version: 66.02
glider: 103
mission: 7
dive: 141
start: 12 7 107 7 13 56
data:
$ID,103
$MISSION,7
$DIVE,141
$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,-64947.508
$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,14
$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
$GPS1,070337,6217.996,-1039.774,39,1.8,44,-10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-56.9
$GPS2,071251,6218.013,-1039.781,12,1.9,12,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,0.035
$KALMAN_X,-176891.9,346.8,436.5,65528.2,-8259.4
$KALMAN_Y,-21582.8,722.3,1010.2,101327.0,-7804.4
$MHEAD_RNG_PITCHd_Wd,91.1,23723,-11.1,-6.000
$D_GRID,776
$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,-146.6,0.0,0.0,0,91,0.00,0.00,-69.28,0.000,6,0.000,0.000,48,2901,3500
$GC,94,-1.10,-146.6,2.4,-6.3,3,115,11.90,2.62,0.00,0.000,4,0.156,0.058,2167,1491,3502
$GC,274,-1.10,-146.6,23.4,-4.5,11,278,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2899,3502
$GC,599,-1.10,-146.6,45.8,-7.2,27,604,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1489,3502
$GC,631,-1.10,-146.6,47.9,-7.2,28,639,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2895,3502
$GC,949,-1.10,-146.6,73.5,-7.5,44,953,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1492,3502
$GC,980,-1.10,-146.6,75.7,-6.4,45,988,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2889,3501
$GC,1296,-1.10,-146.6,94.9,-6.2,61,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2889,3502
$GC,1607,-1.10,-146.6,116.2,-6.8,76,1611,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1492,3502
$GC,1650,-1.10,-146.6,119.5,-6.9,78,1654,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2904,3502
$GC,1977,-1.10,-146.6,142.2,-7.1,94,1981,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1493,3502
$GC,2038,-1.10,-146.6,146.3,-6.9,97,2042,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2900,3502
$GC,2363,-1.10,-146.6,167.4,-6.5,113,2367,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1491,3502
$GC,2402,-1.10,-146.6,170.0,-6.6,115,2407,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2901,3501
$GC,2728,-1.10,-146.6,192.6,-7.2,131,2732,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1489,3502
$GC,2759,-1.10,-146.6,194.9,-6.7,132,2766,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2901,3502
$GC,3075,-1.10,-146.6,217.2,-7.2,148,3079,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1488,3501
$GC,3146,-1.10,-146.6,222.9,-8.1,151,3151,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2906,3502
$GC,3467,-1.10,-146.6,243.7,-6.2,167,3471,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1492,3501
$GC,3528,-1.10,-146.6,247.7,-6.3,170,3532,0.00,2.58,0.00,0.000,6,0.000,0.064,2167,2899,3502
$GC,3854,-1.10,-146.6,270.6,-7.1,186,3858,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1487,3502
$GC,3885,-1.10,-146.6,273.2,-8.1,187,3892,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2908,3502
$GC,4201,-1.10,-146.6,296.9,-7.3,203,4205,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1491,3502
$GC,4234,-1.10,-146.6,299.3,-7.4,204,4240,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2903,3502
$GC,4548,-1.10,-146.6,320.8,-6.8,220,4552,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1491,3502
$GC,4586,-1.10,-146.6,323.5,-7.3,222,4591,0.00,2.58,0.00,0.000,6,0.000,0.063,2167,2900,3502
$GC,4912,-1.10,-146.6,343.9,-6.1,238,4916,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1491,3502
$GC,4950,-1.10,-146.6,346.5,-6.9,240,4955,0.00,2.58,0.00,0.000,6,0.000,0.063,2167,2899,3502
$GC,5277,-1.10,-146.6,367.2,-5.6,256,5282,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1483,3502
$GC,5316,-1.10,-146.6,369.5,-5.0,258,5321,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2899,3502
$GC,5642,-1.10,-146.6,387.1,-5.4,274,5647,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1490,3502
