version: 66.02
glider: 103
mission: 7
dive: 378
start: 1 16 108 2 23 17
data:
$ID,103
$MISSION,7
$DIVE,378
$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,-69867.914
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,021208,6257.653,-1253.403,30,1.4,30,-11.9
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.27
$_SM_ANGLEo,-61.5
$GPS2,022245,6257.635,-1253.190,10,1.7,10,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FE
$TGT_LATLONG,6252.000,-1230.000
$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,129.9,22194,-11.1,-6.000
$D_GRID,649
$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,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-65.65,0.000,6,0.000,0.000,47,2897,3500
$GC,97,-1.10,-146.6,2.4,-6.4,3,113,11.95,1.75,0.00,0.000,4,0.157,0.087,2166,3785,3502
$GC,278,-1.10,-146.6,27.6,-7.7,10,281,0.00,1.58,0.00,0.000,6,0.000,0.044,2166,2892,3502
$GC,605,-1.10,-146.6,56.2,-8.6,26,609,0.00,2.60,0.00,0.000,4,0.000,0.073,2166,1491,3503
$GC,654,-1.10,-146.6,60.2,-7.4,28,659,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2898,3502
$GC,970,-1.10,-146.6,87.3,-7.9,43,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,1280,-1.10,-146.6,113.3,-9.3,58,1284,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1490,3503
$GC,1306,-1.10,-146.6,115.7,-8.3,59,1311,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2900,3503
$GC,1624,-1.10,-146.6,138.0,-7.0,74,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,1932,-1.10,-146.6,161.2,-7.1,89,1936,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1488,3503
$GC,1954,-1.10,-146.6,162.9,-7.4,90,1958,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2901,3503
$GC,2274,-1.10,-146.6,188.7,-7.9,106,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2584,-1.10,-146.6,210.4,-6.2,121,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2893,-1.10,-146.6,230.9,-6.3,136,2898,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1487,3503
$GC,2943,-1.10,-146.6,234.2,-6.2,138,2948,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2904,3503
$GC,3259,-1.10,-146.6,253.8,-6.5,153,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,3568,-1.10,-146.6,273.7,-6.4,168,3572,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1484,3503
$GC,3623,-1.10,-146.6,277.4,-6.4,170,3629,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,3939,-1.10,-146.6,297.7,-6.2,186,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,4249,-1.10,-146.6,318.8,-7.2,201,4253,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1481,3503
$GC,4292,-1.10,-146.6,322.2,-7.2,203,4297,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2902,3503
$GC,4614,-1.10,-146.6,345.2,-7.3,219,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,4923,-1.10,-146.6,368.9,-7.8,234,4927,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1487,3503
$GC,4962,-1.10,-146.6,372.0,-8.2,236,4967,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2903,3503
$GC,5289,-1.10,-146.6,397.1,-7.3,252,5294,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1488,3503
$GC,5329,-1.10,-146.6,399.9,-7.0,254,5334,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2899,3503
$GC,5661,-1.10,-146.6,425.0,-7.5,270,5665,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3503
$GC,5699,-1.10,-146.6,428.0,-7.8,271,5705,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2901,3503
$GC,6015,-1.10,-146.6,453.8,-8.6,287,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,6324,-1.10,-146.6,480.0,-8.3,302,6327,0.00,1.65,0.00,0.000,4,0.000,0.084,2166,3786,3503
$GC,6362,-1.10,-146.6,483.3,-8.2,303,6368,0.00,1.55,0.00,0.000,6,0.000,0.036,2166,2898,3503
$GC,6678,-1.10,-146.6,508.7,-8.3,319,6682,0.00,2.53,0.00,0.000,4,0.000,0.058,2166,1487,3503
$GC,6755,-1.10,-146.6,515.5,-9.0,322,6762,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2905,3503
$GC,7071,-1.10,-146.6,540.7,-6.9,338,7075,0.00,1.65,0.00,0.000,4,0.000,0.083,2166,3789,3503
$GC,7331,-1.10,-146.6,558.7,-7.5,349,7335,0.00,1.52,0.00,0.000,6,0.000,0.035,2166,2907,3502
$GC,7653,-1.10,-146.6,581.2,-7.7,365,7657,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1480,3502
$GC,7692,-1.10,-146.6,584.3,-7.6,367,7697,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2906,3503
$GC,8019,-1.10,-146.6,602.4,-4.6,383,8023,0.00,1.62,0.00,0.000,4,0.000,0.084,2166,3782,3503
$GC,8098,-1.10,-146.6,606.5,-5.9,386,8102,0.00,1.55,0.00,0.000,6,0.000,0.037,2166,2897,3502
$GC,8420,-1.10,-146.6,624.7,-5.2,402,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,8729,-1.10,-146.6,641.0,-5.1,417,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$STATE,8767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8767,begin apogee
$GC,8776,-0.42,0.0,642.8,4.9,419,8910,0.75,0.00,126.70,1.255,6,0.095,0.000,2316,2094,2901
$STATE,8911,end apogee,CONTROL_FINISHED_OK
