version: 66.02
glider: 103
mission: 7
dive: 138
start: 12 6 107 13 36 36
data:
$ID,103
$MISSION,7
$DIVE,138
$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,-64903.445
$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,7
$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
$GPS1,132938,6218.928,-1038.985,36,2.0,36,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.44
$_SM_ANGLEo,-57.3
$GPS2,133532,6218.892,-1039.161,13,1.8,30,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,0.121
$KALMAN_X,-164286.0,676.1,-35.8,53616.8,-8203.2
$KALMAN_Y,-13762.3,1677.8,364.8,94822.5,-12224.9
$MHEAD_RNG_PITCHd_Wd,66.7,22013,-11.1,-6.000
$D_GRID,760
$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,-146.6,0.0,0.0,0,90,0.00,0.00,-67.38,0.000,6,0.000,0.000,34,2897,3500
$GC,92,-1.10,-146.6,2.9,-7.9,3,114,12.10,2.62,0.00,0.000,4,0.161,0.062,2165,1492,3501
$GC,136,-1.10,-146.6,15.9,-11.3,5,141,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2904,3502
$GC,462,-1.10,-146.6,36.7,-6.4,21,466,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1483,3502
$GC,501,-1.10,-146.6,38.9,-4.7,23,505,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2901,3502
$GC,826,-1.10,-146.6,64.3,-8.8,39,831,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,852,-1.10,-146.6,66.5,-7.1,40,857,0.00,2.65,0.00,0.000,6,0.000,0.068,2166,2900,3502
$GC,1176,-1.10,-146.6,90.3,-6.2,56,1180,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1492,3502
$GC,1214,-1.10,-146.6,93.0,-6.8,58,1219,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2906,3502
$GC,1540,-1.10,-146.6,115.3,-6.8,74,1544,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1484,3502
$GC,1578,-1.10,-146.6,118.0,-7.5,76,1583,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,1904,-1.10,-146.6,139.4,-6.7,92,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,2213,-1.10,-146.6,160.7,-7.3,107,2218,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1492,3502
$GC,2279,-1.10,-146.6,165.9,-8.1,110,2284,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2905,3502
$GC,2606,-1.10,-146.6,189.9,-7.1,126,2610,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1487,3502
$GC,2644,-1.10,-146.6,192.7,-7.4,128,2649,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,2970,-1.10,-146.6,216.0,-7.1,144,2974,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1488,3502
$GC,3009,-1.10,-146.6,218.7,-7.1,146,3013,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2906,3502
$GC,3334,-1.10,-146.6,243.6,-8.1,162,3338,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1490,3502
$GC,3360,-1.10,-146.6,245.7,-7.1,163,3364,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2905,3502
$GC,3681,-1.10,-146.6,270.5,-7.6,179,3685,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,3712,-1.10,-146.6,272.9,-7.3,180,3719,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2899,3502
$GC,4029,-1.10,-146.6,296.1,-7.4,196,4033,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1488,3502
$GC,4067,-1.10,-146.6,299.1,-7.6,198,4071,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2901,3502
$GC,4392,-1.10,-146.6,321.1,-6.7,214,4396,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,4435,-1.10,-146.6,324.1,-7.1,216,4439,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,4761,-1.10,-146.6,347.2,-7.2,232,4766,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1490,3502
$GC,4801,-1.10,-146.6,350.0,-7.4,234,4805,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,5126,-1.10,-146.6,374.1,-7.0,250,5130,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,5169,-1.10,-146.6,377.3,-7.2,252,5173,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,5496,-1.10,-146.6,398.8,-6.3,268,5500,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,5544,-1.10,-146.6,402.0,-6.6,270,5548,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2898,3502
