version: 66.02
glider: 103
mission: 7
dive: 129
start: 12 4 107 15 55 29
data:
$ID,103
$MISSION,7
$DIVE,129
$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,1
$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,-64703.707
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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
$GPS1,154831,6221.765,-1020.544,38,1.8,38,-10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-58.8
$GPS2,155423,6221.741,-1020.509,13,1.7,15,-10.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.039,0.215
$KALMAN_X,-134440.3,344.9,-203.1,40746.9,-3936.7
$KALMAN_Y,29264.7,1022.1,639.4,57493.0,-9258.2
$MHEAD_RNG_PITCHd_Wd,0.1,17316,-11.1,-6.000
$D_GRID,704
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,89,0.00,0.00,-67.40,0.000,6,0.000,0.000,44,2903,3500
$GC,91,-1.10,-146.6,2.5,-7.2,3,112,11.98,2.62,0.00,0.000,4,0.158,0.061,2166,1492,3501
$GC,361,-1.10,-146.6,37.0,-7.4,15,366,0.00,2.70,0.00,0.000,6,0.000,0.080,2166,2903,3502
$GC,688,-1.10,-146.6,64.4,-9.7,31,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,996,-1.10,-146.6,93.5,-9.3,46,1000,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1492,3502
$GC,1079,-1.10,-146.6,101.4,-9.1,50,1084,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2901,3502
$GC,1405,-1.10,-146.6,132.2,-8.9,66,1410,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1490,3502
$GC,1445,-1.10,-146.6,135.6,-9.3,68,1449,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2909,3502
$GC,1770,-1.10,-146.6,163.4,-8.1,84,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,2079,-1.10,-146.6,187.0,-8.0,99,2083,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1488,3502
$GC,2144,-1.10,-146.6,192.1,-8.0,102,2149,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2906,3502
$GC,2471,-1.10,-146.6,217.5,-7.9,118,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,2780,-1.10,-146.6,242.4,-7.9,133,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,3089,-1.10,-146.6,265.5,-6.6,148,3094,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1487,3502
$GC,3144,-1.10,-146.6,268.9,-5.8,150,3151,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2899,3501
$GC,3460,-1.10,-146.6,287.0,-5.8,166,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,3770,-1.10,-146.6,304.7,-5.4,181,3774,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1491,3502
$GC,3831,-1.10,-146.6,308.2,-5.5,184,3836,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2901,3502
$GC,4158,-1.10,-146.6,325.6,-4.9,200,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4467,-1.10,-146.6,341.1,-5.0,215,4471,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1491,3502
$GC,4532,-1.10,-146.6,344.5,-5.2,218,4537,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2898,3502
$GC,4859,-1.10,-146.6,361.6,-5.7,234,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,5168,-1.10,-146.6,379.5,-5.7,249,5172,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1489,3502
$GC,5234,-1.10,-146.6,383.5,-5.8,252,5238,0.00,2.60,0.00,0.000,6,0.000,0.070,2166,2900,3502
$GC,5560,-1.10,-146.6,404.1,-6.7,268,5564,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1483,3502
$GC,5609,-1.10,-146.6,407.5,-7.0,270,5613,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2908,3502
$GC,5930,-1.10,-146.6,429.0,-6.9,286,5934,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1491,3502
$GC,5997,-1.10,-146.6,433.5,-6.8,289,6001,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,6322,-1.10,-146.6,452.7,-5.3,305,6327,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1483,3502
$GC,6366,-1.10,-146.6,454.9,-5.1,307,6371,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2899,3502
$GC,6687,-1.10,-146.6,471.0,-6.2,323,6691,0.00,2.53,0.00,0.000,4,0.000,0.059,2166,1487,3501
$GC,6725,-1.10,-146.6,473.2,-5.8,325,6730,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,7052,-1.10,-146.6,489.1,-5.0,341,7056,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1489,3501
$GC,7101,-1.10,-146.6,491.8,-5.0,343,7105,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2904,3502
$GC,7422,-1.10,-146.6,507.3,-5.0,359,7426,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1484,3502
$GC,7505,-1.10,-146.6,511.2,-4.2,363,7510,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2903,3501
$GC,7831,-1.10,-146.6,519.7,-2.5,379,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,8140,-1.10,-146.6,533.3,-7.4,394,8145,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1479,3501
$GC,8202,-1.10,-146.6,539.4,-10.3,397,8206,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2903,3501
$GC,8527,-1.10,-146.6,578.5,-11.9,413,8531,0.00,2.53,0.00,0.000,4,0.000,0.049,2166,1478,3502
$GC,8603,-1.10,-146.6,586.5,-9.6,416,8610,0.00,2.58,0.00,0.000,6,0.000,0.058,2166,2903,3502
