version: 66.02
glider: 103
mission: 7
dive: 383
start: 1 17 108 4 38 4
data:
$ID,103
$MISSION,7
$DIVE,383
$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,-69942.305
$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,21
$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
$GPS1,043107,6248.038,-1216.484,34,1.3,34,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-54.9
$GPS2,043732,6248.159,-1216.269,14,1.7,19,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EE
$TGT_LATLONG,6245.000,-1145.000
$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,113.9,27153,-11.1,-6.000
$D_GRID,668
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-66.97,0.000,6,0.000,0.000,43,2898,3499
$GC,98,-1.10,-146.6,1.9,-5.2,3,111,11.93,0.00,0.00,0.000,6,0.156,0.000,2163,2898,3501
$GC,430,-1.10,-146.6,41.5,-8.6,19,433,0.00,1.67,0.00,0.000,4,0.000,0.087,2163,3783,3502
$GC,485,-1.10,-146.6,47.2,-10.3,21,489,0.00,1.52,0.00,0.000,6,0.000,0.038,2163,2905,3502
$GC,807,-1.10,-146.6,73.0,-7.3,37,811,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1492,3502
$GC,839,-1.10,-146.6,75.6,-7.6,38,846,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2899,3502
$GC,1157,-1.10,-146.6,98.2,-4.5,54,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,1464,-1.10,-146.6,118.4,-8.5,69,1468,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1488,3502
$GC,1508,-1.10,-146.6,121.4,-6.6,71,1512,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2903,3502
$GC,1829,-1.10,-146.6,144.4,-6.1,87,1833,0.00,1.67,0.00,0.000,4,0.000,0.085,2164,3792,3502
$GC,1907,-1.10,-146.6,151.1,-10.0,90,1910,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2906,3502
$GC,2230,-1.10,-146.6,175.2,-6.8,106,2234,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1487,3502
$GC,2269,-1.10,-146.6,177.9,-6.4,108,2273,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,2595,-1.10,-146.6,195.3,-5.9,124,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2905,-1.10,-146.6,215.9,-7.3,139,2909,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1496,3502
$GC,2932,-1.10,-146.6,218.1,-7.1,140,2936,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3502
$GC,3253,-1.10,-146.6,241.3,-6.5,156,3256,0.00,1.67,0.00,0.000,4,0.000,0.085,2164,3794,3502
$GC,3337,-1.10,-146.6,246.6,-6.2,159,3343,0.00,1.55,0.00,0.000,6,0.000,0.035,2164,2907,3502
$GC,3652,-1.10,-146.6,267.3,-7.7,175,3656,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1490,3503
$GC,3685,-1.10,-146.6,270.1,-8.2,176,3690,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2909,3502
$GC,4002,-1.10,-146.6,294.9,-7.7,191,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,4311,-1.10,-146.6,317.3,-7.2,206,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,4620,-1.10,-146.6,339.3,-7.8,221,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,4929,-1.10,-146.6,364.9,-8.5,236,4934,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1489,3502
$GC,4979,-1.10,-146.6,369.5,-8.8,238,4984,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2909,3502
$GC,5295,-1.10,-146.6,395.6,-7.9,253,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,5605,-1.10,-146.6,420.0,-7.9,268,5609,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1487,3502
$GC,5667,-1.10,-146.6,424.9,-8.2,271,5672,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2903,3502
