version: 66.02
glider: 103
mission: 7
dive: 393
start: 1 19 108 10 37 5
data:
$ID,103
$MISSION,7
$DIVE,393
$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,-70128.297
$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,35
$R_STBD_OVSHOOT,15
$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
$GPS1,102638,6238.229,-1049.714,43,1.4,43,-10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-52.7
$GPS2,103633,6238.229,-1049.663,15,1.1,15,-10.6
$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,142.8,22693,-11.1,-6.000
$D_GRID,594
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,100,0.00,0.00,-71.35,0.000,6,0.000,0.000,44,2907,3501
$GC,103,-1.10,-146.6,2.0,-5.4,3,120,12.00,1.73,0.00,0.000,4,0.159,0.089,2165,3781,3503
$GC,373,-1.10,-146.6,42.2,-5.4,14,377,0.00,1.58,0.00,0.000,6,0.000,0.055,2165,2908,3503
$GC,700,-1.10,-146.6,72.4,-8.7,30,704,0.00,1.73,0.00,0.000,4,0.000,0.097,2165,3782,3504
$GC,836,-1.10,-146.6,88.6,-11.2,36,839,0.00,1.58,0.00,0.000,6,0.000,0.054,2165,2896,3503
$GC,1170,-1.10,-146.6,119.7,-9.7,52,1175,0.00,2.58,0.00,0.000,4,0.000,0.070,2165,1486,3503
$GC,1226,-1.10,-146.6,124.4,-7.4,54,1233,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2900,3503
$GC,1542,-1.10,-146.6,149.7,-10.1,70,1546,0.00,1.70,0.00,0.000,4,0.000,0.094,2165,3786,3503
$GC,1620,-1.10,-146.6,157.3,-8.8,73,1624,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2895,3503
$GC,1941,-1.10,-146.6,182.7,-6.9,89,1945,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1486,3504
$GC,1985,-1.10,-146.6,184.9,-5.2,91,1989,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2903,3503
$GC,2306,-1.10,-146.6,206.9,-7.1,107,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2615,-1.10,-146.6,228.8,-8.0,122,2620,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1486,3503
$GC,2660,-1.10,-146.6,232.6,-8.0,124,2664,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2900,3503
$GC,2980,-1.10,-146.6,254.7,-6.5,140,2985,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1486,3503
$GC,3008,-1.10,-146.6,256.6,-6.3,141,3012,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3503
$GC,3324,-1.10,-146.6,279.0,-7.5,156,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,3633,-1.10,-146.6,302.4,-7.6,171,3638,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1487,3503
$GC,3673,-1.10,-146.6,305.3,-7.7,173,3678,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2904,3503
$GC,4000,-1.10,-146.6,329.2,-7.3,189,4004,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1484,3503
$GC,4034,-1.10,-146.6,331.6,-6.8,190,4041,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2904,3503
$GC,4350,-1.10,-146.6,353.4,-6.9,206,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,4660,-1.10,-146.6,373.3,-6.3,221,4664,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1487,3503
$GC,4692,-1.10,-146.6,375.4,-6.1,222,4698,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2903,3503
$GC,5008,-1.10,-146.6,396.9,-7.3,238,5012,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1480,3503
$GC,5048,-1.10,-146.6,400.1,-7.7,240,5052,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2899,3503
$GC,5375,-1.10,-146.6,424.7,-7.2,256,5379,0.00,1.70,0.00,0.000,4,0.000,0.094,2165,3789,3503
