version: 66.02
glider: 103
mission: 7
dive: 391
start: 1 19 108 0 29 22
data:
$ID,103
$MISSION,7
$DIVE,391
$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,-3
$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,-70094.07
$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,27
$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
$GPS1,002156,6236.216,-1057.068,38,1.9,38,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.56
$_SM_ANGLEo,-52.7
$GPS2,002814,6236.296,-1056.996,11,1.4,16,-10.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CE
$TGT_LATLONG,6230.000,-1030.000
$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,127.5,25863,-11.1,-6.000
$D_GRID,623
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,100,0.00,0.00,-72.45,0.000,6,0.000,0.000,36,2906,3500
$GC,104,-1.10,-146.6,1.7,-5.5,3,124,12.12,1.75,0.00,0.000,4,0.162,0.092,2166,3786,3502
$GC,377,-1.10,-146.6,40.8,-5.3,15,381,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2896,3502
$GC,705,-1.10,-146.6,63.4,-6.0,31,708,0.00,1.73,0.00,0.000,4,0.000,0.091,2166,3782,3502
$GC,783,-1.10,-146.6,69.1,-7.0,34,786,0.00,1.58,0.00,0.000,6,0.000,0.044,2166,2888,3502
$GC,1104,-1.10,-146.6,95.1,-8.6,50,1109,0.00,2.58,0.00,0.000,4,0.000,0.071,2166,1491,3502
$GC,1137,-1.10,-146.6,98.3,-8.5,51,1144,0.00,2.62,0.00,0.000,6,0.000,0.073,2166,2898,3502
$GC,1455,-1.10,-146.6,117.9,-4.5,67,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,1762,-1.10,-146.6,139.6,-9.6,82,1767,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1490,3502
$GC,1803,-1.10,-146.6,143.9,-10.7,84,1807,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2901,3502
$GC,2129,-1.10,-146.6,167.8,-6.5,100,2133,0.00,1.70,0.00,0.000,4,0.000,0.093,2166,3779,3502
$GC,2169,-1.10,-146.6,171.1,-8.3,101,2174,0.00,1.55,0.00,0.000,6,0.000,0.040,2166,2899,3502
$GC,2484,-1.10,-146.6,196.9,-7.9,117,2488,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1486,3502
$GC,2541,-1.10,-146.6,201.2,-7.9,119,2547,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2911,3502
$GC,2856,-1.10,-146.6,222.4,-6.2,135,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2911,3503
$GC,3165,-1.10,-146.6,244.8,-7.9,150,3170,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1490,3502
$GC,3199,-1.10,-146.6,247.6,-8.4,151,3205,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2902,3502
$GC,3514,-1.10,-146.6,272.6,-8.0,167,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,3823,-1.10,-146.6,295.7,-7.2,182,3827,0.00,1.70,0.00,0.000,4,0.000,0.092,2166,3779,3503
$GC,3846,-1.10,-146.6,297.4,-7.6,183,3850,0.00,1.55,0.00,0.000,6,0.000,0.040,2166,2897,3503
$GC,4179,-1.10,-146.6,322.6,-7.4,199,4183,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1482,3502
$GC,4240,-1.10,-146.6,326.8,-6.5,202,4245,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2898,3503
$GC,4567,-1.10,-146.6,347.6,-5.8,218,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,4876,-1.10,-146.6,366.5,-6.2,233,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,5185,-1.10,-146.6,383.9,-5.7,248,5190,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1485,3502
$GC,5226,-1.10,-146.6,386.3,-5.9,250,5230,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2902,3502
$GC,5552,-1.10,-146.6,406.2,-6.5,266,5556,0.00,1.67,0.00,0.000,4,0.000,0.093,2166,3783,3502
