version: 66.02
glider: 103
mission: 7
dive: 136
start: 12 6 107 3 5 9
data:
$ID,103
$MISSION,7
$DIVE,136
$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,-64858.195
$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,19
$R_STBD_OVSHOOT,17
$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
$GPS1,025838,6219.604,-1036.186,27,2.0,27,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-60.8
$GPS2,030403,6219.518,-1036.345,11,2.0,11,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.183,0.119
$KALMAN_X,-154740.5,84.3,-284.6,47414.3,-6472.4
$KALMAN_Y,-3631.9,82.0,8.7,87828.1,-9689.4
$MHEAD_RNG_PITCHd_Wd,67.4,20157,-11.1,-6.000
$D_GRID,742
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-61.47,0.000,2,0.000,0.000,34,2905,3366
$GC,85,-1.10,-146.6,3.3,-8.5,3,108,12.12,2.62,-2.45,0.000,4,0.161,0.081,2167,1484,3501
$GC,265,-1.10,-146.6,24.1,-6.4,11,270,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2895,3501
$GC,590,-1.10,-146.6,48.2,-7.4,27,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3502
$GC,900,-1.10,-146.6,73.5,-7.9,42,904,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1486,3502
$GC,954,-1.10,-146.6,77.8,-7.5,44,961,0.00,2.67,0.00,0.000,6,0.000,0.070,2167,2904,3502
$GC,1269,-1.10,-146.6,102.4,-7.8,60,1274,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1485,3502
$GC,1318,-1.10,-146.6,106.2,-7.3,62,1323,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,1640,-1.10,-146.6,132.7,-8.4,78,1644,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1483,3502
$GC,1671,-1.10,-146.6,135.7,-9.0,79,1679,0.00,2.65,0.00,0.000,6,0.000,0.065,2167,2901,3502
$GC,1987,-1.10,-146.6,162.7,-8.5,95,1991,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1484,3502
$GC,2030,-1.10,-146.6,166.6,-8.4,97,2034,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2900,3503
$GC,2356,-1.10,-146.6,194.2,-8.6,113,2361,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1482,3503
$GC,2400,-1.10,-146.6,198.0,-9.2,115,2404,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2902,3502
$GC,2727,-1.10,-146.6,224.1,-8.4,131,2732,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1481,3503
$GC,2759,-1.10,-146.6,226.9,-7.7,132,2766,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2900,3503
$GC,3076,-1.10,-146.6,250.1,-7.6,148,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3385,-1.10,-146.6,269.0,-5.8,163,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3694,-1.10,-146.6,286.3,-5.5,178,3698,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1488,3503
$GC,3720,-1.10,-146.6,287.7,-4.3,179,3724,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2890,3503
$GC,4041,-1.10,-146.6,304.0,-6.3,195,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2891,3503
$GC,4350,-1.10,-146.6,323.6,-6.4,210,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2890,3503
$GC,4659,-1.10,-146.6,341.7,-5.8,225,4664,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1488,3502
$GC,4731,-1.10,-146.6,346.2,-6.6,228,4735,0.00,2.58,0.00,0.000,6,0.000,0.064,2167,2901,3503
$GC,5052,-1.10,-146.6,366.8,-6.3,244,5056,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1485,3502
$GC,5078,-1.10,-146.6,368.7,-6.7,245,5083,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2902,3502
$GC,5406,-1.10,-146.6,392.8,-7.8,261,5410,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1484,3502
$GC,5431,-1.10,-146.6,394.7,-7.3,262,5436,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2899,3502
