version: 66.02
glider: 103
mission: 7
dive: 155
start: 12 10 107 9 59 22
data:
$ID,103
$MISSION,7
$DIVE,155
$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,-65195.219
$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,21
$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
$GPS1,094855,6240.292,-1140.688,24,1.2,42,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-58.2
$GPS2,095815,6240.254,-1140.629,13,1.8,13,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.042,0.214
$KALMAN_X,-226780.4,457.5,1225.6,60848.7,-6494.6
$KALMAN_Y,-20546.7,-430.7,762.6,142916.7,-4782.9
$MHEAD_RNG_PITCHd_Wd,22.3,9539,-11.1,-6.000
$D_GRID,676
$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,-61.88,0.000,2,0.000,0.000,47,2905,3431
$GC,86,-1.10,-146.6,3.8,-8.6,3,108,11.98,1.73,-1.23,0.000,4,0.159,0.120,2163,3766,3501
$GC,360,-1.10,-146.6,35.9,-8.0,15,364,0.00,1.50,0.00,0.000,6,0.000,0.032,2163,2891,3501
$GC,687,-1.10,-146.6,63.1,-10.0,31,691,0.00,2.58,0.00,0.000,4,0.000,0.068,2163,1492,3501
$GC,730,-1.10,-146.6,67.8,-11.1,33,734,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2891,3501
$GC,1057,-1.10,-146.6,97.5,-7.5,49,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2891,3501
$GC,1366,-1.10,-146.6,117.2,-6.1,64,1370,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1500,3501
$GC,1409,-1.10,-146.6,120.4,-6.7,66,1413,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2900,3501
$GC,1736,-1.10,-146.6,141.7,-6.7,82,1740,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1501,3501
$GC,1767,-1.10,-146.6,143.7,-6.7,83,1774,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2900,3501
$GC,2083,-1.10,-146.6,165.9,-7.4,99,2087,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1501,3501
$GC,2131,-1.10,-146.6,169.4,-7.3,101,2136,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3501
$GC,2453,-1.10,-146.6,194.1,-7.9,117,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3501
$GC,2762,-1.10,-146.6,215.9,-6.9,132,2766,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1493,3501
$GC,2838,-1.10,-146.6,221.7,-7.7,135,2845,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2894,3501
$GC,3155,-1.10,-146.6,245.9,-7.7,151,3159,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1498,3501
$GC,3188,-1.10,-146.6,248.6,-8.3,152,3194,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2901,3501
$GC,3502,-1.10,-146.6,273.7,-8.0,168,3506,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1501,3501
$GC,3545,-1.10,-146.6,277.3,-8.1,170,3549,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2904,3501
$GC,3873,-1.10,-146.6,300.5,-6.8,186,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3501
$GC,4181,-1.10,-146.6,323.2,-7.5,201,4186,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1501,3501
$GC,4259,-1.10,-146.6,329.1,-7.7,204,4265,0.00,2.58,0.00,0.000,6,0.000,0.067,2164,2900,3501
$GC,4574,-1.10,-146.6,352.2,-7.3,220,4578,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1496,3501
$GC,4617,-1.10,-146.6,355.5,-7.3,222,4621,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2904,3501
$GC,4944,-1.10,-146.6,379.8,-7.8,238,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3501
$GC,5253,-1.10,-146.6,404.0,-8.0,253,5257,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1500,3501
$GC,5341,-1.10,-146.6,411.3,-8.4,257,5345,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2903,3501
$GC,5668,-1.10,-146.6,439.0,-8.1,273,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3501
$GC,5977,-1.10,-146.6,463.0,-7.7,288,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3501
$GC,6286,-1.10,-146.6,485.4,-7.0,303,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3501
