version: 66.02
glider: 103
mission: 7
dive: 397
start: 1 20 108 5 43 12
data:
$ID,103
$MISSION,7
$DIVE,397
$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,-70189.805
$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,49
$R_STBD_OVSHOOT,16
$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
$GPS1,053231,6234.242,-1049.248,36,1.9,36,-10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-53.3
$GPS2,054238,6234.260,-1049.310,10,1.9,15,-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,126.1,18301,-11.1,-6.000
$D_GRID,619
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-61.10,0.000,2,0.000,0.000,37,2869,3375
$GC,91,-1.10,-146.6,3.8,-9.3,3,114,12.02,2.47,-2.20,0.000,4,0.159,0.069,2165,1523,3503
$GC,367,-1.10,-146.6,33.6,-11.2,15,371,0.00,2.60,0.00,0.000,6,0.000,0.075,2165,2896,3503
$GC,688,-1.10,-146.6,62.5,-7.5,31,692,0.00,2.55,0.00,0.000,4,0.000,0.065,2165,1518,3503
$GC,856,-1.10,-146.6,76.6,-5.7,38,862,0.00,2.60,0.00,0.000,6,0.000,0.072,2165,2902,3503
$GC,1172,-1.10,-146.6,96.6,-5.4,54,1176,0.00,2.55,0.00,0.000,4,0.000,0.065,2165,1517,3504
$GC,1204,-1.10,-146.6,98.8,-6.6,55,1211,0.00,2.58,0.00,0.000,6,0.000,0.072,2165,2901,3504
$GC,1522,-1.10,-146.6,120.5,-7.1,71,1526,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1513,3503
$GC,1549,-1.10,-146.6,122.6,-7.2,72,1554,0.00,2.62,0.00,0.000,6,0.000,0.076,2165,2900,3503
$GC,1865,-1.10,-146.6,144.1,-7.0,87,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3504
$GC,2174,-1.10,-146.6,167.7,-7.5,102,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,2484,-1.10,-146.6,189.9,-6.7,117,2488,0.00,2.55,0.00,0.000,4,0.000,0.066,2165,1517,3503
$GC,2528,-1.10,-146.6,192.8,-6.8,119,2532,0.00,2.60,0.00,0.000,6,0.000,0.074,2165,2902,3503
$GC,2848,-1.10,-146.6,214.5,-7.0,135,2853,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1508,3503
$GC,2893,-1.10,-146.6,217.7,-7.1,137,2897,0.00,2.62,0.00,0.000,6,0.000,0.072,2165,2903,3503
$GC,3213,-1.10,-146.6,239.9,-6.6,153,3217,0.00,1.67,0.00,0.000,4,0.000,0.095,2165,3783,3504
$GC,3241,-1.10,-146.6,241.7,-6.9,154,3245,0.00,1.52,0.00,0.000,6,0.000,0.044,2165,2925,3504
$GC,3568,-1.10,-146.6,264.5,-7.0,170,3572,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1483,3504
$GC,3617,-1.10,-146.6,268.2,-7.8,172,3622,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2906,3503
$GC,3933,-1.10,-146.6,289.7,-6.1,187,3937,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1490,3504
$GC,3966,-1.10,-146.6,291.9,-6.4,188,3972,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3503
$GC,4281,-1.10,-146.6,311.6,-6.1,204,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,4591,-1.10,-146.6,329.8,-5.6,219,4595,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1491,3503
$GC,4631,-1.10,-146.6,332.0,-5.6,221,4636,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3503
$GC,4957,-1.10,-146.6,351.5,-7.0,237,4961,0.00,1.67,0.00,0.000,4,0.000,0.092,2165,3786,3503
$GC,5013,-1.10,-146.6,355.7,-7.4,239,5017,0.00,1.55,0.00,0.000,6,0.000,0.044,2165,2903,3504
$GC,5335,-1.10,-146.6,377.7,-6.4,255,5339,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1486,3503
$GC,5423,-1.10,-146.6,383.5,-6.3,259,5428,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2907,3503
$GC,5745,-1.10,-146.6,401.7,-5.6,275,5750,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1486,3504
