version: 66.02
glider: 103
mission: 7
dive: 135
start: 12 5 107 21 59 12
data:
$ID,103
$MISSION,7
$DIVE,135
$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,-64846.551
$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,16
$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
$GPS1,215237,6220.771,-1031.189,38,1.6,43,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-56.6
$GPS2,215808,6220.639,-1031.264,10,1.9,10,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.058,0.211
$KALMAN_X,-150077.6,473.8,475.5,46069.6,-6525.6
$KALMAN_Y,2352.3,265.0,741.6,82988.6,-10533.6
$MHEAD_RNG_PITCHd_Wd,25.7,17370,-11.1,-6.000
$D_GRID,720
$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,21,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-61.62,0.000,2,0.000,0.000,33,2897,3348
$GC,86,-1.10,-146.6,3.2,-8.7,3,108,12.12,0.00,-2.88,0.000,6,0.160,0.000,2163,2897,3500
$GC,418,-1.10,-146.6,34.4,-7.6,19,421,0.00,1.67,0.00,0.000,4,0.000,0.082,2163,3787,3500
$GC,472,-1.10,-146.6,38.9,-7.7,21,477,0.00,1.55,0.00,0.000,6,0.000,0.032,2163,2880,3500
$GC,794,-1.10,-146.6,64.0,-8.1,37,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2881,3500
$GC,1103,-1.10,-146.6,89.7,-8.3,52,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2881,3500
$GC,1413,-1.10,-146.6,114.7,-7.9,67,1417,0.00,2.55,0.00,0.000,4,0.000,0.070,2164,1499,3500
$GC,1467,-1.10,-146.6,119.0,-8.3,69,1474,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3500
$GC,1782,-1.10,-146.6,142.2,-7.3,85,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3500
$GC,2092,-1.10,-146.6,165.5,-7.8,100,2096,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1502,3501
$GC,2168,-1.10,-146.6,171.5,-7.8,103,2175,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2898,3501
$GC,2484,-1.10,-146.6,197.1,-8.7,119,2488,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1496,3501
$GC,2532,-1.10,-146.6,201.5,-9.0,121,2536,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3500
$GC,2853,-1.10,-146.6,227.7,-8.0,137,2857,0.00,2.55,0.00,0.000,4,0.000,0.062,2164,1503,3501
$GC,2896,-1.10,-146.6,231.1,-8.2,139,2900,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2908,3501
$GC,3223,-1.10,-146.6,256.4,-7.4,155,3227,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1500,3501
$GC,3249,-1.10,-146.6,258.6,-7.7,156,3254,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2900,3500
$GC,3570,-1.10,-146.6,284.3,-8.0,172,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,3879,-1.10,-146.6,308.2,-7.7,187,3884,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1503,3501
$GC,3928,-1.10,-146.6,311.9,-7.4,189,3933,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2903,3501
$GC,4249,-1.10,-146.6,334.7,-7.2,205,4253,0.00,2.55,0.00,0.000,4,0.000,0.063,2163,1501,3500
$GC,4281,-1.10,-146.6,337.1,-7.7,206,4287,0.00,2.58,0.00,0.000,6,0.000,0.063,2164,2894,3501
$GC,4603,-1.10,-146.6,359.3,-6.8,222,4607,0.00,2.55,0.00,0.000,4,0.000,0.062,2164,1497,3500
$GC,4634,-1.10,-146.6,361.5,-6.7,223,4641,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2893,3500
$GC,4950,-1.10,-146.6,383.2,-6.7,239,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3500
$GC,5259,-1.10,-146.6,404.6,-6.8,254,5263,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1493,3500
