version: 66.02
glider: 103
mission: 7
dive: 152
start: 12 9 107 17 4 34
data:
$ID,103
$MISSION,7
$DIVE,152
$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,-65146.234
$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,7
$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
$GPS1,165731,6237.072,-1138.496,41,1.3,41,-11.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-56.9
$GPS2,170327,6237.053,-1138.586,11,1.3,11,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.034,0.216
$KALMAN_X,-221215.6,963.5,-232.3,58051.5,-8127.4
$KALMAN_Y,-11032.2,320.4,-956.1,128475.8,-1381.6
$MHEAD_RNG_PITCHd_Wd,19.9,15691,-11.1,-6.000
$D_GRID,698
$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,-61.95,0.000,2,0.000,0.000,46,2892,3390
$GC,86,-1.10,-146.6,3.1,-7.8,3,108,11.95,1.77,-2.03,0.000,4,0.158,0.118,2163,3780,3500
$GC,276,-1.10,-146.6,25.4,-7.7,11,281,0.00,1.52,0.00,0.000,6,0.000,0.032,2163,2893,3500
$GC,597,-1.10,-146.6,49.9,-7.3,27,602,0.00,2.58,0.00,0.000,4,0.000,0.069,2164,1496,3500
$GC,646,-1.10,-146.6,53.5,-6.9,29,651,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2908,3501
$GC,968,-1.10,-146.6,76.4,-6.3,45,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3501
$GC,1277,-1.10,-146.6,97.2,-6.6,60,1281,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1496,3501
$GC,1320,-1.10,-146.6,100.5,-7.3,62,1324,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2891,3500
$GC,1647,-1.10,-146.6,124.2,-7.2,78,1651,0.00,2.53,0.00,0.000,4,0.000,0.059,2163,1492,3501
$GC,1678,-1.10,-146.6,126.8,-8.0,79,1686,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2892,3501
$GC,1997,-1.10,-146.6,151.3,-8.7,95,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2892,3501
$GC,2303,-1.10,-146.6,173.7,-6.9,110,2308,0.00,2.53,0.00,0.000,4,0.000,0.063,2163,1500,3501
$GC,2365,-1.10,-146.6,178.1,-7.6,113,2369,0.00,2.58,0.00,0.000,6,0.000,0.066,2164,2899,3500
$GC,2690,-1.10,-146.6,202.0,-7.7,129,2694,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1494,3501
$GC,2744,-1.10,-146.6,206.3,-7.7,131,2751,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2908,3501
$GC,3059,-1.10,-146.6,230.0,-7.3,147,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3501
$GC,3369,-1.10,-146.6,252.8,-7.3,162,3373,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1492,3501
$GC,3411,-1.10,-146.6,256.1,-7.6,164,3416,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3501
$GC,3738,-1.10,-146.6,279.9,-7.0,180,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,4050,-1.10,-146.6,301.3,-7.4,195,4054,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1491,3501
$GC,4098,-1.10,-146.6,304.8,-6.6,197,4103,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3501
$GC,4419,-1.10,-146.6,328.3,-7.6,213,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,4729,-1.10,-146.6,351.5,-7.4,228,4734,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1492,3501
$GC,4784,-1.10,-146.6,355.6,-7.4,230,4791,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2893,3501
$GC,5100,-1.10,-146.6,379.4,-7.3,246,5104,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1493,3501
$GC,5131,-1.10,-146.6,381.8,-7.5,247,5138,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2898,3501
$GC,5447,-1.10,-146.6,406.3,-7.9,263,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3501
$GC,5756,-1.10,-146.6,429.8,-7.3,278,5760,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1496,3501
$GC,5827,-1.10,-146.6,435.3,-7.7,281,5832,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2896,3501
$GC,6148,-1.10,-146.6,459.6,-7.6,297,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3501
$GC,6457,-1.10,-146.6,482.4,-7.0,312,6462,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1495,3501
