version: 66.02
glider: 103
mission: 7
dive: 168
start: 12 13 107 9 34 4
data:
$ID,103
$MISSION,7
$DIVE,168
$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,-65395.117
$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,29
$R_STBD_OVSHOOT,16
$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
$GPS1,092721,6246.645,-1156.789,38,2.1,57,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-58.1
$GPS2,093257,6246.623,-1156.684,13,1.5,13,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,0.167
$KALMAN_X,-222728.2,201.3,-1028.2,45199.3,3063.2
$KALMAN_Y,-57749.2,-66.4,227.8,192087.9,-3618.1
$MHEAD_RNG_PITCHd_Wd,331.1,29850,-11.1,-6.000
$D_GRID,650
$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,21,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-63.83,0.000,6,0.000,0.000,37,2883,3499
$GC,90,-1.10,-146.6,4.8,-7.8,4,111,12.05,2.55,0.00,0.000,4,0.160,0.055,2163,1498,3501
$GC,172,-1.10,-146.6,20.6,-8.9,7,179,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2889,3501
$GC,489,-1.10,-146.6,45.3,-7.5,23,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2889,3501
$GC,797,-1.10,-146.6,71.6,-7.7,38,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2889,3501
$GC,1107,-1.10,-146.6,94.5,-7.5,53,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2889,3501
$GC,1415,-1.10,-146.6,117.4,-7.9,68,1419,0.00,1.67,0.00,0.000,4,0.000,0.081,2163,3787,3501
$GC,1460,-1.10,-146.6,121.2,-8.8,70,1464,0.00,1.52,0.00,0.000,6,0.000,0.033,2163,2897,3501
$GC,1792,-1.10,-146.6,143.9,-6.6,86,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3501
$GC,2102,-1.10,-146.6,164.5,-6.5,101,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3501
$GC,2411,-1.10,-146.6,186.0,-7.2,116,2415,0.00,2.55,0.00,0.000,4,0.000,0.066,2163,1496,3501
$GC,2494,-1.10,-146.6,192.6,-7.6,120,2499,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2909,3501
$GC,2821,-1.10,-146.6,216.8,-7.6,136,2825,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1500,3501
$GC,2847,-1.10,-146.6,218.9,-7.4,137,2851,0.00,2.58,0.00,0.000,6,0.000,0.068,2163,2900,3501
$GC,3168,-1.10,-146.6,242.4,-7.3,153,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,3477,-1.10,-146.6,264.5,-7.6,168,3481,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1492,3501
$GC,3520,-1.10,-146.6,268.0,-7.7,170,3524,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3501
$GC,3848,-1.10,-146.6,293.5,-7.7,186,3852,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1492,3501
$GC,3881,-1.10,-146.6,296.2,-7.7,187,3887,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2907,3501
$GC,4196,-1.10,-146.6,319.2,-7.2,203,4200,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1493,3501
$GC,4234,-1.10,-146.6,322.2,-7.9,205,4238,0.00,2.60,0.00,0.000,6,0.000,0.067,2163,2901,3501
$GC,4560,-1.10,-146.6,347.3,-7.8,221,4564,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1500,3501
$GC,4602,-1.10,-146.6,350.9,-7.8,223,4607,0.00,2.58,0.00,0.000,6,0.000,0.065,2163,2903,3501
$GC,4929,-1.10,-146.6,374.6,-7.1,239,4934,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1500,3501
$GC,4956,-1.10,-146.6,376.6,-7.2,240,4960,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2904,3501
$GC,5277,-1.10,-146.6,399.7,-7.3,256,5285,0.00,2.55,0.00,0.000,4,0.000,0.060,2163,1497,3501
