version: 66.02
glider: 103
mission: 7
dive: 148
start: 12 8 107 19 24 14
data:
$ID,103
$MISSION,7
$DIVE,148
$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,-65093.453
$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,12
$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
$GPS1,191728,6234.870,-1100.027,28,3.2,47,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-57.6
$GPS2,192310,6234.916,-1100.102,12,2.9,31,-10.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.143,0.165
$KALMAN_X,-198018.7,408.3,49.1,69096.4,-7125.1
$KALMAN_Y,-981.3,231.1,425.8,113165.7,1250.3
$MHEAD_RNG_PITCHd_Wd,329.9,42406,-11.1,-6.000
$D_GRID,645
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-62.12,0.000,2,0.000,0.000,42,2899,3358
$GC,86,-1.10,-146.6,3.1,-8.1,3,108,11.93,1.75,-2.65,0.000,4,0.157,0.119,2164,3782,3501
$GC,360,-1.10,-146.6,33.2,-9.3,15,365,0.00,1.52,0.00,0.000,6,0.000,0.033,2165,2890,3501
$GC,687,-1.10,-146.6,52.0,-5.0,31,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2889,3501
$GC,996,-1.10,-146.6,80.8,-11.6,46,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2888,3501
$GC,1306,-1.10,-146.6,96.6,-4.0,61,1311,0.00,2.55,0.00,0.000,4,0.000,0.069,2165,1499,3501
$GC,1345,-1.10,-146.6,99.3,-6.3,63,1350,0.00,2.62,0.00,0.000,6,0.000,0.072,2165,2908,3501
$GC,1672,-1.10,-146.6,115.4,-4.7,79,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,1981,-1.10,-146.6,132.2,-5.7,94,1985,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1502,3501
$GC,2013,-1.10,-146.6,134.0,-5.5,95,2020,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2903,3501
$GC,2329,-1.10,-146.6,151.8,-6.0,111,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3501
$GC,2638,-1.10,-146.6,183.8,-13.9,126,2642,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1494,3502
$GC,2676,-1.10,-146.6,188.1,-11.3,128,2680,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2901,3502
$GC,3001,-1.10,-146.6,218.2,-6.9,144,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3311,-1.10,-146.6,238.9,-5.1,159,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3619,-1.10,-146.6,256.7,-7.1,174,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3929,-1.10,-146.6,278.0,-6.8,189,3933,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1500,3502
$GC,3960,-1.10,-146.6,280.0,-6.0,190,3968,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,4279,-1.10,-146.6,300.9,-8.0,206,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,4586,-1.10,-146.6,323.5,-7.2,221,4590,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1501,3502
$GC,4624,-1.10,-146.6,326.2,-6.8,223,4629,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2901,3502
$GC,4950,-1.10,-146.6,345.1,-5.2,239,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,5260,-1.10,-146.6,363.5,-5.9,254,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5569,-1.10,-146.6,381.5,-5.6,269,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5878,-1.10,-146.6,404.0,-7.8,284,5882,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1493,3502
$GC,5909,-1.10,-146.6,406.6,-8.1,285,5916,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2903,3502