$GC,6512,-1.10,-146.6,486.2,-6.9,314,6519,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2899,3501
$GC,6828,-1.10,-146.6,507.2,-6.4,330,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,7138,-1.10,-146.6,525.3,-5.5,345,7142,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1491,3501
$GC,7186,-1.10,-146.6,528.3,-6.1,347,7191,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2893,3501
$GC,7508,-1.10,-146.6,549.3,-7.0,363,7512,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1489,3501
$GC,7550,-1.10,-146.6,552.4,-7.5,365,7554,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3501
$GC,7878,-1.10,-146.6,575.6,-7.1,381,7882,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1490,3501
$GC,7916,-1.10,-146.6,578.4,-7.6,383,7921,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2899,3501
$GC,8242,-1.10,-146.6,601.6,-7.4,399,8246,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1491,3501
$GC,8320,-1.10,-146.6,607.4,-7.3,402,8326,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2901,3501
$GC,8635,-1.10,-146.6,629.8,-6.9,418,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,8948,-1.10,-146.6,650.4,-6.3,433,8952,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1497,3501
$GC,9047,-1.10,-146.6,656.5,-6.1,437,9054,0.00,2.58,0.00,0.000,6,0.000,0.066,2163,2900,3501
$GC,9363,-1.10,-146.6,675.5,-6.3,453,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$STATE,9567,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9567,begin apogee
$GC,9574,-0.42,0.0,689.3,6.7,463,9701,0.75,0.00,124.43,1.222,6,0.087,0.000,2315,2108,2901
$STATE,9702,end apogee,CONTROL_FINISHED_OK
$STATE,9702,begin climb
$GC,9704,1.10,146.6,693.2,0.0,469,9835,1.58,2.67,122.15,1.186,4,0.060,0.061,2650,696,2303
$GC,9918,1.10,147.8,688.3,6.0,479,9923,0.00,2.53,0.00,0.000,6,0.000,0.041,2650,2113,2302
$GC,10245,1.13,169.8,669.9,5.4,495,10271,0.00,2.70,20.60,1.140,4,0.000,0.073,2650,3514,2208
$GC,10337,1.13,169.8,664.1,7.0,499,10342,0.00,2.53,0.00,0.000,6,0.000,0.044,2650,2094,2208
$GC,10659,1.13,169.8,642.8,6.8,515,10663,0.00,2.70,0.00,0.000,4,0.000,0.075,2650,3513,2207
$GC,10724,1.13,169.8,638.6,6.6,518,10728,0.00,2.53,0.00,0.000,6,0.000,0.042,2650,2106,2207
$GC,11051,1.13,169.8,619.4,6.0,534,11055,0.00,2.58,0.00,0.000,4,0.000,0.061,2650,695,2206
$GC,11089,1.13,169.8,616.8,6.5,536,11094,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2101,2206
$GC,11415,1.13,169.8,597.0,6.1,552,11419,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3515,2205
$GC,11448,1.13,169.8,594.9,6.1,553,11454,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2100,2205
$GC,11763,1.13,169.8,576.0,6.2,569,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2204
$GC,12072,1.18,208.5,559.0,4.9,584,12106,0.00,0.00,32.67,1.160,6,0.000,0.000,2650,2100,2051
$GC,12401,1.18,208.5,538.7,7.2,600,12405,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3512,2050
$GC,12506,1.18,208.5,530.9,7.1,605,12511,0.00,2.50,0.00,0.000,6,0.000,0.042,2650,2098,2050
$GC,12832,1.18,208.5,509.0,6.6,621,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2098,2050
$GC,13142,1.18,211.7,489.4,5.9,636,13151,0.00,2.67,4.35,0.783,4,0.000,0.071,2650,3512,2038
$GC,13195,1.18,211.7,485.9,7.0,638,13202,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2098,2038
$GC,13510,1.18,211.7,466.9,6.2,654,13515,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3509,2039
$GC,13559,1.18,211.7,463.8,6.1,656,13564,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2103,2038
$GC,13881,1.18,211.7,443.2,7.0,672,13885,0.00,2.65,0.00,0.000,4,0.000,0.072,2650,3516,2039
