version: 66.02
glider: 103
mission: 7
dive: 122
start: 12 3 107 3 38 28
data:
$ID,103
$MISSION,7
$DIVE,122
$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,-64593.109
$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,20
$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
$GPS1,032808,6218.959,-948.934,37,1.1,37,-10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.36
$_SM_ANGLEo,-54.0
$GPS2,033721,6218.939,-948.962,13,1.1,13,-10.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.015,0.218
$KALMAN_X,-117334.2,-10.8,151.6,51450.8,-3744.8
$KALMAN_Y,53615.8,-194.5,638.0,29176.9,-2282.0
$MHEAD_RNG_PITCHd_Wd,6.1,40635,-11.1,-6.000
$D_GRID,630
$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,-62.38,0.000,2,0.000,0.000,40,2909,3383
$GC,85,-1.10,-146.6,3.3,-8.6,3,106,12.07,0.00,-2.15,0.000,6,0.161,0.000,2164,2909,3503
$GC,416,-1.10,-146.6,44.7,-7.6,19,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3503
$GC,724,-1.10,-146.6,65.9,-7.4,34,729,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1486,3503
$GC,779,-1.10,-146.6,70.9,-8.8,36,786,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2898,3503
$GC,1094,-1.10,-146.6,96.0,-6.5,52,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3504
$GC,1404,-1.10,-146.6,116.4,-6.3,67,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,1714,-1.10,-146.6,136.1,-5.9,82,1718,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1487,3504
$GC,1774,-1.10,-146.6,139.8,-6.4,85,1779,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2901,3504
$GC,2101,-1.10,-146.6,170.1,-9.0,101,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,2410,-1.10,-146.6,194.1,-7.5,116,2414,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1490,3504
$GC,2458,-1.10,-146.6,197.9,-7.6,118,2462,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2898,3504
$GC,2779,-1.10,-146.6,222.6,-7.8,134,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3504
$GC,3088,-1.10,-146.6,248.2,-8.5,149,3092,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1488,3504
$GC,3154,-1.10,-146.6,253.6,-7.9,152,3159,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3504
$GC,3481,-1.10,-146.6,278.7,-8.0,168,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3504
$GC,3790,-1.10,-146.6,303.4,-8.0,183,3794,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1485,3504
$GC,3844,-1.10,-146.6,307.7,-7.8,185,3852,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2894,3504
$GC,4160,-1.10,-146.6,331.5,-7.3,201,4165,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1483,3504
$GC,4192,-1.10,-146.6,334.0,-7.3,202,4199,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2892,3504
$GC,4508,-1.10,-146.6,355.3,-6.2,218,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2892,3503
$GC,4818,-1.10,-146.6,375.3,-6.6,233,4823,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1491,3504
$GC,4867,-1.10,-146.6,378.9,-7.2,235,4872,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2890,3504
$GC,5189,-1.10,-146.6,403.7,-8.0,251,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2890,3504
$GC,5498,-1.10,-146.6,428.5,-7.7,266,5502,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1490,3504
$GC,5559,-1.10,-146.6,433.2,-7.5,269,5563,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2909,3504
$GC,5884,-1.10,-146.6,453.8,-5.5,285,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3504
$GC,6193,-1.10,-146.6,472.8,-7.1,300,6198,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1490,3504
$GC,6281,-1.10,-146.6,480.1,-8.8,304,6286,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2891,3504
$GC,6608,-1.10,-146.6,506.6,-7.2,320,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2891,3504
$GC,6919,-1.10,-146.6,525.5,-5.9,335,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2891,3504
$GC,7227,-1.10,-146.6,545.1,-6.3,350,7230,0.00,1.65,0.00,0.000,4,0.000,0.082,2164,3781,3504
$GC,7306,-1.10,-146.6,550.1,-6.5,353,7310,0.00,1.52,0.00,0.000,6,0.000,0.034,2164,2886,3504
$GC,7627,-1.10,-146.6,568.1,-5.6,369,7631,0.00,2.47,0.00,0.000,4,0.000,0.060,2164,1504,3504
$GC,7675,-1.10,-146.6,571.5,-6.9,371,7680,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2898,3504
$GC,7996,-1.10,-146.6,592.2,-6.8,387,8000,0.00,2.53,0.00,0.000,4,0.000,0.059,2165,1502,3503
$GC,8045,-1.10,-146.6,595.6,-6.8,389,8050,0.00,2.58,0.00,0.000,6,0.000,0.067,2165,2907,3503
$GC,8366,-1.10,-146.6,618.3,-7.5,405,8371,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1495,3504
$STATE,8431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8431,begin apogee
