version: 66.02
glider: 103
mission: 7
dive: 131
start: 12 5 107 1 24 6
data:
$ID,103
$MISSION,7
$DIVE,131
$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,-64752.371
$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,21
$R_STBD_OVSHOOT,9
$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
$GPS1,011738,6221.979,-1025.712,27,1.7,27,-10.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-56.2
$GPS2,012302,6221.935,-1025.861,17,1.8,34,-10.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6230.000,-1030.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.031,0.216
$KALMAN_X,-139262.0,686.3,390.3,39876.5,-7003.8
$KALMAN_Y,21476.7,-54.8,93.4,67256.9,-8962.8
$MHEAD_RNG_PITCHd_Wd,18.4,15350,-11.1,-6.000
$D_GRID,705
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,104,0.00,0.00,-79.80,0.000,6,0.000,0.000,46,2891,3500
$GC,105,-1.10,-146.6,4.7,-7.9,4,122,11.95,1.77,0.00,0.000,4,0.159,0.092,2166,3787,3501
$GC,373,-1.10,-146.6,35.8,-8.1,15,378,0.00,1.52,0.00,0.000,6,0.000,0.032,2166,2898,3502
$GC,700,-1.10,-146.6,61.6,-7.9,31,704,0.00,1.67,0.00,0.000,4,0.000,0.077,2166,3789,3502
$GC,889,-1.10,-146.6,77.8,-8.4,39,894,0.00,1.52,0.00,0.000,6,0.000,0.031,2166,2893,3502
$GC,1211,-1.10,-146.6,101.1,-7.0,55,1215,0.00,2.55,0.00,0.000,4,0.000,0.068,2166,1502,3502
$GC,1242,-1.10,-146.6,103.5,-7.4,56,1250,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2903,3501
$GC,1560,-1.10,-146.6,126.5,-7.5,72,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,1868,-1.10,-146.6,150.7,-8.0,87,1873,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1502,3502
$GC,1930,-1.10,-146.6,155.9,-8.7,90,1934,0.00,2.60,0.00,0.000,6,0.000,0.070,2166,2900,3502
$GC,2255,-1.10,-146.6,183.2,-8.6,106,2260,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1497,3501
$GC,2299,-1.10,-146.6,187.0,-8.8,108,2303,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2893,3501
$GC,2626,-1.10,-146.6,216.0,-8.7,124,2630,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1499,3502
$GC,2664,-1.10,-146.6,219.3,-8.3,126,2669,0.00,2.62,0.00,0.000,6,0.000,0.073,2166,2904,3501
$GC,2989,-1.10,-146.6,246.9,-9.0,142,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3501
$GC,3299,-1.10,-146.6,272.9,-8.6,157,3303,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1502,3502
$GC,3370,-1.10,-146.6,278.5,-8.1,160,3374,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2908,3501
$GC,3691,-1.10,-146.6,307.4,-8.9,176,3696,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1502,3502
$GC,3723,-1.10,-146.6,310.6,-9.4,177,3730,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2896,3501
$GC,4039,-1.10,-146.6,341.4,-9.8,193,4043,0.00,2.55,0.00,0.000,4,0.000,0.064,2166,1503,3501
$GC,4082,-1.10,-146.6,345.8,-10.4,195,4086,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2900,3501
$GC,4409,-1.10,-146.6,377.0,-9.2,211,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,4718,-1.10,-146.6,404.9,-8.8,226,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,5028,-1.10,-146.6,431.6,-8.6,241,5032,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1501,3501
$GC,5081,-1.10,-146.6,436.3,-8.5,243,5088,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2900,3501
$GC,5397,-1.10,-146.6,462.1,-8.4,259,5402,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1494,3501