$GC,13929,1.18,211.7,439.3,8.0,674,13934,0.00,2.53,0.00,0.000,6,0.000,0.042,2650,2101,2039
$GC,14250,1.18,211.7,415.4,7.4,690,14255,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3509,2039
$GC,14289,1.18,211.7,412.4,7.2,692,14293,0.00,2.47,0.00,0.000,6,0.000,0.042,2650,2099,2040
$GC,14614,1.18,211.7,389.1,7.0,708,14618,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3509,2040
$GC,14656,1.18,211.7,385.9,7.4,710,14661,0.00,2.53,0.00,0.000,6,0.000,0.044,2650,2096,2040
$GC,14984,1.18,211.7,362.9,7.1,726,14988,0.00,2.67,0.00,0.000,4,0.000,0.074,2650,3516,2041
$GC,15027,1.18,211.7,359.7,7.3,728,15031,0.00,2.53,0.00,0.000,6,0.000,0.043,2650,2101,2041
$GC,15353,1.18,211.7,337.8,6.6,744,15358,0.00,2.62,0.00,0.000,4,0.000,0.073,2650,3509,2041
$GC,15415,1.18,211.7,333.7,6.7,747,15419,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2099,2041
$GC,15740,1.18,211.7,311.2,7.3,763,15744,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3510,2041
$GC,15794,1.18,211.7,306.6,8.3,765,15801,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2105,2041
$GC,16110,1.18,211.7,279.8,8.1,781,16111,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2105,2041
$GC,16419,1.18,211.7,255.3,7.7,796,16423,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3511,2041
$GC,16490,1.20,228.5,250.6,5.5,799,16511,0.00,2.50,15.57,0.884,6,0.000,0.045,2650,2096,1969
$GC,16826,1.20,228.5,225.2,8.1,816,16827,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2096,1969
$GC,17135,1.20,228.5,204.2,6.2,831,17140,0.00,2.67,0.00,0.000,4,0.000,0.074,2650,3509,1969
$GC,17203,1.20,228.5,199.9,6.4,834,17207,0.00,2.53,0.00,0.000,6,0.000,0.045,2650,2093,1969
$GC,17522,1.20,228.5,182.7,6.3,850,17527,0.00,2.67,0.00,0.000,4,0.000,0.074,2650,3508,1969
$GC,17571,1.20,228.5,178.9,6.9,852,17576,0.00,2.53,0.00,0.000,6,0.000,0.046,2650,2101,1969
$GC,17893,1.21,233.2,160.2,5.9,868,17901,0.10,0.00,5.78,0.719,6,0.049,0.000,2685,2100,1950
$GC,18203,1.21,233.2,139.3,7.4,883,18204,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1950
$GC,18511,1.21,233.2,115.5,7.1,898,18513,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1950
$GC,18820,1.21,233.2,91.3,8.4,913,18825,0.00,2.67,0.00,0.000,4,0.000,0.077,2686,3513,1950
$GC,18863,1.21,233.2,87.4,9.3,915,18868,0.00,2.53,0.00,0.000,6,0.000,0.049,2686,2105,1950
$GC,19190,1.21,233.2,58.2,9.0,931,19191,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2105,1950
$GC,19500,1.21,233.2,35.8,6.6,946,19501,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1950
$GC,19809,1.21,233.2,9.1,9.2,961,19813,0.00,2.65,0.00,0.000,4,0.000,0.076,2686,3511,1950
$GC,19835,1.21,233.2,6.5,9.6,962,19839,0.00,2.55,0.00,0.000,6,0.000,0.052,2686,2102,1950
$STATE,19886,end climb,SURFACE_DEPTH_REACHED
$STATE,19886,begin surface coast
$FINISH,0.1,1.027332
$STATE,19909,end surface coast,CONTROL_FINISHED_OK
$STATE,19909,begin surface
$SM_CCo,19930,54.22,0.738,1,0,1678,300.00
$SM_GC,-0.30,0.00,0.00,54.22,0.000,0.000,0.738,46,2897,1678,-10.87,-0.08,300.00
$IRIDIUM_FIX,6211.90,-1126.84,091207,151529
$TT8_MAMPS,0.029146
$HUMID,2043
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.4,48.7
$24V_AH,23.4,28.623
$10V_AH,10.1,13.435
$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,25.900,186.875,325.550,54.225,0.000,40.005,37.650,175.136,6.000,0.000,0.000,11.203,1775.432,15436.033,554.690,2105.013,489.445,33.363,1618.099,0.000,2081.605,0.000,40.785
$DEVICE_MAMPS,158.002,118.118,1221.831,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,702.898,677.890,582.825,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47476,966
$CFSIZE,260165632,249827328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,091207,223901,6239.057,-1139.455,38,1.2,43,-11.1