version: 66.02
glider: 103
mission: 7
dive: 146
start: 12 8 107 9 49 32
data:
$ID,103
$MISSION,7
$DIVE,146
$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,-65042.965
$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,22
$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
$GPS1,093925,6230.536,-1040.726,37,1.6,37,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-58.9
$GPS2,094827,6230.620,-1040.767,13,2.0,13,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.201,0.086
$KALMAN_X,-189308.6,-152.9,936.1,77094.3,-5250.7
$KALMAN_Y,-3165.0,-738.5,294.2,108484.9,4789.6
$MHEAD_RNG_PITCHd_Wd,303.6,20199,-11.1,-6.000
$D_GRID,623
$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,-146.6,0.0,0.0,0,89,0.00,0.00,-65.97,0.000,6,0.000,0.000,48,2900,3500
$GC,91,-1.10,-146.6,2.8,-7.4,3,107,11.93,1.75,0.00,0.000,4,0.158,0.088,2163,3790,3501
$GC,359,-1.10,-146.6,34.3,-8.1,14,363,0.00,1.55,0.00,0.000,6,0.000,0.033,2163,2888,3502
$GC,686,-1.10,-146.6,61.6,-7.7,30,690,0.00,1.73,0.00,0.000,4,0.000,0.081,2163,3794,3502
$GC,943,-1.10,-146.6,80.9,-7.6,41,947,0.00,1.52,0.00,0.000,6,0.000,0.033,2163,2899,3502
$GC,1265,-1.10,-146.6,103.9,-6.8,57,1268,0.00,1.70,0.00,0.000,4,0.000,0.082,2163,3793,3503
$GC,1403,-1.10,-146.6,114.6,-7.7,63,1408,0.00,1.52,0.00,0.000,6,0.000,0.031,2163,2898,3502
$GC,1732,-1.10,-146.6,138.9,-7.6,79,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,2039,-1.10,-146.6,163.2,-7.9,94,2044,0.00,2.55,0.00,0.000,4,0.000,0.067,2163,1500,3503
$GC,2117,-1.10,-146.6,169.5,-7.8,97,2123,0.00,2.62,0.00,0.000,6,0.000,0.074,2163,2908,3503
$GC,2432,-1.10,-146.6,193.8,-8.0,113,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3502
$GC,2741,-1.10,-146.6,217.3,-7.3,128,2745,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1501,3502
$GC,2803,-1.10,-146.6,221.7,-6.9,131,2807,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2901,3502
$GC,3128,-1.10,-146.6,242.3,-6.0,147,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,3437,-1.10,-146.6,261.0,-6.2,162,3442,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1493,3502
$GC,3476,-1.10,-146.6,263.2,-6.0,164,3481,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3502
$GC,3802,-1.10,-146.6,281.9,-5.6,180,3806,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1494,3502
$GC,3840,-1.10,-146.6,284.1,-6.1,182,3845,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2903,3502
$GC,4166,-1.10,-146.6,302.8,-6.0,198,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3503
$GC,4476,-1.10,-146.6,324.4,-7.6,213,4480,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1492,3502
$GC,4514,-1.10,-146.6,327.5,-8.1,215,4518,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2900,3502
$GC,4839,-1.10,-146.6,351.9,-7.1,231,4844,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1492,3503
$GC,4878,-1.10,-146.6,354.7,-7.3,233,4883,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2903,3502
$GC,5204,-1.10,-146.6,380.4,-8.3,249,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,5513,-1.10,-146.6,406.2,-8.1,264,5517,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1500,3502
$GC,5580,-1.10,-146.6,411.4,-7.8,267,5584,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2900,3502
