version: 66.02
glider: 103
mission: 7
dive: 154
start: 12 10 107 4 8 10
data:
$ID,103
$MISSION,7
$DIVE,154
$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,-2
$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,-65180.797
$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
$GPS1,040132,6238.901,-1141.072,41,1.4,41,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-59.0
$GPS2,040703,6238.854,-1141.172,17,1.4,17,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.050,0.213
$KALMAN_X,-225931.9,1022.3,214.5,59953.2,-6891.3
$KALMAN_Y,-17463.2,-104.3,-427.8,138100.7,-3870.2
$MHEAD_RNG_PITCHd_Wd,24.3,11835,-11.1,-6.000
$D_GRID,688
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-61.40,0.000,2,0.000,0.000,43,2899,3413
$GC,85,-1.10,-146.6,3.7,-9.0,3,108,11.98,1.77,-1.55,0.000,4,0.159,0.118,2163,3787,3501
$GC,359,-1.10,-146.6,34.3,-7.0,15,364,0.00,1.52,0.00,0.000,6,0.000,0.032,2163,2893,3502
$GC,687,-1.10,-146.6,53.5,-5.8,31,690,0.00,1.70,0.00,0.000,4,0.000,0.081,2163,3787,3502
$GC,944,-1.10,-146.6,76.4,-11.3,42,948,0.00,1.52,0.00,0.000,6,0.000,0.032,2163,2896,3502
$GC,1265,-1.10,-146.6,100.6,-5.4,58,1270,0.00,2.58,0.00,0.000,4,0.000,0.069,2163,1494,3502
$GC,1305,-1.10,-146.6,102.6,-5.2,60,1310,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2904,3502
$GC,1631,-1.10,-146.6,120.3,-6.0,76,1635,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1499,3502
$GC,1669,-1.10,-146.6,123.1,-7.2,78,1674,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3502
$GC,1996,-1.10,-146.6,147.2,-7.9,94,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,2304,-1.10,-146.6,171.3,-7.7,109,2309,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1501,3502
$GC,2370,-1.10,-146.6,176.5,-8.1,112,2375,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2899,3502
$GC,2697,-1.10,-146.6,201.6,-8.3,128,2701,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1502,3502
$GC,2745,-1.10,-146.6,205.4,-7.5,130,2750,0.00,2.60,0.00,0.000,6,0.000,0.073,2163,2902,3502
$GC,3067,-1.10,-146.6,231.8,-7.4,146,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,3376,-1.10,-146.6,257.1,-7.9,161,3381,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1497,3502
$GC,3408,-1.10,-146.6,259.4,-6.6,162,3415,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2917,3502
$GC,3724,-1.10,-146.6,279.0,-6.3,178,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2917,3502
$GC,4033,-1.10,-146.6,302.7,-7.7,193,4038,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1502,3502
$GC,4095,-1.10,-146.6,307.5,-8.1,196,4100,0.00,2.60,0.00,0.000,6,0.000,0.069,2163,2902,3502
$GC,4421,-1.10,-146.6,331.1,-6.9,212,4425,0.00,2.58,0.00,0.000,4,0.000,0.066,2163,1492,3502
$GC,4459,-1.10,-146.6,333.8,-6.9,214,4464,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2900,3502
$GC,4785,-1.10,-146.6,355.8,-6.7,230,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5094,-1.10,-146.6,377.0,-6.6,245,5099,0.00,2.58,0.00,0.000,4,0.000,0.066,2163,1498,3502
$GC,5151,-1.10,-146.6,380.5,-6.3,247,5156,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2900,3502
$GC,5465,-1.10,-146.6,401.7,-7.1,263,5469,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1501,3502
$GC,5496,-1.10,-146.6,404.2,-8.1,264,5503,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2916,3502
$GC,5812,-1.10,-146.6,429.4,-8.1,280,5816,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1500,3502
$GC,5873,-1.10,-146.6,434.0,-7.8,283,5877,0.00,2.58,0.00,0.000,6,0.000,0.067,2163,2900,3502
$GC,6198,-1.10,-146.6,457.3,-7.0,299,6202,0.00,2.55,0.00,0.000,4,0.000,0.063,2163,1501,3502
$GC,6259,-1.10,-146.6,461.6,-6.9,302,6263,0.00,2.60,0.00,0.000,6,0.000,0.068,2163,2906,3502
$GC,6584,-1.10,-146.6,484.8,-7.3,318,6588,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1494,3502
