version: 66.02
glider: 103
mission: 7
dive: 201
start: 12 20 107 6 7 2
data:
$ID,103
$MISSION,7
$DIVE,201
$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,-1
$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,-66132.477
$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,8
$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
$GPS1,054828,6301.894,-1256.989,26,2.5,45,-12.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-54.4
$GPS2,060559,6301.727,-1256.951,31,2.3,50,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.010,0.218
$KALMAN_X,-229477.3,-1194.7,588.2,-1415.4,-4235.6
$KALMAN_Y,-131198.7,281.3,1010.9,292379.1,-8590.9
$MHEAD_RNG_PITCHd_Wd,14.7,24712,-11.1,-6.000
$D_GRID,638
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,85,0.00,0.00,-61.25,0.000,2,0.000,0.000,41,2900,3438
$GC,88,-1.10,-146.6,4.0,-10.0,3,110,12.07,2.65,-1.08,0.000,4,0.163,0.081,2164,1493,3501
$GC,362,-1.10,-146.6,32.5,-6.0,15,367,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2908,3501
$GC,683,-1.10,-146.6,53.6,-7.6,31,687,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1490,3502
$GC,776,-1.10,-146.6,60.8,-6.9,35,780,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2901,3502
$GC,1100,-1.10,-146.6,80.4,-5.2,51,1104,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1490,3502
$GC,1143,-1.10,-146.6,83.2,-6.1,53,1147,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2906,3502
$GC,1470,-1.10,-146.6,105.0,-7.3,69,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,1779,-1.10,-146.6,130.2,-8.5,84,1784,0.00,2.65,0.00,0.000,4,0.000,0.070,2164,1482,3502
$GC,1818,-1.10,-146.6,133.5,-8.4,86,1822,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2901,3502
$GC,2143,-1.10,-146.6,161.9,-8.4,102,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,2453,-1.10,-146.6,185.6,-7.3,117,2457,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1490,3502
$GC,2496,-1.10,-146.6,188.7,-6.9,119,2500,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2906,3502
$GC,2822,-1.10,-146.6,213.1,-7.7,135,2827,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1488,3502
$GC,2866,-1.10,-146.6,216.5,-7.5,137,2871,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2908,3502
$GC,3187,-1.10,-146.6,241.6,-7.8,153,3191,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1489,3502
$GC,3218,-1.10,-146.6,244.3,-8.6,154,3225,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2908,3502
$GC,3534,-1.10,-146.6,269.2,-7.6,170,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,3843,-1.10,-146.6,292.2,-7.5,185,3848,0.00,2.65,0.00,0.000,4,0.000,0.070,2164,1481,3502
$GC,3875,-1.10,-146.6,294.7,-7.6,186,3882,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2899,3502
$GC,4191,-1.10,-146.6,317.4,-7.0,202,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,4500,-1.10,-146.6,338.8,-6.9,217,4505,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1489,3502
$GC,4544,-1.10,-146.6,342.0,-7.4,219,4548,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2900,3502
$GC,4871,-1.10,-146.6,366.6,-7.6,235,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,5180,-1.10,-146.6,391.2,-8.1,250,5184,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1488,3502
$GC,5241,-1.10,-146.6,396.1,-8.5,253,5245,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2902,3502
$GC,5566,-1.10,-146.6,420.7,-7.6,269,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,5875,-1.10,-146.6,443.4,-7.4,284,5880,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1480,3502