$GC,5435,-1.10,-146.6,429.1,-7.1,258,5441,0.00,1.58,0.00,0.000,6,0.000,0.044,2165,2888,3503
$GC,5751,-1.10,-146.6,447.8,-5.3,274,5755,0.00,2.53,0.00,0.000,4,0.000,0.062,2165,1488,3503
$GC,5819,-1.10,-146.6,451.3,-5.1,277,5823,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3503
$GC,6139,-1.10,-146.6,469.0,-6.0,293,6142,0.00,1.70,0.00,0.000,4,0.000,0.095,2165,3786,3503
$GC,6189,-1.10,-146.6,472.3,-6.9,295,6193,0.00,1.55,0.00,0.000,6,0.000,0.044,2165,2907,3503
$GC,6517,-1.10,-146.6,492.9,-5.8,311,6521,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1485,3503
$GC,6628,-1.10,-146.6,499.2,-6.0,316,6633,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2909,3503
$GC,6950,-1.10,-146.6,517.0,-5.5,332,6954,0.00,1.67,0.00,0.000,4,0.000,0.094,2165,3784,3503
$GC,7041,-1.10,-146.6,522.0,-5.3,336,7045,0.00,1.55,0.00,0.000,6,0.000,0.044,2165,2902,3503
$GC,7374,-1.10,-146.6,540.4,-5.5,352,7379,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1480,3503
$GC,7447,-1.10,-146.6,544.5,-5.6,355,7452,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2895,3504
$GC,7763,-1.10,-146.6,559.3,-4.9,370,7766,0.00,1.70,0.00,0.000,4,0.000,0.095,2165,3783,3503
$GC,7836,-1.10,-146.6,563.8,-6.2,373,7839,0.00,1.58,0.00,0.000,6,0.000,0.043,2165,2880,3503
$GC,8162,-1.10,-146.6,584.6,-6.0,389,8166,0.00,2.50,0.00,0.000,4,0.000,0.059,2165,1485,3503
$GC,8292,-1.10,-146.6,593.2,-7.3,395,8296,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2901,3503
$STATE,8307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8307,begin apogee
$GC,8315,-0.42,0.0,594.2,7.0,396,8449,0.77,0.00,126.45,1.230,6,0.097,0.000,2318,2097,2901
$STATE,8450,end apogee,CONTROL_FINISHED_OK
$STATE,8450,begin climb
$GC,8453,1.10,146.6,600.8,0.0,403,8584,1.52,2.62,123.03,1.192,4,0.057,0.058,2647,687,2303
$GC,8772,1.16,193.5,591.4,4.7,417,8819,0.00,2.53,40.88,1.179,6,0.000,0.038,2646,2121,2112
$GC,9130,1.20,222.1,575.2,5.2,435,9161,0.10,2.67,25.15,1.183,4,0.048,0.075,2683,3504,1995
$GC,9183,1.20,222.1,571.1,7.8,437,9190,0.00,2.53,0.00,0.000,6,0.000,0.041,2683,2088,1994
$GC,9499,1.20,222.1,545.0,8.9,453,9503,0.00,2.67,0.00,0.000,4,0.000,0.073,2683,3500,1993
$GC,9565,1.20,222.1,539.3,8.6,456,9570,0.00,2.50,0.00,0.000,6,0.000,0.045,2683,2100,1992
$GC,9886,1.20,222.1,514.1,7.9,472,9891,0.00,2.55,0.00,0.000,4,0.000,0.059,2683,697,1991
$GC,9926,1.20,222.1,510.9,8.7,474,9931,0.00,2.47,0.00,0.000,6,0.000,0.041,2683,2097,1991
$GC,10253,1.20,222.1,485.1,8.2,490,10257,0.00,2.65,0.00,0.000,4,0.000,0.075,2683,3509,1989
$GC,10302,1.20,222.1,481.0,7.5,492,10307,0.00,2.50,0.00,0.000,6,0.000,0.047,2683,2103,1989
$GC,10618,1.20,222.1,451.8,9.3,507,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2103,1989
$GC,10927,1.20,222.1,425.8,8.5,522,10932,0.00,2.62,0.00,0.000,4,0.000,0.070,2683,3510,1989
$GC,10978,1.20,222.1,421.1,8.9,524,10982,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,2102,1989
$GC,11293,1.20,222.1,391.6,9.3,539,11294,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2102,1989
$GC,11603,1.20,222.1,363.3,9.2,554,11607,0.00,2.55,0.00,0.000,4,0.000,0.061,2683,692,1990
$GC,11624,1.20,222.1,361.1,9.0,555,11628,0.00,2.47,0.00,0.000,6,0.000,0.042,2683,2100,1990