$GC,6615,-1.10,-146.6,487.2,-7.6,319,6622,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2909,3502
$GC,6931,-1.10,-146.6,511.3,-7.6,335,6936,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1497,3502
$GC,6980,-1.10,-146.6,515.1,-7.6,337,6985,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2896,3502
$GC,7301,-1.10,-146.6,538.1,-7.1,353,7306,0.00,2.53,0.00,0.000,4,0.000,0.061,2163,1499,3502
$GC,7340,-1.10,-146.6,541.0,-7.7,355,7345,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2899,3502
$GC,7667,-1.10,-146.6,566.2,-7.4,371,7671,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1493,3502
$GC,7715,-1.10,-146.6,569.7,-7.1,373,7720,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2900,3502
$GC,8037,-1.10,-146.6,591.0,-6.9,389,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,8346,-1.10,-146.6,609.7,-5.7,404,8350,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1498,3502
$GC,8470,-1.10,-146.6,617.0,-5.7,409,8476,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3502
$GC,8784,-1.10,-146.6,636.4,-6.4,425,8788,0.00,2.55,0.00,0.000,4,0.000,0.063,2163,1500,3502
$GC,8816,-1.10,-146.6,638.6,-6.8,426,8822,0.00,2.58,0.00,0.000,6,0.000,0.067,2163,2899,3502
$GC,9131,-1.10,-146.6,658.5,-6.4,442,9136,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1498,3502
$GC,9175,-1.10,-146.6,661.6,-7.4,444,9179,0.00,2.60,0.00,0.000,6,0.000,0.070,2163,2903,3502
$GC,9501,-1.10,-146.6,682.6,-6.1,460,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3501
$STATE,9562,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9562,begin apogee
$GC,9568,-0.42,0.0,686.3,6.1,463,9696,0.75,0.00,124.82,1.221,6,0.080,0.000,2316,2111,2901
$STATE,9697,end apogee,CONTROL_FINISHED_OK
$STATE,9697,begin climb
$GC,9699,1.10,146.6,691.1,0.0,469,9830,1.55,2.67,121.97,1.187,4,0.059,0.061,2647,695,2303
$GC,9909,1.11,152.5,687.2,5.8,479,9923,0.00,2.53,6.72,0.951,6,0.000,0.041,2647,2116,2279
$GC,10238,1.11,152.5,669.4,6.1,495,10243,0.00,2.60,0.00,0.000,4,0.000,0.071,2647,3507,2278
$GC,10344,1.12,158.9,663.6,5.8,500,10359,0.00,2.53,6.97,0.991,6,0.000,0.043,2647,2089,2253
$GC,10675,1.15,187.6,647.5,5.2,516,10705,0.00,2.72,25.30,1.164,4,0.000,0.071,2647,3504,2136
$GC,10733,1.15,187.6,643.9,6.1,519,10737,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2099,2136
$GC,11059,1.15,187.6,622.2,6.8,535,11063,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3509,2134
$GC,11112,1.15,187.6,618.3,7.0,537,11119,0.00,2.53,0.00,0.000,6,0.000,0.043,2647,2103,2134
$GC,11428,1.15,187.6,598.9,6.5,553,11432,0.00,2.58,0.00,0.000,4,0.000,0.064,2647,693,2133
$GC,11499,1.15,187.6,593.5,8.1,556,11504,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2096,2133
$GC,11820,1.15,187.6,569.4,7.6,572,11824,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3509,2132
$GC,11896,1.15,187.6,563.4,7.2,575,11904,0.00,2.53,0.00,0.000,6,0.000,0.043,2647,2098,2133
$GC,12212,1.15,187.6,543.7,6.3,591,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2098,2132
$GC,12521,1.15,187.6,522.4,7.4,606,12526,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3509,2132
$GC,12570,1.15,187.6,518.7,7.5,608,12575,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2105,2132
$GC,12892,1.15,187.6,497.8,6.1,624,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2105,2132
$GC,13201,1.17,204.7,480.2,5.5,639,13223,0.00,2.70,15.00,1.048,4,0.000,0.070,2647,3511,2066
$GC,13312,1.17,204.7,473.3,6.1,644,13317,0.00,2.50,0.00,0.000,6,0.000,0.042,2647,2099,2066
$GC,13638,1.17,204.7,452.4,6.6,660,13643,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3512,2066
$GC,13677,1.17,204.7,449.7,7.1,662,13682,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2098,2066
$GC,14002,1.17,204.7,428.8,6.4,678,14007,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3508,2067
