version: 66.02
glider: 103
mission: 7
dive: 385
start: 1 17 108 15 22 13
data:
$ID,103
$MISSION,7
$DIVE,385
$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,-69994.547
$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,13
$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
$GPS1,151301,6248.441,-1156.960,38,1.6,38,-11.3
$_CALLS,1
$_XMS_NAKs,33
$_XMS_TOUTs,4
$_SM_DEPTHo,-0.36
$_SM_ANGLEo,-60.0
$GPS2,152139,6248.486,-1156.579,14,1.5,14,-11.3
$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,134.6,11751,-11.1,-6.000
$D_GRID,627
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-60.42,0.000,2,0.000,0.000,44,2898,3310
$GC,90,-1.10,-146.6,3.1,-8.8,3,113,11.90,1.67,-3.58,0.000,4,0.155,0.103,2165,3783,3500
$GC,251,-1.10,-146.6,23.6,-8.2,10,254,0.00,1.55,0.00,0.000,6,0.000,0.043,2165,2905,3501
$GC,584,-1.10,-146.6,48.2,-7.0,26,588,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1492,3501
$GC,611,-1.10,-146.6,50.2,-6.5,27,616,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2898,3501
$GC,927,-1.10,-146.6,71.8,-7.7,42,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3501
$GC,1236,-1.10,-146.6,92.7,-6.8,57,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,1545,-1.10,-146.6,114.2,-6.9,72,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,1856,-1.10,-146.6,137.1,-7.8,87,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,2164,-1.10,-146.6,161.9,-7.8,102,2168,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1490,3502
$GC,2203,-1.10,-146.6,164.9,-8.2,104,2207,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,2529,-1.10,-146.6,190.2,-8.0,120,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,2839,-1.10,-146.6,215.5,-8.9,135,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,3147,-1.10,-146.6,239.8,-7.3,150,3152,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1490,3502
$GC,3174,-1.10,-146.6,242.0,-7.6,151,3179,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2900,3502
$GC,3491,-1.10,-146.6,264.9,-6.7,166,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,3800,-1.10,-146.6,286.4,-7.0,181,3804,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1484,3502
$GC,3839,-1.10,-146.6,289.3,-7.5,183,3843,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2906,3502
$GC,4165,-1.10,-146.6,313.5,-7.0,199,4169,0.00,1.67,0.00,0.000,4,0.000,0.089,2165,3789,3502
$GC,4233,-1.10,-146.6,318.6,-7.1,202,4236,0.00,1.55,0.00,0.000,6,0.000,0.037,2165,2899,3502
$GC,4565,-1.10,-146.6,341.2,-7.2,218,4569,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1482,3502
$GC,4621,-1.10,-146.6,345.5,-8.1,220,4626,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2903,3502
$GC,4937,-1.10,-146.6,369.1,-7.3,235,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,5246,-1.10,-146.6,391.3,-7.5,250,5250,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1483,3502
$GC,5279,-1.10,-146.6,393.9,-7.8,251,5283,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2901,3502
$GC,5595,-1.10,-146.6,417.6,-7.5,266,5598,0.00,1.67,0.00,0.000,4,0.000,0.087,2165,3792,3502
$GC,5656,-1.10,-146.6,422.6,-8.1,268,5662,0.00,1.55,0.00,0.000,6,0.000,0.035,2165,2898,3502
$GC,5972,-1.10,-146.6,446.1,-7.3,284,5976,0.00,2.50,0.00,0.000,4,0.000,0.058,2165,1488,3502
$GC,6066,-1.10,-146.6,453.0,-6.8,288,6071,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2904,3502
$GC,6382,-1.10,-146.6,473.7,-6.4,303,6386,0.00,1.67,0.00,0.000,4,0.000,0.085,2165,3780,3502
$GC,6438,-1.10,-146.6,477.6,-6.6,305,6441,0.00,1.52,0.00,0.000,6,0.000,0.035,2165,2905,3502
$GC,6759,-1.10,-146.6,498.9,-6.7,321,6763,0.00,2.53,0.00,0.000,4,0.000,0.058,2165,1486,3502
$GC,6797,-1.10,-146.6,501.6,-6.9,322,6803,0.00,2.60,0.00,0.000,6,0.000,0.068,2165,2898,3501
$GC,7113,-1.10,-146.6,523.0,-6.7,338,7117,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1483,3502
$GC,7146,-1.10,-146.6,525.5,-8.0,339,7152,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,7461,-1.10,-146.6,548.4,-7.2,355,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,7771,-1.10,-146.6,570.0,-6.8,370,7775,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1487,3502
$GC,7820,-1.10,-146.6,573.5,-6.8,372,7825,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2900,3501
$GC,8142,-1.10,-146.6,594.5,-6.4,388,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,8451,-1.10,-146.6,613.1,-6.0,403,8455,0.00,1.67,0.00,0.000,4,0.000,0.088,2165,3786,3501
$GC,8552,-1.10,-146.6,619.7,-6.6,407,8555,0.00,1.55,0.00,0.000,6,0.000,0.038,2165,2897,3501
$STATE,8644,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8644,begin apogee
$GC,8652,-0.42,0.0,625.5,6.3,412,8781,0.75,0.00,126.22,1.257,6,0.094,0.000,2316,2093,2901
$STATE,8782,end apogee,CONTROL_FINISHED_OK
$STATE,8782,begin climb
$GC,8785,1.10,146.6,629.8,0.0,418,8917,1.55,2.65,121.57,1.240,4,0.059,0.058,2646,693,2303
$GC,9003,1.11,153.2,624.6,5.8,428,9019,0.00,2.50,7.22,1.021,6,0.000,0.036,2646,2115,2276