$GC,11945,1.20,222.1,333.9,8.3,571,11949,0.00,2.60,0.00,0.000,4,0.000,0.074,2683,3511,1990
$GC,11984,1.20,222.1,330.5,8.6,573,11988,0.00,2.47,0.00,0.000,6,0.000,0.046,2683,2100,1989
$GC,12311,1.20,222.1,304.5,7.8,589,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1990
$GC,12620,1.20,222.1,280.3,7.9,604,12621,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1991
$GC,12930,1.20,222.1,255.6,8.2,619,12934,0.00,2.65,0.00,0.000,4,0.000,0.073,2683,3510,1991
$GC,12979,1.20,222.1,251.3,8.7,621,12983,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2096,1991
$GC,13295,1.20,222.1,224.3,8.8,636,13300,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3509,1991
$GC,13323,1.20,222.1,221.7,9.4,637,13327,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2098,1991
$GC,13638,1.20,222.1,193.6,8.4,652,13643,0.00,2.65,0.00,0.000,4,0.000,0.070,2683,3516,1992
$GC,13678,1.20,222.1,190.4,7.7,654,13683,0.00,2.53,0.00,0.000,6,0.000,0.049,2683,2101,1992
$GC,14005,1.20,222.1,166.8,6.6,670,14009,0.00,2.62,0.00,0.000,4,0.000,0.069,2683,3509,1993
$GC,14031,1.20,222.1,164.5,7.6,671,14036,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,2096,1993
$GC,14347,1.20,222.1,136.0,9.8,686,14352,0.00,2.55,0.00,0.000,4,0.000,0.061,2683,689,1993
$GC,14403,1.20,222.1,130.9,9.9,688,14410,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,2103,1993
$GC,14719,1.20,222.1,110.2,7.3,704,14723,0.00,2.62,0.00,0.000,4,0.000,0.074,2683,3510,1993
$GC,14751,1.20,222.1,107.7,6.8,705,14758,0.00,2.50,0.00,0.000,6,0.000,0.050,2683,2095,1993
$GC,15069,1.20,222.1,84.0,7.9,721,15074,0.00,2.55,0.00,0.000,4,0.000,0.063,2683,691,1993
$GC,15097,1.20,222.1,81.7,7.9,722,15102,0.00,2.50,0.00,0.000,6,0.000,0.044,2683,2103,1993
$GC,15413,1.20,222.1,55.1,7.3,737,15417,0.00,2.62,0.00,0.000,4,0.000,0.075,2683,3508,1994
$GC,15440,1.20,222.1,53.0,7.5,738,15444,0.00,2.50,0.00,0.000,6,0.000,0.049,2683,2102,1994
$GC,15756,1.28,293.2,40.5,4.0,753,15816,0.00,0.00,57.03,0.865,6,0.000,0.000,2683,2102,1704
$GC,16127,1.28,293.2,10.1,9.9,771,16132,0.00,2.67,0.00,0.000,4,0.000,0.076,2683,3505,1704
$GC,16155,1.28,293.2,7.2,9.5,772,16160,0.00,2.58,0.00,0.000,6,0.000,0.057,2683,2097,1704
$STATE,16221,end climb,SURFACE_DEPTH_REACHED
$STATE,16221,begin surface coast
$FINISH,-0.0,1.027342
$STATE,16243,end surface coast,CONTROL_FINISHED_OK
$STATE,16243,begin surface
$SM_CCo,16267,6.35,0.704,0,0,1678,300.00
$SM_GC,0.45,0.00,0.00,6.35,0.000,0.000,0.704,46,2899,1678,-10.87,-0.03,300.00
$IRIDIUM_FIX,6216.53,-1050.12,190108,141400
$TT8_MAMPS,0.028379
$HUMID,2064
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.6,63.4
$24V_AH,23.3,65.893
$10V_AH,10.1,30.366
$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,26.000,175.375,372.525,6.350,0.000,79.440,67.799,247.480,5.250,0.000,0.000,15.604,1482.633,12300.572,511.058,1867.064,719.186,0.000,1475.792,0.000,1822.155,0.000,34.390
$DEVICE_MAMPS,158.769,96.642,1229.501,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.553,538.256,490.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37993,776
$CFSIZE,260165632,237535232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,190108,150937,6237.767,-1050.146,41,1.0,41,-10.6