$GC,5918,-1.10,-146.6,446.6,-7.5,286,5923,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2901,3502
$GC,6245,-1.10,-146.6,469.8,-6.7,302,6250,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1487,3502
$GC,6279,-1.10,-146.6,472.0,-6.4,303,6285,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2900,3502
$GC,6594,-1.10,-146.6,492.8,-6.7,319,6598,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1481,3502
$GC,6633,-1.10,-146.6,495.5,-7.2,321,6637,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2900,3502
$GC,6958,-1.10,-146.6,520.9,-8.6,337,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,7267,-1.10,-146.6,547.1,-8.5,352,7272,0.00,2.53,0.00,0.000,4,0.000,0.056,2165,1481,3502
$GC,7333,-1.10,-146.6,552.7,-7.9,355,7338,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2900,3502
$GC,7661,-1.10,-146.6,572.6,-5.7,371,7665,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1475,3502
$GC,7699,-1.10,-146.6,575.0,-6.8,373,7704,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2909,3502
$GC,8025,-1.10,-146.6,593.2,-4.7,389,8026,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,8334,-1.10,-146.6,609.4,-6.3,404,8338,0.00,2.53,0.00,0.000,4,0.000,0.052,2164,1480,3502
$GC,8446,-1.10,-146.6,617.1,-7.0,409,8450,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2908,3501
$STATE,8666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8666,begin apogee
$GC,8673,-0.42,0.0,631.8,7.0,420,8801,0.75,0.00,125.22,1.213,6,0.080,0.000,2319,2091,2901
$STATE,8802,end apogee,CONTROL_FINISHED_OK
$STATE,8802,begin climb
$GC,8804,1.10,146.6,636.2,0.0,426,8936,1.52,2.60,121.95,1.183,4,0.049,0.055,2651,704,2303
$GC,9003,1.17,200.9,633.1,4.5,435,9056,0.00,2.47,46.70,1.151,6,0.000,0.035,2651,2125,2082
$GC,9364,1.17,200.9,609.6,7.3,453,9368,0.00,2.53,0.00,0.000,4,0.000,0.066,2651,3493,2080
$GC,9385,1.17,200.9,608.1,6.1,454,9390,0.00,2.47,0.00,0.000,6,0.000,0.036,2652,2075,2080
$GC,9712,1.19,216.3,588.0,5.6,470,9733,0.00,0.00,14.10,1.112,6,0.000,0.000,2651,2074,2019
$GC,10042,1.19,216.3,565.5,7.0,486,10046,0.00,2.67,0.00,0.000,4,0.000,0.068,2651,3498,2018
$GC,10113,1.19,216.3,560.0,7.9,489,10117,0.00,2.45,0.00,0.000,6,0.000,0.038,2651,2100,2018
$GC,10434,1.19,216.3,537.7,6.6,505,10438,0.00,2.53,0.00,0.000,4,0.000,0.057,2651,697,2016
$GC,10482,1.19,216.3,534.2,7.7,507,10487,0.00,2.42,0.00,0.000,6,0.000,0.038,2651,2088,2016
$GC,10804,1.19,216.3,511.5,6.9,523,10808,0.00,2.62,0.00,0.000,4,0.000,0.070,2651,3505,2015
$GC,10948,1.19,216.3,501.0,6.2,529,10955,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2099,2015
$GC,11263,1.19,216.3,479.5,7.2,545,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,2015
$GC,11573,1.19,216.3,457.5,6.8,560,11577,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3505,2015
$GC,11644,1.19,216.3,452.2,7.7,563,11648,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2098,2015
$GC,11965,1.19,216.3,430.6,6.6,579,11969,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3508,2015
$GC,12004,1.19,216.3,427.7,7.8,581,12008,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2101,2015
$GC,12329,1.19,216.3,406.1,6.5,597,12334,0.00,2.65,0.00,0.000,4,0.000,0.071,2651,3512,2015
$GC,12396,1.19,216.3,401.7,7.3,600,12400,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2102,2015
$GC,12723,1.19,216.3,380.3,6.6,616,12724,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2102,2015
$GC,13032,1.19,216.3,358.6,7.2,631,13036,0.00,2.62,0.00,0.000,4,0.000,0.074,2651,3505,2015
