version: 66.02
glider: 103
mission: 7
dive: 139
start: 12 6 107 19 27 26
data:
$ID,103
$MISSION,7
$DIVE,139
$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,-64917.004
$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,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
$GPS1,191352,6218.701,-1038.950,39,3.6,58,-10.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-55.3
$GPS2,192621,6218.651,-1039.046,12,1.4,12,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.108,0.190
$KALMAN_X,-169681.3,1036.7,762.9,57955.5,-11125.8
$KALMAN_Y,-17107.9,1217.5,1278.5,97263.5,-12569.3
$MHEAD_RNG_PITCHd_Wd,40.0,22396,-11.1,-6.000
$D_GRID,764
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.10,-146.6,0.0,0.0,0,91,0.00,0.00,-67.85,0.000,6,0.000,0.000,45,2901,3500
$GC,93,-1.10,-146.6,2.3,-6.1,3,107,12.10,0.00,0.00,0.000,6,0.160,0.000,2166,2901,3502
$GC,415,-1.10,-146.6,40.6,-7.1,19,418,0.00,1.67,0.00,0.000,4,0.000,0.084,2166,3787,3502
$GC,459,-1.10,-146.6,43.8,-6.8,21,463,0.00,1.55,0.00,0.000,6,0.000,0.032,2166,2883,3501
$GC,791,-1.10,-146.6,68.7,-8.5,37,796,0.00,2.55,0.00,0.000,4,0.000,0.071,2166,1502,3502
$GC,814,-1.10,-146.6,69.9,-5.3,38,818,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2900,3502
$GC,1134,-1.10,-146.6,91.7,-6.8,54,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,1443,-1.10,-146.6,114.5,-7.3,69,1447,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1502,3502
$GC,1504,-1.10,-146.6,119.0,-7.9,72,1509,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2909,3502
$GC,1830,-1.10,-146.6,141.7,-6.9,88,1834,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1499,3502
$GC,1861,-1.10,-146.6,143.9,-7.1,89,1868,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2892,3502
$GC,2177,-1.10,-146.6,165.7,-6.7,105,2181,0.00,2.58,0.00,0.000,4,0.000,0.068,2166,1502,3502
$GC,2208,-1.10,-146.6,167.8,-6.8,106,2215,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2898,3502
$GC,2524,-1.10,-146.6,191.2,-7.7,122,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,2833,-1.10,-146.6,215.1,-7.7,137,2837,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1500,3502
$GC,2909,-1.10,-146.6,220.9,-7.5,140,2917,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2896,3502
$GC,3225,-1.10,-146.6,243.8,-7.5,156,3229,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1501,3502
$GC,3256,-1.10,-146.6,246.1,-7.3,157,3263,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2899,3502
$GC,3572,-1.10,-146.6,270.1,-7.7,173,3577,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1503,3502
$GC,3611,-1.10,-146.6,273.0,-8.0,175,3615,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2903,3502
$GC,3937,-1.10,-146.6,298.0,-8.0,191,3941,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1502,3502
$GC,3965,-1.10,-146.6,300.2,-7.5,192,3970,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2900,3502
$GC,4280,-1.10,-146.6,324.7,-7.7,207,4284,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1503,3502
$GC,4305,-1.10,-146.6,327.0,-8.1,208,4310,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2900,3502
$GC,4632,-1.10,-146.6,353.1,-8.3,224,4636,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1500,3502
$GC,4666,-1.10,-146.6,355.9,-8.4,225,4672,0.00,2.58,0.00,0.000,6,0.000,0.066,2166,2900,3501
$GC,4980,-1.10,-146.6,381.8,-8.0,241,4985,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1500,3502
$GC,5019,-1.10,-146.6,384.9,-8.1,243,5024,0.00,2.58,0.00,0.000,6,0.000,0.066,2166,2901,3502
$GC,5345,-1.10,-146.6,411.1,-8.1,259,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,5654,-1.10,-146.6,436.2,-7.9,274,5659,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1499,3501