$GC,9329,1.16,196.4,608.4,4.8,444,9372,0.00,2.70,37.22,1.229,4,0.000,0.067,2646,3502,2100
$GC,9480,1.17,202.6,600.1,5.8,450,9494,0.00,2.50,6.97,1.040,6,0.000,0.041,2646,2089,2074
$GC,9816,1.17,202.6,579.7,6.7,467,9821,0.00,2.65,0.00,0.000,4,0.000,0.067,2646,3502,2072
$GC,9872,1.17,202.6,575.9,6.8,469,9878,0.00,2.47,0.00,0.000,6,0.000,0.039,2646,2094,2073
$GC,10187,1.17,202.6,555.6,6.6,485,10192,0.00,2.65,0.00,0.000,4,0.000,0.069,2646,3507,2071
$GC,10220,1.17,202.6,553.2,7.2,486,10226,0.00,2.47,0.00,0.000,6,0.000,0.039,2646,2096,2071
$GC,10536,1.20,226.6,535.1,5.3,502,10562,0.12,2.72,20.48,1.223,4,0.045,0.071,2685,3508,1977
$GC,10608,1.20,226.6,530.5,7.0,505,10612,0.00,2.53,0.00,0.000,6,0.000,0.043,2685,2098,1976
$GC,10923,1.20,226.6,509.4,7.1,520,10927,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3500,1976
$GC,10950,1.20,226.6,507.4,7.7,521,10954,0.00,2.47,0.00,0.000,6,0.000,0.043,2685,2094,1975
$GC,11271,1.20,226.6,483.1,8.0,537,11275,0.00,2.65,0.00,0.000,4,0.000,0.074,2685,3500,1975
$GC,11315,1.20,226.6,479.3,8.7,539,11319,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2100,1975
$GC,11636,1.20,226.6,453.4,8.0,555,11640,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3502,1975
$GC,11685,1.20,226.6,449.1,8.4,557,11690,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2096,1975
$GC,12001,1.20,226.6,423.1,8.4,572,12005,0.00,2.53,0.00,0.000,4,0.000,0.058,2685,695,1975
$GC,12033,1.20,226.6,420.2,8.8,573,12039,0.00,2.45,0.00,0.000,6,0.000,0.040,2685,2094,1975
$GC,12349,1.20,226.6,395.3,7.6,589,12353,0.00,2.65,0.00,0.000,4,0.000,0.075,2685,3512,1976
$GC,12433,1.20,226.6,388.6,7.9,593,12438,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2095,1975
$GC,12759,1.20,226.6,363.0,7.5,609,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2095,1976
$GC,13069,1.20,226.6,341.7,6.6,624,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2095,1976
$GC,13378,1.20,226.6,320.8,7.1,639,13382,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3510,1976
$GC,13427,1.20,226.6,316.9,7.3,641,13431,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2099,1977
$GC,13748,1.20,226.6,294.6,6.8,657,13753,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3512,1977
$GC,13788,1.20,226.6,291.4,7.3,659,13792,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2096,1977
$GC,14114,1.20,226.6,265.3,8.2,675,14115,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2096,1978
$GC,14424,1.20,226.6,241.1,7.7,690,14428,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3514,1978
$GC,14473,1.20,226.6,237.0,7.6,692,14477,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2097,1978
$GC,14788,1.20,226.6,213.1,7.3,707,14793,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3511,1978
$GC,14816,1.20,226.6,210.8,8.1,708,14820,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2099,1978
$GC,15131,1.20,226.6,186.2,7.8,723,15135,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3515,1979
$GC,15158,1.20,226.6,184.1,7.6,724,15162,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2097,1979
$GC,15474,1.20,226.6,158.8,8.3,739,15475,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2097,1979
$GC,15784,1.20,226.6,132.9,7.9,754,15788,0.00,2.65,0.00,0.000,4,0.000,0.070,2685,3515,1979
$GC,15827,1.20,226.6,129.0,8.4,756,15832,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2097,1980
$GC,16149,1.20,226.6,103.5,8.1,772,16154,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3512,1980
$GC,16182,1.20,226.6,100.7,8.1,773,16189,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2093,1980
$GC,16500,1.20,226.6,74.5,8.9,789,16501,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2093,1980
$GC,16808,1.20,226.6,50.2,8.1,804,16812,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3511,1980
$GC,16863,1.20,226.6,45.7,8.2,806,16869,0.00,2.47,0.00,0.000,6,0.000,0.048,2685,2102,1980
$GC,17179,1.20,226.6,20.8,7.6,822,17180,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2101,1980
$STATE,17424,end climb,SURFACE_DEPTH_REACHED
$STATE,17424,begin surface coast
$FINISH,-0.4,1.027328
$STATE,17447,end surface coast,CONTROL_FINISHED_OK
$STATE,17447,begin surface
$SM_CCo,17471,59.90,0.831,1,0,1678,300.00
$SM_GC,-0.30,0.00,0.00,59.90,0.000,0.000,0.831,47,2898,1678,-10.87,-0.06,300.00
$IRIDIUM_FIX,6225.82,-1210.29,170108,131345
$TT8_MAMPS,0.029146
$HUMID,2059
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,551.4,83.5
$24V_AH,23.2,64.710
$10V_AH,10.1,29.666
$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,25.825,163.325,319.700,59.900,0.000,39.015,33.865,312.372,5.000,0.000,0.000,14.832,1542.896,13439.966,517.057,1845.209,722.003,0.000,1464.764,0.000,1822.544,0.000,31.492
$DEVICE_MAMPS,154.934,102.778,1257.113,831.428,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.988,585.317,536.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41087,835
$CFSIZE,260165632,238059520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,170108,201538,6245.177,-1145.601,31,1.1,31,-11.2