version: 66.02
glider: 103
mission: 7
dive: 153
start: 12 9 107 22 52 40
data:
$ID,103
$MISSION,7
$DIVE,153
$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,-65162.906
$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,19
$R_STBD_OVSHOOT,13
$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
$GPS1,223901,6239.057,-1139.455,38,1.2,43,-11.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-59.5
$GPS2,225133,6238.951,-1139.528,14,1.3,14,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,0.206
$KALMAN_X,-224874.1,1523.0,1478.8,58591.6,-11326.0
$KALMAN_Y,-14839.5,894.2,740.9,133503.9,-6997.9
$MHEAD_RNG_PITCHd_Wd,30.9,12126,-11.1,-6.000
$D_GRID,683
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-61.90,0.000,2,0.000,0.000,46,2899,3452
$GC,85,-1.10,-146.6,4.4,-10.8,3,107,11.98,1.77,-0.80,0.000,4,0.159,0.114,2165,3783,3500
$GC,175,-1.10,-146.6,20.3,-7.5,7,179,0.00,1.55,0.00,0.000,6,0.000,0.033,2165,2887,3501
$GC,507,-1.10,-146.6,43.8,-7.6,23,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2884,3501
$GC,816,-1.10,-146.6,64.3,-5.9,38,821,0.00,2.55,0.00,0.000,4,0.000,0.068,2165,1499,3501
$GC,849,-1.10,-146.6,66.5,-5.8,39,856,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2909,3501
$GC,1166,-1.10,-146.6,89.1,-9.0,55,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3501
$GC,1474,-1.10,-146.6,115.3,-8.8,70,1478,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1501,3501
$GC,1528,-1.10,-146.6,120.3,-9.1,72,1535,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2894,3501
$GC,1844,-1.10,-146.6,147.4,-8.5,88,1848,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1498,3501
$GC,1870,-1.10,-146.6,149.8,-8.6,89,1875,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2907,3501
$GC,2190,-1.10,-146.6,172.9,-7.8,105,2195,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1501,3501
$GC,2217,-1.10,-146.6,174.9,-7.6,106,2222,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2900,3501
$GC,2537,-1.10,-146.6,198.5,-7.5,122,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,2847,-1.10,-146.6,219.4,-6.8,137,2851,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1499,3501
$GC,2896,-1.10,-146.6,222.4,-5.9,139,2901,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2900,3501
$GC,3211,-1.10,-146.6,242.6,-6.8,154,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,3520,-1.10,-146.6,262.3,-6.0,169,3525,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1497,3501
$GC,3586,-1.10,-146.6,266.7,-7.0,172,3591,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2909,3501
$GC,3913,-1.10,-146.6,288.5,-6.7,188,3917,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1500,3501
$GC,3944,-1.10,-146.6,290.8,-6.9,189,3951,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2898,3501
$GC,4260,-1.10,-146.6,309.9,-5.7,205,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3501
$GC,4569,-1.10,-146.6,327.9,-5.8,220,4573,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1492,3501
$GC,4601,-1.10,-146.6,330.0,-6.1,221,4606,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2894,3501
$GC,4924,-1.10,-146.6,350.3,-5.8,237,4928,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1499,3501
$GC,4985,-1.10,-146.6,354.2,-5.8,240,4989,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2899,3501
$GC,5310,-1.10,-146.6,374.8,-6.4,256,5315,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1500,3501
$GC,5348,-1.10,-146.6,377.5,-6.6,257,5354,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2901,3501