$GC,5720,-1.10,-146.6,441.2,-8.2,277,5725,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2901,3502
$GC,6047,-1.10,-146.6,466.0,-7.5,293,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,6356,-1.10,-146.6,491.0,-7.4,308,6360,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1493,3502
$GC,6399,-1.10,-146.6,494.6,-8.5,310,6403,0.00,2.58,0.00,0.000,6,0.000,0.064,2166,2900,3502
$GC,6726,-1.10,-146.6,517.9,-6.8,326,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,7035,-1.10,-146.6,539.7,-6.6,341,7039,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1500,3502
$GC,7112,-1.10,-146.6,544.2,-5.4,344,7119,0.00,2.58,0.00,0.000,6,0.000,0.064,2166,2906,3502
$GC,7427,-1.10,-146.6,562.7,-6.2,360,7431,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1500,3502
$GC,7488,-1.10,-146.6,566.3,-6.2,363,7492,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2906,3502
$GC,7813,-1.10,-146.6,585.6,-5.0,379,7818,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1500,3502
$GC,7875,-1.10,-146.6,588.4,-4.8,382,7879,0.00,2.58,0.00,0.000,6,0.000,0.064,2166,2900,3502
$GC,8201,-1.10,-146.6,602.0,-4.0,398,8205,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1492,3502
$GC,8267,-1.10,-146.6,605.2,-5.0,401,8271,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2908,3502
$GC,8593,-1.10,-146.6,620.3,-4.6,417,8598,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1500,3502
$GC,8700,-1.10,-146.6,625.9,-6.0,422,8704,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2899,3502
$GC,9025,-1.10,-146.6,646.0,-7.0,438,9029,0.00,2.55,0.00,0.000,4,0.000,0.063,2166,1494,3502
$GC,9086,-1.10,-146.6,650.4,-7.4,441,9090,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2900,3501
$GC,9411,-1.10,-146.6,678.6,-9.1,457,9415,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1492,3502
$GC,9521,-1.10,-146.6,688.8,-10.0,462,9526,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2901,3502
$GC,9848,-1.10,-146.6,715.7,-7.1,478,9849,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,10157,-1.10,-146.6,738.3,-8.5,493,10160,0.00,1.65,0.00,0.000,4,0.000,0.087,2166,3785,3501
$GC,10217,-1.10,-146.6,742.1,-6.8,495,10224,0.00,1.52,0.00,0.000,6,0.000,0.038,2166,2898,3501
$STATE,10366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10366,begin apogee
$GC,10372,-0.42,0.0,751.7,6.0,503,10501,0.73,0.00,125.07,1.312,6,0.077,0.000,2316,2109,2901
$STATE,10502,end apogee,CONTROL_FINISHED_OK
$STATE,10502,begin climb
$GC,10503,1.10,146.6,755.0,0.0,509,10634,1.55,2.72,122.25,1.267,4,0.054,0.065,2648,687,2303
$GC,10781,1.10,146.6,741.7,10.1,522,10786,0.00,2.53,0.00,0.000,6,0.000,0.043,2648,2107,2302
$GC,11107,1.10,146.6,718.0,8.3,538,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2108,2301
$GC,11416,1.23,252.3,708.0,3.1,553,11512,0.15,2.78,87.88,1.266,4,0.044,0.079,2696,3509,1872
$GC,11601,1.23,252.3,693.5,9.0,561,11608,0.00,2.58,0.00,0.000,6,0.000,0.047,2696,2098,1871
$GC,11917,1.23,252.3,666.5,8.0,577,11921,0.00,2.58,0.00,0.000,4,0.000,0.065,2697,693,1869
$GC,11982,1.23,252.3,660.3,9.5,580,11986,0.00,2.55,0.00,0.000,6,0.000,0.047,2696,2097,1869
$GC,12309,1.23,252.3,633.9,8.0,596,12313,0.00,2.67,0.00,0.000,4,0.000,0.077,2696,3512,1868
$GC,12357,1.23,252.3,629.8,7.7,598,12362,0.00,2.53,0.00,0.000,6,0.000,0.047,2696,2099,1868
$GC,12678,1.23,252.3,603.1,9.1,614,12683,0.00,2.58,0.00,0.000,4,0.000,0.062,2696,688,1867
$GC,12772,1.23,252.3,594.4,8.4,618,12777,0.00,2.53,0.00,0.000,6,0.000,0.044,2696,2104,1867
$GC,13094,1.23,252.3,565.9,9.2,634,13095,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2104,1867
$GC,13403,1.23,252.3,539.3,8.4,649,13407,0.00,2.58,0.00,0.000,4,0.000,0.058,2697,688,1866
