version: 66.02
glider: 103
mission: 7
dive: 399
start: 1 20 108 15 59 29
data:
$ID,103
$MISSION,7
$DIVE,399
$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,-70240.617
$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,22
$R_STBD_OVSHOOT,10
$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
$GPS1,155208,6229.790,-1052.602,41,1.8,41,-10.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-55.4
$GPS2,155857,6229.713,-1052.646,15,1.8,15,-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,99.0,19373,-11.1,-6.000
$D_GRID,670
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-66.28,0.000,6,0.000,0.000,49,2899,3500
$GC,97,-1.10,-146.6,2.5,-6.7,3,118,11.93,2.62,0.00,0.000,4,0.156,0.058,2166,1490,3501
$GC,371,-1.10,-146.6,36.2,-7.0,15,376,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2902,3502
$GC,693,-1.10,-146.6,67.1,-9.4,31,697,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1491,3502
$GC,782,-1.10,-146.6,74.2,-7.6,35,786,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2901,3502
$GC,1103,-1.10,-146.6,95.0,-5.2,51,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,1414,-1.10,-146.6,116.9,-7.0,66,1418,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1489,3502
$GC,1431,-1.10,-146.6,118.1,-7.5,67,1436,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2902,3502
$GC,1758,-1.10,-146.6,143.3,-8.3,83,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,2067,-1.10,-146.6,166.5,-7.0,98,2071,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1490,3502
$GC,2094,-1.10,-146.6,168.5,-7.3,99,2098,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2906,3502
$GC,2409,-1.10,-146.6,192.5,-7.8,114,2414,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1492,3502
$GC,2437,-1.10,-146.6,194.7,-8.1,115,2441,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2908,3502
$GC,2753,-1.10,-146.6,217.9,-7.5,130,2757,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1491,3502
$GC,2785,-1.10,-146.6,220.3,-7.7,131,2791,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2900,3502
$GC,3101,-1.10,-146.6,245.5,-8.2,147,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,3410,-1.10,-146.6,273.8,-8.6,162,3415,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1492,3502
$GC,3466,-1.10,-146.6,278.4,-8.2,164,3472,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2900,3502
$GC,3781,-1.10,-146.6,301.6,-7.4,180,3786,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1491,3502
$GC,3822,-1.10,-146.6,304.5,-7.2,182,3826,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2902,3502
$GC,4149,-1.10,-146.6,326.2,-6.5,198,4153,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1483,3502
$GC,4233,-1.10,-146.6,332.2,-6.8,202,4238,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2903,3502
$GC,4560,-1.10,-146.6,353.6,-6.3,218,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,4869,-1.10,-146.6,373.9,-6.7,233,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,5178,-1.10,-146.6,395.1,-6.5,248,5183,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1491,3502
$GC,5251,-1.10,-146.6,400.0,-6.8,251,5256,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2906,3502
$GC,5572,-1.10,-146.6,419.4,-5.7,267,5576,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,1481,3502
$GC,5616,-1.10,-146.6,422.0,-5.6,269,5620,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2900,3502
$GC,5937,-1.10,-146.6,437.1,-4.1,285,5942,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1486,3502
$GC,5993,-1.10,-146.6,439.3,-3.8,287,5999,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,6309,-1.10,-146.6,452.3,-4.6,303,6314,0.00,2.55,0.00,0.000,4,0.000,0.059,2167,1488,3502
$GC,6353,-1.10,-146.6,455.1,-6.3,305,6358,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2899,3502
$GC,6675,-1.10,-146.6,478.0,-7.7,321,6679,0.00,2.55,0.00,0.000,4,0.000,0.057,2167,1484,3502
$GC,6710,-1.10,-146.6,480.8,-7.9,322,6716,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,7026,-1.10,-146.6,504.8,-7.2,338,7030,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1484,3502
$GC,7092,-1.10,-146.6,509.5,-7.2,341,7096,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2901,3502
$GC,7413,-1.10,-146.6,530.4,-6.3,357,7417,0.00,2.53,0.00,0.000,4,0.000,0.056,2167,1484,3502
$GC,7502,-1.10,-146.6,536.1,-6.4,361,7506,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2899,3502
$GC,7822,-1.10,-146.6,554.6,-5.6,377,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,8132,-1.10,-146.6,572.0,-5.8,392,8136,0.00,1.73,0.00,0.000,4,0.000,0.094,2167,3785,3502
$GC,8160,-1.10,-146.6,573.9,-6.6,393,8163,0.00,1.55,0.00,0.000,6,0.000,0.041,2166,2899,3502
$GC,8487,-1.10,-146.6,593.7,-6.5,409,8491,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1476,3502
$GC,8527,-1.10,-146.6,596.4,-6.4,411,8532,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2899,3502
$GC,8853,-1.10,-146.6,616.9,-6.6,427,8858,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1483,3502
