version: 66.02
glider: 103
mission: 7
dive: 159
start: 12 11 107 8 29 41
data:
$ID,103
$MISSION,7
$DIVE,159
$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,-65253.461
$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,20
$R_STBD_OVSHOOT,15
$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
$GPS1,082208,6242.366,-1141.931,40,1.1,40,-11.2
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-53.2
$GPS2,082833,6242.435,-1141.863,13,1.3,13,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.080,0.203
$KALMAN_X,-230843.9,-27.7,-250.2,65823.2,-1128.6
$KALMAN_Y,-35424.9,535.1,490.2,161130.5,-5495.1
$MHEAD_RNG_PITCHd_Wd,32.6,5444,-11.1,-6.000
$D_GRID,655
$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,19,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-66.50,0.000,6,0.000,0.000,49,2904,3500
$GC,90,-1.10,-146.6,2.1,-2.9,3,112,11.93,2.62,0.00,0.000,4,0.158,0.057,2165,1489,3502
$GC,363,-1.10,-146.6,31.1,-7.7,15,368,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2895,3502
$GC,690,-1.10,-146.6,54.7,-10.7,31,695,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1490,3502
$GC,807,-1.10,-146.6,65.9,-8.7,36,811,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2908,3502
$GC,1128,-1.10,-146.6,97.4,-9.5,52,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,1438,-1.10,-146.6,119.1,-6.6,67,1442,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1489,3503
$GC,1458,-1.10,-146.6,120.7,-7.0,68,1462,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2901,3502
$GC,1787,-1.10,-146.6,143.9,-8.8,84,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,2094,-1.10,-146.6,171.7,-8.0,99,2098,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1489,3502
$GC,2159,-1.10,-146.6,177.3,-8.7,102,2164,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,2486,-1.10,-146.6,204.2,-8.1,118,2490,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1489,3502
$GC,2517,-1.10,-146.6,206.9,-7.6,119,2524,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,2833,-1.10,-146.6,231.3,-8.0,135,2837,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1486,3502
$GC,2889,-1.10,-146.6,235.9,-8.1,137,2895,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2904,3502
$GC,3203,-1.10,-146.6,262.3,-8.2,153,3207,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1487,3502
$GC,3241,-1.10,-146.6,265.3,-8.6,155,3246,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2900,3502
$GC,3567,-1.10,-146.6,286.9,-6.1,171,3572,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1486,3502
$GC,3607,-1.10,-146.6,289.2,-5.9,173,3611,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2900,3502
$GC,3932,-1.10,-146.6,308.7,-6.0,189,3936,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1487,3502
$GC,3980,-1.10,-146.6,311.8,-6.3,191,3985,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2901,3502
$GC,4302,-1.10,-146.6,333.1,-6.9,207,4306,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1487,3502
$GC,4350,-1.10,-146.6,336.9,-7.8,209,4354,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2906,3502
$GC,4671,-1.10,-146.6,360.6,-7.5,225,4675,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1489,3502
$GC,4719,-1.10,-146.6,364.4,-7.8,227,4724,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2899,3503
$GC,5041,-1.10,-146.6,387.9,-7.5,243,5045,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1489,3502
$GC,5089,-1.10,-146.6,391.6,-7.5,245,5094,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2908,3502
$GC,5411,-1.10,-146.6,414.9,-7.1,261,5415,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1489,3502
$GC,5454,-1.10,-146.6,418.1,-7.1,263,5458,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2900,3502
$GC,5781,-1.10,-146.6,439.7,-6.3,279,5784,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1489,3502
$GC,5818,-1.10,-146.6,442.3,-7.1,280,5826,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2892,3502
$GC,6134,-1.10,-146.6,462.7,-6.6,296,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2892,3502
$GC,6444,-1.10,-146.6,484.2,-6.8,311,6448,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1484,3502
$GC,6498,-1.10,-146.6,487.9,-6.8,313,6505,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2894,3502
$GC,6814,-1.10,-146.6,506.4,-5.6,329,6819,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1483,3502
$GC,6881,-1.10,-146.6,510.2,-5.8,332,6885,0.00,2.58,0.00,0.000,6,0.000,0.062,2165,2900,3502
$GC,7201,-1.10,-146.6,527.8,-5.5,348,7205,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1487,3502
$GC,7285,-1.10,-146.6,532.8,-5.9,352,7290,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2908,3502
$GC,7611,-1.10,-146.6,551.6,-5.6,368,7616,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1482,3502
$GC,7696,-1.10,-146.6,556.9,-5.9,372,7700,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2900,3502
$GC,8021,-1.10,-146.6,581.2,-7.6,388,8025,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1485,3502
$GC,8081,-1.10,-146.6,585.6,-6.5,390,8088,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2895,3502
