version: 66.02
glider: 103
mission: 7
dive: 130
start: 12 4 107 20 58 39
data:
$ID,103
$MISSION,7
$DIVE,130
$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,-64717.176
$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,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
$GPS1,205132,6222.601,-1023.501,40,1.1,40,-10.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-59.3
$GPS2,205733,6222.504,-1023.530,12,1.2,12,-10.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.016,0.218
$KALMAN_X,-137599.9,1097.2,529.4,39737.1,-7320.2
$KALMAN_Y,26473.8,709.5,333.8,62284.3,-8087.3
$MHEAD_RNG_PITCHd_Wd,14.5,14945,-11.1,-6.000
$D_GRID,698
$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,-66.78,0.000,6,0.000,0.000,40,2895,3500
$GC,91,-1.10,-146.6,2.5,-6.2,3,111,12.05,1.77,0.00,0.000,4,0.160,0.096,2165,3786,3502
$GC,363,-1.10,-146.6,34.1,-7.6,15,367,0.00,1.52,0.00,0.000,6,0.000,0.032,2165,2897,3502
$GC,690,-1.10,-146.6,59.1,-7.3,31,693,0.00,1.70,0.00,0.000,4,0.000,0.080,2165,3792,3502
$GC,834,-1.10,-146.6,71.4,-7.5,37,839,0.00,1.52,0.00,0.000,6,0.000,0.031,2165,2899,3502
$GC,1156,-1.10,-146.6,93.9,-6.4,53,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,1465,-1.10,-146.6,115.8,-7.3,68,1469,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1496,3502
$GC,1519,-1.10,-146.6,119.7,-7.3,70,1526,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2903,3502
$GC,1835,-1.10,-146.6,142.4,-7.3,86,1839,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1492,3502
$GC,1873,-1.10,-146.6,145.4,-8.0,88,1878,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2902,3502
$GC,2198,-1.10,-146.6,169.2,-7.3,104,2203,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1491,3502
$GC,2232,-1.10,-146.6,171.5,-7.1,105,2238,0.00,2.60,0.00,0.000,6,0.000,0.069,2165,2901,3502
$GC,2546,-1.10,-146.6,194.2,-7.4,121,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,2856,-1.10,-146.6,215.0,-6.5,136,2860,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1495,3502
$GC,2904,-1.10,-146.6,218.6,-6.6,138,2909,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2903,3503
$GC,3226,-1.10,-146.6,240.7,-7.1,154,3230,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1500,3503
$GC,3269,-1.10,-146.6,243.8,-7.0,156,3274,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2908,3503
$GC,3595,-1.10,-146.6,265.7,-6.4,172,3600,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1493,3503
$GC,3634,-1.10,-146.6,268.2,-7.0,174,3639,0.00,2.60,0.00,0.000,6,0.000,0.068,2165,2898,3503
$GC,3960,-1.10,-146.6,288.9,-6.3,190,3964,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1494,3503
$GC,3998,-1.10,-146.6,291.2,-6.5,192,4003,0.00,2.60,0.00,0.000,6,0.000,0.069,2165,2899,3503
$GC,4324,-1.10,-146.6,311.5,-6.2,208,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,4633,-1.10,-146.6,331.6,-6.5,223,4638,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1499,3503
$GC,4672,-1.10,-146.6,334.1,-6.7,225,4676,0.00,2.60,0.00,0.000,6,0.000,0.070,2165,2900,3503