$GC,5865,-1.10,-146.6,423.7,-7.1,286,5870,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1490,3502
$GC,5909,-1.10,-146.6,426.7,-7.0,288,5913,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2899,3502
$GC,6235,-1.10,-146.6,449.7,-7.3,304,6240,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1490,3502
$GC,6295,-1.10,-146.6,454.2,-7.5,306,6302,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,6613,-1.10,-146.6,475.9,-6.7,322,6617,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1488,3502
$GC,6656,-1.10,-146.6,478.9,-6.8,324,6660,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,6983,-1.10,-146.6,498.6,-5.8,340,6987,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1485,3502
$GC,7014,-1.10,-146.6,500.5,-6.1,341,7021,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,7330,-1.10,-146.6,518.3,-5.7,357,7334,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1489,3502
$GC,7379,-1.10,-146.6,521.1,-5.9,359,7383,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2902,3502
$GC,7694,-1.10,-146.6,537.2,-5.1,374,7699,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1484,3502
$GC,7756,-1.10,-146.6,540.2,-5.1,377,7760,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2899,3502
$GC,8081,-1.10,-146.6,558.9,-6.1,393,8085,0.00,2.53,0.00,0.000,4,0.000,0.060,2165,1488,3502
$GC,8147,-1.10,-146.6,562.8,-5.5,396,8151,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2902,3502
$GC,8473,-1.10,-146.6,581.5,-5.8,412,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,8783,-1.10,-146.6,600.4,-6.2,427,8788,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1482,3502
$GC,8899,-1.10,-146.6,608.2,-6.4,432,8904,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2899,3502
$GC,9221,-1.10,-146.6,627.2,-5.9,448,9225,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1480,3502
$GC,9283,-1.10,-146.6,631.2,-7.3,451,9287,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2899,3502
$GC,9609,-1.10,-146.6,652.7,-6.6,467,9613,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1484,3502
$GC,9680,-1.10,-146.6,657.7,-7.2,470,9685,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2901,3502
$GC,10001,-1.10,-146.6,681.8,-8.8,486,10006,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1482,3502
$GC,10033,-1.10,-146.6,684.9,-9.4,487,10040,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2902,3502
$GC,10349,-1.10,-146.6,709.5,-8.7,503,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,10658,-1.10,-146.6,733.7,-7.3,518,10662,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1486,3501
$GC,10690,-1.10,-146.6,736.2,-8.2,519,10696,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2912,3501
$STATE,10839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10839,begin apogee
$GC,10845,-0.42,0.0,747.5,7.3,527,10972,0.75,0.00,124.15,1.324,6,0.085,0.000,2318,2104,2901
$STATE,10973,end apogee,CONTROL_FINISHED_OK
$STATE,10973,begin climb
$GC,10975,1.10,146.6,752.6,0.0,533,11106,1.52,2.67,121.57,1.281,4,0.051,0.062,2649,697,2303
$GC,11360,1.12,159.6,737.8,5.6,550,11379,0.00,2.53,12.43,1.142,6,0.000,0.046,2649,2106,2250
$GC,11696,1.19,218.1,722.7,4.4,567,11747,0.00,0.00,49.85,1.259,6,0.000,0.000,2649,2106,2011
$GC,12045,1.19,218.1,702.1,6.0,584,12049,0.00,2.65,0.00,0.000,4,0.000,0.077,2649,3509,2009
$GC,12106,1.21,233.0,698.8,5.6,587,12128,0.10,2.55,13.65,1.175,6,0.050,0.050,2682,2097,1951
$GC,12437,1.27,280.3,682.2,4.7,603,12479,0.00,0.00,40.40,1.245,6,0.000,0.000,2682,2097,1758
$GC,12786,1.27,280.3,659.5,7.0,620,12787,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1756
$GC,13095,1.27,280.3,633.7,8.6,635,13100,0.00,2.55,0.00,0.000,4,0.000,0.061,2682,691,1756
$GC,13144,1.27,280.3,629.0,10.4,637,13149,0.00,2.47,0.00,0.000,6,0.000,0.039,2682,2103,1756
$GC,13465,1.27,280.3,595.5,11.0,653,13466,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,1754
