version: 66.02
glider: 103
mission: 7
dive: 133
start: 12 5 107 11 23 50
data:
$ID,103
$MISSION,7
$DIVE,133
$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,-64799.957
$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,17
$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
$GPS1,111707,6223.091,-1030.089,28,1.1,28,-10.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.50
$_SM_ANGLEo,-58.7
$GPS2,112246,6222.986,-1030.134,10,3.2,29,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.200,0.085
$KALMAN_X,-143342.0,124.8,210.8,40945.4,-4627.8
$KALMAN_Y,12737.6,1194.3,108.4,76661.9,-8719.3
$MHEAD_RNG_PITCHd_Wd,77.4,12991,-11.2,-6.000
$D_GRID,685
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.11,-144.2,0.0,0.0,0,92,0.00,0.00,-70.78,0.000,6,0.000,0.000,47,2901,3491
$GC,94,-1.11,-144.2,2.3,-6.4,3,110,11.93,1.73,0.00,0.000,4,0.158,0.085,2163,3786,3492
$GC,362,-1.11,-144.2,36.6,-8.8,14,367,0.00,1.55,0.00,0.000,6,0.000,0.034,2163,2889,3492
$GC,689,-1.11,-144.2,66.5,-8.5,30,693,0.00,2.58,0.00,0.000,4,0.000,0.072,2163,1498,3492
$GC,754,-1.11,-144.2,72.6,-9.5,33,759,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2903,3492
$GC,1081,-1.11,-144.2,100.4,-8.5,49,1085,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1498,3492
$GC,1143,-1.11,-144.2,105.8,-8.6,52,1147,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2905,3493
$GC,1470,-1.11,-144.2,136.3,-9.2,68,1474,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1497,3492
$GC,1536,-1.11,-144.2,142.8,-9.1,71,1540,0.00,2.60,0.00,0.000,6,0.000,0.070,2163,2900,3492
$GC,1862,-1.11,-144.2,174.0,-9.3,87,1866,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1491,3492
$GC,1910,-1.11,-144.2,178.9,-10.2,89,1914,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2903,3492
$GC,2231,-1.11,-144.2,209.2,-9.4,105,2235,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1496,3493
$GC,2269,-1.11,-144.2,212.7,-9.5,107,2273,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2900,3492
$GC,2594,-1.11,-144.2,240.3,-8.4,123,2599,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1497,3492
$GC,2638,-1.11,-144.2,244.2,-9.1,125,2642,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2898,3492
$GC,2965,-1.11,-144.2,273.1,-10.5,141,2969,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1493,3492
$GC,3018,-1.11,-144.2,278.5,-9.7,143,3025,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2903,3492
$GC,3334,-1.11,-144.2,309.1,-9.9,159,3338,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1497,3492
$GC,3382,-1.11,-144.2,313.9,-9.4,161,3387,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2892,3492
$GC,3703,-1.11,-144.2,342.3,-8.5,177,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2892,3492
$GC,4012,-1.11,-144.2,368.7,-8.6,192,4017,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1492,3493
$GC,4073,-1.11,-144.2,373.9,-8.7,195,4078,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2906,3492
$GC,4400,-1.11,-144.2,402.1,-9.0,211,4404,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1493,3493
$GC,4438,-1.11,-144.2,405.4,-8.7,213,4442,0.00,2.58,0.00,0.000,6,0.000,0.066,2163,2900,3492
$GC,4763,-1.11,-144.2,433.3,-8.8,229,4767,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1491,3492
