version: 66.02
glider: 103
mission: 7
dive: 144
start: 12 7 107 23 32 14
data:
$ID,103
$MISSION,7
$DIVE,144
$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,-65012.582
$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,18
$R_STBD_OVSHOOT,9
$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
$GPS1,232526,6227.049,-1032.512,33,1.0,52,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-59.4
$GPS2,233109,6227.044,-1032.592,16,0.9,16,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,0.089
$KALMAN_X,-183143.5,522.2,884.9,77492.2,-6620.3
$KALMAN_Y,-8882.0,313.8,330.0,106441.6,1506.6
$MHEAD_RNG_PITCHd_Wd,76.2,5906,-11.1,-6.000
$D_GRID,642
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-62.15,0.000,2,0.000,0.000,42,2898,3394
$GC,86,-1.10,-146.6,3.5,-9.2,3,109,11.98,1.80,-1.92,0.000,4,0.158,0.123,2163,3786,3500
$GC,199,-1.10,-146.6,20.1,-10.1,8,203,0.00,1.55,0.00,0.000,6,0.000,0.032,2163,2886,3500
$GC,531,-1.10,-146.6,43.8,-7.0,24,535,0.00,2.58,0.00,0.000,4,0.000,0.071,2163,1494,3501
$GC,562,-1.10,-146.6,46.1,-6.7,25,569,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2903,3500
$GC,880,-1.10,-146.6,68.0,-7.2,41,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3501
$GC,1188,-1.10,-146.6,86.1,-6.2,56,1192,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1501,3501
$GC,1250,-1.10,-146.6,89.5,-5.6,59,1255,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2899,3501
$GC,1576,-1.10,-146.6,107.6,-5.2,75,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,1887,-1.10,-146.6,127.3,-6.2,90,1891,0.00,2.58,0.00,0.000,4,0.000,0.066,2163,1500,3501
$GC,1952,-1.10,-146.6,132.0,-6.8,93,1956,0.00,2.58,0.00,0.000,6,0.000,0.067,2163,2899,3501
$GC,2279,-1.10,-146.6,153.9,-6.7,109,2283,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1501,3501
$GC,2321,-1.10,-146.6,156.9,-6.9,111,2326,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2893,3501
$GC,2648,-1.10,-146.6,179.0,-7.0,127,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3501
$GC,2958,-1.10,-146.6,201.0,-7.1,142,2963,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1498,3501
$GC,3013,-1.10,-146.6,205.1,-7.7,144,3020,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3501
$GC,3331,-1.10,-146.6,226.2,-6.5,160,3335,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1500,3501
$GC,3379,-1.10,-146.6,229.8,-6.8,162,3384,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2900,3501
$GC,3700,-1.10,-146.6,253.8,-8.0,178,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,4009,-1.10,-146.6,276.6,-7.1,193,4014,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1501,3501
$GC,4081,-1.10,-146.6,281.8,-6.6,196,4085,0.00,2.58,0.00,0.000,6,0.000,0.066,2163,2902,3501
$GC,4402,-1.10,-146.6,302.8,-6.4,212,4406,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1498,3501
$GC,4445,-1.10,-146.6,305.7,-6.5,214,4450,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2897,3501
$GC,4771,-1.10,-146.6,328.3,-7.0,230,4776,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1500,3501
$GC,4810,-1.10,-146.6,330.9,-7.0,232,4815,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2910,3501
$GC,5136,-1.10,-146.6,354.7,-7.5,248,5140,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1494,3501
$GC,5179,-1.10,-146.6,358.3,-7.6,250,5183,0.00,2.62,0.00,0.000,6,0.000,0.074,2163,2902,3501
$GC,5506,-1.10,-146.6,382.9,-7.3,266,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3501
$GC,5815,-1.10,-146.6,406.6,-7.5,281,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3501