$GC,5608,-1.10,-146.6,410.5,-7.5,268,5611,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2896,3502
$GC,5929,-1.10,-146.6,433.7,-6.9,284,5934,0.00,2.55,0.00,0.000,4,0.000,0.062,2166,1482,3503
$GC,5969,-1.10,-146.6,436.5,-6.6,286,5974,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2908,3502
$GC,6295,-1.10,-146.6,459.3,-7.3,302,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,6605,-1.10,-146.6,482.6,-7.6,317,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,6914,-1.10,-146.6,505.0,-7.8,332,6918,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1478,3503
$GC,6969,-1.10,-146.6,509.8,-8.5,334,6975,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2905,3502
$GC,7285,-1.10,-146.6,537.7,-9.3,350,7288,0.00,1.67,0.00,0.000,4,0.000,0.090,2166,3790,3503
$GC,7335,-1.10,-146.6,542.4,-9.1,352,7339,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2896,3503
$GC,7662,-1.10,-146.6,568.0,-7.3,368,7666,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1482,3502
$GC,7706,-1.10,-146.6,571.0,-6.6,370,7711,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2900,3502
$GC,8028,-1.10,-146.6,592.3,-6.2,386,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,8338,-1.10,-146.6,610.0,-5.4,401,8342,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1482,3502
$GC,8381,-1.10,-146.6,612.8,-6.1,403,8386,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2902,3502
$STATE,8555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8555,begin apogee
$GC,8563,-0.42,0.0,623.7,6.5,412,8693,0.75,0.00,126.43,1.264,6,0.091,0.000,2316,2094,2901
$STATE,8693,end apogee,CONTROL_FINISHED_OK
$STATE,8693,begin climb
$GC,8697,1.10,146.6,628.6,0.0,418,8828,1.55,2.62,123.03,1.222,4,0.054,0.059,2649,691,2303
$GC,9049,1.10,146.6,616.3,6.2,434,9054,0.00,2.53,0.00,0.000,6,0.000,0.039,2649,2120,2301
$GC,9371,1.11,150.5,596.6,5.9,450,9381,0.00,2.65,4.75,0.917,4,0.000,0.060,2649,690,2287
$GC,9397,1.11,150.5,594.9,6.6,451,9402,0.00,2.47,0.00,0.000,6,0.000,0.039,2649,2099,2287
$GC,9714,1.12,164.5,576.1,5.6,466,9735,0.00,2.72,13.27,1.180,4,0.000,0.071,2649,3501,2230
$GC,9878,1.13,171.6,566.3,5.8,473,9894,0.00,2.50,7.50,1.085,6,0.000,0.042,2650,2099,2201
$GC,10204,1.16,196.0,549.2,5.3,489,10233,0.00,2.75,22.02,1.236,4,0.000,0.071,2649,3500,2101
$GC,10314,1.16,196.0,543.0,6.1,494,10318,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2099,2101
$GC,10640,1.20,226.3,525.6,5.2,510,10673,0.10,2.72,26.55,1.233,4,0.057,0.074,2676,3500,1978
$GC,10731,1.20,226.3,519.5,7.6,514,10736,0.00,2.53,0.00,0.000,6,0.000,0.044,2677,2098,1977
$GC,11052,1.20,226.3,496.4,7.1,530,11056,0.00,2.65,0.00,0.000,4,0.000,0.074,2677,3501,1976
$GC,11114,1.20,226.3,491.9,7.1,533,11118,0.00,2.50,0.00,0.000,6,0.000,0.045,2676,2099,1977
$GC,11440,1.20,226.3,465.5,8.7,549,11444,0.00,2.65,0.00,0.000,4,0.000,0.074,2676,3502,1976
$GC,11528,1.20,226.3,457.0,9.5,553,11533,0.00,2.50,0.00,0.000,6,0.000,0.044,2676,2090,1976
$GC,11850,1.20,226.3,430.9,7.6,569,11854,0.00,2.67,0.00,0.000,4,0.000,0.074,2676,3504,1976
$GC,11878,1.20,226.3,428.7,8.2,570,11883,0.00,2.47,0.00,0.000,6,0.000,0.042,2676,2102,1976
$GC,12194,1.20,226.3,404.3,7.8,585,12198,0.00,2.65,0.00,0.000,4,0.000,0.074,2677,3508,1977
$GC,12221,1.20,226.3,401.9,8.4,586,12225,0.00,2.50,0.00,0.000,6,0.000,0.043,2676,2099,1977
