version: 66.02
glider: 103
mission: 7
dive: 120
start: 12 2 107 16 58 33
data:
$ID,103
$MISSION,7
$DIVE,120
$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,-3
$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,-64563.672
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,17
$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
$GPS1,164433,6216.043,-947.495,38,1.8,39,-9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-57.5
$GPS2,165727,6215.996,-947.392,14,1.8,14,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,BW
$TGT_LATLONG,6220.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.069,0.207
$KALMAN_X,-113395.1,639.1,986.7,47395.4,-6199.3
$KALMAN_Y,55251.9,435.6,1074.1,21002.1,-4359.7
$MHEAD_RNG_PITCHd_Wd,28.3,7748,-11.1,-6.000
$D_GRID,643
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-62.35,0.000,2,0.000,0.000,49,2900,3382
$GC,85,-1.10,-146.6,3.3,-8.9,3,107,11.98,2.60,-2.12,0.000,4,0.160,0.071,2163,1491,3503
$GC,224,-1.10,-146.6,22.1,-8.0,9,229,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2898,3503
$GC,551,-1.10,-146.6,43.3,-6.4,25,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3503
$GC,861,-1.10,-146.6,64.2,-6.5,40,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3503
$GC,1170,-1.10,-146.6,81.8,-6.3,55,1174,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3503
$GC,1212,-1.10,-146.6,85.3,-8.0,57,1217,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2900,3503
$GC,1539,-1.10,-146.6,110.5,-7.8,73,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,1849,-1.10,-146.6,132.9,-6.6,88,1853,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3503
$GC,1920,-1.10,-146.6,138.4,-7.8,91,1924,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2909,3503
$GC,2240,-1.10,-146.6,162.2,-7.1,107,2245,0.00,2.60,0.00,0.000,4,0.000,0.062,2163,1489,3503
$GC,2301,-1.10,-146.6,166.4,-6.9,110,2305,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2899,3503
$GC,2627,-1.10,-146.6,189.5,-7.0,126,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,2936,-1.10,-146.6,210.5,-7.0,141,2941,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1492,3503
$GC,2980,-1.10,-146.6,213.6,-7.1,143,2984,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2891,3503
$GC,3307,-1.10,-146.6,235.3,-6.6,159,3311,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1488,3503
$GC,3345,-1.10,-146.6,238.0,-6.8,161,3350,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2900,3503
$GC,3670,-1.10,-146.6,260.7,-7.3,177,3675,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1490,3503
$GC,3713,-1.10,-146.6,264.2,-7.8,179,3718,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2898,3503
$GC,4040,-1.10,-146.6,287.8,-7.4,195,4045,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1491,3503
$GC,4072,-1.10,-146.6,290.1,-6.8,196,4079,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2899,3503
$GC,4388,-1.10,-146.6,314.3,-8.2,212,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,4697,-1.10,-146.6,340.9,-8.6,227,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,5006,-1.10,-146.6,365.5,-7.9,242,5011,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1489,3503
$GC,5095,-1.10,-146.6,372.5,-7.4,246,5099,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2902,3503
$GC,5421,-1.10,-146.6,397.5,-8.4,262,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,5731,-1.10,-146.6,422.1,-7.9,277,5735,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1489,3503