$GC,13775,1.27,280.3,562.5,9.6,668,13776,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,1754
$GC,14084,1.27,280.3,539.7,6.6,683,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,1754
$GC,14393,1.27,280.3,517.9,8.2,698,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,1755
$GC,14702,1.27,280.3,492.3,10.3,713,14707,0.00,2.62,0.00,0.000,4,0.000,0.072,2682,3515,1756
$GC,14752,1.27,280.3,486.7,11.0,715,14756,0.00,2.50,0.00,0.000,6,0.000,0.043,2682,2094,1756
$GC,15073,1.27,280.3,453.5,10.0,731,15074,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2094,1756
$GC,15382,1.27,280.3,422.1,10.3,746,15387,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3509,1756
$GC,15459,1.27,280.3,413.8,10.9,749,15465,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2095,1756
$GC,15774,1.27,280.3,382.5,9.5,765,15775,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2095,1756
$GC,16083,1.27,280.3,354.0,9.0,780,16088,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3507,1757
$GC,16138,1.27,280.3,348.6,9.6,782,16145,0.00,2.47,0.00,0.000,6,0.000,0.045,2682,2101,1757
$GC,16453,1.27,280.3,320.7,8.7,798,16454,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2101,1757
$GC,16763,1.27,280.3,293.4,8.7,813,16767,0.00,2.65,0.00,0.000,4,0.000,0.073,2682,3511,1757
$GC,16805,1.27,280.3,289.4,9.1,815,16810,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2097,1758
$GC,17132,1.27,280.3,261.1,8.6,831,17137,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3506,1758
$GC,17164,1.27,280.3,258.1,8.8,832,17171,0.00,2.53,0.00,0.000,6,0.000,0.045,2682,2096,1758
$GC,17480,1.27,280.3,230.2,9.0,848,17481,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2096,1759
$GC,17789,1.27,280.3,201.6,9.4,863,17793,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3508,1759
$GC,17843,1.27,280.3,196.5,8.5,865,17851,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2099,1759
$GC,18159,1.27,280.3,168.6,8.8,881,18160,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2098,1759
$GC,18470,1.27,280.3,141.4,8.6,896,18474,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3508,1759
$GC,18518,1.27,280.3,136.8,10.2,898,18523,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2103,1759
$GC,18840,1.27,280.3,110.0,8.7,914,18841,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,1760
$GC,19149,1.27,280.3,83.1,8.5,929,19153,0.00,2.62,0.00,0.000,4,0.000,0.072,2682,3507,1760
$GC,19192,1.27,280.3,79.2,8.4,931,19196,0.00,2.53,0.00,0.000,6,0.000,0.051,2682,2103,1760
$GC,19519,1.27,280.3,52.3,7.9,947,19523,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3512,1760
$GC,19550,1.27,280.3,49.7,7.0,948,19557,0.00,2.53,0.00,0.000,6,0.000,0.050,2682,2105,1760
$GC,19868,1.27,280.3,21.1,8.8,964,19869,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2105,1760
$STATE,20071,end climb,SURFACE_DEPTH_REACHED
$STATE,20071,begin surface coast
$FINISH,-1.0,1.011705
$STATE,20093,end surface coast,CONTROL_FINISHED_OK
$STATE,20093,begin surface
$SM_CCo,20114,18.92,0.667,2,0,1679,300.00
$SM_GC,-0.40,0.00,0.00,18.92,0.000,0.000,0.667,45,2899,1679,-10.88,-0.03,300.00
$IRIDIUM_FIX,6153.50,-1037.75,061207,121214
$TT8_MAMPS,0.029146
$HUMID,2090
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.3,80.1
$24V_AH,23.4,26.649
$10V_AH,10.1,12.226
$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,26.050,205.300,362.050,18.925,0.000,40.291,38.454,160.527,6.500,0.000,0.000,30.304,1792.346,15532.463,569.562,2158.870,457.695,33.363,1658.838,0.000,2105.150,0.000,42.550
$DEVICE_MAMPS,161.070,89.739,1323.842,667.290,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.542,679.497,582.866,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50554,975
$CFSIZE,260165632,250716160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,44,2,0
$GPS,061207,191352,6218.701,-1038.950,39,3.6,58,-10.4