$GC,6001,-1.10,-146.6,450.8,-8.2,287,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,6309,-1.10,-146.6,474.7,-7.5,302,6313,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1482,3502
$GC,6347,-1.10,-146.6,477.5,-7.2,303,6353,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2901,3503
$GC,6662,-1.10,-146.6,499.6,-7.1,319,6667,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1488,3502
$GC,6708,-1.10,-146.6,502.9,-7.0,321,6712,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3502
$GC,7037,-1.10,-146.6,525.2,-6.6,337,7041,0.00,2.55,0.00,0.000,4,0.000,0.057,2164,1486,3502
$GC,7081,-1.10,-146.6,528.4,-7.1,339,7085,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2899,3502
$GC,7402,-1.10,-146.6,547.9,-5.8,355,7405,0.00,1.65,0.00,0.000,4,0.000,0.085,2164,3783,3502
$GC,7457,-1.10,-146.6,551.3,-6.0,357,7461,0.00,1.52,0.00,0.000,6,0.000,0.037,2164,2901,3502
$GC,7779,-1.10,-146.6,569.7,-5.6,373,7783,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1489,3502
$GC,7880,-1.10,-146.6,575.5,-6.0,377,7887,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,8196,-1.10,-146.6,592.6,-5.8,393,8200,0.00,1.67,0.00,0.000,4,0.000,0.087,2164,3790,3502
$GC,8325,-1.10,-146.6,601.1,-7.9,398,8331,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2905,3502
$GC,8640,-1.10,-146.6,624.6,-8.1,414,8645,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1489,3502
$GC,8748,-1.10,-146.6,632.5,-7.1,419,8752,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,9075,-1.10,-146.6,653.9,-5.8,435,9079,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1484,3502
$GC,9101,-1.10,-146.6,655.7,-6.3,436,9106,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2902,3502
$STATE,9146,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9147,begin apogee
$GC,9155,-0.42,0.0,658.6,6.7,438,9289,0.77,0.00,127.30,1.276,6,0.104,0.000,2316,2099,2901
$STATE,9290,end apogee,CONTROL_FINISHED_OK
$STATE,9290,begin climb
$GC,9293,1.10,146.6,661.5,0.0,445,9424,1.55,2.72,122.97,1.243,4,0.059,0.070,2648,3516,2303
$GC,9681,1.10,146.6,645.8,6.4,462,9687,0.00,2.55,0.00,0.000,6,0.000,0.042,2648,2088,2301
$GC,9997,1.13,169.7,628.8,5.4,478,10023,0.00,2.78,20.60,1.216,4,0.000,0.071,2648,3522,2209
$GC,10131,1.13,169.7,620.4,7.0,484,10135,0.00,2.55,0.00,0.000,6,0.000,0.044,2648,2100,2208
$GC,10452,1.17,200.9,600.6,5.1,500,10481,0.00,0.00,27.70,1.240,6,0.000,0.000,2648,2100,2082
$GC,10781,1.17,200.9,581.7,6.0,516,10786,0.00,2.65,0.00,0.000,4,0.000,0.069,2648,3516,2080
$GC,10848,1.17,200.9,577.2,6.7,519,10853,0.00,2.53,0.00,0.000,6,0.000,0.042,2648,2100,2080
$GC,11169,1.17,200.9,554.8,7.1,535,11174,0.00,2.65,0.00,0.000,4,0.000,0.068,2648,3515,2079
$GC,11209,1.17,200.9,551.8,7.7,537,11213,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2099,2079
$GC,11536,1.17,200.9,529.9,6.7,553,11540,0.00,2.65,0.00,0.000,4,0.000,0.069,2648,3521,2078
$GC,11568,1.17,200.9,527.6,7.1,554,11574,0.00,2.53,0.00,0.000,6,0.000,0.042,2648,2100,2078
$GC,11884,1.19,221.2,509.3,5.4,570,11909,0.00,2.78,17.77,1.173,4,0.000,0.070,2648,3531,1999
$GC,11950,1.20,225.8,505.3,5.9,573,11962,0.10,2.55,5.85,0.977,6,0.050,0.042,2680,2096,1980
$GC,12278,1.20,225.8,483.4,6.1,589,12282,0.00,2.65,0.00,0.000,4,0.000,0.068,2680,3516,1980
$GC,12310,1.20,225.8,481.5,6.2,590,12317,0.00,2.50,0.00,0.000,6,0.000,0.041,2680,2098,1980
$GC,12627,1.20,225.8,460.7,7.1,606,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,1980
$GC,12935,1.20,225.8,435.9,8.4,621,12940,0.00,2.65,0.00,0.000,4,0.000,0.070,2680,3518,1980