$GC,8918,-1.10,-146.6,612.2,-7.9,432,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,9228,-1.10,-146.6,638.7,-9.0,447,9232,0.00,2.53,0.00,0.000,4,0.000,0.052,2166,1484,3501
$GC,9271,-1.10,-146.6,642.4,-8.5,449,9275,0.00,2.58,0.00,0.000,6,0.000,0.061,2166,2900,3501
$GC,9597,-1.10,-146.6,664.5,-5.8,465,9602,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1485,3502
$GC,9737,-1.10,-146.6,672.1,-5.3,471,9741,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2906,3502
$GC,10058,-1.10,-146.6,689.7,-6.1,487,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$STATE,10242,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10242,begin apogee
$GC,10248,-0.42,0.0,702.0,7.0,496,10376,0.75,0.00,124.72,1.244,6,0.084,0.000,2319,2050,2901
$STATE,10377,end apogee,CONTROL_FINISHED_OK
$STATE,10377,begin climb
$GC,10379,1.10,146.6,704.4,0.0,502,10510,1.52,2.72,122.60,1.216,4,0.051,0.067,2650,3460,2303
$GC,10528,1.25,269.8,705.0,2.6,510,10638,0.15,2.53,101.97,1.216,6,0.041,0.037,2692,2038,1801
$GC,10959,1.25,269.8,665.6,10.0,531,10963,0.00,2.70,0.00,0.000,4,0.000,0.067,2692,3471,1800
$GC,11035,1.25,269.8,656.1,12.1,534,11042,0.00,2.53,0.00,0.000,6,0.000,0.040,2692,2057,1799
$GC,11351,1.25,269.8,616.0,12.9,550,11355,0.00,2.58,0.00,0.000,4,0.000,0.060,2692,645,1798
$GC,11422,1.25,269.8,606.0,14.0,553,11426,0.00,2.50,0.00,0.000,6,0.000,0.041,2692,2056,1798
$GC,11743,1.25,269.8,565.6,11.8,569,11747,0.00,2.60,0.00,0.000,4,0.000,0.069,2692,3457,1797
$GC,11808,1.25,269.8,558.6,10.5,572,11812,0.00,2.50,0.00,0.000,6,0.000,0.040,2692,2053,1796
$GC,12135,1.25,269.8,526.3,10.4,588,12139,0.00,2.62,0.00,0.000,4,0.000,0.068,2692,3457,1796
$GC,12183,1.25,269.8,521.1,10.0,590,12188,0.00,2.50,0.00,0.000,6,0.000,0.040,2692,2048,1796
$GC,12505,1.25,269.8,486.9,11.0,606,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2049,1796
$GC,12814,1.25,269.8,455.6,9.9,621,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2049,1795
$GC,13123,1.25,269.8,426.9,9.1,636,13127,0.00,2.65,0.00,0.000,4,0.000,0.071,2692,3459,1796
$GC,13177,1.25,269.8,421.5,9.8,638,13184,0.00,2.50,0.00,0.000,6,0.000,0.044,2692,2062,1796
$GC,13493,1.25,269.8,392.5,8.7,654,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2062,1797
$GC,13802,1.25,269.8,365.5,9.3,669,13806,0.00,2.62,0.00,0.000,4,0.000,0.071,2692,3457,1797
$GC,13840,1.25,269.8,361.6,11.0,671,13845,0.00,2.50,0.00,0.000,6,0.000,0.047,2692,2051,1797
$GC,14166,1.25,269.8,329.2,9.9,687,14167,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2051,1798
$GC,14475,1.25,269.8,299.4,9.3,702,14479,0.00,2.62,0.00,0.000,4,0.000,0.072,2692,3457,1798
$GC,14541,1.25,269.8,292.8,9.9,705,14545,0.00,2.53,0.00,0.000,6,0.000,0.048,2692,2054,1798
$GC,14868,1.25,269.8,262.1,9.4,721,14869,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2054,1799
$GC,15177,1.25,269.8,233.2,9.6,736,15182,0.00,2.62,0.00,0.000,4,0.000,0.072,2692,3457,1799
$GC,15220,1.25,269.8,228.8,9.8,738,15225,0.00,2.53,0.00,0.000,6,0.000,0.049,2692,2057,1799
$GC,15547,1.25,269.8,198.4,9.4,754,15552,0.00,2.62,0.00,0.000,4,0.000,0.071,2692,3457,1799
$GC,15590,1.25,269.8,194.1,9.4,756,15595,0.00,2.53,0.00,0.000,6,0.000,0.048,2692,2055,1799
$GC,15917,1.25,269.8,163.8,9.2,772,15922,0.00,2.62,0.00,0.000,4,0.000,0.073,2692,3457,1799
$GC,15955,1.25,269.8,159.9,10.2,774,15959,0.00,2.50,0.00,0.000,6,0.000,0.050,2692,2044,1799
$GC,16287,1.25,269.8,129.0,9.5,790,16288,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2044,1799
$GC,16596,1.25,269.8,98.5,10.3,805,16601,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3456,1800
$GC,16658,1.25,269.8,92.0,10.1,808,16662,0.00,2.53,0.00,0.000,6,0.000,0.054,2692,2051,1800
$GC,16983,1.25,269.8,60.9,8.8,824,16985,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2051,1800
$GC,17293,1.25,269.8,31.1,9.5,839,17297,0.00,2.65,0.00,0.000,4,0.000,0.075,2692,3458,1800
$GC,17354,1.25,269.8,25.3,8.8,842,17358,0.00,2.53,0.00,0.000,6,0.000,0.051,2692,2047,1800
$STATE,17616,end climb,SURFACE_DEPTH_REACHED
$STATE,17616,begin surface coast
$FINISH,-1.3,1.027257
$STATE,17638,end surface coast,CONTROL_FINISHED_OK
$STATE,17638,begin surface
$SM_CCo,17658,25.35,0.729,1,0,1678,300.00
$SM_GC,-0.26,0.00,0.00,25.35,0.000,0.000,0.729,40,2892,1678,-10.90,-0.23,300.00
$IRIDIUM_FIX,6158.08,-1044.02,041207,141457
$TT8_MAMPS,0.029146
$HUMID,2093
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.9,85.6
$24V_AH,23.4,25.310
$10V_AH,10.1,11.486
$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,26.000,163.625,349.300,25.350,0.000,36.805,34.897,178.982,5.750,0.000,0.000,15.388,1585.981,13577.632,522.030,1929.075,438.985,33.361,1489.971,0.000,1895.452,0.000,36.352
$DEVICE_MAMPS,158.002,90.506,1244.074,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.345,604.774,497.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44293,856
$CFSIZE,260165632,251301888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,041207,205132,6222.601,-1023.501,40,1.1,40,-10.3