$GC,13451,1.23,252.3,534.9,9.2,651,13455,0.00,2.53,0.00,0.000,6,0.000,0.044,2697,2103,1866
$GC,13772,1.23,252.3,508.7,8.3,667,13777,0.00,2.62,0.00,0.000,4,0.000,0.074,2697,3514,1867
$GC,13827,1.23,252.3,503.8,9.2,669,13834,0.00,2.53,0.00,0.000,6,0.000,0.046,2696,2100,1867
$GC,14142,1.23,252.3,476.2,9.1,685,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2101,1867
$GC,14452,1.23,252.3,450.2,8.4,700,14453,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2101,1868
$GC,14761,1.23,252.3,425.7,7.9,715,14762,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2101,1868
$GC,15070,1.23,252.3,401.1,7.8,730,15074,0.00,2.65,0.00,0.000,4,0.000,0.074,2697,3512,1869
$GC,15113,1.23,252.3,397.6,8.8,732,15117,0.00,2.50,0.00,0.000,6,0.000,0.049,2696,2099,1869
$GC,15439,1.23,252.3,371.5,8.2,748,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2099,1870
$GC,15749,1.23,252.3,345.3,8.3,763,15753,0.00,2.65,0.00,0.000,4,0.000,0.076,2697,3512,1870
$GC,15803,1.23,252.3,340.2,9.4,765,15810,0.00,2.53,0.00,0.000,6,0.000,0.048,2697,2105,1870
$GC,16118,1.23,252.3,313.4,8.4,781,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2105,1870
$GC,16428,1.23,252.3,286.7,8.7,796,16432,0.00,2.65,0.00,0.000,4,0.000,0.077,2696,3512,1871
$GC,16472,1.23,252.3,282.6,10.7,798,16476,0.00,2.53,0.00,0.000,6,0.000,0.048,2697,2098,1871
$GC,16791,1.23,252.3,254.1,9.0,814,16793,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2098,1871
$GC,17101,1.23,252.3,226.7,8.6,829,17105,0.00,2.67,0.00,0.000,4,0.000,0.076,2696,3513,1872
$GC,17140,1.23,252.3,223.2,9.7,831,17144,0.00,2.53,0.00,0.000,6,0.000,0.049,2696,2095,1872
$GC,17465,1.23,252.3,193.8,8.8,847,17466,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2096,1872
$GC,17774,1.23,252.3,167.5,8.3,862,17778,0.00,2.67,0.00,0.000,4,0.000,0.076,2696,3515,1872
$GC,17812,1.23,252.3,164.3,9.1,864,17817,0.00,2.53,0.00,0.000,6,0.000,0.048,2696,2094,1872
$GC,18138,1.23,252.3,135.0,9.1,880,18139,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2094,1872
$GC,18448,1.23,252.3,106.5,9.2,895,18452,0.00,2.67,0.00,0.000,4,0.000,0.077,2697,3512,1872
$GC,18496,1.23,252.3,101.9,9.8,897,18501,0.00,2.53,0.00,0.000,6,0.000,0.053,2697,2099,1872
$GC,18818,1.23,252.3,72.1,9.3,913,18819,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2099,1873
$GC,19127,1.23,252.3,43.0,8.7,928,19131,0.00,2.67,0.00,0.000,4,0.000,0.078,2696,3512,1873
$GC,19166,1.23,252.3,39.3,10.5,930,19170,0.00,2.50,0.00,0.000,6,0.000,0.050,2697,2099,1873
$GC,19497,1.23,252.3,7.2,9.3,946,19501,0.00,2.58,0.00,0.000,4,0.000,0.071,2697,697,1873
$GC,19513,1.23,252.3,5.9,9.8,947,19517,0.00,2.47,0.00,0.000,6,0.000,0.044,2696,2105,1873
$STATE,19569,end climb,SURFACE_DEPTH_REACHED
$STATE,19569,begin surface coast
$FINISH,-0.8,1.027328
$STATE,19591,end surface coast,CONTROL_FINISHED_OK
$STATE,19591,begin surface
$SM_CCo,19612,40.33,0.711,2,0,1678,300.00
$SM_GC,-0.52,0.00,0.00,40.33,0.000,0.000,0.711,39,2895,1678,-10.91,-0.17,300.00
$IRIDIUM_FIX,6158.08,-1038.60,061207,232305
$TT8_MAMPS,0.029146
$HUMID,2083
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.6,83.7
$24V_AH,23.4,26.807
$10V_AH,10.1,12.319
$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,26.225,190.100,335.200,40.325,0.000,116.831,114.857,284.113,6.250,0.000,0.000,12.931,1747.431,15284.928,547.896,2109.598,734.581,33.362,1614.923,0.000,2074.676,0.000,39.604
$DEVICE_MAMPS,159.536,94.341,1312.337,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.194,658.768,560.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47466,951
$CFSIZE,260165632,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,2,0
$GPS,071207,005625,6218.719,-1040.356,25,0.9,42,-10.4