$GC,5697,-1.10,-146.6,389.9,-5.5,276,5704,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2901,3502
$GC,6013,-1.10,-146.6,408.5,-5.6,292,6017,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1490,3502
$GC,6051,-1.10,-146.6,410.6,-5.7,294,6056,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,6378,-1.10,-146.6,429.4,-5.5,310,6382,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1482,3501
$GC,6410,-1.10,-146.6,431.1,-5.3,311,6416,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2900,3502
$GC,6725,-1.10,-146.6,447.7,-5.3,327,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,7035,-1.10,-146.6,463.2,-5.2,342,7039,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1490,3502
$GC,7096,-1.10,-146.6,466.4,-5.9,345,7100,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3502
$GC,7422,-1.10,-146.6,485.7,-6.7,361,7426,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1490,3502
$GC,7453,-1.10,-146.6,488.0,-6.8,362,7460,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2895,3502
$GC,7769,-1.10,-146.6,510.4,-7.6,378,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3501
$GC,8078,-1.10,-146.6,534.8,-7.4,393,8083,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1482,3502
$GC,8150,-1.10,-146.6,540.0,-7.3,396,8155,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2899,3502
$GC,8471,-1.10,-146.6,563.8,-7.3,412,8474,0.00,1.65,0.00,0.000,4,0.000,0.082,2167,3788,3502
$GC,8548,-1.10,-146.6,569.1,-7.5,415,8552,0.00,1.52,0.00,0.000,6,0.000,0.032,2167,2883,3502
$GC,8870,-1.10,-146.6,588.1,-5.7,431,8874,0.00,2.47,0.00,0.000,4,0.000,0.062,2167,1500,3502
$GC,8931,-1.10,-146.6,591.8,-6.7,434,8935,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2905,3502
$GC,9256,-1.10,-146.6,611.7,-6.2,450,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2905,3502
$GC,9566,-1.10,-146.6,629.2,-5.1,465,9569,0.00,2.53,0.00,0.000,4,0.000,0.060,2166,1501,3502
$GC,9643,-1.10,-146.6,633.5,-5.7,468,9647,0.00,2.58,0.00,0.000,6,0.000,0.064,2167,2908,3502
$GC,9964,-1.10,-146.6,652.6,-5.8,484,9968,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1505,3502
$GC,10048,-1.10,-146.6,657.8,-6.0,488,10053,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,10379,-1.10,-146.6,676.0,-5.8,504,10383,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1496,3502
$GC,10541,-1.10,-146.6,687.0,-7.5,511,10545,0.00,2.60,0.00,0.000,6,0.000,0.069,2167,2905,3502
$GC,10856,-1.10,-146.6,711.2,-8.8,526,10859,0.00,1.65,0.00,0.000,4,0.000,0.087,2167,3786,3502
$GC,10950,-1.10,-146.6,719.1,-8.9,530,10954,0.00,1.50,0.00,0.000,6,0.000,0.036,2167,2909,3502
$GC,11277,-1.10,-146.6,740.3,-4.4,546,11281,0.00,1.67,0.00,0.000,4,0.000,0.086,2167,3776,3501
$STATE,11365,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11366,begin apogee
$GC,11374,-0.42,0.0,741.1,0.9,550,11502,0.75,0.00,125.00,1.301,6,0.084,0.000,2319,2116,2901
$STATE,11503,end apogee,CONTROL_FINISHED_OK
$STATE,11503,begin climb
$GC,11504,1.10,146.6,743.0,0.0,556,11635,1.52,2.72,122.28,1.256,4,0.054,0.067,2648,691,2303
$GC,11648,1.13,169.5,739.6,5.4,563,11674,0.00,2.53,20.83,1.148,6,0.000,0.038,2648,2113,2210
$GC,11994,1.13,169.5,712.2,10.2,580,11999,0.00,2.62,0.00,0.000,4,0.000,0.076,2648,3502,2209
$GC,12251,1.13,169.5,692.7,6.2,591,12258,0.00,2.55,0.00,0.000,6,0.000,0.046,2648,2094,2207
$GC,12567,1.13,169.5,669.7,7.6,607,12571,0.00,2.67,0.00,0.000,4,0.000,0.074,2648,3501,2206
$GC,12628,1.13,169.5,665.4,6.6,610,12632,0.00,2.53,0.00,0.000,6,0.000,0.049,2648,2094,2206
$GC,12954,1.17,203.3,647.7,5.1,626,12988,0.00,2.67,28.85,1.236,4,0.000,0.070,2648,693,2072
$GC,13022,1.24,258.6,643.9,4.5,629,13075,0.15,2.53,47.05,1.233,6,0.045,0.048,2692,2093,1846
$GC,13385,1.28,291.1,624.2,5.1,646,13419,0.00,2.67,28.02,1.182,4,0.000,0.064,2692,697,1714
