version: 66.02
glider: 103
mission: 7
dive: 149
start: 12 9 107 1 1 4
data:
$ID,103
$MISSION,7
$DIVE,149
$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,-2
$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,-65108.562
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,005338,6236.838,-1108.228,38,1.2,38,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-56.4
$GPS2,005921,6236.779,-1108.379,14,1.8,14,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,0.080
$KALMAN_X,-202237.3,-135.2,691.1,65893.8,-7082.1
$KALMAN_Y,855.4,-804.1,-549.2,116782.5,3692.4
$MHEAD_RNG_PITCHd_Wd,302.2,34585,-11.1,-6.000
$D_GRID,647
$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,-68.43,0.000,6,0.000,0.000,44,2906,3499
$GC,94,-1.10,-146.6,2.4,-6.1,3,110,11.95,1.73,0.00,0.000,4,0.159,0.087,2164,3785,3501
$GC,361,-1.10,-146.6,35.2,-6.9,14,366,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2891,3502
$GC,688,-1.10,-146.6,60.9,-9.5,30,692,0.00,1.70,0.00,0.000,4,0.000,0.081,2164,3784,3502
$GC,868,-1.10,-146.6,76.2,-9.6,38,872,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2902,3502
$GC,1200,-1.10,-146.6,105.6,-7.7,54,1204,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1491,3502
$GC,1238,-1.10,-146.6,108.5,-7.3,56,1243,0.00,2.62,0.00,0.000,6,0.000,0.072,2165,2897,3502
$GC,1564,-1.10,-146.6,131.4,-7.2,72,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,1873,-1.10,-146.6,154.9,-8.1,87,1877,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1498,3502
$GC,1934,-1.10,-146.6,159.8,-8.1,90,1938,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2902,3502
$GC,2259,-1.10,-146.6,185.3,-7.8,106,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,2569,-1.10,-146.6,208.1,-7.3,121,2573,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1492,3502
$GC,2623,-1.10,-146.6,212.2,-7.2,123,2630,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,2938,-1.10,-146.6,234.4,-7.0,139,2942,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1500,3502
$GC,2971,-1.10,-146.6,236.9,-7.1,140,2978,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2908,3502
$GC,3286,-1.10,-146.6,262.0,-8.3,156,3290,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1492,3502
$GC,3318,-1.10,-146.6,264.7,-8.1,157,3325,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2903,3502
$GC,3633,-1.10,-146.6,290.3,-8.3,173,3637,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1499,3502
$GC,3681,-1.10,-146.6,294.8,-9.3,175,3686,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2909,3502
$GC,4004,-1.10,-146.6,322.3,-8.5,191,4008,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1493,3502
$GC,4046,-1.10,-146.6,326.0,-8.4,193,4050,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,4373,-1.10,-146.6,352.5,-7.9,209,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,4682,-1.10,-146.6,376.6,-7.5,224,4686,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1498,3502
$GC,4744,-1.10,-146.6,381.5,-7.7,227,4748,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2902,3502
$GC,5069,-1.10,-146.6,406.2,-7.4,243,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5378,-1.10,-146.6,428.1,-6.8,258,5382,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1492,3502
$GC,5432,-1.10,-146.6,431.9,-7.0,260,5439,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2893,3502
$GC,5749,-1.10,-146.6,454.9,-7.6,276,5753,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1496,3502
$GC,5814,-1.10,-146.6,460.5,-8.5,279,5818,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2910,3502
$GC,6140,-1.10,-146.6,488.6,-8.8,295,6145,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1498,3502
$GC,6184,-1.10,-146.6,492.4,-8.6,297,6188,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2900,3502
$GC,6510,-1.10,-146.6,518.3,-8.2,313,6515,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1496,3502
$GC,6559,-1.10,-146.6,522.1,-7.5,315,6564,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2913,3502
$GC,6882,-1.10,-146.6,542.9,-5.7,331,6886,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1497,3502
$GC,6913,-1.10,-146.6,544.5,-5.3,332,6920,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2900,3502
$GC,7229,-1.10,-146.6,560.9,-5.3,348,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,7538,-1.10,-146.6,579.6,-7.3,363,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,7847,-1.10,-146.6,598.7,-4.3,378,7852,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1496,3502
$GC,7910,-1.10,-146.6,601.3,-4.6,381,7914,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2904,3502
$GC,8235,-1.10,-146.6,621.7,-8.2,397,8238,0.00,1.65,0.00,0.000,4,0.000,0.084,2165,3785,3501
$GC,8295,-1.10,-146.6,626.7,-8.6,399,8302,0.00,1.52,0.00,0.000,6,0.000,0.036,2165,2890,3502
$GC,8611,-1.10,-146.6,645.8,-5.9,415,8615,0.00,2.53,0.00,0.000,4,0.000,0.067,2165,1506,3502