$GC,4997,-1.10,-146.6,354.4,-6.0,241,5002,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1494,3502
$GC,5041,-1.10,-146.6,357.0,-5.8,243,5045,0.00,2.60,0.00,0.000,6,0.000,0.068,2165,2900,3503
$GC,5370,-1.10,-146.6,375.0,-5.2,259,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5677,-1.10,-146.6,390.2,-4.7,274,5681,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1493,3502
$GC,5716,-1.10,-146.6,392.1,-5.1,276,5721,0.00,2.60,0.00,0.000,6,0.000,0.070,2165,2900,3503
$GC,6042,-1.10,-146.6,408.3,-5.3,292,6046,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1499,3503
$GC,6085,-1.10,-146.6,410.9,-6.0,294,6089,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2906,3502
$GC,6411,-1.10,-146.6,430.0,-6.2,310,6415,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1496,3503
$GC,6443,-1.10,-146.6,432.2,-6.6,311,6450,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2891,3503
$GC,6759,-1.10,-146.6,452.3,-6.6,327,6763,0.00,2.50,0.00,0.000,4,0.000,0.056,2165,1491,3502
$GC,6797,-1.10,-146.6,454.8,-7.1,329,6802,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2901,3503
$GC,7122,-1.10,-146.6,480.0,-8.5,345,7125,0.00,1.62,0.00,0.000,4,0.000,0.077,2165,3786,3503
$GC,7193,-1.10,-146.6,486.7,-9.3,348,7198,0.00,1.52,0.00,0.000,6,0.000,0.033,2165,2881,3503
$GC,7520,-1.10,-146.6,515.8,-8.0,364,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2879,3503
$GC,7829,-1.10,-146.6,538.1,-6.9,379,7833,0.00,1.67,0.00,0.000,4,0.000,0.074,2165,3792,3502
$GC,7907,-1.10,-146.6,541.8,-1.6,382,7911,0.00,1.50,0.00,0.000,6,0.000,0.034,2165,2899,3503
$GC,8228,-1.10,-146.6,544.8,-2.8,398,8232,0.00,2.47,0.00,0.000,4,0.000,0.052,2165,1499,3502
$GC,8277,-1.10,-146.6,545.8,-1.8,400,8281,0.00,2.55,0.00,0.000,6,0.000,0.061,2165,2903,3503
$GC,8598,-1.10,-146.6,545.0,2.1,416,8603,0.00,2.50,0.00,0.000,4,0.000,0.051,2165,1501,3502
$GC,8642,-1.10,-146.6,544.4,1.6,418,8646,0.00,2.55,0.00,0.000,6,0.000,0.061,2165,2899,3503
$GC,8969,-1.10,-146.6,546.6,-0.7,434,8973,0.00,2.47,0.00,0.000,4,0.000,0.051,2165,1503,3502
$GC,9069,-1.10,-146.6,546.7,-0.4,438,9074,0.00,2.55,0.00,0.000,6,0.000,0.063,2165,2899,3503
$STATE,9239,end dive,NO_VERTICAL_VELOCITY
$STATE,9239,begin apogee
$GC,9245,-0.42,0.0,547.0,0.0,446,9371,0.75,0.00,122.85,1.125,6,0.082,0.000,2319,2120,2901
$STATE,9371,end apogee,CONTROL_FINISHED_OK
$STATE,9371,begin climb
$GC,9373,1.10,146.6,543.9,0.0,452,9501,1.52,2.62,119.88,1.076,4,0.052,0.052,2649,693,2303
$GC,9619,1.10,146.6,521.3,13.1,463,9626,0.00,2.50,0.00,0.000,6,0.000,0.035,2649,2110,2302
$GC,9934,1.10,146.6,477.1,13.8,479,9939,0.00,2.55,0.00,0.000,4,0.000,0.061,2649,3504,2302
$GC,10063,1.10,146.6,458.0,15.5,485,10068,0.00,2.47,0.00,0.000,6,0.000,0.035,2649,2090,2301
$GC,10389,1.10,146.6,416.7,10.1,501,10393,0.00,2.62,0.00,0.000,4,0.000,0.064,2649,3504,2302
$GC,10477,1.10,146.6,409.1,7.9,505,10481,0.00,2.47,0.00,0.000,6,0.000,0.037,2649,2086,2302