$GC,13458,1.28,291.1,618.9,7.7,649,13462,0.00,2.53,0.00,0.000,6,0.000,0.045,2692,2101,1714
$GC,13779,1.28,291.1,589.6,10.6,665,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2102,1713
$GC,14088,1.28,291.1,559.2,9.6,680,14092,0.00,2.65,0.00,0.000,4,0.000,0.076,2692,3512,1713
$GC,14153,1.28,291.1,552.1,11.0,683,14158,0.00,2.53,0.00,0.000,6,0.000,0.044,2692,2105,1713
$GC,14480,1.28,291.1,518.5,10.7,699,14484,0.00,2.55,0.00,0.000,4,0.000,0.059,2692,694,1712
$GC,14506,1.28,291.1,515.7,10.6,700,14510,0.00,2.53,0.00,0.000,6,0.000,0.045,2692,2101,1713
$GC,14828,1.28,291.1,484.4,9.6,716,14832,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3519,1713
$GC,14876,1.28,291.1,479.1,10.9,718,14880,0.00,2.55,0.00,0.000,6,0.000,0.044,2692,2098,1713
$GC,15197,1.28,291.1,446.0,10.3,734,15201,0.00,2.67,0.00,0.000,4,0.000,0.074,2692,3516,1714
$GC,15230,1.28,291.1,442.5,10.7,735,15236,0.00,2.53,0.00,0.000,6,0.000,0.046,2692,2093,1714
$GC,15545,1.28,291.1,409.7,10.3,751,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2093,1715
$GC,15854,1.28,291.1,379.0,10.1,766,15855,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2093,1716
$GC,16163,1.28,291.1,348.8,9.7,781,16168,0.00,2.70,0.00,0.000,4,0.000,0.077,2692,3519,1716
$GC,16184,1.28,291.1,346.8,9.6,782,16188,0.00,2.53,0.00,0.000,6,0.000,0.047,2692,2099,1716
$GC,16510,1.28,291.1,316.3,9.5,798,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1716
$GC,16820,1.28,291.1,287.8,9.0,813,16824,0.00,2.67,0.00,0.000,4,0.000,0.077,2692,3512,1717
$GC,16846,1.28,291.1,285.4,9.1,814,16850,0.00,2.50,0.00,0.000,6,0.000,0.044,2692,2094,1717
$GC,17167,1.28,291.1,254.9,9.1,830,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,1718
$GC,17476,1.28,291.1,227.3,9.0,845,17480,0.00,2.70,0.00,0.000,4,0.000,0.077,2692,3519,1718
$GC,17514,1.28,291.1,223.7,9.5,847,17519,0.00,2.53,0.00,0.000,6,0.000,0.048,2692,2099,1718
$GC,17840,1.28,291.1,196.4,8.9,863,17841,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1718
$GC,18149,1.28,291.1,168.5,9.1,878,18154,0.00,2.67,0.00,0.000,4,0.000,0.076,2692,3513,1718
$GC,18193,1.28,291.1,164.2,10.6,880,18197,0.00,2.53,0.00,0.000,6,0.000,0.049,2692,2096,1718
$GC,18521,1.28,291.1,136.4,8.2,896,18522,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2096,1718
$GC,18829,1.28,291.1,110.2,7.3,911,18834,0.00,2.67,0.00,0.000,4,0.000,0.074,2692,3518,1718
$GC,18862,1.28,291.1,107.4,8.2,912,18868,0.00,2.55,0.00,0.000,6,0.000,0.050,2692,2103,1718
$GC,19177,1.28,291.1,78.2,9.7,928,19178,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2103,1718
$GC,19488,1.28,291.1,50.3,8.7,943,19493,0.00,2.67,0.00,0.000,4,0.000,0.076,2692,3519,1719
$GC,19537,1.28,291.1,45.3,10.4,945,19541,0.00,2.53,0.00,0.000,6,0.000,0.049,2692,2098,1719
$GC,19858,1.28,291.1,15.3,9.9,961,19859,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1718
$STATE,20022,end climb,SURFACE_DEPTH_REACHED
$STATE,20022,begin surface coast
$FINISH,-1.1,1.027489
$STATE,20043,end surface coast,CONTROL_FINISHED_OK
$STATE,20043,begin surface
$SM_CCo,20064,9.73,0.704,1,0,1678,300.00
$SM_GC,0.32,0.00,0.00,9.73,0.000,0.000,0.704,30,2900,1678,-10.95,0.00,300.00
$IRIDIUM_FIX,6153.50,-1037.75,071207,111135
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,700.6,50.4
$24V_AH,23.4,27.113
$10V_AH,10.1,12.508
$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,25.725,214.800,372.025,9.725,0.000,81.611,80.626,224.125,6.750,0.000,0.000,12.481,1814.400,15429.907,552.609,2220.306,627.140,33.366,1694.390,0.000,2188.080,0.000,44.010
$DEVICE_MAMPS,156.468,86.671,1300.832,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,715.766,672.689,577.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50619,970
$CFSIZE,260165632,250507264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,41,1,0
$GPS,071207,124938,6220.009,-1035.186,29,1.4,29,-10.4