$GC,8436,-0.42,0.0,623.1,7.9,408,8565,0.73,0.00,124.90,1.183,6,0.084,0.000,2315,2006,2901
$STATE,8565,end apogee,CONTROL_FINISHED_OK
$STATE,8565,begin climb
$GC,8567,1.10,146.6,629.1,0.0,414,8698,1.55,2.65,121.80,1.150,4,0.054,0.062,2649,611,2302
$GC,8805,1.12,159.1,622.4,5.7,425,8822,0.00,2.47,11.98,1.009,6,0.000,0.041,2649,2004,2252
$GC,9130,1.16,189.3,601.8,5.2,441,9158,0.00,0.00,26.40,1.101,6,0.000,0.000,2649,2004,2129
$GC,9459,1.16,189.3,578.6,8.1,457,9463,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3409,2128
$GC,9519,1.16,189.3,573.5,8.4,460,9524,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2015,2127
$GC,9845,1.16,189.3,550.0,6.6,476,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2015,2127
$GC,10155,1.16,189.3,529.4,7.1,491,10159,0.00,2.60,0.00,0.000,4,0.000,0.069,2649,3407,2126
$GC,10283,1.16,189.3,520.2,7.0,497,10287,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,1999,2125
$GC,10608,1.16,189.3,498.9,7.0,513,10612,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3404,2125
$GC,10714,1.16,189.3,490.8,7.4,518,10718,0.00,2.47,0.00,0.000,6,0.000,0.043,2649,1999,2125
$GC,11039,1.23,249.8,472.5,4.3,534,11095,0.12,2.67,49.72,1.086,4,0.049,0.067,2683,3404,1882
$GC,11216,1.23,249.8,459.9,8.1,541,11221,0.00,2.50,0.00,0.000,6,0.000,0.041,2683,2004,1882
$GC,11538,1.23,249.8,431.1,10.2,557,11542,0.00,2.60,0.00,0.000,4,0.000,0.064,2683,3406,1881
$GC,11603,1.23,249.8,424.1,10.9,560,11608,0.00,2.47,0.00,0.000,6,0.000,0.040,2683,1996,1881
$GC,11930,1.23,249.8,391.7,9.4,576,11934,0.00,2.62,0.00,0.000,4,0.000,0.066,2683,3409,1882
$GC,12001,1.23,249.8,384.8,10.3,579,12005,0.00,2.50,0.00,0.000,6,0.000,0.041,2683,2001,1882
$GC,12322,1.23,249.8,354.8,9.1,595,12326,0.00,2.55,0.00,0.000,4,0.000,0.060,2683,590,1882
$GC,12370,1.23,249.8,350.3,8.7,597,12375,0.00,2.50,0.00,0.000,6,0.000,0.040,2683,1991,1882
$GC,12691,1.23,249.8,319.7,8.0,613,12696,0.00,2.62,0.00,0.000,4,0.000,0.069,2683,3413,1882
$GC,12775,1.23,249.8,312.8,7.1,617,12780,0.00,2.50,0.00,0.000,6,0.000,0.044,2683,2000,1882
$GC,13100,1.23,249.8,289.3,8.1,633,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2000,1883
$GC,13409,1.23,249.8,262.1,8.8,648,13414,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3411,1883
$GC,13487,1.23,249.8,255.2,9.0,651,13493,0.00,2.50,0.00,0.000,6,0.000,0.049,2683,2001,1883
$GC,13802,1.23,249.8,228.4,8.5,667,13806,0.00,2.60,0.00,0.000,4,0.000,0.072,2683,3407,1883
$GC,13851,1.23,249.8,224.1,8.5,669,13855,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,1996,1883
$GC,14171,1.23,249.8,196.9,8.8,685,14176,0.00,2.65,0.00,0.000,4,0.000,0.074,2683,3410,1884
$GC,14214,1.23,249.8,192.9,8.5,687,14219,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2004,1884
$GC,14541,1.23,249.8,166.4,7.5,703,14545,0.00,2.65,0.00,0.000,4,0.000,0.074,2683,3413,1884
$GC,14584,1.23,249.8,162.9,7.6,705,14588,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,1992,1884
$GC,14913,1.23,249.8,135.5,8.8,721,14917,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3409,1884
$GC,14978,1.23,249.8,130.9,6.4,724,14983,0.00,2.50,0.00,0.000,6,0.000,0.051,2683,1998,1884
$GC,15305,1.23,249.8,104.5,8.9,740,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1997,1884
$GC,15616,1.23,249.8,83.0,6.9,755,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1997,1884
$GC,15924,1.23,249.8,60.1,7.3,770,15928,0.00,2.65,0.00,0.000,4,0.000,0.076,2683,3406,1885
$GC,16001,1.25,270.0,54.6,5.4,773,16028,0.00,2.53,18.10,0.755,6,0.000,0.049,2683,2000,1800
$GC,16338,1.25,270.0,24.2,9.7,790,16339,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1999,1799
$STATE,16603,end climb,SURFACE_DEPTH_REACHED
$STATE,16603,begin surface coast
$FINISH,-1.0,1.027319
$STATE,16625,end surface coast,CONTROL_FINISHED_OK
$STATE,16625,begin surface
$SM_CCo,16645,25.45,0.705,1,0,1678,300.00
$SM_GC,-0.40,0.00,0.00,25.45,0.000,0.000,0.705,43,2915,1678,-10.89,0.42,300.00
$IRIDIUM_FIX,6153.50,-946.00,031207,070702
$TT8_MAMPS,0.028379
$HUMID,2066
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.2,56.4
$24V_AH,23.5,24.314
$10V_AH,10.1,10.890
$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,25.875,142.125,352.900,25.450,0.000,77.480,75.609,234.084,5.500,0.000,0.000,13.613,1487.442,12846.646,501.523,1827.168,581.901,33.370,1424.504,0.000,1800.668,0.000,35.956
$DEVICE_MAMPS,161.070,82.069,1183.481,704.873,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,580.404,567.605,523.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41153,804
$CFSIZE,260165632,251756544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,031207,081738,6221.162,-951.185,40,1.6,40,-10.0