$GC,6225,-1.10,-146.6,430.0,-7.8,301,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,6534,-1.10,-146.6,454.6,-8.2,316,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,6844,-1.10,-146.6,474.0,-5.3,331,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,7153,-1.10,-146.6,489.6,-4.8,346,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,7463,-1.10,-146.6,504.3,-4.9,361,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,7772,-1.10,-146.6,522.1,-6.6,376,7776,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1498,3502
$GC,7804,-1.10,-146.6,524.4,-7.2,377,7810,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2913,3502
$GC,8119,-1.10,-146.6,552.2,-9.2,393,8123,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1499,3502
$GC,8163,-1.10,-146.6,556.2,-9.1,395,8167,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2901,3502
$GC,8490,-1.10,-146.6,578.1,-6.4,411,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,8799,-1.10,-146.6,598.4,-6.2,426,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,9108,-1.10,-146.6,616.9,-6.0,441,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,9417,-1.10,-146.6,635.3,-6.1,456,9421,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1493,3500
$GC,9472,-1.10,-146.6,639.0,-6.1,458,9477,0.00,2.60,0.00,0.000,6,0.000,0.069,2165,2903,3500
$STATE,9503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9503,begin apogee
$GC,9509,-0.42,0.0,640.8,5.7,460,9637,0.75,0.00,124.32,1.207,6,0.094,0.000,2314,2112,2901
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9640,1.10,146.6,644.1,0.0,466,9766,1.55,0.00,121.72,1.176,6,0.057,0.000,2646,2110,2303
$GC,10087,1.13,165.7,629.1,5.5,488,10110,0.00,2.72,17.20,1.098,4,0.000,0.064,2646,688,2225
$GC,10187,1.13,165.7,623.2,6.1,492,10192,0.00,2.55,0.00,0.000,6,0.000,0.043,2646,2104,2225
$GC,10508,1.15,184.9,606.1,5.5,508,10529,0.00,0.00,17.45,1.116,6,0.000,0.000,2646,2104,2147
$GC,10838,1.15,184.9,585.4,6.4,524,10842,0.00,2.65,0.00,0.000,4,0.000,0.074,2646,3512,2146
$GC,10877,1.15,184.9,582.7,7.6,526,10881,0.00,2.53,0.00,0.000,6,0.000,0.044,2646,2096,2145
$GC,11202,1.15,184.9,554.8,9.1,542,11206,0.00,2.67,0.00,0.000,4,0.000,0.074,2646,3513,2145
$GC,11240,1.15,184.9,551.5,8.7,544,11245,0.00,2.53,0.00,0.000,6,0.000,0.044,2646,2098,2145
$GC,11566,1.15,184.9,527.2,7.3,560,11570,0.00,2.60,0.00,0.000,4,0.000,0.069,2646,690,2144
$GC,11604,1.15,184.9,524.0,8.9,562,11609,0.00,2.53,0.00,0.000,6,0.000,0.048,2646,2101,2144
$GC,11929,1.15,184.9,501.8,6.2,578,11934,0.00,2.65,0.00,0.000,4,0.000,0.074,2646,3515,2143
$GC,12017,1.15,184.9,496.4,6.1,582,12022,0.00,2.55,0.00,0.000,6,0.000,0.046,2646,2103,2143
$GC,12344,1.18,206.4,479.0,5.4,598,12369,0.00,2.75,18.45,1.094,4,0.000,0.074,2646,3512,2059
$GC,12402,1.18,206.4,475.4,6.2,600,12409,0.00,2.58,0.00,0.000,6,0.000,0.046,2646,2095,2059
$GC,12718,1.18,206.4,455.9,6.2,616,12722,0.00,2.67,0.00,0.000,4,0.000,0.074,2646,3513,2058
$GC,12778,1.18,206.4,452.0,6.1,619,12783,0.00,2.53,0.00,0.000,6,0.000,0.047,2646,2099,2059
$GC,13104,1.18,206.4,432.8,6.0,635,13109,0.00,2.67,0.00,0.000,4,0.000,0.074,2646,3515,2059
$GC,13147,1.18,206.4,429.9,7.4,637,13152,0.00,2.55,0.00,0.000,6,0.000,0.045,2646,2079,2059
$GC,13474,1.18,206.4,408.6,6.3,653,13478,0.00,2.70,0.00,0.000,4,0.000,0.074,2646,3513,2059
$GC,13522,1.18,206.4,405.3,6.6,655,13527,0.00,2.53,0.00,0.000,6,0.000,0.046,2646,2103,2059
$GC,13844,1.18,206.4,385.5,6.0,671,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2103,2059
$GC,14153,1.18,212.6,367.2,5.8,686,14168,0.00,2.72,7.18,0.881,4,0.000,0.074,2646,3510,2034
$GC,14235,1.18,212.6,362.1,6.9,689,14242,0.00,2.53,0.00,0.000,6,0.000,0.047,2646,2106,2034