$GC,6596,-1.10,-146.6,506.8,-6.8,318,6600,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1494,3501
$GC,6644,-1.10,-146.6,510.2,-7.2,320,6648,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2901,3501
$GC,6966,-1.10,-146.6,531.9,-6.8,336,6970,0.00,2.55,0.00,0.000,4,0.000,0.063,2163,1498,3501
$GC,7015,-1.10,-146.6,535.6,-6.5,338,7019,0.00,2.60,0.00,0.000,6,0.000,0.072,2164,2903,3501
$GC,7336,-1.10,-146.6,557.7,-6.7,354,7340,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1490,3501
$GC,7413,-1.10,-146.6,562.9,-6.4,357,7419,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2906,3501
$GC,7729,-1.10,-146.6,582.2,-6.0,373,7733,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1490,3501
$GC,7783,-1.10,-146.6,585.8,-6.2,375,7790,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2891,3501
$GC,8099,-1.10,-146.6,604.7,-6.3,391,8103,0.00,2.53,0.00,0.000,4,0.000,0.061,2164,1494,3501
$GC,8160,-1.10,-146.6,608.7,-6.9,394,8165,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2899,3501
$GC,8485,-1.10,-146.6,629.5,-6.5,410,8489,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1498,3501
$GC,8540,-1.10,-146.6,633.3,-6.8,412,8546,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2904,3501
$GC,8855,-1.10,-146.6,653.8,-6.4,428,8860,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1498,3501
$GC,8940,-1.10,-146.6,658.7,-5.8,432,8944,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2904,3501
$STATE,9160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9160,begin apogee
$GC,9167,-0.42,0.0,672.6,6.4,443,9295,0.75,0.00,124.95,1.208,6,0.089,0.000,2314,2112,2901
$STATE,9295,end apogee,CONTROL_FINISHED_OK
$STATE,9296,begin climb
$GC,9297,1.10,146.6,676.6,0.0,449,9428,1.55,2.70,122.12,1.178,4,0.054,0.061,2649,687,2303
$GC,9558,1.11,152.9,666.3,5.8,461,9570,0.00,2.53,6.93,0.953,6,0.000,0.041,2649,2109,2277
$GC,9879,1.15,188.7,647.8,5.0,476,9919,0.00,2.67,31.40,1.161,4,0.000,0.072,2649,3511,2131
$GC,9969,1.15,188.7,642.2,6.9,480,9973,0.00,2.53,0.00,0.000,6,0.000,0.042,2649,2094,2131
$GC,10296,1.15,188.7,621.8,6.3,496,10300,0.00,2.58,0.00,0.000,4,0.000,0.063,2649,691,2129
$GC,10361,1.15,188.7,617.3,6.8,499,10365,0.00,2.53,0.00,0.000,6,0.000,0.043,2649,2113,2129
$GC,10688,1.16,196.6,597.5,5.8,515,10702,0.00,2.67,7.78,1.015,4,0.000,0.072,2649,3499,2099
$GC,10747,1.16,196.6,593.6,7.3,517,10754,0.00,2.53,0.00,0.000,6,0.000,0.043,2649,2099,2099
$GC,11063,1.16,196.6,573.3,6.7,533,11067,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3506,2098
$GC,11135,1.16,196.6,567.8,7.6,536,11139,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2099,2098
$GC,11450,1.19,217.3,548.5,5.4,551,11475,0.00,2.67,18.30,1.111,4,0.000,0.063,2649,690,2015
$GC,11576,1.19,217.3,540.7,6.2,556,11583,0.00,2.50,0.00,0.000,6,0.000,0.045,2649,2097,2015
$GC,11891,1.19,217.3,522.4,6.2,572,11896,0.00,2.65,0.00,0.000,4,0.000,0.073,2649,3515,2015
$GC,11976,1.19,217.3,516.6,7.1,576,11980,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2099,2014
$GC,12301,1.19,217.3,495.0,6.4,592,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2099,2014
$GC,12610,1.19,217.3,474.1,7.2,607,12614,0.00,2.67,0.00,0.000,4,0.000,0.074,2649,3515,2014
$GC,12681,1.19,217.3,468.6,7.9,610,12685,0.00,2.53,0.00,0.000,6,0.000,0.045,2649,2094,2014
$GC,13003,1.19,217.3,445.2,7.2,626,13007,0.00,2.70,0.00,0.000,4,0.000,0.077,2649,3516,2015
$GC,13045,1.19,217.3,441.9,7.2,628,13050,0.00,2.55,0.00,0.000,6,0.000,0.046,2649,2096,2015
$GC,13372,1.19,217.3,418.2,7.2,644,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2096,2015
$GC,13682,1.19,217.3,396.3,7.0,659,13686,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3509,2015