$GC,4817,-1.11,-144.2,437.8,-8.0,231,4824,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2907,3492
$GC,5132,-1.11,-144.2,460.6,-6.9,247,5136,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1495,3492
$GC,5193,-1.11,-144.2,464.8,-7.2,250,5198,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3492
$GC,5520,-1.11,-144.2,487.8,-8.0,266,5524,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1492,3492
$GC,5574,-1.11,-144.2,492.1,-7.1,268,5580,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2899,3492
$GC,5889,-1.11,-144.2,518.1,-8.1,284,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3492
$GC,6198,-1.11,-144.2,542.3,-8.9,299,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3492
$GC,6508,-1.11,-144.2,567.9,-8.2,314,6512,0.00,2.53,0.00,0.000,4,0.000,0.054,2163,1490,3492
$GC,6607,-1.11,-144.2,576.9,-9.5,318,6614,0.00,2.58,0.00,0.000,6,0.000,0.061,2163,2906,3492
$GC,6923,-1.11,-144.2,600.1,-6.9,334,6928,0.00,2.53,0.00,0.000,4,0.000,0.052,2163,1491,3492
$GC,7034,-1.11,-146.6,606.6,-5.5,339,7039,0.00,2.55,0.00,0.000,6,0.000,0.060,2163,2901,3492
$GC,7361,-1.11,-146.6,620.3,-4.0,355,7365,0.00,2.53,0.00,0.000,4,0.000,0.053,2163,1486,3492
$GC,7400,-1.11,-146.6,622.1,-5.0,357,7405,0.00,2.58,0.00,0.000,6,0.000,0.061,2163,2901,3492
$GC,7726,-1.11,-146.6,639.7,-5.9,373,7730,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1493,3492
$GC,7866,-1.11,-146.6,647.8,-5.9,379,7870,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2901,3492
$GC,8180,-1.11,-146.6,667.2,-6.3,394,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3492
$STATE,8488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8488,begin apogee
$GC,8494,-0.42,0.0,685.9,6.8,409,8619,0.77,0.00,121.75,1.254,6,0.088,0.000,2320,2108,2901
$STATE,8620,end apogee,CONTROL_FINISHED_OK
$STATE,8620,begin climb
$GC,8622,1.11,146.6,691.1,0.0,415,8753,1.52,2.72,121.12,1.221,4,0.054,0.064,2648,684,2303
$GC,8918,1.18,198.2,682.9,4.5,428,8967,0.00,2.55,43.72,1.210,6,0.000,0.043,2648,2108,2093
$GC,9296,1.22,230.7,662.8,5.1,447,9331,0.12,2.75,27.98,1.174,4,0.048,0.075,2683,3511,1960
$GC,9404,1.22,230.7,654.5,8.1,452,9408,0.00,2.55,0.00,0.000,6,0.000,0.045,2683,2086,1960
$GC,9729,1.22,230.7,632.3,6.7,468,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2086,1959
$GC,10038,1.22,230.7,610.4,7.0,483,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2087,1958
$GC,10347,1.22,230.7,588.8,7.1,498,10352,0.00,2.53,0.00,0.000,4,0.000,0.062,2683,697,1957
$GC,10402,1.22,230.7,584.9,7.5,500,10409,0.00,2.50,0.00,0.000,6,0.000,0.040,2683,2100,1957
$GC,10718,1.25,257.1,565.6,5.3,516,10746,0.00,2.72,22.25,1.164,4,0.000,0.071,2683,3506,1853
$GC,10774,1.25,257.1,562.3,6.3,518,10781,0.00,2.55,0.00,0.000,6,0.000,0.044,2683,2101,1853
$GC,11090,1.25,257.1,543.6,6.4,534,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2101,1853
$GC,11399,1.25,257.1,522.7,7.5,549,11404,0.00,2.62,0.00,0.000,4,0.000,0.067,2683,3512,1853
$GC,11425,1.25,257.1,520.9,7.2,550,11430,0.00,2.53,0.00,0.000,6,0.000,0.042,2683,2094,1853
$GC,11747,1.25,257.1,497.0,8.0,566,11752,0.00,2.62,0.00,0.000,4,0.000,0.067,2683,3515,1853
$GC,11779,1.25,257.1,494.0,9.8,567,11786,0.00,2.50,0.00,0.000,6,0.000,0.043,2683,2099,1853
$GC,12094,1.25,257.1,467.1,7.9,583,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2099,1853