$GC,5756,-1.10,-146.6,424.2,-7.5,278,5761,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,6078,-1.10,-146.6,447.7,-6.8,294,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,6387,-1.10,-146.6,469.1,-6.6,309,6391,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1490,3503
$GC,6426,-1.10,-146.6,471.6,-6.9,311,6430,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3503
$GC,6751,-1.10,-146.6,491.6,-6.0,327,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,7060,-1.10,-146.6,514.1,-8.6,342,7064,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1483,3503
$GC,7103,-1.10,-146.6,518.1,-8.6,344,7107,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2897,3503
$GC,7430,-1.10,-146.6,538.6,-5.5,360,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3503
$GC,7739,-1.10,-146.6,555.8,-5.8,375,7743,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1489,3503
$GC,7832,-1.10,-146.6,562.1,-7.1,379,7837,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2900,3503
$GC,8154,-1.10,-146.6,586.8,-7.4,395,8158,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1481,3503
$GC,8237,-1.10,-146.6,593.3,-7.7,399,8242,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2899,3503
$GC,8563,-1.10,-146.6,617.3,-6.7,415,8567,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1482,3503
$GC,8617,-1.10,-146.6,621.3,-7.8,417,8624,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2897,3503
$STATE,8807,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8807,begin apogee
$GC,8813,-0.42,0.0,635.2,7.3,427,8941,0.75,0.00,124.32,1.172,6,0.084,0.000,2316,2000,2901
$STATE,8941,end apogee,CONTROL_FINISHED_OK
$STATE,8942,begin climb
$GC,8943,1.10,146.6,641.0,0.0,433,9074,1.55,2.70,121.68,1.151,4,0.052,0.062,2650,588,2303
$GC,9282,1.10,146.6,628.7,6.5,448,9289,0.00,2.53,0.00,0.000,6,0.000,0.041,2650,2005,2302
$GC,9597,1.10,146.6,606.8,7.7,464,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2005,2302
$GC,9907,1.10,146.6,583.2,7.1,479,9911,0.00,2.62,0.00,0.000,4,0.000,0.072,2649,3407,2301
$GC,9961,1.10,146.6,579.7,7.1,481,9968,0.00,2.55,0.00,0.000,6,0.000,0.044,2650,1990,2300
$GC,10276,1.11,149.7,561.9,5.9,497,10285,0.00,2.67,4.00,0.779,4,0.000,0.071,2650,3405,2290
$GC,10320,1.11,149.7,559.3,6.4,499,10325,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,1997,2290
$GC,10645,1.12,158.6,540.0,5.8,515,10659,0.00,2.65,8.80,1.021,4,0.000,0.063,2650,578,2254
$GC,10762,1.18,209.3,533.9,4.6,520,10812,0.00,2.55,43.10,1.137,6,0.000,0.044,2650,2005,2047
$GC,11128,1.19,216.3,514.1,5.8,538,11142,0.00,2.70,7.40,0.953,4,0.000,0.071,2650,3406,2019
$GC,11255,1.19,216.3,505.8,6.9,543,11262,0.00,2.55,0.00,0.000,6,0.000,0.051,2650,1989,2019
$GC,11570,1.19,216.3,485.2,6.6,559,11575,0.00,2.67,0.00,0.000,4,0.000,0.075,2650,3408,2018
$GC,11631,1.19,216.3,480.8,6.9,562,11636,0.00,2.53,0.00,0.000,6,0.000,0.051,2650,2000,2019
$GC,11957,1.19,216.3,459.1,6.6,578,11962,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3405,2019
$GC,12040,1.19,216.3,453.2,7.3,582,12044,0.00,2.53,0.00,0.000,6,0.000,0.050,2650,1995,2019
$GC,12366,1.19,216.3,431.1,6.7,598,12370,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3406,2018
$GC,12476,1.19,216.3,422.9,7.6,603,12481,0.00,2.53,0.00,0.000,6,0.000,0.049,2650,2008,2019