$GC,5441,-1.10,-146.6,465.9,-8.3,261,5445,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2900,3501
$GC,5767,-1.10,-146.6,491.0,-7.0,277,5771,0.00,2.53,0.00,0.000,4,0.000,0.058,2166,1500,3501
$GC,5829,-1.10,-146.6,495.4,-7.1,280,5833,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2901,3501
$GC,6154,-1.10,-146.6,517.4,-6.8,296,6158,0.00,2.53,0.00,0.000,4,0.000,0.056,2166,1498,3501
$GC,6209,-1.10,-146.6,521.1,-6.9,298,6216,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2898,3501
$GC,6524,-1.10,-146.6,541.0,-6.3,314,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2897,3501
$GC,6833,-1.10,-146.6,562.1,-6.3,329,6838,0.00,2.50,0.00,0.000,4,0.000,0.053,2166,1497,3501
$GC,6911,-1.10,-146.6,567.1,-6.3,332,6917,0.00,2.58,0.00,0.000,6,0.000,0.064,2166,2903,3501
$GC,7226,-1.10,-146.6,586.9,-6.1,348,7230,0.00,2.50,0.00,0.000,4,0.000,0.051,2165,1492,3501
$GC,7259,-1.10,-146.6,588.8,-5.7,349,7263,0.00,2.55,0.00,0.000,6,0.000,0.062,2166,2899,3501
$GC,7580,-1.10,-146.6,602.8,-3.8,365,7584,0.00,2.50,0.00,0.000,4,0.000,0.052,2166,1498,3501
$GC,7641,-1.10,-146.6,605.9,-5.7,368,7645,0.00,2.55,0.00,0.000,6,0.000,0.062,2166,2899,3500
$GC,7966,-1.10,-146.6,620.3,-3.9,384,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,8275,-1.10,-146.6,637.0,-6.8,399,8280,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1497,3500
$GC,8341,-1.10,-146.6,641.7,-7.6,402,8346,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3500
$GC,8668,-1.10,-146.6,663.2,-7.4,418,8669,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3499
$GC,8977,-1.10,-146.6,682.6,-5.7,433,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3498
$STATE,9244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9244,begin apogee
$GC,9250,-0.42,0.0,705.8,8.5,446,9378,0.75,0.00,124.07,1.264,6,0.084,0.000,2319,2116,2901
$STATE,9378,end apogee,CONTROL_FINISHED_OK
$STATE,9378,begin climb
$GC,9380,1.10,146.6,711.9,0.0,452,9511,1.52,2.72,121.95,1.221,4,0.051,0.065,2650,688,2303
$GC,9600,1.22,238.1,708.1,3.5,462,9683,0.12,2.53,76.88,1.200,6,0.042,0.042,2690,2107,1930
$GC,9998,1.22,238.1,678.0,8.2,482,10002,0.00,2.62,0.00,0.000,4,0.000,0.070,2690,3509,1929
$GC,10046,1.22,238.1,673.8,7.7,484,10051,0.00,2.55,0.00,0.000,6,0.000,0.044,2690,2098,1929
$GC,10367,1.22,238.1,646.6,8.9,500,10372,0.00,2.67,0.00,0.000,4,0.000,0.072,2690,3512,1928
$GC,10429,1.22,238.1,641.3,9.8,503,10433,0.00,2.50,0.00,0.000,6,0.000,0.041,2690,2096,1928
$GC,10754,1.22,238.1,611.9,8.8,519,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1927
$GC,11063,1.22,238.1,583.2,7.6,534,11068,0.00,2.65,0.00,0.000,4,0.000,0.068,2690,3512,1926
$GC,11151,1.22,238.1,576.6,7.5,538,11155,0.00,2.50,0.00,0.000,6,0.000,0.041,2690,2094,1926
$GC,11477,1.22,238.1,555.2,7.6,554,11482,0.00,2.55,0.00,0.000,4,0.000,0.062,2690,694,1925
$GC,11521,1.22,238.1,551.5,8.3,556,11525,0.00,2.47,0.00,0.000,6,0.000,0.041,2690,2103,1925
$GC,11847,1.22,238.1,522.4,9.3,572,11852,0.00,2.60,0.00,0.000,4,0.000,0.069,2690,3514,1925
$GC,11879,1.22,238.1,519.2,9.3,573,11886,0.00,2.50,0.00,0.000,6,0.000,0.041,2690,2106,1925
$GC,12195,1.22,238.1,490.5,9.0,589,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2106,1925
$GC,12505,1.22,238.1,461.5,9.5,604,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2106,1925