$GC,5329,-1.10,-146.6,403.5,-7.1,258,5333,0.00,2.58,0.00,0.000,6,0.000,0.064,2163,2905,3501
$GC,5656,-1.10,-146.6,427.3,-7.7,274,5660,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1490,3501
$GC,5784,-1.10,-146.6,437.6,-7.3,280,5788,0.00,2.55,0.00,0.000,6,0.000,0.060,2163,2902,3501
$GC,6110,-1.10,-146.6,463.2,-7.8,296,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,6419,-1.10,-146.6,485.3,-6.9,311,6423,0.00,2.50,0.00,0.000,4,0.000,0.048,2163,1486,3501
$GC,6479,-1.10,-146.6,489.4,-6.9,314,6484,0.00,2.55,0.00,0.000,6,0.000,0.057,2163,2902,3501
$GC,6805,-1.10,-146.6,509.8,-6.4,330,6809,0.00,1.60,0.00,0.000,4,0.000,0.075,2163,3782,3501
$GC,6815,-1.10,-146.6,510.5,-6.7,330,6819,0.00,1.50,0.00,0.000,6,0.000,0.033,2163,2885,3501
$GC,7136,-1.10,-146.6,532.6,-7.6,346,7141,0.00,2.40,0.00,0.000,4,0.000,0.044,2163,1504,3501
$GC,7191,-1.10,-146.6,537.1,-8.2,348,7198,0.00,2.53,0.00,0.000,6,0.000,0.055,2163,2901,3501
$GC,7507,-1.10,-146.6,563.5,-8.2,364,7510,0.00,1.60,0.00,0.000,4,0.000,0.074,2163,3782,3501
$GC,7552,-1.10,-146.6,566.8,-7.9,366,7555,0.00,1.48,0.00,0.000,6,0.000,0.035,2163,2901,3501
$GC,7883,-1.10,-146.6,589.1,-6.1,382,7887,0.00,2.42,0.00,0.000,4,0.000,0.041,2163,1502,3501
$GC,7938,-1.10,-146.6,592.3,-5.8,384,7945,0.00,2.53,0.00,0.000,6,0.000,0.053,2163,2903,3501
$GC,8253,-1.10,-146.6,610.6,-6.0,400,8257,0.00,1.62,0.00,0.000,4,0.000,0.076,2163,3786,3501
$GC,8291,-1.10,-146.6,613.2,-6.8,401,8298,0.00,1.48,0.00,0.000,6,0.000,0.035,2163,2909,3501
$GC,8607,-1.10,-146.6,633.4,-6.6,417,8611,0.00,2.42,0.00,0.000,4,0.000,0.041,2163,1500,3501
$GC,8674,-1.10,-146.6,637.7,-6.4,420,8678,0.00,2.53,0.00,0.000,6,0.000,0.051,2163,2906,3501
$STATE,8709,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8709,begin apogee
$GC,8715,-0.42,0.0,640.1,6.8,422,8843,0.73,0.00,124.97,1.187,6,0.067,0.000,2317,2096,2901
$STATE,8844,end apogee,CONTROL_FINISHED_OK
$STATE,8844,begin climb
$GC,8846,1.10,146.6,645.7,0.0,428,8977,1.52,2.58,121.53,1.162,4,0.050,0.053,2649,715,2303
$GC,9016,1.16,193.8,643.2,4.7,436,9062,0.00,2.45,40.47,1.146,6,0.000,0.034,2649,2108,2110
$GC,9377,1.16,193.8,620.5,6.7,454,9382,0.00,2.53,0.00,0.000,4,0.000,0.058,2649,3494,2109
$GC,9443,1.16,193.8,615.7,7.2,457,9448,0.00,2.42,0.00,0.000,6,0.000,0.034,2649,2109,2108
$GC,9770,1.16,193.8,594.9,6.3,473,9774,0.00,2.53,0.00,0.000,4,0.000,0.054,2649,702,2108
$GC,9808,1.16,193.8,592.2,7.4,475,9813,0.00,2.42,0.00,0.000,6,0.000,0.035,2649,2102,2108
$GC,10134,1.16,193.8,570.8,6.2,491,10138,0.00,2.55,0.00,0.000,4,0.000,0.060,2649,3501,2107
$GC,10182,1.16,193.8,567.5,6.4,493,10187,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2100,2107
$GC,10504,1.17,201.9,548.3,5.8,509,10518,0.00,2.58,7.80,1.017,4,0.000,0.053,2649,708,2077
$GC,10580,1.17,201.9,543.5,6.5,512,10584,0.00,2.40,0.00,0.000,6,0.000,0.035,2649,2098,2077
$GC,10901,1.21,231.4,527.1,5.2,528,10932,0.10,2.62,25.80,1.114,4,0.047,0.061,2688,3500,1957
$GC,11006,1.21,231.4,519.9,7.7,533,11010,0.00,2.45,0.00,0.000,6,0.000,0.035,2688,2093,1957
$GC,11331,1.21,231.4,494.9,8.3,549,11336,0.00,2.50,0.00,0.000,4,0.000,0.053,2688,699,1956
$GC,11420,1.21,231.4,487.0,9.3,553,11424,0.00,2.45,0.00,0.000,6,0.000,0.035,2688,2094,1956
$GC,11747,1.21,231.4,460.0,8.1,569,11751,0.00,2.60,0.00,0.000,4,0.000,0.066,2688,3505,1956
$GC,11817,1.21,231.4,453.7,8.7,572,11822,0.00,2.47,0.00,0.000,6,0.000,0.038,2688,2104,1956