$GC,13086,1.19,216.3,354.4,7.4,633,13092,0.00,2.47,0.00,0.000,6,0.000,0.044,2651,2098,2015
$GC,13402,1.19,216.3,331.8,7.4,649,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,2016
$GC,13711,1.19,216.3,309.3,7.3,664,13715,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3509,2016
$GC,13782,1.19,216.3,303.7,8.2,667,13786,0.00,2.47,0.00,0.000,6,0.000,0.045,2651,2099,2016
$GC,14103,1.19,216.3,281.4,6.7,683,14107,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3509,2017
$GC,14157,1.19,216.3,277.4,7.3,685,14164,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2101,2017
$GC,14473,1.19,216.3,255.9,6.8,701,14478,0.00,2.62,0.00,0.000,4,0.000,0.074,2651,3505,2017
$GC,14528,1.19,216.3,251.5,7.4,703,14535,0.00,2.47,0.00,0.000,6,0.000,0.044,2652,2099,2017
$GC,14844,1.19,216.3,229.3,7.2,719,14848,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3505,2018
$GC,14915,1.19,216.3,223.9,7.6,722,14919,0.00,2.47,0.00,0.000,6,0.000,0.044,2651,2099,2018
$GC,15236,1.19,216.3,201.8,6.6,738,15240,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3508,2018
$GC,15274,1.19,216.3,199.1,6.9,740,15278,0.00,2.47,0.00,0.000,6,0.000,0.045,2651,2099,2018
$GC,15600,1.19,216.3,177.5,6.7,756,15604,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3508,2018
$GC,15654,1.19,216.3,173.5,7.2,758,15661,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2103,2018
$GC,15970,1.21,230.5,154.2,5.6,774,15989,0.00,0.00,13.30,0.836,6,0.000,0.000,2651,2103,1961
$GC,16299,1.21,231.3,135.6,6.0,790,16304,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3512,1960
$GC,16384,1.21,231.3,129.8,6.8,794,16388,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,2100,1960
$GC,16710,1.21,231.3,107.9,6.7,810,16714,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3506,1960
$GC,16771,1.21,231.3,103.9,6.6,813,16775,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,2093,1960
$GC,17097,1.21,233.2,85.5,5.9,829,17103,0.10,0.00,3.95,0.607,6,0.050,0.000,2683,2093,1950
$GC,17408,1.21,233.2,63.3,6.8,844,17412,0.00,2.67,0.00,0.000,4,0.000,0.074,2683,3512,1950
$GC,17447,1.21,233.2,60.0,6.4,846,17451,0.00,2.53,0.00,0.000,6,0.000,0.046,2684,2094,1950
$GC,17773,1.21,233.2,31.8,8.2,862,17774,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1950
$GC,18082,1.21,233.2,4.1,10.0,877,18086,0.00,2.53,0.00,0.000,4,0.000,0.061,2683,694,1950
$STATE,18100,end climb,SURFACE_DEPTH_REACHED
$STATE,18100,begin surface coast
$FINISH,1.2,1.027277
$STATE,18107,end surface coast,CONTROL_FINISHED_OK
$STATE,18107,begin surface
$SM_CCo,18132,52.47,0.772,0,0,1678,300.00
$SM_GC,-0.20,0.00,0.00,52.47,0.000,0.000,0.772,46,2893,1678,-10.87,-0.20,300.00
$IRIDIUM_FIX,6235.17,-1303.58,201207,090940
$TT8_MAMPS,0.029146
$HUMID,2060
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,19.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.0,90.7
$24V_AH,23.4,35.524
$10V_AH,10.1,17.584
$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,26.300,184.100,325.225,52.475,0.000,157.504,239.451,320.951,5.000,0.000,0.000,51.245,1624.018,14092.702,541.946,2032.329,959.695,33.361,1546.554,0.000,1963.766,0.000,31.516
$DEVICE_MAMPS,162.604,80.535,1213.394,771.602,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.599,616.163,566.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44293,878
$CFSIZE,260165632,246767616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,201207,111128,6302.126,-1300.514,26,2.1,45,-12.0