$GC,5796,-1.10,-146.6,404.6,-5.6,277,5800,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2904,3504
$GC,6111,-1.10,-146.6,422.4,-6.2,292,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,6421,-1.10,-146.6,446.3,-8.7,307,6425,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1487,3503
$GC,6454,-1.10,-146.6,449.3,-9.3,308,6458,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2907,3504
$GC,6770,-1.10,-146.6,476.6,-8.6,323,6774,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1481,3503
$GC,6820,-1.10,-146.6,480.9,-8.5,325,6824,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2899,3503
$GC,7136,-1.10,-146.6,500.0,-5.6,340,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,7445,-1.10,-146.6,522.4,-7.9,355,7449,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1482,3503
$GC,7511,-1.10,-146.6,527.5,-8.1,358,7516,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2900,3503
$GC,7832,-1.10,-146.6,549.4,-6.3,374,7837,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1484,3504
$GC,7899,-1.10,-146.6,553.9,-6.4,377,7904,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2900,3503
$GC,8221,-1.10,-146.6,574.0,-6.4,393,8225,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1484,3503
$GC,8264,-1.10,-146.6,577.2,-7.2,395,8269,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3503
$GC,8586,-1.10,-146.6,600.2,-6.7,411,8590,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1482,3503
$GC,8609,-1.10,-146.6,601.9,-7.1,412,8614,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2903,3503
$STATE,8866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8866,begin apogee
$GC,8874,-0.42,0.0,619.6,6.7,425,9008,0.77,0.00,126.53,1.262,6,0.100,0.000,2317,2101,2901
$STATE,9009,end apogee,CONTROL_FINISHED_OK
$STATE,9009,begin climb
$GC,9011,1.10,146.6,625.1,0.0,432,9142,1.52,2.62,122.53,1.224,4,0.054,0.058,2648,691,2303
$GC,9399,1.18,210.1,610.2,4.2,449,9459,0.00,2.53,54.45,1.212,6,0.000,0.039,2648,2119,2044
$GC,9779,1.18,210.1,588.3,7.2,468,9783,0.00,2.60,0.00,0.000,4,0.000,0.074,2648,3501,2042
$GC,9857,1.18,210.1,581.7,7.9,471,9863,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2092,2041
$GC,10172,1.18,210.1,559.6,6.8,487,10177,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3501,2041
$GC,10200,1.18,210.1,557.5,7.8,488,10204,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2096,2040
$GC,10515,1.18,210.1,534.3,7.2,503,10520,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3501,2039
$GC,10543,1.18,210.1,532.1,7.7,504,10547,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2102,2039
$GC,10858,1.18,210.1,510.0,6.7,519,10862,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3507,2038
$GC,10898,1.18,210.1,507.5,6.3,521,10902,0.00,2.50,0.00,0.000,6,0.000,0.046,2648,2100,2038
$GC,11224,1.21,231.6,489.7,5.4,537,11249,0.12,2.72,18.15,1.183,4,0.051,0.074,2680,3497,1956
$GC,11272,1.21,231.6,486.5,7.2,539,11276,0.00,2.50,0.00,0.000,6,0.000,0.044,2680,2100,1956
$GC,11593,1.21,231.6,463.5,7.2,555,11597,0.00,2.58,0.00,0.000,4,0.000,0.060,2680,685,1955
$GC,11642,1.21,231.6,459.3,7.9,557,11647,0.00,2.47,0.00,0.000,6,0.000,0.041,2680,2092,1955
$GC,11958,1.21,231.6,435.5,7.5,572,11962,0.00,2.65,0.00,0.000,4,0.000,0.073,2680,3510,1955