$GC,5753,-1.10,-146.6,416.5,-7.0,278,5756,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1489,3503
$GC,5790,-1.10,-146.6,419.3,-7.0,279,5797,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2892,3502
$GC,6106,-1.10,-146.6,444.7,-8.8,295,6110,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1487,3503
$GC,6160,-1.10,-146.6,450.0,-9.7,297,6168,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2906,3502
$GC,6475,-1.10,-146.6,478.8,-9.1,313,6480,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1486,3502
$GC,6519,-1.10,-146.6,482.9,-9.4,315,6523,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2892,3503
$GC,6846,-1.10,-146.6,510.7,-8.4,331,6851,0.00,2.55,0.00,0.000,4,0.000,0.059,2167,1484,3502
$GC,6885,-1.10,-146.6,514.1,-9.2,333,6890,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2903,3502
$GC,7211,-1.10,-146.6,539.6,-8.0,349,7215,0.00,2.55,0.00,0.000,4,0.000,0.058,2167,1486,3502
$GC,7254,-1.10,-146.6,542.8,-7.7,351,7258,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2909,3502
$GC,7581,-1.10,-146.6,567.9,-8.5,367,7585,0.00,2.58,0.00,0.000,4,0.000,0.057,2167,1480,3502
$GC,7646,-1.10,-146.6,573.8,-8.4,370,7651,0.00,2.60,0.00,0.000,6,0.000,0.062,2167,2904,3502
$GC,7974,-1.10,-146.6,600.5,-9.1,386,7979,0.00,2.55,0.00,0.000,4,0.000,0.057,2167,1485,3502
$GC,8068,-1.10,-146.6,609.9,-10.7,390,8073,0.00,2.58,0.00,0.000,6,0.000,0.063,2167,2901,3502
$GC,8390,-1.10,-146.6,638.0,-8.2,406,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,8699,-1.10,-146.6,659.7,-6.4,421,8702,0.00,1.65,0.00,0.000,4,0.000,0.087,2167,3782,3502
$GC,8744,-1.10,-146.6,662.4,-6.2,423,8747,0.00,1.52,0.00,0.000,6,0.000,0.036,2167,2889,3502
$GC,9075,-1.10,-146.6,682.1,-6.7,439,9079,0.00,2.50,0.00,0.000,4,0.000,0.061,2167,1500,3502
$GC,9123,-1.10,-146.6,685.5,-7.2,441,9127,0.00,2.58,0.00,0.000,6,0.000,0.065,2167,2900,3502
$GC,9444,-1.10,-146.6,709.1,-7.5,457,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,9753,-1.10,-146.6,732.6,-6.1,472,9758,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1492,3502
$GC,9802,-1.10,-146.6,736.5,-8.6,474,9807,0.00,2.62,0.00,0.000,6,0.000,0.070,2167,2912,3502
$STATE,9915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9916,begin apogee
$GC,9922,-0.42,0.0,742.7,4.3,480,10050,0.75,0.00,125.10,1.282,6,0.084,0.000,2321,2116,2901
$STATE,10051,end apogee,CONTROL_FINISHED_OK
$STATE,10051,begin climb
$GC,10053,1.10,146.6,746.0,0.0,486,10184,1.52,2.70,122.55,1.247,4,0.051,0.061,2650,688,2303
$GC,10287,1.11,155.4,738.0,5.8,497,10301,0.00,2.53,9.05,1.051,6,0.000,0.043,2650,2106,2267
$GC,10616,1.11,155.4,715.4,6.1,513,10621,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3512,2266
$GC,10655,1.11,155.4,712.2,8.9,515,10659,0.00,2.55,0.00,0.000,6,0.000,0.046,2650,2091,2266
$GC,10980,1.11,155.4,685.3,7.5,531,10985,0.00,2.67,0.00,0.000,4,0.000,0.071,2650,3507,2266
$GC,11080,1.14,177.7,679.4,5.4,535,11108,0.00,2.53,19.67,1.203,6,0.000,0.044,2650,2103,2176
$GC,11417,1.17,200.1,661.6,5.4,552,11439,0.00,0.00,20.23,1.210,6,0.000,0.000,2650,2103,2085
$GC,11746,1.19,218.4,644.4,5.5,568,11768,0.00,2.75,16.52,1.164,4,0.000,0.071,2650,3508,2010
$GC,11795,1.19,218.4,641.4,6.0,570,11799,0.00,2.53,0.00,0.000,6,0.000,0.044,2650,2101,2010
$GC,12122,1.23,248.9,623.2,5.2,586,12156,0.12,2.70,26.40,1.187,4,0.050,0.070,2691,3506,1885
$GC,12189,1.23,248.9,618.5,7.5,589,12193,0.00,2.55,0.00,0.000,6,0.000,0.044,2691,2097,1885