$GC,5307,-1.10,-146.6,408.1,-7.5,256,5312,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2899,3500
$GC,5628,-1.10,-146.6,431.3,-7.3,272,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3500
$GC,5937,-1.10,-146.6,455.5,-8.0,287,5942,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1492,3500
$GC,5992,-1.10,-146.6,460.2,-8.2,289,5999,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2915,3500
$GC,6308,-1.10,-146.6,485.8,-7.8,305,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2915,3500
$GC,6617,-1.10,-146.6,506.6,-6.4,320,6621,0.00,2.55,0.00,0.000,4,0.000,0.056,2164,1498,3500
$GC,6671,-1.10,-146.6,510.2,-6.9,322,6678,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2896,3500
$GC,6986,-1.10,-146.6,530.8,-6.8,338,6991,0.00,2.53,0.00,0.000,4,0.000,0.057,2163,1496,3500
$GC,7030,-1.10,-146.6,533.9,-7.0,340,7034,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2898,3500
$GC,7357,-1.10,-146.6,558.9,-7.7,356,7361,0.00,2.50,0.00,0.000,4,0.000,0.055,2164,1498,3500
$GC,7395,-1.10,-146.6,562.1,-8.0,358,7400,0.00,2.55,0.00,0.000,6,0.000,0.061,2163,2899,3500
$GC,7722,-1.10,-146.6,588.3,-8.3,374,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3500
$GC,8031,-1.10,-146.6,613.9,-8.5,389,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3500
$GC,8340,-1.10,-146.6,641.2,-8.7,404,8344,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1491,3500
$GC,8411,-1.10,-146.6,647.4,-8.2,407,8415,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2900,3500
$GC,8733,-1.10,-146.6,668.0,-5.3,423,8737,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1495,3500
$GC,8787,-1.10,-146.6,670.9,-5.5,425,8795,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2894,3500
$GC,9103,-1.10,-146.6,688.1,-5.6,441,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3500
$GC,9412,-1.10,-146.6,708.6,-7.6,456,9417,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1498,3499
$GC,9433,-1.10,-146.6,710.0,-6.4,457,9438,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2901,3499
$STATE,9594,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9594,begin apogee
$GC,9600,-0.42,0.0,719.8,6.3,465,9727,0.75,0.00,123.60,1.286,6,0.084,0.000,2317,2112,2901
$STATE,9727,end apogee,CONTROL_FINISHED_OK
$STATE,9727,begin climb
$GC,9729,1.10,146.6,722.9,0.0,471,9860,1.52,2.70,121.35,1.251,4,0.048,0.062,2650,690,2303
$GC,10114,1.12,159.0,699.3,5.7,488,10133,0.00,2.53,11.93,1.107,6,0.000,0.044,2650,2106,2252
$GC,10449,1.17,197.5,680.4,4.9,505,10491,0.00,2.72,33.05,1.213,4,0.000,0.064,2650,689,2095
$GC,10529,1.22,239.3,676.0,4.8,508,10571,0.12,2.53,35.85,1.197,6,0.043,0.045,2695,2099,1925
$GC,10882,1.25,265.3,656.8,5.3,525,10912,0.00,2.67,22.83,1.187,4,0.000,0.062,2695,696,1819
$GC,10996,1.25,265.3,648.8,7.8,530,11000,0.00,2.53,0.00,0.000,6,0.000,0.045,2695,2103,1819
$GC,11323,1.25,265.3,624.8,8.0,546,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2103,1818
$GC,11632,1.25,265.3,601.8,6.8,561,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2104,1817
$GC,11942,1.25,265.3,571.0,9.8,576,11946,0.00,2.58,0.00,0.000,4,0.000,0.059,2695,687,1817
$GC,12002,1.25,265.3,564.7,9.8,579,12007,0.00,2.50,0.00,0.000,6,0.000,0.043,2695,2102,1817
$GC,12328,1.25,265.3,532.0,10.1,595,12332,0.00,2.62,0.00,0.000,4,0.000,0.071,2695,3513,1817