$GC,12537,1.20,226.3,375.8,8.2,601,12541,0.00,2.65,0.00,0.000,4,0.000,0.071,2676,3508,1977
$GC,12558,1.20,226.3,373.9,8.7,602,12562,0.00,2.50,0.00,0.000,6,0.000,0.044,2676,2090,1977
$GC,12879,1.20,226.3,348.4,8.0,618,12883,0.00,2.65,0.00,0.000,4,0.000,0.071,2676,3508,1977
$GC,12918,1.20,226.3,345.2,8.4,620,12922,0.00,2.47,0.00,0.000,6,0.000,0.044,2676,2100,1977
$GC,13244,1.20,226.3,320.1,7.3,636,13249,0.00,2.62,0.00,0.000,4,0.000,0.072,2676,3502,1978
$GC,13295,1.20,226.3,315.9,8.0,638,13299,0.00,2.50,0.00,0.000,6,0.000,0.045,2677,2095,1978
$GC,13610,1.20,226.3,291.9,7.6,653,13614,0.00,2.62,0.00,0.000,4,0.000,0.071,2676,3505,1979
$GC,13637,1.20,226.3,289.7,7.8,654,13641,0.00,2.47,0.00,0.000,6,0.000,0.044,2676,2100,1979
$GC,13953,1.20,226.3,266.4,7.4,669,13957,0.00,2.62,0.00,0.000,4,0.000,0.072,2676,3501,1980
$GC,14002,1.20,226.3,262.7,7.1,671,14006,0.00,2.47,0.00,0.000,6,0.000,0.045,2676,2100,1980
$GC,14318,1.20,226.3,240.7,7.0,686,14322,0.00,2.62,0.00,0.000,4,0.000,0.072,2676,3501,1980
$GC,14340,1.20,226.3,239.1,7.1,687,14344,0.00,2.50,0.00,0.000,6,0.000,0.047,2677,2097,1980
$GC,14660,1.20,226.3,218.9,6.2,703,14662,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2097,1980
$GC,14970,1.20,226.3,198.2,7.5,718,14974,0.00,2.62,0.00,0.000,4,0.000,0.071,2677,3501,1981
$GC,15032,1.20,226.3,193.3,7.9,721,15037,0.00,2.50,0.00,0.000,6,0.000,0.048,2676,2092,1981
$GC,15359,1.20,226.3,168.3,7.9,737,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2092,1981
$GC,15670,1.20,226.3,140.3,8.3,752,15675,0.00,2.65,0.00,0.000,4,0.000,0.073,2677,3501,1981
$GC,15714,1.20,226.3,135.0,12.2,754,15719,0.00,2.50,0.00,0.000,6,0.000,0.049,2676,2100,1982
$GC,16036,1.20,226.3,111.8,8.9,770,16040,0.00,2.53,0.00,0.000,4,0.000,0.058,2677,695,1982
$GC,16091,1.22,240.5,108.4,5.6,772,16111,0.00,2.45,13.70,0.851,6,0.000,0.044,2676,2089,1920
$GC,16428,1.22,240.5,72.9,10.9,789,16429,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2090,1920
$GC,16737,1.22,240.5,44.1,8.1,804,16742,0.00,2.67,0.00,0.000,4,0.000,0.076,2677,3514,1920
$GC,16764,1.25,262.7,42.5,5.4,805,16789,0.00,2.50,19.50,0.831,6,0.000,0.044,2676,2101,1829
$GC,17106,1.31,312.8,29.7,4.6,822,17153,0.00,2.62,40.95,0.833,4,0.000,0.061,2676,693,1626
$GC,17165,1.31,312.8,25.0,8.1,825,17170,0.00,2.53,0.00,0.000,6,0.000,0.043,2676,2102,1625
$STATE,17428,end climb,SURFACE_DEPTH_REACHED
$STATE,17428,begin surface coast
$FINISH,-1.1,1.027343
$STATE,17450,end surface coast,CONTROL_FINISHED_OK
$STATE,17450,begin surface
$SM_CCo,17534,0.00,0.000,0,0,1623,313.49
$SM_GC,-0.17,11.55,0.00,0.00,0.028,0.000,0.000,46,2893,1623,-10.78,-0.20,313.49
$IRIDIUM_FIX,6211.90,-1102.12,180108,232300
$TT8_MAMPS,0.028379
$HUMID,2052
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.6,33.1
$24V_AH,23.2,65.594
$10V_AH,10.1,30.202
$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,26.075,177.600,397.700,0.000,0.000,41.293,36.840,168.074,6.000,0.000,0.000,16.326,1589.015,13301.606,522.275,1946.905,595.653,0.000,1529.811,0.000,1907.669,0.000,37.556
$DEVICE_MAMPS,161.837,94.341,1264.016,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.049,589.230,531.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44209,839
$CFSIZE,260165632,237658112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,190108,052307,6237.721,-1053.939,46,0.9,57,-10.7