$GC,8397,-1.10,-146.6,606.3,-6.6,406,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3502
$GC,8706,-1.10,-146.6,625.8,-6.5,421,8711,0.00,2.53,0.00,0.000,4,0.000,0.057,2165,1484,3503
$GC,8757,-1.10,-146.6,629.0,-5.7,423,8762,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2904,3502
$STATE,9030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9030,begin apogee
$GC,9036,-0.42,0.0,646.2,6.2,436,9164,0.75,0.00,125.18,1.212,6,0.082,0.000,2317,2093,2901
$STATE,9165,end apogee,CONTROL_FINISHED_OK
$STATE,9165,begin climb
$GC,9167,1.10,146.6,650.9,0.0,442,9297,1.55,2.62,122.57,1.183,4,0.058,0.061,2648,693,2303
$GC,9319,1.13,168.5,649.6,5.4,450,9344,0.00,2.53,20.08,1.101,6,0.000,0.038,2648,2116,2213
$GC,9666,1.13,168.5,629.5,6.2,467,9670,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3508,2212
$GC,9731,1.13,168.5,625.2,7.2,470,9736,0.00,2.53,0.00,0.000,6,0.000,0.040,2648,2097,2212
$GC,10060,1.14,176.9,605.5,5.8,486,10070,0.00,0.00,8.45,1.061,6,0.000,0.000,2648,2097,2179
$GC,10368,1.18,211.4,589.3,5.0,501,10403,0.00,2.70,30.05,1.177,4,0.000,0.069,2648,3502,2038
$GC,10471,1.18,211.4,583.3,6.4,505,10475,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2096,2038
$GC,10797,1.20,223.0,563.7,5.7,521,10810,0.10,0.00,11.07,1.072,6,0.053,0.000,2677,2096,1991
$GC,11106,1.20,223.0,542.5,7.0,536,11110,0.00,2.62,0.00,0.000,4,0.000,0.067,2677,3505,1990
$GC,11131,1.20,223.0,540.3,8.1,537,11136,0.00,2.50,0.00,0.000,6,0.000,0.038,2677,2099,1990
$GC,11453,1.20,223.0,517.3,7.5,553,11457,0.00,2.53,0.00,0.000,4,0.000,0.058,2677,694,1990
$GC,11529,1.20,223.0,511.1,8.5,556,11536,0.00,2.47,0.00,0.000,6,0.000,0.041,2677,2090,1990
$GC,11845,1.20,223.0,487.2,7.8,572,11849,0.00,2.62,0.00,0.000,4,0.000,0.069,2677,3506,1989
$GC,11899,1.20,223.0,482.4,9.0,574,11906,0.00,2.50,0.00,0.000,6,0.000,0.040,2677,2099,1989
$GC,12214,1.20,223.0,455.6,8.5,590,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1989
$GC,12524,1.20,223.0,430.2,8.0,605,12528,0.00,2.62,0.00,0.000,4,0.000,0.067,2677,3508,1989
$GC,12585,1.20,223.0,425.4,7.3,608,12589,0.00,2.47,0.00,0.000,6,0.000,0.041,2677,2099,1990
$GC,12910,1.20,223.0,401.1,7.3,624,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1990
$GC,13219,1.20,223.0,379.6,6.8,639,13223,0.00,2.62,0.00,0.000,4,0.000,0.069,2677,3510,1990
$GC,13258,1.20,223.0,376.9,7.5,641,13262,0.00,2.47,0.00,0.000,6,0.000,0.042,2677,2099,1990
$GC,13583,1.20,223.0,354.9,6.6,657,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1990
$GC,13892,1.20,223.0,335.3,6.2,672,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1991
$GC,14201,1.20,223.0,312.6,7.4,687,14206,0.00,2.62,0.00,0.000,4,0.000,0.071,2677,3508,1991
$GC,14256,1.20,223.0,308.0,8.3,689,14263,0.00,2.50,0.00,0.000,6,0.000,0.044,2677,2102,1991
$GC,14572,1.20,223.0,284.1,8.1,705,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2102,1991
$GC,14881,1.20,223.0,257.1,9.0,720,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2102,1992
$GC,15190,1.20,223.0,228.2,9.0,735,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2102,1992
$GC,15499,1.20,223.0,199.6,9.0,750,15504,0.00,2.62,0.00,0.000,4,0.000,0.071,2677,3507,1992
$GC,15538,1.20,223.0,196.0,8.8,752,15543,0.00,2.50,0.00,0.000,6,0.000,0.046,2677,2094,1992
$GC,15864,1.20,223.0,165.4,9.6,768,15868,0.00,2.53,0.00,0.000,4,0.000,0.061,2677,697,1992
$GC,15902,1.20,223.0,161.6,10.0,770,15907,0.00,2.47,0.00,0.000,6,0.000,0.044,2677,2103,1993
$GC,16230,1.20,223.0,135.4,7.1,786,16234,0.00,2.60,0.00,0.000,4,0.000,0.070,2677,3511,1993
$GC,16292,1.20,223.0,130.4,8.0,789,16297,0.00,2.47,0.00,0.000,6,0.000,0.044,2677,2100,1993
$GC,16619,1.20,223.0,105.6,8.1,805,16620,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1993
$GC,16929,1.20,223.0,83.1,6.5,820,16930,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1993
$GC,17238,1.20,223.0,61.7,6.4,835,17239,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1993
$GC,17547,1.20,223.0,42.8,6.2,850,17548,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1994
$GC,17856,1.20,223.0,19.0,9.8,865,17857,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1994
$STATE,18019,end climb,SURFACE_DEPTH_REACHED
$STATE,18019,begin surface coast
$FINISH,0.8,1.027316
$STATE,18041,end surface coast,CONTROL_FINISHED_OK
$STATE,18041,begin surface
$SM_CCo,18062,62.67,0.750,1,0,1678,300.00
$SM_GC,-0.10,0.00,0.00,62.67,0.000,0.000,0.750,48,2900,1678,-10.87,0.00,300.00
$IRIDIUM_FIX,6216.53,-1148.01,111207,060611
$TT8_MAMPS,0.029146
$HUMID,2065
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.8,54.2
$24V_AH,23.4,29.600
$10V_AH,10.1,14.063
$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,26.150,167.700,317.400,62.675,0.000,35.952,42.080,201.702,5.500,0.000,0.000,13.670,1612.618,13948.230,561.190,1904.601,503.415,33.372,1508.870,0.000,1888.428,0.000,34.657
$DEVICE_MAMPS,158.002,75.166,1211.860,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.621,618.025,548.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44234,874
$CFSIZE,260165632,249372672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,111207,133337,6244.379,-1138.214,71,1.3,71,-11.1