$GC,8620,-1.10,-146.6,646.7,-5.6,415,8627,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2898,3502
$STATE,8645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8645,begin apogee
$GC,8651,-0.42,0.0,648.8,8.3,417,8780,0.75,0.00,124.93,1.212,6,0.076,0.000,2320,2115,2901
$STATE,8780,end apogee,CONTROL_FINISHED_OK
$STATE,8780,begin climb
$GC,8782,1.10,146.6,651.6,0.0,423,8911,1.55,2.67,120.78,1.190,4,0.058,0.067,2649,3510,2303
$GC,8932,1.14,173.6,647.8,5.3,430,8965,0.00,2.55,24.20,1.103,6,0.000,0.042,2649,2086,2193
$GC,9274,1.21,237.4,632.3,4.2,447,9335,0.12,2.75,53.17,1.173,4,0.047,0.073,2689,3509,1933
$GC,9374,1.21,237.4,625.3,8.4,451,9380,0.00,2.53,0.00,0.000,6,0.000,0.044,2689,2102,1933
$GC,9689,1.21,237.4,601.0,7.2,467,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2102,1932
$GC,9998,1.21,237.4,573.7,9.8,482,10003,0.00,2.67,0.00,0.000,4,0.000,0.077,2689,3513,1931
$GC,10025,1.21,237.4,571.0,9.8,483,10029,0.00,2.55,0.00,0.000,6,0.000,0.047,2689,2103,1931
$GC,10346,1.21,237.4,541.2,9.4,499,10350,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3511,1930
$GC,10385,1.21,237.4,537.4,10.5,501,10389,0.00,2.53,0.00,0.000,6,0.000,0.046,2689,2098,1930
$GC,10710,1.21,237.4,510.9,6.9,517,10714,0.00,2.67,0.00,0.000,4,0.000,0.075,2689,3513,1929
$GC,10748,1.21,237.4,508.3,7.2,519,10753,0.00,2.53,0.00,0.000,6,0.000,0.046,2689,2096,1929
$GC,11073,1.21,237.4,484.4,8.0,535,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2096,1929
$GC,11382,1.21,237.4,461.4,7.9,550,11387,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3511,1929
$GC,11426,1.21,237.4,457.6,9.3,552,11430,0.00,2.53,0.00,0.000,6,0.000,0.046,2689,2103,1929
$GC,11753,1.21,237.4,427.8,9.5,568,11757,0.00,2.65,0.00,0.000,4,0.000,0.073,2689,3512,1929
$GC,11786,1.21,237.4,424.8,9.5,569,11792,0.00,2.53,0.00,0.000,6,0.000,0.046,2689,2096,1929
$GC,12100,1.21,237.4,396.2,8.9,585,12101,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2096,1929
$GC,12409,1.21,237.4,370.3,7.7,600,12414,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3517,1929
$GC,12448,1.21,237.4,367.1,8.0,602,12452,0.00,2.53,0.00,0.000,6,0.000,0.047,2689,2097,1929
$GC,12773,1.21,237.4,343.3,8.3,618,12777,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3519,1930
$GC,12811,1.21,237.4,339.8,8.5,620,12815,0.00,2.53,0.00,0.000,6,0.000,0.047,2689,2097,1930
$GC,13137,1.21,237.4,312.5,8.1,636,13138,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,1931
$GC,13446,1.21,237.4,289.3,6.2,651,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,1931
$GC,13755,1.21,237.4,267.4,7.0,666,13759,0.00,2.67,0.00,0.000,4,0.000,0.075,2689,3513,1931
$GC,13793,1.21,237.4,264.7,7.0,668,13797,0.00,2.50,0.00,0.000,6,0.000,0.047,2689,2092,1932
$GC,14124,1.21,237.4,241.2,8.4,684,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2092,1932
$GC,14434,1.21,237.4,209.7,12.3,699,14435,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2092,1932
$GC,14743,1.21,237.4,171.5,11.1,714,14748,0.00,2.67,0.00,0.000,4,0.000,0.075,2689,3511,1932
$GC,14809,1.21,237.4,163.5,11.3,717,14814,0.00,2.50,0.00,0.000,6,0.000,0.045,2689,2106,1932
$GC,15138,1.21,237.4,134.1,6.5,733,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2106,1933
$GC,15446,1.21,237.4,111.6,7.5,748,15450,0.00,2.58,0.00,0.000,4,0.000,0.066,2689,695,1933
$GC,15509,1.21,237.4,106.1,8.3,751,15513,0.00,2.47,0.00,0.000,6,0.000,0.047,2689,2098,1933
$GC,15834,1.21,237.4,81.8,8.2,767,15839,0.00,2.65,0.00,0.000,4,0.000,0.075,2689,3520,1933
$GC,15900,1.21,237.4,76.5,7.9,770,15904,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2107,1933
$GC,16227,1.21,237.4,56.6,6.9,786,16231,0.00,2.62,0.00,0.000,4,0.000,0.072,2689,3512,1933
$GC,16266,1.21,237.4,53.8,7.8,788,16270,0.00,2.50,0.00,0.000,6,0.000,0.049,2689,2101,1933
$GC,16591,1.21,237.4,27.4,8.8,804,16593,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2101,1934
$STATE,16878,end climb,SURFACE_DEPTH_REACHED
$STATE,16878,begin surface coast
$FINISH,-0.2,1.027334
$STATE,16900,end surface coast,CONTROL_FINISHED_OK
$STATE,16900,begin surface
$SM_CCo,16921,50.62,0.754,1,0,1678,300.00
$SM_GC,-0.34,0.00,0.00,50.62,0.000,0.000,0.754,43,2900,1678,-10.89,0.00,300.00
$IRIDIUM_FIX,6211.90,-1057.54,081207,232317
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,575.0,96.9
$24V_AH,23.4,28.216
$10V_AH,10.1,13.169
$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,25.875,162.775,323.075,50.625,0.000,38.237,37.108,165.987,5.500,0.000,0.000,14.479,1528.315,13022.729,534.332,1825.612,459.972,33.370,1459.232,0.000,1794.483,0.000,33.151
$DEVICE_MAMPS,158.769,88.972,1211.860,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.015,570.077,524.896,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41148,819
$CFSIZE,260165632,250040320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,091207,054508,6235.390,-1122.277,33,1.1,33,-10.9