$GC,10804,1.28,292.1,395.7,2.0,521,10925,0.17,0.00,117.28,1.019,6,0.039,0.000,2699,2085,1710
$GC,11233,1.33,334.5,375.5,4.8,542,11275,0.00,2.75,35.92,0.965,4,0.000,0.073,2699,3503,1537
$GC,11320,1.33,334.5,370.5,6.4,546,11325,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,2101,1537
$GC,11646,1.36,354.8,351.5,5.4,562,11670,0.00,2.72,18.20,0.913,4,0.000,0.071,2699,3502,1454
$GC,11704,1.36,354.8,348.2,6.1,564,11711,0.00,2.53,0.00,0.000,6,0.000,0.047,2699,2093,1454
$GC,12020,1.39,378.2,331.5,5.4,580,12045,0.00,2.72,20.42,0.918,4,0.000,0.073,2699,3502,1359
$GC,12067,1.39,382.0,328.6,5.9,582,12079,0.00,2.53,4.97,0.698,6,0.000,0.047,2699,2101,1343
$GC,12387,1.39,382.0,308.3,6.9,598,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1343
$GC,12696,1.39,382.0,284.7,7.7,613,12701,0.00,2.62,0.00,0.000,4,0.000,0.073,2699,3504,1343
$GC,12741,1.39,382.0,281.3,7.8,615,12745,0.00,2.53,0.00,0.000,6,0.000,0.049,2699,2099,1343
$GC,13061,1.39,382.0,252.6,9.6,631,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2099,1343
$GC,13370,1.39,382.0,221.0,9.7,646,13374,0.00,2.65,0.00,0.000,4,0.000,0.072,2699,3512,1343
$GC,13419,1.39,382.0,215.7,10.2,648,13423,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,2094,1343
$GC,13740,1.39,382.0,182.5,10.8,664,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,1343
$GC,14049,1.39,382.0,149.2,10.2,679,14053,0.00,2.65,0.00,0.000,4,0.000,0.074,2699,3510,1343
$GC,14074,1.39,382.0,146.3,11.6,680,14079,0.00,2.53,0.00,0.000,6,0.000,0.050,2699,2108,1343
$GC,14396,1.39,382.0,110.5,11.4,696,14401,0.00,2.62,0.00,0.000,4,0.000,0.074,2699,3504,1343
$GC,14428,1.39,382.0,106.7,10.8,697,14435,0.00,2.53,0.00,0.000,6,0.000,0.049,2699,2101,1343
$GC,14744,1.39,382.0,72.2,10.5,713,14748,0.00,2.65,0.00,0.000,4,0.000,0.075,2699,3506,1343
$GC,14775,1.39,382.0,68.5,10.3,714,14782,0.00,2.53,0.00,0.000,6,0.000,0.051,2699,2107,1343
$GC,15093,1.39,382.0,33.9,11.3,730,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2107,1343
$STATE,15378,end climb,SURFACE_DEPTH_REACHED
$STATE,15378,begin surface coast
$FINISH,-1.0,1.027252
$STATE,15400,end surface coast,CONTROL_FINISHED_OK
$STATE,15400,begin surface
$SM_CCo,15481,0.00,0.000,0,0,1343,382.18
$SM_GC,-0.43,11.62,0.00,0.00,0.029,0.000,0.000,46,2887,1343,-10.79,-0.37,382.18
$IRIDIUM_FIX,6158.08,-1024.09,041207,191920
$TT8_MAMPS,0.028379
$HUMID,2076
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.30
$XPDR_PINGS,1
$24V_AH,23.5,25.456
$10V_AH,10.1,11.559
$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,26.125,155.050,439.525,0.000,0.000,38.672,41.884,178.002,4.250,0.000,0.000,12.842,1390.568,11729.973,571.821,1729.681,434.679,33.366,1461.582,0.000,1703.745,0.000,26.845
$DEVICE_MAMPS,160.303,95.875,1125.189,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.342,528.045,468.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38036,745
$CFSIZE,260165632,251256832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
$GPS,051207,011738,6221.979,-1025.712,27,1.7,27,-10.3