$GC,12814,1.22,238.1,434.9,8.6,619,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2106,1925
$GC,13123,1.22,238.1,410.1,7.8,634,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2106,1925
$GC,13432,1.22,238.1,387.1,7.2,649,13437,0.00,2.60,0.00,0.000,4,0.000,0.068,2690,3511,1926
$GC,13464,1.22,238.1,384.5,7.5,650,13472,0.00,2.53,0.00,0.000,6,0.000,0.044,2690,2099,1926
$GC,13780,1.22,238.1,362.6,6.6,666,13781,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1927
$GC,14090,1.22,238.1,342.2,6.7,681,14094,0.00,2.65,0.00,0.000,4,0.000,0.071,2690,3518,1928
$GC,14143,1.22,238.1,338.5,6.4,683,14150,0.00,2.53,0.00,0.000,6,0.000,0.044,2690,2104,1928
$GC,14459,1.22,238.1,317.0,7.1,699,14460,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2104,1928
$GC,14768,1.22,238.1,295.0,6.9,714,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2104,1929
$GC,15077,1.22,238.1,272.4,7.3,729,15079,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2104,1929
$GC,15387,1.22,238.1,248.9,7.3,744,15388,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2104,1929
$GC,15696,1.22,238.1,226.3,7.2,759,15697,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2103,1929
$GC,16005,1.22,238.1,202.6,8.2,774,16010,0.00,2.62,0.00,0.000,4,0.000,0.074,2690,3515,1930
$GC,16054,1.22,238.1,198.4,8.3,776,16059,0.00,2.55,0.00,0.000,6,0.000,0.049,2690,2096,1930
$GC,16375,1.22,238.1,172.0,8.1,792,16377,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1930
$GC,16685,1.22,238.1,145.8,8.6,807,16686,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1930
$GC,16995,1.22,238.1,118.6,9.1,822,16999,0.00,2.55,0.00,0.000,4,0.000,0.064,2690,692,1930
$GC,17057,1.22,238.1,112.9,8.9,825,17062,0.00,2.47,0.00,0.000,6,0.000,0.047,2690,2098,1930
$GC,17383,1.22,238.1,83.7,9.2,841,17384,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2098,1930
$GC,17693,1.22,238.1,56.6,8.6,856,17697,0.00,2.62,0.00,0.000,4,0.000,0.072,2690,3516,1931
$GC,17731,1.22,238.1,53.0,9.9,858,17736,0.00,2.50,0.00,0.000,6,0.000,0.051,2690,2100,1931
$GC,18057,1.22,238.1,26.2,8.1,874,18061,0.00,2.62,0.00,0.000,4,0.000,0.071,2690,3512,1931
$GC,18106,1.22,238.1,21.7,9.8,876,18111,0.00,2.53,0.00,0.000,6,0.000,0.049,2690,2101,1931
$STATE,18343,end climb,SURFACE_DEPTH_REACHED
$STATE,18344,begin surface coast
$FINISH,0.2,1.027249
$STATE,18365,end surface coast,CONTROL_FINISHED_OK
$STATE,18366,begin surface
$SM_CCo,18387,50.40,0.726,1,0,1678,300.00
$SM_GC,-0.64,0.00,0.00,50.40,0.000,0.000,0.726,50,2897,1678,-10.86,-0.08,300.00
$IRIDIUM_FIX,6158.08,-1024.09,051207,000020
$TT8_MAMPS,0.028379
$HUMID,2060
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,675.3,50.8
$24V_AH,23.4,25.592
$10V_AH,10.1,11.642
$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,26.225,148.275,322.900,50.400,0.000,32.778,49.933,129.747,6.250,0.000,0.000,34.567,1613.761,14272.423,529.479,1966.086,402.818,33.366,1503.423,0.000,1919.788,0.000,39.505
$DEVICE_MAMPS,158.769,92.040,1264.016,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,630.722,636.272,535.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44220,889
$CFSIZE,260165632,251183104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,051207,063238,6222.615,-1028.132,35,1.2,35,-10.3