$GC,6125,-1.10,-146.6,429.0,-7.0,296,6129,0.00,2.58,0.00,0.000,4,0.000,0.066,2163,1499,3501
$GC,6156,-1.10,-146.6,431.3,-6.6,297,6163,0.00,2.62,0.00,0.000,6,0.000,0.074,2163,2885,3501
$GC,6472,-1.10,-146.6,453.2,-7.2,313,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2885,3501
$GC,6782,-1.10,-146.6,473.1,-5.9,328,6786,0.00,2.53,0.00,0.000,4,0.000,0.067,2163,1500,3501
$GC,6836,-1.10,-146.6,476.6,-5.9,330,6843,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2904,3501
$GC,7152,-1.10,-146.6,494.7,-5.8,346,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3501
$GC,7462,-1.10,-146.6,511.0,-4.6,361,7466,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1497,3501
$GC,7505,-1.10,-146.6,512.9,-4.4,363,7509,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2905,3501
$GC,7831,-1.10,-146.6,527.7,-5.2,379,7836,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1496,3501
$GC,7893,-1.10,-146.6,531.7,-7.2,382,7897,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2901,3501
$GC,8218,-1.10,-146.6,554.3,-7.6,398,8222,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1496,3501
$GC,8317,-1.10,-146.6,561.7,-7.6,402,8324,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2907,3501
$GC,8632,-1.10,-146.6,582.4,-6.3,418,8636,0.00,1.62,0.00,0.000,4,0.000,0.083,2163,3784,3501
$GC,8709,-1.10,-146.6,587.6,-6.2,421,8714,0.00,1.50,0.00,0.000,6,0.000,0.034,2163,2903,3501
$GC,9030,-1.10,-146.6,607.1,-6.5,437,9035,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1495,3501
$GC,9085,-1.10,-146.6,611.0,-7.4,439,9092,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2900,3501
$GC,9400,-1.10,-146.6,631.0,-6.2,455,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$STATE,9564,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9564,begin apogee
$GC,9570,-0.42,0.0,640.9,5.6,463,9697,0.75,0.00,123.60,1.211,6,0.075,0.000,2318,2109,2901
$STATE,9698,end apogee,CONTROL_FINISHED_OK
$STATE,9698,begin climb
$GC,9700,1.10,146.6,644.1,0.0,469,9830,1.55,2.67,120.12,1.200,4,0.057,0.060,2650,684,2302
$GC,9964,1.10,146.6,633.4,6.4,481,9969,0.00,2.58,0.00,0.000,6,0.000,0.044,2650,2107,2302
$GC,10286,1.13,171.4,614.5,5.3,497,10314,0.00,2.70,21.55,1.155,4,0.000,0.074,2650,3509,2202
$GC,10484,1.13,171.4,601.6,7.1,506,10489,0.00,2.55,0.00,0.000,6,0.000,0.047,2650,2088,2201
$GC,10809,1.13,171.4,580.9,6.3,522,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2088,2200
$GC,11119,1.13,171.4,559.6,7.4,537,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2088,2200
$GC,11428,1.13,171.4,538.4,6.5,552,11432,0.00,2.53,0.00,0.000,4,0.000,0.063,2650,693,2198
$GC,11459,1.13,171.4,536.4,7.0,553,11466,0.00,2.53,0.00,0.000,6,0.000,0.044,2650,2098,2199
$GC,11775,1.13,171.4,517.1,6.0,569,11779,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3509,2198
$GC,11874,1.13,171.4,511.1,6.0,573,11881,0.00,2.53,0.00,0.000,6,0.000,0.047,2650,2105,2197
$GC,12189,1.13,171.4,491.5,6.4,589,12194,0.00,2.65,0.00,0.000,4,0.000,0.075,2650,3509,2197
$GC,12261,1.14,174.0,487.2,5.9,592,12265,0.00,2.53,0.00,0.000,6,0.000,0.047,2650,2092,2197
$GC,12582,1.17,201.0,471.1,5.3,608,12608,0.00,0.00,24.73,1.101,6,0.000,0.000,2650,2092,2081
$GC,12911,1.17,201.0,449.6,6.9,624,12916,0.00,2.67,0.00,0.000,4,0.000,0.074,2650,3516,2081
$GC,12983,1.17,201.0,444.5,6.8,627,12987,0.00,2.53,0.00,0.000,6,0.000,0.047,2650,2096,2081
$GC,13304,1.17,201.0,423.6,6.4,643,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2096,2081