$GC,12403,1.25,257.1,443.0,7.1,598,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2099,1854
$GC,12713,1.28,286.4,424.9,5.2,613,12744,0.00,2.70,25.52,1.054,4,0.000,0.069,2683,3509,1733
$GC,12772,1.28,286.4,421.6,6.0,616,12776,0.00,2.53,0.00,0.000,6,0.000,0.046,2683,2100,1733
$GC,13097,1.29,294.0,403.8,5.8,632,13107,0.00,0.00,8.10,0.922,6,0.000,0.000,2683,2100,1702
$GC,13407,1.29,294.0,383.4,7.1,647,13408,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1702
$GC,13716,1.29,294.0,358.6,8.9,662,13720,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3511,1702
$GC,13764,1.29,294.0,353.7,10.0,664,13768,0.00,2.50,0.00,0.000,6,0.000,0.047,2683,2101,1702
$GC,14085,1.29,294.0,323.9,9.0,680,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2101,1703
$GC,14394,1.29,294.0,295.5,8.9,695,14399,0.00,2.65,0.00,0.000,4,0.000,0.072,2683,3512,1703
$GC,14421,1.29,294.0,292.9,10.0,696,14425,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2105,1703
$GC,14742,1.29,294.0,265.2,8.5,712,14743,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2105,1703
$GC,15051,1.29,294.0,237.5,9.5,727,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2105,1703
$GC,15360,1.29,294.0,207.1,10.0,742,15365,0.00,2.62,0.00,0.000,4,0.000,0.073,2683,3509,1703
$GC,15410,1.29,294.0,202.2,9.7,744,15414,0.00,2.53,0.00,0.000,6,0.000,0.050,2683,2093,1704
$GC,15730,1.29,294.0,170.6,10.2,760,15731,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2093,1704
$GC,16040,1.29,294.0,138.8,10.1,775,16044,0.00,2.65,0.00,0.000,4,0.000,0.072,2683,3509,1704
$GC,16072,1.29,294.0,135.3,10.3,776,16078,0.00,2.53,0.00,0.000,6,0.000,0.051,2683,2107,1704
$GC,16389,1.29,294.0,104.6,9.2,792,16390,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2107,1704
$GC,16697,1.29,294.0,75.2,10.3,807,16701,0.00,2.65,0.00,0.000,4,0.000,0.074,2683,3518,1704
$GC,16729,1.29,294.0,71.8,9.1,808,16736,0.00,2.55,0.00,0.000,6,0.000,0.051,2683,2103,1704
$GC,17044,1.29,294.0,41.8,9.0,824,17045,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2103,1704
$GC,17354,1.29,294.0,12.9,8.1,839,17358,0.00,2.60,0.00,0.000,4,0.000,0.070,2683,688,1704
$GC,17441,1.29,294.0,4.9,8.7,843,17446,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,2104,1704
$STATE,17478,end climb,SURFACE_DEPTH_REACHED
$STATE,17478,begin surface coast
$FINISH,-0.0,1.027303
$STATE,17500,end surface coast,CONTROL_FINISHED_OK
$STATE,17500,begin surface
$SM_CCo,17521,6.57,0.696,0,0,1678,300.00
$SM_GC,1.21,0.00,0.00,6.57,0.000,0.000,0.696,45,2902,1678,-10.88,0.06,300.00
$IRIDIUM_FIX,6158.08,-1030.33,051207,101027
$TT8_MAMPS,0.029146
$HUMID,2082
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,650.3,73.0
$24V_AH,23.4,25.883
$10V_AH,10.1,11.800
$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,26.075,161.375,370.450,6.575,0.000,38.962,38.367,150.018,6.000,0.000,0.000,30.789,1559.854,13456.433,518.502,1937.680,409.285,33.367,1490.921,0.000,1886.617,0.000,37.946
$DEVICE_MAMPS,158.002,85.137,1254.045,696.436,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.752,588.539,494.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44276,846
$CFSIZE,260165632,251064320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
$GPS,051207,161728,6220.968,-1028.915,36,3.0,55,-10.3