875,1300.065,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.618,631.667,569.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47457,914
$CFSIZE,260165632,238243840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,170108,043107,6248.038,-1216.484,34,1.3,34,-11.5