$GC,13720,1.19,217.3,393.5,7.1,661,13725,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2096,2015
$GC,14046,1.19,217.3,371.5,6.4,677,14047,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2095,2016
$GC,14355,1.19,217.3,351.4,6.8,692,14357,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2095,2016
$GC,14664,1.19,217.3,329.8,7.1,707,14669,0.00,2.67,0.00,0.000,4,0.000,0.074,2649,3515,2017
$GC,14714,1.19,217.3,325.9,7.8,709,14718,0.00,2.50,0.00,0.000,6,0.000,0.043,2649,2093,2017
$GC,15035,1.19,217.3,302.5,7.2,725,15039,0.00,2.55,0.00,0.000,4,0.000,0.064,2649,687,2017
$GC,15078,1.19,217.3,299.1,7.8,727,15082,0.00,2.53,0.00,0.000,6,0.000,0.046,2649,2100,2017
$GC,15404,1.19,217.3,276.2,7.1,743,15409,0.00,2.62,0.00,0.000,4,0.000,0.072,2649,3512,2017
$GC,15453,1.19,217.3,272.4,7.5,745,15458,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2094,2017
$GC,15775,1.19,217.3,248.8,7.3,761,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2094,2017
$GC,16084,1.19,217.3,226.6,7.1,776,16089,0.00,2.65,0.00,0.000,4,0.000,0.073,2649,3509,2017
$GC,16161,1.19,217.3,220.4,8.3,779,16167,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2100,2018
$GC,16476,1.19,217.3,197.4,7.1,795,16480,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3515,2018
$GC,16530,1.19,217.3,193.5,7.1,797,16537,0.00,2.53,0.00,0.000,6,0.000,0.044,2649,2098,2018
$GC,16846,1.19,217.3,168.9,7.8,813,16850,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3511,2018
$GC,16900,1.19,217.3,164.1,8.7,815,16907,0.00,2.53,0.00,0.000,6,0.000,0.046,2649,2098,2018
$GC,17217,1.19,217.3,139.5,7.5,831,17222,0.00,2.67,0.00,0.000,4,0.000,0.076,2649,3514,2018
$GC,17257,1.19,217.3,136.4,8.4,833,17261,0.00,2.50,0.00,0.000,6,0.000,0.047,2649,2100,2018
$GC,17583,1.19,217.3,112.6,7.3,849,17587,0.00,2.67,0.00,0.000,4,0.000,0.076,2649,3514,2019
$GC,17621,1.19,217.3,109.6,7.0,851,17626,0.00,2.50,0.00,0.000,6,0.000,0.048,2649,2101,2019
$GC,17948,1.19,217.3,86.3,6.5,867,17952,0.00,2.67,0.00,0.000,4,0.000,0.076,2649,3516,2019
$GC,17991,1.19,217.3,82.8,8.4,869,17995,0.00,2.53,0.00,0.000,6,0.000,0.048,2649,2107,2019
$GC,18318,1.19,217.3,59.0,7.1,885,18319,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2107,2019
$GC,18628,1.19,217.3,38.2,7.0,900,18632,0.00,2.62,0.00,0.000,4,0.000,0.075,2649,3509,2019
$GC,18699,1.19,219.1,33.0,6.0,903,18711,0.00,2.50,4.32,0.604,6,0.000,0.048,2649,2098,2006
$GC,19021,1.19,219.1,12.5,7.1,919,19025,0.00,2.67,0.00,0.000,4,0.000,0.077,2649,3512,2007
$GC,19052,1.19,219.1,9.8,6.8,920,19059,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2105,2006
$STATE,19181,end climb,SURFACE_DEPTH_REACHED
$STATE,19181,begin surface coast
$FINISH,-0.6,1.027333
$STATE,19203,end surface coast,CONTROL_FINISHED_OK
$STATE,19203,begin surface
$SM_CCo,19224,65.00,0.743,1,0,1678,300.00
$SM_GC,0.06,0.00,0.00,65.00,0.000,0.000,0.743,38,2903,1678,-10.91,0.11,300.00
$IRIDIUM_FIX,6216.53,-1137.88,101207,131357
$TT8_MAMPS,0.028379
$HUMID,2047
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.1,105.8
$24V_AH,23.4,29.046
$10V_AH,10.1,13.707
$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,25.675,202.750,315.800,65.000,0.000,78.299,82.079,225.851,5.250,0.000,0.000,13.795,1724.206,14798.079,568.474,2150.736,626.087,33.367,1657.500,0.000,2124.253,0.000,33.177
$DEVICE_MAMPS,158.769,119.652,1208.025,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.087,655.926,577.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47412,928
$CFSIZE,260165632,249626624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,43,1,0
$GPS,101207,152208,6240.100,-1140.828,37,1.2,37,-11.1