version: 66.02
glider: 103
mission: 7
dive: 132
start: 12 5 107 6 39 8
data:
$ID,103
$MISSION,7
$DIVE,132
$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,-64768.539
$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,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
$GPS1,063238,6222.615,-1028.132,35,1.2,35,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.54
$_SM_ANGLEo,-56.7
$GPS2,063803,6222.605,-1028.061,15,1.2,15,-10.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.035,0.216
$KALMAN_X,-141131.5,128.4,445.9,40316.5,-5416.9
$KALMAN_Y,16894.0,121.3,971.6,72011.9,-9330.3
$MHEAD_RNG_PITCHd_Wd,19.5,13795,-11.1,-6.000
$D_GRID,691
$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,19,begin dive
$GC,21,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-61.65,0.000,2,0.000,0.000,50,2899,3305
$GC,86,-1.10,-146.6,3.1,-8.4,3,109,11.93,2.65,-3.67,0.000,4,0.157,0.084,2166,1488,3500
$GC,361,-1.10,-146.6,29.3,-7.3,15,365,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2900,3500
$GC,687,-1.10,-146.6,52.6,-7.1,31,692,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1487,3500
$GC,787,-1.10,-146.6,60.0,-7.2,35,794,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2892,3500
$GC,1103,-1.10,-146.6,81.6,-6.6,51,1107,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1490,3500
$GC,1147,-1.10,-146.6,84.7,-6.8,53,1151,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3500
$GC,1467,-1.10,-146.6,105.5,-7.2,69,1471,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1492,3500
$GC,1510,-1.10,-146.6,108.5,-6.8,71,1514,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2908,3501
$GC,1836,-1.10,-146.6,129.5,-6.6,87,1841,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1488,3501
$GC,1899,-1.10,-146.6,133.1,-5.6,90,1903,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2903,3501
$GC,2224,-1.10,-146.6,151.8,-5.8,106,2229,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1492,3501
$GC,2279,-1.10,-146.6,155.1,-6.0,108,2286,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2900,3501
$GC,2595,-1.10,-146.6,174.1,-6.3,124,2599,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1491,3501
$GC,2649,-1.10,-146.6,177.7,-6.4,126,2655,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2900,3501
$GC,2964,-1.10,-146.6,196.6,-5.8,142,2969,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3501
$GC,3013,-1.10,-146.6,199.6,-6.2,144,3018,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2901,3501
$GC,3334,-1.10,-146.6,218.7,-6.1,160,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,3644,-1.10,-146.6,238.1,-6.4,175,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,3953,-1.10,-146.6,258.1,-6.4,190,3957,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1487,3501
$GC,3984,-1.10,-146.6,260.2,-6.3,191,3991,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2896,3501
$GC,4300,-1.10,-146.6,281.2,-7.0,207,4304,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1492,3501
$GC,4361,-1.10,-146.6,285.7,-7.0,210,4365,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2908,3501
$GC,4686,-1.10,-146.6,310.7,-8.2,226,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3501
$GC,4996,-1.10,-146.6,336.6,-8.2,241,5000,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1490,3501
$GC,5066,-1.10,-146.6,342.7,-8.4,244,5071,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2899,3501
$GC,5387,-1.10,-146.6,366.4,-6.8,260,5392,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1491,3501
$GC,5436,-1.10,-146.6,369.5,-6.2,262,5441,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2898,3501
$GC,5758,-1.10,-146.6,386.5,-5.4,278,5762,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1491,3501
$GC,5820,-1.10,-146.6,389.9,-5.6,281,5824,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2906,3501
$GC,6145,-1.10,-146.6,409.8,-6.3,297,6149,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1489,3501
$GC,6206,-1.10,-146.6,414.0,-6.6,300,6210,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2900,3501
$GC,6531,-1.10,-146.6,435.5,-6.6,316,6535,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1490,3501
$GC,6592,-1.10,-146.6,440.0,-7.9,319,6597,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2899,3501
$GC,6917,-1.10,-146.6,462.7,-7.2,335,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,7226,-1.10,-146.6,484.1,-6.5,350,7231,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1482,3501
$GC,7315,-1.10,-146.6,489.5,-6.0,354,7320,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2902,3501
$GC,7636,-1.10,-146.6,508.7,-5.8,370,7640,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3501
$GC,7690,-1.10,-146.6,511.8,-5.4,372,7698,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2900,3501