$GC,5663,-1.10,-146.6,399.4,-7.2,273,5667,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1491,3501
$GC,5702,-1.10,-146.6,402.3,-7.4,274,5708,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2900,3501
$GC,6017,-1.10,-146.6,424.0,-6.8,290,6021,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1500,3501
$GC,6048,-1.10,-146.6,426.1,-7.2,291,6055,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2889,3501
$GC,6364,-1.10,-146.6,447.1,-6.7,307,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2889,3501
$GC,6674,-1.10,-146.6,468.4,-7.1,322,6678,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1493,3501
$GC,6750,-1.10,-146.6,473.9,-6.8,325,6758,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2899,3501
$GC,7066,-1.10,-146.6,495.2,-6.7,341,7070,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1493,3501
$GC,7098,-1.10,-146.6,497.5,-6.8,342,7104,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2900,3501
$GC,7413,-1.10,-146.6,520.7,-7.8,358,7418,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1491,3501
$GC,7475,-1.10,-146.6,525.6,-7.7,361,7480,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2908,3501
$GC,7801,-1.10,-146.6,550.2,-7.5,377,7805,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1489,3501
$GC,7856,-1.10,-146.6,554.2,-7.7,379,7862,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2909,3501
$GC,8174,-1.10,-146.6,575.5,-6.1,395,8178,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1490,3501
$GC,8240,-1.10,-146.6,579.8,-5.8,398,8244,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2899,3501
$GC,8561,-1.10,-146.6,599.0,-6.0,414,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,8870,-1.10,-146.6,617.5,-6.1,429,8874,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1491,3501
$GC,8947,-1.10,-146.6,622.6,-6.7,432,8953,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2899,3501
$GC,9262,-1.10,-146.6,644.6,-7.0,448,9266,0.00,2.53,0.00,0.000,4,0.000,0.061,2165,1497,3501
$GC,9367,-1.10,-146.6,651.8,-7.0,452,9374,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2910,3501
$GC,9683,-1.10,-146.6,670.3,-5.4,468,9684,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2911,3501
$STATE,9887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9887,begin apogee
$GC,9893,-0.42,0.0,683.2,6.2,478,10021,0.75,0.00,125.32,1.229,6,0.083,0.000,2318,2103,2901
$STATE,10022,end apogee,CONTROL_FINISHED_OK
$STATE,10022,begin climb
$GC,10024,1.10,146.6,685.5,0.0,484,10155,1.55,2.67,120.55,1.226,4,0.056,0.061,2649,687,2303
$GC,10409,1.15,188.3,668.8,4.8,501,10450,0.00,2.53,35.92,1.177,6,0.000,0.041,2649,2109,2133
$GC,10760,1.15,188.3,646.2,6.7,518,10764,0.00,2.60,0.00,0.000,4,0.000,0.063,2649,688,2132
$GC,10821,1.15,188.3,642.2,6.1,521,10825,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2100,2131
$GC,11146,1.15,188.3,622.8,6.5,537,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,2130
$GC,11456,1.22,245.7,606.8,4.4,552,11506,0.12,0.00,47.92,1.186,6,0.041,0.000,2694,2100,1899
$GC,11805,1.22,245.7,582.7,7.4,569,11809,0.00,2.67,0.00,0.000,4,0.000,0.077,2694,3511,1898
$GC,11844,1.22,245.7,579.8,8.1,571,11848,0.00,2.53,0.00,0.000,6,0.000,0.044,2694,2094,1898
$GC,12169,1.22,245.7,555.0,7.9,587,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2094,1897
$GC,12478,1.22,245.7,530.2,8.3,602,12483,0.00,2.55,0.00,0.000,4,0.000,0.059,2694,687,1897
$GC,12522,1.22,245.7,526.2,8.7,604,12526,0.00,2.53,0.00,0.000,6,0.000,0.043,2694,2096,1897