$GC,12803,1.19,216.3,401.0,6.5,619,12807,0.00,2.62,0.00,0.000,4,0.000,0.076,2650,3407,2019
$GC,12941,1.19,216.3,391.5,6.9,625,12946,0.00,2.50,0.00,0.000,6,0.000,0.049,2650,1999,2019
$GC,13263,1.19,216.3,368.9,7.7,641,13267,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3406,2019
$GC,13346,1.19,216.3,362.4,7.7,645,13350,0.00,2.50,0.00,0.000,6,0.000,0.050,2650,1996,2019
$GC,13677,1.19,216.3,336.7,8.5,661,13682,0.00,2.67,0.00,0.000,4,0.000,0.076,2650,3408,2019
$GC,13794,1.19,216.3,326.0,8.7,666,13798,0.00,2.53,0.00,0.000,6,0.000,0.051,2650,1994,2019
$GC,14115,1.19,216.3,299.1,8.3,682,14119,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3408,2019
$GC,14214,1.19,216.3,290.6,8.5,686,14221,0.00,2.53,0.00,0.000,6,0.000,0.051,2650,2009,2019
$GC,14529,1.19,216.3,263.1,9.0,702,14534,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3412,2019
$GC,14651,1.19,216.3,252.2,9.4,707,14658,0.00,2.53,0.00,0.000,6,0.000,0.051,2650,1999,2020
$GC,14966,1.19,216.3,225.5,8.2,723,14971,0.00,2.67,0.00,0.000,4,0.000,0.080,2650,3413,2020
$GC,15066,1.19,216.3,217.5,7.5,727,15072,0.00,2.53,0.00,0.000,6,0.000,0.053,2650,1999,2020
$GC,15381,1.19,216.3,193.8,7.2,743,15385,0.00,2.67,0.00,0.000,4,0.000,0.077,2650,3410,2020
$GC,15474,1.19,216.3,186.1,7.9,747,15479,0.00,2.55,0.00,0.000,6,0.000,0.054,2650,1999,2020
$GC,15795,1.19,216.3,163.5,6.8,763,15800,0.00,2.65,0.00,0.000,4,0.000,0.075,2650,3406,2021
$GC,15879,1.19,216.3,157.1,8.2,767,15883,0.00,2.50,0.00,0.000,6,0.000,0.052,2650,2000,2021
$GC,16205,1.19,216.3,132.7,6.1,783,16210,0.00,2.65,0.00,0.000,4,0.000,0.077,2650,3406,2021
$GC,16289,1.19,216.3,127.0,6.9,787,16294,0.00,2.53,0.00,0.000,6,0.000,0.053,2650,1996,2021
$GC,16615,1.22,240.9,110.6,5.3,803,16644,0.12,2.72,21.35,0.808,4,0.047,0.075,2688,3406,1919
$GC,16701,1.22,240.9,103.6,9.8,807,16705,0.00,2.55,0.00,0.000,6,0.000,0.054,2688,1998,1918
$GC,17026,1.22,240.9,77.3,6.1,823,17031,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3406,1918
$GC,17075,1.25,265.1,75.0,5.3,825,17100,0.00,2.53,20.48,0.775,6,0.000,0.053,2688,1997,1820
$GC,17417,1.25,265.1,47.0,11.8,842,17421,0.00,2.67,0.00,0.000,4,0.000,0.074,2688,3412,1819
$GC,17460,1.25,265.1,42.6,10.7,844,17464,0.00,2.60,0.00,0.000,6,0.000,0.061,2688,2001,1819
$GC,17787,1.25,265.1,21.1,7.6,860,17788,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2001,1819
$STATE,18012,end climb,SURFACE_DEPTH_REACHED
$STATE,18012,begin surface coast
$FINISH,-0.9,1.027312
$STATE,18034,end surface coast,CONTROL_FINISHED_OK
$STATE,18034,begin surface
$SM_CCo,18054,29.38,0.713,1,0,1678,300.00
$SM_GC,-0.08,0.00,0.00,29.38,0.000,0.000,0.713,40,2895,1678,-10.90,-0.14,300.00
$IRIDIUM_FIX,6148.92,-939.88,021207,202013
$TT8_MAMPS,0.029146
$HUMID,2069
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.9,43.0
$24V_AH,23.5,24.037
$10V_AH,10.1,10.720
$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,25.950,185.200,351.125,29.375,0.000,117.441,208.582,224.450,5.750,0.000,0.000,14.713,1642.903,13819.754,531.726,2133.335,749.550,33.368,1597.469,0.000,2098.341,0.000,37.532
$DEVICE_MAMPS,159.536,96.642,1171.976,712.543,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.225,612.197,569.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44189,872
$CFSIZE,260165632,251867136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,021207,220108,6217.091,-948.358,32,1.6,32,-9.9