$STATE,8911,begin climb
$GC,8914,1.10,146.6,646.0,0.0,426,9045,1.55,2.65,122.88,1.223,4,0.058,0.058,2648,691,2303
$GC,9210,1.10,146.6,632.3,6.1,439,9216,0.00,2.47,0.00,0.000,6,0.000,0.036,2648,2110,2303
$GC,9526,1.10,146.6,611.4,6.4,455,9530,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3511,2301
$GC,9598,1.10,146.6,607.3,6.2,458,9603,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2092,2301
$GC,9914,1.17,197.9,593.6,4.6,473,9963,0.00,2.70,43.92,1.234,4,0.000,0.068,2648,3504,2094
$GC,10016,1.17,197.9,587.6,6.6,477,10022,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2096,2094
$GC,10332,1.25,262.4,570.0,4.2,493,10392,0.15,0.00,55.22,1.229,6,0.048,0.000,2688,2095,1831
$GC,10701,1.25,262.4,540.2,9.5,511,10705,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3502,1830
$GC,10728,1.25,262.4,537.3,10.6,512,10732,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2094,1830
$GC,11043,1.25,262.4,510.1,8.0,527,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2094,1829
$GC,11352,1.25,262.4,486.1,7.7,542,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2094,1829
$GC,11662,1.25,262.4,462.7,8.1,557,11666,0.00,2.62,0.00,0.000,4,0.000,0.071,2688,3503,1829
$GC,11734,1.25,262.4,456.1,8.9,560,11738,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2096,1829
$GC,12049,1.25,262.4,429.1,8.2,575,12053,0.00,2.62,0.00,0.000,4,0.000,0.069,2688,3503,1829
$GC,12081,1.25,262.4,426.5,8.1,576,12087,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2099,1829
$GC,12397,1.25,262.4,400.9,8.0,592,12402,0.00,2.53,0.00,0.000,4,0.000,0.058,2688,690,1829
$GC,12447,1.25,262.4,396.6,7.8,594,12452,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2098,1829
$GC,12763,1.25,262.4,371.2,7.8,609,12767,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3517,1830
$GC,12796,1.25,262.4,368.5,7.6,610,12802,0.00,2.53,0.00,0.000,6,0.000,0.047,2688,2095,1830
$GC,13111,1.25,262.4,343.1,8.3,626,13116,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3511,1830
$GC,13144,1.25,262.4,340.2,8.7,627,13150,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2100,1830
$GC,13460,1.25,262.4,311.7,9.5,643,13465,0.00,2.62,0.00,0.000,4,0.000,0.071,2688,3511,1830
$GC,13493,1.25,262.4,308.3,9.5,644,13499,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2100,1830
$GC,13809,1.25,262.4,278.8,9.1,660,13813,0.00,2.62,0.00,0.000,4,0.000,0.071,2688,3512,1830
$GC,13827,1.25,262.4,277.2,9.3,661,13831,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2099,1830
$GC,14153,1.25,262.4,245.4,9.6,677,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1830
$GC,14462,1.25,262.4,214.8,10.0,692,14466,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3512,1831
$GC,14485,1.25,262.4,212.6,10.3,693,14489,0.00,2.53,0.00,0.000,6,0.000,0.046,2688,2095,1831
$GC,14805,1.25,262.4,183.5,8.8,709,14806,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1832
$GC,15115,1.25,262.4,157.2,9.3,724,15119,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3511,1832
$GC,15147,1.25,262.4,154.6,7.7,725,15154,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2089,1831
$GC,15463,1.25,262.4,129.7,9.1,741,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2089,1832
$GC,15772,1.25,262.4,109.1,7.3,756,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2089,1832
$GC,16082,1.25,262.4,85.8,6.4,771,16086,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3514,1832
$GC,16121,1.25,262.4,82.6,8.1,773,16126,0.00,2.50,0.00,0.000,6,0.000,0.050,2688,2103,1833
$GC,16448,1.25,262.4,59.0,7.8,789,16449,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2103,1833
$GC,16758,1.25,262.4,30.1,10.5,804,16759,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2103,1832
$GC,17069,1.25,262.4,3.4,8.2,819,17073,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3516,1833
$STATE,17083,end climb,SURFACE_DEPTH_REACHED
$STATE,17083,begin surface coast
$FINISH,-0.4,1.027350
$STATE,17107,end surface coast,CONTROL_FINISHED_OK
$STATE,17107,begin surface
$SM_CCo,17130,33.33,0.765,2,0,1678,300.00
$SM_GC,-0.07,0.00,0.00,33.33,0.000,0.000,0.765,38,2902,1678,-10.91,0.06,300.00
$IRIDIUM_FIX,6230.49,-1247.63,160108,060633
$TT8_MAMPS,0.029146
$HUMID,2083
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.1,102.1
$24V_AH,23.2,63.664
$10V_AH,10.1,29.064
$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,25.800,147.425,348.725,33.325,0.000,78.876,149.188,226.253,5.000,0.000,0.000,9.997,1504.528,13229.108,528.233,1796.443,764.362,0.000,1441.061,0.000,1770.552,0.000,31.566
$DEVICE_MAMPS,157.235,87.438,1254.812,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,589.854,577.374,516.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41111,821
$CFSIZE,260165632,238518272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,160108,071038,6255.051,-1246.557,30,1.0,30,-11.8