$GC,12848,1.22,245.7,498.7,8.7,620,12853,0.00,2.65,0.00,0.000,4,0.000,0.073,2694,3515,1897
$GC,12910,1.22,245.7,492.9,9.6,623,12914,0.00,2.50,0.00,0.000,6,0.000,0.044,2694,2100,1897
$GC,13235,1.22,245.7,463.2,9.2,639,13236,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2100,1897
$GC,13544,1.22,245.7,435.0,9.3,654,13546,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2100,1897
$GC,13854,1.22,245.7,405.6,9.6,669,13858,0.00,2.67,0.00,0.000,4,0.000,0.074,2694,3518,1897
$GC,13885,1.22,245.7,402.2,9.9,670,13892,0.00,2.53,0.00,0.000,6,0.000,0.045,2694,2107,1897
$GC,14201,1.22,245.7,371.8,9.4,686,14202,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2107,1898
$GC,14511,1.22,245.7,344.2,8.5,701,14512,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2107,1898
$GC,14820,1.22,245.7,316.9,9.0,716,14821,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2107,1899
$GC,15129,1.22,245.7,290.2,7.8,731,15133,0.00,2.65,0.00,0.000,4,0.000,0.077,2694,3512,1899
$GC,15155,1.22,245.7,287.8,8.8,732,15159,0.00,2.50,0.00,0.000,6,0.000,0.044,2694,2103,1899
$GC,15476,1.22,245.7,263.1,8.0,748,15481,0.00,2.55,0.00,0.000,4,0.000,0.063,2694,693,1899
$GC,15531,1.22,245.7,258.2,8.8,750,15538,0.00,2.50,0.00,0.000,6,0.000,0.046,2694,2094,1899
$GC,15847,1.22,245.7,232.6,7.9,766,15851,0.00,2.62,0.00,0.000,4,0.000,0.075,2694,3511,1899
$GC,15892,1.22,245.7,228.9,7.9,768,15896,0.00,2.50,0.00,0.000,6,0.000,0.044,2694,2102,1899
$GC,16211,1.22,245.7,202.2,8.5,784,16215,0.00,2.58,0.00,0.000,4,0.000,0.064,2694,685,1900
$GC,16254,1.22,245.7,198.3,9.8,786,16259,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2096,1900
$GC,16581,1.22,245.7,165.7,10.3,802,16585,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3519,1900
$GC,16619,1.22,245.7,161.6,10.4,804,16623,0.00,2.53,0.00,0.000,6,0.000,0.046,2694,2096,1900
$GC,16944,1.22,245.7,128.5,10.4,820,16946,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2095,1900
$GC,17254,1.22,245.7,103.9,8.5,835,17255,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2095,1901
$GC,17563,1.22,245.7,74.3,9.5,850,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2095,1901
$GC,17874,1.22,245.7,43.1,10.3,865,17878,0.00,2.67,0.00,0.000,4,0.000,0.074,2694,3515,1901
$GC,17913,1.22,245.7,38.5,12.7,867,17917,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2094,1901
$GC,18239,1.22,245.7,11.3,8.2,883,18243,0.00,2.55,0.00,0.000,4,0.000,0.067,2694,695,1901
$GC,18270,1.22,245.7,8.1,10.0,884,18277,0.00,2.50,0.00,0.000,6,0.000,0.046,2694,2095,1901
$STATE,18358,end climb,SURFACE_DEPTH_REACHED
$STATE,18358,begin surface coast
$FINISH,-0.9,1.013995
$STATE,18379,end surface coast,CONTROL_FINISHED_OK
$STATE,18380,begin surface
$SM_CCo,18401,46.05,0.716,2,0,1678,300.00
$SM_GC,-0.13,0.00,0.00,46.05,0.000,0.000,0.716,43,2897,1678,-10.89,-0.08,300.00
$IRIDIUM_FIX,6216.53,-1137.88,101207,020227
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.3,91.9
$24V_AH,23.4,28.773
$10V_AH,10.1,13.522
$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,26.025,171.025,329.725,46.050,0.000,116.599,184.285,221.649,5.500,0.000,0.000,16.044,1619.127,14382.858,553.799,1917.567,750.210,33.361,1531.697,0.000,1894.668,0.000,34.780
$DEVICE_MAMPS,158.769,114.283,1228.734,716.378,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.194,622.623,534.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44301,890
$CFSIZE,260165632,249774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,2,0
$GPS,101207,040132,6238.901,-1141.072,41,1.4,41,-11.1