$GC,12366,1.25,265.3,527.8,11.0,597,12371,0.00,2.53,0.00,0.000,6,0.000,0.044,2695,2088,1816
$GC,12692,1.25,265.3,492.5,11.1,613,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2088,1816
$GC,13001,1.25,265.3,457.7,10.7,628,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2088,1816
$GC,13311,1.25,265.3,424.1,10.7,643,13312,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2088,1816
$GC,13620,1.25,265.3,392.4,10.0,658,13621,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2088,1816
$GC,13929,1.25,265.3,363.7,9.0,673,13933,0.00,2.67,0.00,0.000,4,0.000,0.073,2695,3511,1817
$GC,13955,1.25,265.3,361.1,9.9,674,13960,0.00,2.53,0.00,0.000,6,0.000,0.046,2695,2103,1817
$GC,14276,1.25,265.3,332.8,8.8,690,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2103,1818
$GC,14585,1.25,265.3,306.0,8.6,705,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2103,1818
$GC,14895,1.25,265.3,276.2,10.0,720,14899,0.00,2.65,0.00,0.000,4,0.000,0.074,2695,3514,1819
$GC,14933,1.25,265.3,272.0,11.1,722,14937,0.00,2.53,0.00,0.000,6,0.000,0.050,2695,2099,1819
$GC,15258,1.25,265.3,239.3,10.1,738,15262,0.00,2.58,0.00,0.000,4,0.000,0.065,2695,685,1819
$GC,15300,1.25,265.3,234.6,10.5,740,15305,0.00,2.53,0.00,0.000,6,0.000,0.048,2695,2093,1819
$GC,15628,1.25,265.3,200.7,10.5,756,15632,0.00,2.62,0.00,0.000,4,0.000,0.073,2695,3511,1819
$GC,15672,1.25,265.3,195.9,10.2,758,15676,0.00,2.53,0.00,0.000,6,0.000,0.048,2695,2097,1819
$GC,15991,1.25,265.3,163.8,9.9,774,15996,0.00,2.65,0.00,0.000,4,0.000,0.075,2695,3511,1820
$GC,16023,1.25,265.3,160.5,10.0,775,16030,0.00,2.53,0.00,0.000,6,0.000,0.051,2695,2107,1820
$GC,16339,1.25,265.3,130.8,9.3,791,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2108,1820
$GC,16648,1.25,265.3,103.7,8.7,806,16652,0.00,2.65,0.00,0.000,4,0.000,0.074,2695,3518,1820
$GC,16702,1.25,265.3,98.7,9.3,808,16709,0.00,2.55,0.00,0.000,6,0.000,0.054,2695,2110,1820
$GC,17018,1.25,265.3,72.2,8.3,824,17019,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2111,1820
$GC,17327,1.25,265.3,45.2,8.3,839,17328,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2110,1820
$GC,17637,1.25,265.3,18.6,7.9,854,17641,0.00,2.62,0.00,0.000,4,0.000,0.074,2695,3511,1821
$GC,17702,1.25,265.3,12.5,8.4,857,17706,0.00,2.55,0.00,0.000,6,0.000,0.053,2695,2100,1821
$STATE,17821,end climb,SURFACE_DEPTH_REACHED
$STATE,17821,begin surface coast
$FINISH,0.0,1.027269
$STATE,17843,end surface coast,CONTROL_FINISHED_OK
$STATE,17843,begin surface
$SM_CCo,17864,30.27,0.701,2,0,1678,300.00
$SM_GC,-0.25,0.00,0.00,30.27,0.000,0.000,0.701,33,2902,1678,-10.93,0.06,300.00
$IRIDIUM_FIX,6153.50,-1033.20,051207,202017
$TT8_MAMPS,0.029146
$HUMID,2069
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,651.5,78.2
$24V_AH,23.4,26.166
$10V_AH,10.1,11.970
$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,26.175,150.475,348.600,30.275,0.000,38.572,33.328,163.354,5.750,0.000,0.000,10.038,1565.307,13867.183,522.966,1857.783,434.366,33.362,1471.728,0.000,1839.195,0.000,37.956
$DEVICE_MAMPS,160.303,82.069,1286.259,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.501,599.454,531.890,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44371,864
$CFSIZE,260165632,250937344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,34,2,0
$GPS,061207,025838,6219.604,-1036.186,27,2.0,27,-10.4