$GC,8006,-1.10,-146.6,528.5,-4.9,388,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,8315,-1.10,-146.6,541.7,-3.8,403,8319,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1489,3501
$GC,8409,-1.10,-146.6,545.7,-4.0,407,8413,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2900,3501
$GC,8724,-1.10,-146.6,562.7,-6.9,422,8728,0.00,2.53,0.00,0.000,4,0.000,0.058,2166,1489,3501
$GC,8807,-1.10,-146.6,570.0,-9.4,425,8814,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2894,3501
$GC,9124,-1.10,-146.6,601.7,-10.0,441,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2894,3500
$GC,9432,-1.10,-146.6,624.8,-6.6,456,9438,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1487,3500
$GC,9527,-1.10,-146.6,631.3,-6.5,460,9531,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2901,3500
$GC,9854,-1.10,-146.6,651.7,-7.4,476,9859,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3500
$GC,9886,-1.10,-146.6,654.3,-7.9,477,9893,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2895,3500
$GC,10202,-1.10,-146.6,672.8,-5.7,493,10206,0.00,2.55,0.00,0.000,4,0.000,0.065,2166,1490,3500
$GC,10234,-1.10,-146.6,674.7,-5.9,494,10241,0.00,2.60,0.00,0.000,6,0.000,0.071,2166,2899,3500
$STATE,10527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10527,begin apogee
$GC,10533,-0.42,0.0,691.6,5.6,509,10660,0.75,0.00,124.40,1.249,6,0.087,0.000,2317,2100,2901
$STATE,10661,end apogee,CONTROL_FINISHED_OK
$STATE,10662,begin climb
$GC,10663,1.10,146.6,694.1,0.0,515,10794,1.55,2.67,121.57,1.208,4,0.059,0.062,2648,691,2303
$GC,10812,1.32,326.1,695.3,1.0,522,10973,0.22,2.53,148.82,1.197,6,0.032,0.039,2713,2112,1571
$GC,11279,1.32,326.1,648.5,11.0,545,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2113,1571
$GC,11588,1.32,326.1,611.7,12.0,560,11593,0.00,2.62,0.00,0.000,4,0.000,0.061,2713,682,1570
$GC,11705,1.32,326.1,597.3,12.9,565,11709,0.00,2.53,0.00,0.000,6,0.000,0.046,2713,2093,1570
$GC,12026,1.32,326.1,558.8,12.3,581,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2093,1568
$GC,12336,1.32,326.1,517.2,14.1,596,12340,0.00,2.67,0.00,0.000,4,0.000,0.075,2713,3515,1568
$GC,12374,1.32,326.1,511.2,15.5,598,12379,0.00,2.53,0.00,0.000,6,0.000,0.044,2713,2092,1568
$GC,12700,1.32,326.1,465.8,14.0,614,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2092,1568
$GC,13009,1.32,326.1,423.3,13.7,629,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2092,1568
$GC,13319,1.32,326.1,381.1,13.2,644,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2092,1568
$GC,13628,1.32,326.1,342.5,12.3,659,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2092,1568
$GC,13937,1.32,326.1,302.6,13.2,674,13941,0.00,2.70,0.00,0.000,4,0.000,0.074,2713,3519,1569
$GC,13976,1.32,326.1,297.0,15.2,676,13980,0.00,2.53,0.00,0.000,6,0.000,0.048,2713,2099,1569
$GC,14301,1.32,326.1,255.4,13.2,692,14305,0.00,2.55,0.00,0.000,4,0.000,0.061,2713,691,1569
$GC,14361,1.32,326.1,247.2,13.2,695,14366,0.00,2.53,0.00,0.000,6,0.000,0.050,2713,2105,1569
$GC,14688,1.32,326.1,207.9,12.3,711,14692,0.00,2.62,0.00,0.000,4,0.000,0.075,2713,3512,1569
$GC,14736,1.32,326.1,201.6,12.7,713,14740,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,2096,1570
$GC,15057,1.32,326.1,163.2,11.7,729,15061,0.00,2.55,0.00,0.000,4,0.000,0.065,2713,692,1570
$GC,15106,1.32,326.1,157.5,11.0,731,15110,0.00,2.53,0.00,0.000,6,0.000,0.051,2713,2107,1570
$GC,15433,1.32,326.1,121.3,10.4,747,15437,0.00,2.62,0.00,0.000,4,0.000,0.075,2713,3516,1570
$GC,15471,1.32,326.1,117.3,10.7,749,15476,0.00,2.55,0.00,0.000,6,0.000,0.051,2713,2097,1570
$GC,15798,1.32,326.1,82.2,13.0,765,15802,0.00,2.58,0.00,0.000,4,0.000,0.069,2713,693,1571
$GC,15868,1.32,326.1,73.5,11.6,768,15873,0.00,2.53,0.00,0.000,6,0.000,0.048,2713,2098,1571
$GC,16190,1.32,326.1,36.4,11.0,784,16194,0.00,2.65,0.00,0.000,4,0.000,0.078,2713,3511,1571
$GC,16221,1.32,326.1,32.7,11.0,785,16229,0.00,2.55,0.00,0.000,6,0.000,0.052,2713,2105,1571
$STATE,16515,end climb,SURFACE_DEPTH_REACHED
$STATE,16515,begin surface coast
$FINISH,-1.1,1.027250
$STATE,16538,end surface coast,CONTROL_FINISHED_OK
$STATE,16539,begin surface
$SM_CCo,16619,0.00,0.000,0,0,1570,326.49
$SM_GC,-0.47,11.65,0.00,0.00,0.028,0.000,0.000,47,2899,1570,-10.78,-0.03,326.49
$IRIDIUM_FIX,6158.08,-924.68,051207,050520
$TT8_MAMPS,0.028379
$HUMID,2076
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.2,85.9
$24V_AH,23.4,25.742
$10V_AH,10.1,11.720
$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,26.100,169.150,394.800,0.000,0.000,38.475,34.768,152.628,5.750,0.000,0.000,15.540,1483.085,12661.773,517.938,1870.839,423.410,33.366,1480.366,0.000,1841.851,0.000,36.380
$DEVICE_MAMPS,157.235,94.341,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,578.601,558.159,506.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41143,801
$CFSIZE,260165632,251129856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
$GPS,051207,111707,6223.091,-1030.089,28,1.1,28,-10.4