$GC,14051,1.17,204.7,425.3,7.2,680,14056,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2099,2067
$GC,14372,1.17,204.7,403.1,7.2,696,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2099,2067
$GC,14682,1.17,204.7,382.4,6.5,711,14686,0.00,2.65,0.00,0.000,4,0.000,0.073,2647,3507,2067
$GC,14775,1.17,204.7,376.0,6.3,715,14780,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2101,2067
$GC,15097,1.17,204.7,355.4,6.3,731,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2101,2068
$GC,15407,1.17,204.7,334.9,7.0,746,15411,0.00,2.65,0.00,0.000,4,0.000,0.073,2647,3508,2068
$GC,15483,1.17,204.7,329.1,7.7,749,15490,0.00,2.53,0.00,0.000,6,0.000,0.046,2647,2081,2069
$GC,15799,1.17,204.7,308.1,6.6,765,15803,0.00,2.67,0.00,0.000,4,0.000,0.074,2647,3506,2069
$GC,15864,1.17,204.7,304.0,6.1,768,15869,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2091,2069
$GC,16191,1.17,204.7,282.3,7.1,784,16192,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2091,2070
$GC,16500,1.17,204.7,260.7,6.9,799,16504,0.00,2.67,0.00,0.000,4,0.000,0.074,2647,3510,2070
$GC,16583,1.17,204.7,255.2,6.7,803,16588,0.00,2.50,0.00,0.000,6,0.000,0.045,2647,2094,2069
$GC,16909,1.17,204.7,235.5,6.2,819,16913,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3511,2070
$GC,16957,1.17,204.7,232.2,6.4,821,16962,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2109,2070
$GC,17279,1.17,204.7,211.4,6.3,837,17283,0.00,2.62,0.00,0.000,4,0.000,0.075,2647,3508,2070
$GC,17317,1.17,204.7,208.8,6.7,839,17321,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2089,2071
$GC,17642,1.17,204.7,188.2,6.1,855,17646,0.00,2.67,0.00,0.000,4,0.000,0.074,2647,3515,2070
$GC,17719,1.17,204.7,182.6,7.7,858,17725,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2094,2070
$GC,18034,1.17,204.7,160.4,7.4,874,18035,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2094,2071
$GC,18345,1.17,204.7,137.8,7.5,889,18350,0.00,2.67,0.00,0.000,4,0.000,0.074,2647,3515,2070
$GC,18412,1.17,204.7,133.2,6.3,892,18416,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2093,2071
$GC,18733,1.17,204.7,113.6,6.3,908,18737,0.00,2.67,0.00,0.000,4,0.000,0.074,2647,3513,2071
$GC,18787,1.17,204.7,109.8,7.1,910,18794,0.00,2.53,0.00,0.000,6,0.000,0.048,2647,2103,2071
$GC,19103,1.17,204.7,87.9,6.1,926,19107,0.00,2.65,0.00,0.000,4,0.000,0.074,2647,3511,2071
$GC,19146,1.18,211.2,85.1,5.8,928,19163,0.00,2.50,7.80,0.726,6,0.000,0.047,2647,2094,2040
$GC,19474,1.19,220.0,65.1,5.8,944,19487,0.10,0.00,8.73,0.734,6,0.052,0.000,2676,2094,2004
$GC,19803,1.19,220.0,38.2,9.1,960,19808,0.00,2.65,0.00,0.000,4,0.000,0.070,2677,3511,2004
$GC,19869,1.19,220.0,31.8,9.2,963,19873,0.00,2.50,0.00,0.000,6,0.000,0.042,2677,2103,2004
$GC,20198,1.19,220.0,7.0,6.5,979,20199,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2103,2004
$STATE,20256,end climb,SURFACE_DEPTH_REACHED
$STATE,20256,begin surface coast
$FINISH,-0.1,1.027328
$STATE,20278,end surface coast,CONTROL_FINISHED_OK
$STATE,20278,begin surface
$SM_CCo,20299,64.18,0.736,1,0,1678,300.00
$SM_GC,-0.07,0.00,0.00,64.18,0.000,0.000,0.736,46,2903,1678,-10.87,0.08,300.00
$IRIDIUM_FIX,6211.90,-1136.94,101207,020225
$TT8_MAMPS,0.028379
$HUMID,2056
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,650.6,44.9
$24V_AH,23.4,28.905
$10V_AH,10.1,13.616
$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,25.975,210.725,317.325,64.175,0.000,41.256,36.750,150.989,6.000,0.000,0.000,17.261,1837.883,15533.864,570.201,2305.029,468.927,33.367,1730.490,0.000,2267.608,0.000,40.774
$DEVICE_MAMPS,158.769,118.118,1221.064,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.141,694.767,603.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50523,983
$CFSIZE,260165632,249683968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,1,0
$GPS,101207,094855,6240.292,-1140.688,24,1.2,42,-11.1