$GC,12516,1.23,248.9,596.9,6.2,605,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2097,1885
$GC,12825,1.24,259.8,579.0,5.7,620,12841,0.00,2.60,10.55,1.065,4,0.000,0.058,2691,689,1841
$GC,12873,1.24,259.8,576.1,6.0,621,12878,0.00,2.50,0.00,0.000,6,0.000,0.041,2691,2098,1841
$GC,13194,1.30,303.1,559.9,4.8,637,13239,0.00,2.67,37.20,1.179,4,0.000,0.058,2691,691,1665
$GC,13261,1.36,356.7,556.8,4.5,640,13312,0.00,2.53,45.80,1.128,6,0.000,0.043,2691,2105,1446
$GC,13629,1.43,416.2,539.7,4.4,658,13685,0.15,2.70,50.40,1.122,4,0.043,0.071,2743,3518,1204
$GC,13695,1.43,416.2,535.0,8.1,660,13701,0.08,2.55,0.00,0.000,6,0.087,0.036,2725,2093,1204
$GC,14017,1.43,416.2,506.7,9.5,676,14021,0.00,2.53,0.00,0.000,4,0.000,0.058,2725,699,1204
$GC,14055,1.43,416.2,502.6,10.0,678,14060,0.00,2.47,0.00,0.000,6,0.000,0.044,2725,2101,1204
$GC,14381,1.43,416.2,465.3,12.0,694,14382,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2101,1205
$GC,14690,1.43,416.2,425.5,13.1,709,14692,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2101,1205
$GC,14999,1.43,416.2,382.3,14.3,724,15004,0.00,2.55,0.00,0.000,4,0.000,0.060,2725,700,1205
$GC,15026,1.43,416.2,378.3,14.8,725,15030,0.00,2.53,0.00,0.000,6,0.000,0.048,2725,2099,1205
$GC,15348,1.43,416.2,328.5,14.9,741,15349,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2099,1206
$GC,15657,1.43,416.2,283.3,14.6,756,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2099,1206
$GC,15966,1.43,416.2,240.3,13.4,771,15970,0.00,2.65,0.00,0.000,4,0.000,0.076,2725,3518,1206
$GC,15998,1.43,416.2,235.8,13.2,772,16004,0.00,2.50,0.00,0.000,6,0.000,0.047,2725,2112,1206
$GC,16313,1.43,416.2,193.9,13.4,788,16317,0.00,2.58,0.00,0.000,4,0.000,0.062,2725,687,1207
$GC,16351,1.43,416.2,188.6,13.8,790,16355,0.00,2.53,0.00,0.000,6,0.000,0.049,2725,2104,1207
$GC,16677,1.43,416.2,146.6,13.5,806,16681,0.00,2.62,0.00,0.000,4,0.000,0.074,2725,3514,1207
$GC,16703,1.43,416.2,142.6,14.0,807,16707,0.00,2.55,0.00,0.000,6,0.000,0.048,2725,2094,1207
$GC,17026,1.43,416.2,98.2,14.1,823,17030,0.00,2.55,0.00,0.000,4,0.000,0.065,2725,695,1207
$GC,17057,1.43,416.2,93.5,13.7,824,17065,0.00,2.53,0.00,0.000,6,0.000,0.048,2725,2103,1207
$GC,17373,1.43,416.2,51.3,13.6,840,17378,0.00,2.65,0.00,0.000,4,0.000,0.077,2725,3518,1207
$GC,17400,1.43,416.2,47.1,16.4,841,17404,0.00,2.55,0.00,0.000,6,0.000,0.051,2725,2102,1207
$GC,17722,1.43,416.2,3.4,12.7,857,17726,0.00,2.55,0.00,0.000,4,0.000,0.061,2725,691,1208
$STATE,17729,end climb,SURFACE_DEPTH_REACHED
$STATE,17729,begin surface coast
$FINISH,1.2,1.027342
$STATE,17737,end surface coast,CONTROL_FINISHED_OK
$STATE,17737,begin surface
$SM_CCo,17822,0.00,0.000,0,0,1207,415.54
$SM_GC,-0.35,11.95,0.00,0.00,0.038,0.000,0.000,49,2895,1207,-10.78,-0.17,415.54
$IRIDIUM_FIX,6158.08,-1034.05,061207,010127
$TT8_MAMPS,0.029146
$HUMID,2088
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,701.3,54.7
$24V_AH,23.4,26.346
$10V_AH,10.1,12.051
$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,26.700,192.475,483.475,0.000,0.000,39.619,34.704,158.260,6.750,0.000,0.000,11.014,1584.898,13629.474,596.478,1912.112,439.114,33.363,1616.396,0.000,1881.708,0.000,46.975
$DEVICE_MAMPS,161.070,86.671,1282.424,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.180,597.916,484.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44264,858
$CFSIZE,260165632,250867712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,061207,080325,6219.012,-1035.770,24,1.3,42,-10.4