$GC,14550,1.18,212.6,342.4,6.5,705,14555,0.00,2.65,0.00,0.000,4,0.000,0.076,2646,3509,2034
$GC,14594,1.18,212.6,339.4,6.5,707,14598,0.00,2.53,0.00,0.000,6,0.000,0.048,2646,2093,2035
$GC,14920,1.18,212.6,318.8,6.3,723,14925,0.00,2.67,0.00,0.000,4,0.000,0.077,2646,3509,2035
$GC,14963,1.18,212.6,315.8,6.7,725,14968,0.00,2.53,0.00,0.000,6,0.000,0.048,2646,2107,2035
$GC,15291,1.18,212.6,295.5,6.2,741,15295,0.00,2.62,0.00,0.000,4,0.000,0.075,2646,3508,2035
$GC,15339,1.18,212.6,292.1,6.8,743,15344,0.00,2.50,0.00,0.000,6,0.000,0.048,2646,2099,2036
$GC,15660,1.18,212.6,270.4,6.7,759,15665,0.00,2.67,0.00,0.000,4,0.000,0.076,2646,3514,2036
$GC,15737,1.18,212.6,265.1,7.3,762,15743,0.00,2.50,0.00,0.000,6,0.000,0.047,2646,2099,2036
$GC,16052,1.18,212.6,243.6,6.4,778,16056,0.00,2.67,0.00,0.000,4,0.000,0.076,2646,3515,2036
$GC,16100,1.18,212.6,240.1,7.6,780,16105,0.00,2.53,0.00,0.000,6,0.000,0.047,2646,2106,2036
$GC,16422,1.19,214.3,221.3,6.0,796,16429,0.10,0.00,3.80,0.655,6,0.048,0.000,2676,2105,2027
$GC,16731,1.19,214.3,200.0,6.6,811,16736,0.00,2.62,0.00,0.000,4,0.000,0.070,2677,3518,2027
$GC,16781,1.19,214.3,196.7,6.6,813,16785,0.00,2.50,0.00,0.000,6,0.000,0.042,2677,2096,2027
$GC,17102,1.22,245.4,178.4,5.1,829,17130,0.00,0.00,26.23,0.884,6,0.000,0.000,2676,2096,1900
$GC,17431,1.27,285.7,160.8,4.9,845,17473,0.00,2.72,33.25,0.858,4,0.000,0.069,2676,3502,1735
$GC,17518,1.28,287.5,155.8,5.9,849,17523,0.00,2.50,0.00,0.000,6,0.000,0.042,2676,2096,1735
$GC,17844,1.28,287.5,137.3,6.2,865,17845,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2096,1735
$GC,18154,1.30,309.6,120.0,5.4,880,18180,0.00,2.72,20.52,0.826,4,0.000,0.069,2676,3515,1638
$GC,18207,1.30,309.6,116.6,7.1,882,18214,0.00,2.55,0.00,0.000,6,0.000,0.041,2677,2098,1638
$GC,18524,1.30,309.6,94.0,7.6,898,18529,0.00,2.65,0.00,0.000,4,0.000,0.071,2676,3510,1638
$GC,18551,1.30,309.6,91.7,9.2,899,18555,0.00,2.47,0.00,0.000,6,0.000,0.041,2676,2099,1638
$GC,18873,1.30,309.6,65.2,8.3,915,18874,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2099,1637
$GC,19182,1.30,309.6,39.3,8.9,930,19186,0.00,2.65,0.00,0.000,4,0.000,0.072,2677,3509,1637
$GC,19236,1.30,309.6,34.0,9.1,932,19243,0.00,2.50,0.00,0.000,6,0.000,0.042,2676,2103,1637
$GC,19552,1.30,309.6,5.3,8.5,948,19553,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2103,1638
$STATE,19591,end climb,SURFACE_DEPTH_REACHED
$STATE,19591,begin surface coast
$FINISH,-0.1,1.027344
$STATE,19613,end surface coast,CONTROL_FINISHED_OK
$STATE,19613,begin surface
$SM_CCo,19694,0.00,0.000,0,0,1636,310.30
$SM_GC,-0.09,11.55,0.00,0.00,0.029,0.000,0.000,44,2901,1636,-10.79,0.03,310.30
$IRIDIUM_FIX,6207.28,-1047.49,081207,181826
$TT8_MAMPS,0.028379
$HUMID,2066
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.5,75.1
$24V_AH,23.4,28.081
$10V_AH,10.1,13.089
$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,25.875,156.825,390.125,0.000,0.000,39.978,41.269,143.786,5.000,0.000,0.000,32.816,1715.878,15333.910,528.781,2030.217,439.744,33.368,1542.679,0.000,1986.380,0.000,33.091
$DEVICE_MAMPS,157.235,118.885,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,694.909,658.992,605.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47486,951
$CFSIZE,260165632,250093568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,091207,005338,6236.838,-1108.228,38,1.2,38,-10.8