$GC,11984,1.21,231.6,433.3,8.0,573,11989,0.00,2.50,0.00,0.000,6,0.000,0.044,2680,2093,1955
$GC,12306,1.21,231.6,410.1,7.5,589,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2093,1955
$GC,12615,1.21,231.6,385.3,8.5,604,12619,0.00,2.65,0.00,0.000,4,0.000,0.071,2680,3511,1955
$GC,12664,1.21,231.6,381.1,8.4,606,12668,0.00,2.47,0.00,0.000,6,0.000,0.044,2680,2099,1955
$GC,12986,1.21,231.6,355.6,7.7,622,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2099,1955
$GC,13295,1.21,231.6,331.8,7.7,637,13299,0.00,2.65,0.00,0.000,4,0.000,0.072,2680,3510,1956
$GC,13322,1.21,231.6,329.5,7.7,638,13326,0.00,2.50,0.00,0.000,6,0.000,0.045,2680,2098,1956
$GC,13637,1.21,231.6,304.8,8.1,653,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,1957
$GC,13946,1.21,231.6,279.1,8.1,668,13947,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,1957
$GC,14256,1.21,231.6,255.9,6.7,683,14260,0.00,2.65,0.00,0.000,4,0.000,0.073,2680,3510,1958
$GC,14295,1.21,231.6,253.1,7.3,685,14300,0.00,2.50,0.00,0.000,6,0.000,0.048,2680,2099,1958
$GC,14622,1.21,231.6,231.2,6.8,701,14627,0.00,2.55,0.00,0.000,4,0.000,0.061,2680,691,1958
$GC,14655,1.21,231.6,228.9,6.7,702,14661,0.00,2.50,0.00,0.000,6,0.000,0.044,2680,2101,1958
$GC,14971,1.21,231.6,209.3,6.1,718,14975,0.00,2.62,0.00,0.000,4,0.000,0.074,2680,3509,1959
$GC,15016,1.21,231.6,206.3,7.1,720,15021,0.00,2.53,0.00,0.000,6,0.000,0.046,2680,2090,1959
$GC,15337,1.21,231.6,183.7,7.3,736,15341,0.00,2.67,0.00,0.000,4,0.000,0.073,2680,3513,1959
$GC,15359,1.21,231.6,182.0,7.7,737,15363,0.00,2.53,0.00,0.000,6,0.000,0.045,2680,2093,1959
$GC,15679,1.21,231.6,159.1,6.9,753,15680,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2093,1959
$GC,15990,1.21,231.6,137.8,6.1,768,15995,0.00,2.67,0.00,0.000,4,0.000,0.074,2680,3512,1959
$GC,16046,1.21,231.6,134.2,6.1,770,16052,0.00,2.50,0.00,0.000,6,0.000,0.048,2680,2100,1959
$GC,16362,1.21,231.6,110.0,9.0,786,16363,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2100,1960
$GC,16671,1.21,231.6,79.5,10.7,801,16672,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2100,1960
$GC,16981,1.21,231.6,51.4,7.4,816,16982,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2099,1960
$GC,17289,1.21,231.6,25.5,10.1,831,17291,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2099,1960
$STATE,17598,end climb,SURFACE_DEPTH_REACHED
$STATE,17598,begin surface coast
$FINISH,0.2,1.027350
$STATE,17618,end surface coast,CONTROL_FINISHED_OK
$STATE,17618,begin surface
$SM_CCo,17642,58.03,0.798,2,0,1678,300.00
$SM_GC,-0.30,0.00,0.00,58.03,0.000,0.000,0.798,49,2899,1678,-10.86,-0.03,300.00
$IRIDIUM_FIX,6211.90,-1039.19,200108,090951
$TT8_MAMPS,0.029146
$HUMID,2061
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.4,104.1
$24V_AH,23.2,66.494
$10V_AH,10.1,30.689
$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,25.900,174.650,321.650,58.025,0.000,79.556,94.259,243.326,4.750,0.000,0.000,15.661,1576.428,13577.153,523.919,1901.251,755.112,0.000,1497.369,0.000,1873.288,0.000,32.244
$DEVICE_MAMPS,158.769,95.108,1262.482,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,621.193,592.008,530.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44276,847
$CFSIZE,260165632,237293568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,2,0
$GPS,200108,103938,6232.745,-1049.224,38,1.8,38,-10.6