$GC,12975,1.20,225.8,432.4,9.1,623,12979,0.00,2.50,0.00,0.000,6,0.000,0.043,2680,2101,1980
$GC,13301,1.20,225.8,404.6,8.5,639,13303,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1980
$GC,13610,1.20,225.8,379.3,8.0,654,13615,0.00,2.62,0.00,0.000,4,0.000,0.069,2680,3515,1981
$GC,13655,1.20,225.8,375.6,8.5,656,13659,0.00,2.50,0.00,0.000,6,0.000,0.044,2680,2100,1981
$GC,13976,1.20,225.8,349.2,8.3,672,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2100,1981
$GC,14284,1.20,225.8,322.4,8.7,687,14289,0.00,2.65,0.00,0.000,4,0.000,0.070,2680,3521,1982
$GC,14340,1.20,225.8,317.1,9.8,689,14346,0.00,2.50,0.00,0.000,6,0.000,0.045,2680,2103,1982
$GC,14656,1.20,225.8,289.9,8.2,705,14660,0.00,2.62,0.00,0.000,4,0.000,0.069,2680,3518,1982
$GC,14700,1.20,225.8,285.6,9.4,707,14704,0.00,2.53,0.00,0.000,6,0.000,0.046,2680,2093,1982
$GC,15021,1.20,225.8,258.2,8.6,723,15025,0.00,2.65,0.00,0.000,4,0.000,0.066,2680,3520,1983
$GC,15070,1.20,225.8,253.7,8.6,725,15075,0.00,2.53,0.00,0.000,6,0.000,0.045,2680,2099,1983
$GC,15386,1.20,225.8,225.1,9.3,740,15390,0.00,2.62,0.00,0.000,4,0.000,0.067,2680,3519,1983
$GC,15441,1.20,225.8,219.8,9.1,742,15447,0.00,2.50,0.00,0.000,6,0.000,0.043,2680,2096,1983
$GC,15756,1.20,225.8,192.5,8.6,758,15758,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2095,1983
$GC,16065,1.20,225.8,167.5,7.4,773,16070,0.00,2.65,0.00,0.000,4,0.000,0.067,2680,3524,1984
$GC,16116,1.20,225.8,163.7,6.8,775,16120,0.00,2.53,0.00,0.000,6,0.000,0.044,2680,2102,1984
$GC,16432,1.20,225.8,141.2,7.0,790,16433,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1983
$GC,16741,1.20,225.8,115.6,8.9,805,16745,0.00,2.62,0.00,0.000,4,0.000,0.066,2680,3516,1984
$GC,16790,1.20,225.8,110.8,10.3,807,16795,0.00,2.53,0.00,0.000,6,0.000,0.047,2680,2098,1984
$GC,17106,1.20,225.8,82.3,7.7,822,17108,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,1984
$GC,17416,1.20,225.8,59.3,9.2,837,17420,0.00,2.65,0.00,0.000,4,0.000,0.067,2681,3524,1984
$GC,17443,1.20,225.8,56.6,10.2,838,17447,0.00,2.53,0.00,0.000,6,0.000,0.047,2680,2094,1984
$GC,17760,1.20,225.8,36.1,6.5,853,17765,0.00,2.65,0.00,0.000,4,0.000,0.068,2680,3518,1984
$GC,17788,1.20,225.8,33.8,8.5,854,17793,0.00,2.53,0.00,0.000,6,0.000,0.047,2680,2101,1984
$GC,18104,1.20,225.8,8.5,8.9,869,18105,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2100,1985
$STATE,18185,end climb,SURFACE_DEPTH_REACHED
$STATE,18186,begin surface coast
$FINISH,-1.2,1.026354
$STATE,18206,end surface coast,CONTROL_FINISHED_OK
$STATE,18206,begin surface
$SM_CCo,18230,62.47,0.793,2,0,1678,300.00
$SM_GC,-0.29,0.00,0.00,62.47,0.000,0.000,0.793,48,2906,1678,-10.87,0.17,300.00
$IRIDIUM_FIX,6221.17,-1224.08,170108,030328
$TT8_MAMPS,0.029146
$HUMID,2062
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.1,93.4
$24V_AH,23.2,64.419
$10V_AH,10.1,29.495
$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,26.150,174.525,322.200,62.475,0.000,39.373,36.476,173.734,5.250,0.000,0.000,19.433,1626.171,13974.984,546.001,1958.419,593.145,0.000,1543.233,0.000,1926.725,0.000,33.167
$DEVICE_MAMPS,156.468,87.438,1275.521,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,643.546,610.852,543.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44247,874
$CFSIZE,260165632,238190592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,2,0
$GPS,170108,094427,6248.597,-1207.858,43,1.9,43,-11.4