$GC,5900,-1.10,-146.6,429.9,-4.9,283,5904,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1499,3503
$GC,5943,-1.10,-146.6,431.7,-4.0,285,5948,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2899,3502
$GC,6264,-1.10,-146.6,442.0,-2.8,301,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,6574,-1.10,-146.6,464.2,-10.6,316,6578,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1497,3502
$GC,6635,-1.10,-146.6,471.4,-12.8,319,6639,0.00,2.58,0.00,0.000,6,0.000,0.066,2163,2904,3502
$GC,6960,-1.10,-146.6,505.2,-8.4,335,6964,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1497,3502
$GC,7004,-1.10,-146.6,508.3,-7.4,337,7008,0.00,2.58,0.00,0.000,6,0.000,0.067,2163,2899,3502
$GC,7329,-1.10,-146.6,520.0,-1.3,353,7333,0.00,1.65,0.00,0.000,4,0.000,0.083,2163,3787,3503
$GC,7390,-1.10,-146.6,520.7,-1.1,355,7397,0.00,1.50,0.00,0.000,6,0.000,0.033,2163,2900,3502
$GC,7705,-1.10,-146.6,539.7,-10.3,371,7710,0.00,2.53,0.00,0.000,4,0.000,0.061,2163,1497,3502
$GC,7777,-1.10,-146.6,546.8,-9.1,374,7781,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2908,3502
$GC,8102,-1.10,-146.6,575.4,-7.7,390,8107,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1505,3502
$GC,8129,-1.10,-146.6,577.6,-6.8,391,8133,0.00,2.58,0.00,0.000,6,0.000,0.067,2163,2901,3502
$GC,8450,-1.10,-146.6,596.0,-7.1,407,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$STATE,8716,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8716,begin apogee
$GC,8722,-0.42,0.0,614.9,6.9,420,8850,0.77,0.00,124.62,1.183,6,0.091,0.000,2319,2116,2901
$STATE,8851,end apogee,CONTROL_FINISHED_OK
$STATE,8851,begin climb
$GC,8853,1.10,146.6,619.3,0.0,426,8984,1.52,2.70,121.00,1.146,4,0.056,0.061,2647,683,2303
$GC,9102,1.14,176.2,610.6,5.2,437,9133,0.00,2.53,26.15,1.098,6,0.000,0.041,2647,2108,2182
$GC,9455,1.17,202.6,591.1,5.3,455,9484,0.00,2.72,23.08,1.102,4,0.000,0.073,2647,3502,2075
$GC,9552,1.17,202.6,583.5,7.4,459,9556,0.00,2.55,0.00,0.000,6,0.000,0.043,2647,2094,2075
$GC,9873,1.20,227.9,566.1,5.3,475,9903,0.12,2.78,21.85,1.121,4,0.049,0.071,2680,3511,1972
$GC,9937,1.20,227.9,561.8,8.0,478,9941,0.00,2.53,0.00,0.000,6,0.000,0.042,2681,2093,1972
$GC,10262,1.20,227.9,538.0,6.3,494,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2093,1971
$GC,10571,1.21,236.3,520.7,5.8,509,10585,0.00,2.72,8.50,1.012,4,0.000,0.071,2680,3502,1937
$GC,10653,1.21,236.3,514.5,8.7,512,10660,0.00,2.53,0.00,0.000,6,0.000,0.042,2680,2099,1937
$GC,10968,1.21,236.3,484.9,10.1,528,10973,0.00,2.58,0.00,0.000,4,0.000,0.062,2680,688,1936
$GC,11007,1.21,236.3,481.1,9.6,530,11011,0.00,2.50,0.00,0.000,6,0.000,0.043,2681,2098,1936
$GC,11332,1.21,236.3,456.1,6.0,546,11337,0.00,2.62,0.00,0.000,4,0.000,0.071,2680,3509,1936
$GC,11376,1.22,241.9,453.5,5.8,548,11387,0.00,2.50,6.07,0.904,6,0.000,0.042,2681,2091,1915
$GC,11696,1.22,241.9,433.9,6.8,563,11701,0.00,2.53,0.00,0.000,4,0.000,0.061,2680,691,1915
$GC,11751,1.22,241.9,429.5,7.8,565,11758,0.00,2.50,0.00,0.000,6,0.000,0.042,2680,2093,1915
$GC,12067,1.22,241.9,401.8,8.8,581,12071,0.00,2.65,0.00,0.000,4,0.000,0.072,2681,3514,1915
$GC,12138,1.22,241.9,395.1,9.4,584,12142,0.00,2.53,0.00,0.000,6,0.000,0.044,2680,2102,1915