$GC,8909,-1.10,-146.6,620.4,-7.1,429,8915,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2903,3502
$GC,9225,-1.10,-146.6,635.7,-3.8,445,9230,0.00,2.55,0.00,0.000,4,0.000,0.055,2167,1480,3501
$GC,9247,-1.10,-146.6,637.0,-5.7,446,9252,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2899,3501
$STATE,9566,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9566,begin apogee
$GC,9574,-0.42,0.0,648.4,5.3,462,9708,0.75,0.00,126.80,1.320,6,0.094,0.000,2315,2088,2901
$STATE,9709,end apogee,CONTROL_FINISHED_OK
$STATE,9709,begin climb
$GC,9712,1.10,146.6,653.7,0.0,469,9843,1.55,2.62,122.75,1.293,4,0.060,0.061,2646,694,2303
$GC,9868,1.21,233.3,651.8,3.6,476,9949,0.12,2.53,74.38,1.246,6,0.042,0.038,2686,2116,1949
$GC,10265,1.21,233.3,620.4,8.6,496,10269,0.00,2.62,0.00,0.000,4,0.000,0.061,2686,695,1947
$GC,10281,1.21,233.3,618.9,8.0,497,10286,0.00,2.47,0.00,0.000,6,0.000,0.040,2686,2092,1947
$GC,10609,1.21,233.3,592.2,9.4,513,10613,0.00,2.58,0.00,0.000,4,0.000,0.061,2686,691,1947
$GC,10850,1.21,233.3,568.7,10.1,524,10854,0.00,2.50,0.00,0.000,6,0.000,0.041,2686,2100,1945
$GC,11177,1.21,233.3,542.9,6.5,540,11181,0.00,2.65,0.00,0.000,4,0.000,0.077,2686,3506,1944
$GC,11243,1.23,247.4,538.6,5.6,543,11263,0.00,2.53,12.57,1.217,6,0.000,0.044,2686,2094,1892
$GC,11591,1.23,247.4,515.4,7.5,560,11596,0.00,2.55,0.00,0.000,4,0.000,0.062,2686,697,1891
$GC,11653,1.23,247.4,509.9,9.1,563,11658,0.00,2.47,0.00,0.000,6,0.000,0.044,2686,2098,1890
$GC,11980,1.23,247.4,479.9,9.6,579,11984,0.00,2.67,0.00,0.000,4,0.000,0.078,2686,3512,1890
$GC,12057,1.23,247.4,472.3,10.3,582,12064,0.00,2.53,0.00,0.000,6,0.000,0.047,2686,2103,1889
$GC,12373,1.23,247.4,439.6,11.6,598,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2103,1889
$GC,12682,1.23,247.4,409.0,9.5,613,12687,0.00,2.67,0.00,0.000,4,0.000,0.074,2686,3515,1889
$GC,12715,1.23,247.4,405.6,9.5,614,12721,0.00,2.55,0.00,0.000,6,0.000,0.047,2686,2095,1889
$GC,13030,1.23,247.4,377.0,8.6,630,13035,0.00,2.67,0.00,0.000,4,0.000,0.075,2686,3515,1889
$GC,13070,1.23,247.4,373.6,9.3,632,13074,0.00,2.53,0.00,0.000,6,0.000,0.047,2686,2099,1889
$GC,13396,1.23,247.4,346.0,8.4,648,13397,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,1890
$GC,13705,1.23,247.4,322.1,6.2,663,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1890
$GC,14014,1.23,247.4,300.9,8.1,678,14019,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3510,1891
$GC,14070,1.23,247.4,296.3,7.5,680,14077,0.00,2.50,0.00,0.000,6,0.000,0.046,2686,2099,1891
$GC,14386,1.23,247.4,268.7,8.2,696,14387,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,1891
$GC,14695,1.23,247.4,245.2,6.7,711,14700,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3510,1892
$GC,14735,1.23,247.4,242.3,7.7,713,14740,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2092,1892
$GC,15062,1.23,247.4,218.0,9.1,729,15067,0.00,2.55,0.00,0.000,4,0.000,0.063,2686,690,1893
$GC,15095,1.23,247.4,214.5,9.3,730,15102,0.00,2.47,0.00,0.000,6,0.000,0.045,2686,2102,1893
$GC,15411,1.23,247.4,186.0,8.1,746,15416,0.00,2.60,0.00,0.000,4,0.000,0.073,2686,3511,1895
$GC,15440,1.26,276.1,184.5,5.2,747,15471,0.00,2.53,25.50,0.952,6,0.000,0.048,2686,2099,1775
$GC,15780,1.26,276.1,161.7,8.4,764,15785,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3508,1774
$GC,15842,1.26,276.1,156.7,8.3,767,15847,0.00,2.53,0.00,0.000,6,0.000,0.047,2686,2093,1774
$GC,16169,1.26,276.1,127.9,8.9,783,16170,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1774
$GC,16479,1.26,276.1,97.7,9.4,798,16483,0.00,2.67,0.00,0.000,4,0.000,0.075,2686,3507,1775
$GC,16523,1.26,276.1,93.1,9.9,800,16527,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2101,1775
$GC,16844,1.26,276.1,56.9,11.8,816,16845,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2101,1775
$GC,17155,1.26,276.1,22.0,11.1,831,17159,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3511,1775
$GC,17195,1.26,276.1,17.9,9.5,833,17199,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2097,1775
$STATE,17376,end climb,SURFACE_DEPTH_REACHED
$STATE,17376,begin surface coast
$FINISH,-1.1,1.009469
$STATE,17397,end surface coast,CONTROL_FINISHED_OK
$STATE,17397,begin surface
$SM_CCo,17421,21.65,0.785,1,0,1678,300.00
$SM_GC,-0.51,0.00,0.00,21.65,0.000,0.000,0.785,47,2897,1678,-10.87,-0.08,300.00
$IRIDIUM_FIX,6207.28,-1046.62,200108,141424
$TT8_MAMPS,0.029146
$HUMID,2076
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.0,81.2
$24V_AH,23.1,66.795
$10V_AH,10.1,30.857
$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,25.975,182.575,362.000,21.650,0.000,39.261,37.050,200.953,5.500,0.000,0.000,15.033,1564.835,13247.277,526.503,1911.857,618.060,0.000,1516.027,0.000,1880.130,0.000,36.060
$DEVICE_MAMPS,156.468,93.574,1320.007,784.641,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.642,586.466,502.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44184,843
$CFSIZE,260165632,237166592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,200108,205132,6230.668,-1050.767,38,1.7,38,-10.6