$GC,13613,1.19,214.6,405.4,5.6,658,13635,0.00,2.75,12.85,0.999,4,0.000,0.073,2650,3510,2026
$GC,13707,1.19,214.6,399.1,7.0,662,13711,0.00,2.53,0.00,0.000,6,0.000,0.045,2650,2090,2026
$GC,14033,1.19,214.6,378.3,6.8,678,14038,0.00,2.67,0.00,0.000,4,0.000,0.072,2650,3517,2026
$GC,14072,1.19,214.6,375.4,7.8,680,14076,0.00,2.50,0.00,0.000,6,0.000,0.047,2650,2100,2026
$GC,14404,1.20,226.0,354.1,5.7,696,14420,0.00,2.70,11.15,0.943,4,0.000,0.072,2650,3512,1979
$GC,14475,1.20,226.0,349.4,6.4,698,14480,0.00,2.55,0.00,0.000,6,0.000,0.048,2650,2105,1979
$GC,14797,1.20,226.0,329.6,6.2,714,14801,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3511,1979
$GC,14851,1.20,226.0,326.1,6.8,716,14858,0.00,2.53,0.00,0.000,6,0.000,0.047,2650,2102,1979
$GC,15166,1.21,233.0,307.8,5.8,732,15181,0.10,2.70,7.47,0.851,4,0.050,0.071,2686,3512,1951
$GC,15214,1.21,233.0,304.4,6.9,734,15218,0.00,2.53,0.00,0.000,6,0.000,0.047,2686,2094,1951
$GC,15540,1.21,233.0,282.5,6.6,750,15541,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2094,1951
$GC,15850,1.21,233.0,260.1,7.4,765,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2094,1951
$GC,16159,1.21,233.0,235.9,8.0,780,16163,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3511,1951
$GC,16207,1.21,233.0,231.8,7.8,782,16212,0.00,2.53,0.00,0.000,6,0.000,0.046,2686,2099,1951
$GC,16528,1.21,233.0,208.8,6.8,798,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,1951
$GC,16838,1.21,233.0,183.6,8.1,813,16842,0.00,2.65,0.00,0.000,4,0.000,0.072,2686,3512,1952
$GC,16881,1.21,233.0,180.0,7.1,815,16885,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2103,1952
$GC,17208,1.21,233.0,154.5,7.5,831,17209,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2103,1952
$GC,17517,1.21,233.0,130.6,7.8,846,17522,0.00,2.62,0.00,0.000,4,0.000,0.071,2686,3511,1952
$GC,17566,1.21,233.0,126.5,8.3,848,17571,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2102,1952
$GC,17888,1.21,233.0,101.9,7.7,864,17889,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2102,1952
$GC,18199,1.21,233.0,77.0,8.0,879,18203,0.00,2.62,0.00,0.000,4,0.000,0.071,2686,3511,1952
$GC,18230,1.21,233.0,74.2,9.2,880,18238,0.00,2.53,0.00,0.000,6,0.000,0.047,2686,2099,1953
$GC,18546,1.21,233.0,50.2,7.3,896,18547,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2099,1953
$GC,18856,1.21,233.0,28.3,6.9,911,18857,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,1953
$GC,19166,1.21,233.0,4.3,8.1,926,19171,0.00,2.62,0.00,0.000,4,0.000,0.077,2686,691,1953
$STATE,19187,end climb,SURFACE_DEPTH_REACHED
$STATE,19187,begin surface coast
$FINISH,1.3,1.027313
$STATE,19192,end surface coast,CONTROL_FINISHED_OK
$STATE,19192,begin surface
$SM_CCo,19216,54.78,0.745,1,0,1678,300.00
$SM_GC,-0.36,0.00,0.00,54.78,0.000,0.000,0.745,48,2901,1678,-10.87,0.03,300.00
$IRIDIUM_FIX,6202.67,-1021.20,071207,222235
$TT8_MAMPS,0.028379
$HUMID,2060
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.5,50.0
$24V_AH,23.4,27.534
$10V_AH,10.1,12.764
$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,26.200,175.375,321.475,54.775,0.000,38.306,36.502,165.936,5.500,0.000,0.000,16.605,1707.125,14858.961,544.246,2075.628,448.646,33.374,1583.203,0.000,2038.434,0.000,37.583
$DEVICE_MAMPS,158.002,123.487,1211.093,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.910,648.495,587.900,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47338,927
$CFSIZE,260165632,250331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,081207,045438,6228.365,-1034.127,33,0.9,33,-10.4