$GC,12459,1.22,241.9,367.7,8.9,600,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2102,1915
$GC,12768,1.22,241.9,336.4,10.4,615,12773,0.00,2.65,0.00,0.000,4,0.000,0.074,2680,3511,1915
$GC,12800,1.22,241.9,332.9,10.4,616,12807,0.00,2.53,0.00,0.000,6,0.000,0.045,2680,2099,1915
$GC,13116,1.22,241.9,302.1,9.5,632,13117,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2099,1916
$GC,13425,1.22,241.9,273.4,9.1,647,13430,0.00,2.65,0.00,0.000,4,0.000,0.074,2681,3512,1916
$GC,13474,1.22,241.9,269.1,8.6,649,13478,0.00,2.53,0.00,0.000,6,0.000,0.048,2680,2093,1916
$GC,13795,1.22,241.9,242.5,7.9,665,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2093,1916
$GC,14104,1.22,241.9,219.3,7.3,680,14108,0.00,2.67,0.00,0.000,4,0.000,0.071,2680,3519,1916
$GC,14152,1.22,241.9,215.7,7.1,682,14157,0.00,2.55,0.00,0.000,6,0.000,0.048,2680,2098,1916
$GC,14473,1.22,241.9,194.5,6.2,698,14478,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3518,1916
$GC,14505,1.22,241.9,192.2,6.8,699,14512,0.00,2.53,0.00,0.000,6,0.000,0.047,2681,2109,1916
$GC,14821,1.22,241.9,170.6,7.3,715,14822,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2109,1916
$GC,15130,1.22,241.9,150.9,6.2,730,15131,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2109,1917
$GC,15440,1.22,241.9,126.3,8.6,745,15444,0.00,2.62,0.00,0.000,4,0.000,0.074,2680,3511,1917
$GC,15488,1.22,241.9,122.5,7.1,747,15493,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2100,1917
$GC,15810,1.22,241.9,99.4,7.0,763,15814,0.00,2.55,0.00,0.000,4,0.000,0.062,2681,693,1918
$GC,15849,1.22,241.9,96.0,9.2,765,15853,0.00,2.47,0.00,0.000,6,0.000,0.046,2681,2100,1918
$GC,16174,1.22,241.9,66.0,9.3,781,16179,0.00,2.62,0.00,0.000,4,0.000,0.074,2680,3512,1918
$GC,16223,1.22,241.9,61.1,9.6,783,16228,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2106,1918
$GC,16545,1.22,241.9,32.6,9.0,799,16549,0.00,2.58,0.00,0.000,4,0.000,0.064,2680,687,1918
$GC,16593,1.22,241.9,27.9,10.0,801,16598,0.00,2.53,0.00,0.000,6,0.000,0.049,2680,2095,1918
$GC,16915,1.22,241.9,2.6,6.6,817,16916,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2095,1919
$STATE,16934,end climb,SURFACE_DEPTH_REACHED
$STATE,16934,begin surface coast
$FINISH,-0.8,1.027340
$STATE,16956,end surface coast,CONTROL_FINISHED_OK
$STATE,16956,begin surface
$SM_CCo,16977,48.42,0.748,1,0,1677,300.00
$SM_GC,-0.40,0.00,0.00,48.42,0.000,0.000,0.748,44,2900,1677,-10.88,0.00,300.00
$IRIDIUM_FIX,6202.67,-1036.61,081207,131317
$TT8_MAMPS,0.029146
$HUMID,2067
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.4,48.2
$24V_AH,23.4,27.809
$10V_AH,10.1,12.923
$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,25.900,160.325,331.275,48.425,0.000,79.228,83.809,218.590,5.250,0.000,0.000,13.505,1540.908,13037.072,516.732,1912.524,581.358,33.372,1483.482,0.000,1876.870,0.000,33.022
$DEVICE_MAMPS,158.002,88.205,1183.481,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.392,572.447,516.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41168,819
$CFSIZE,260165632,250224640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,081207,143438,6231.942,-1049.905,41,1.0,41,-10.6