$GC,12139,1.21,231.4,427.9,7.7,588,12140,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2105,1956
$GC,12448,1.21,231.4,403.1,8.1,603,12452,0.00,2.60,0.00,0.000,4,0.000,0.069,2688,3505,1956
$GC,12479,1.21,231.4,400.3,8.5,604,12486,0.00,2.47,0.00,0.000,6,0.000,0.042,2688,2115,1956
$GC,12795,1.21,231.4,374.4,7.9,620,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2115,1956
$GC,13104,1.21,231.4,348.8,8.2,635,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2115,1956
$GC,13413,1.21,231.4,324.4,7.9,650,13418,0.00,2.60,0.00,0.000,4,0.000,0.071,2688,3505,1956
$GC,13446,1.21,231.4,321.5,8.8,651,13452,0.00,2.47,0.00,0.000,6,0.000,0.044,2688,2099,1956
$GC,13761,1.21,231.4,296.2,8.1,667,13762,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1957
$GC,14070,1.21,231.4,269.8,8.8,682,14075,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3512,1957
$GC,14119,1.21,231.4,265.3,8.4,684,14124,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2107,1957
$GC,14441,1.21,231.4,236.4,9.2,700,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2107,1957
$GC,14749,1.21,231.4,208.9,8.7,715,14754,0.00,2.60,0.00,0.000,4,0.000,0.072,2688,3505,1958
$GC,14788,1.21,231.4,205.5,9.6,717,14792,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2098,1958
$GC,15113,1.21,231.4,177.5,8.1,733,15114,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1958
$GC,15422,1.21,231.4,152.6,7.8,748,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1958
$GC,15732,1.21,231.4,128.1,8.0,763,15736,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3508,1958
$GC,15775,1.21,231.4,124.4,8.2,765,15779,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2094,1958
$GC,16102,1.21,231.4,97.9,8.3,781,16107,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3509,1958
$GC,16134,1.21,231.4,95.0,8.4,782,16142,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2109,1958
$GC,16452,1.21,231.4,68.8,8.6,798,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2109,1959
$GC,16760,1.21,231.4,44.2,8.3,813,16764,0.00,2.62,0.00,0.000,4,0.000,0.072,2688,3512,1959
$GC,16826,1.21,231.4,38.7,8.9,816,16830,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2098,1959
$GC,17153,1.21,231.4,12.2,8.3,832,17154,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1959
$STATE,17295,end climb,SURFACE_DEPTH_REACHED
$STATE,17295,begin surface coast
$FINISH,-0.8,1.027333
$STATE,17317,end surface coast,CONTROL_FINISHED_OK
$STATE,17317,begin surface
$SM_CCo,17338,56.30,0.741,1,0,1678,300.00
$SM_GC,-0.13,0.00,0.00,56.30,0.000,0.000,0.741,45,2897,1678,-10.88,-0.11,300.00
$IRIDIUM_FIX,6221.17,-1154.53,131207,080809
$TT8_MAMPS,0.028379
$HUMID,2061
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.7,74.4
$24V_AH,23.4,30.842
$10V_AH,10.1,14.863
$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,25.900,162.625,320.575,56.300,0.000,37.887,40.612,154.800,5.250,0.000,0.000,13.302,1550.492,13381.720,524.251,1855.030,437.939,33.372,1473.411,0.000,1828.444,0.000,33.100
$DEVICE_MAMPS,159.536,80.535,1187.316,740.922,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,601.624,593.767,532.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41188,840
$CFSIZE,260165632,248782848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,131207,142508,6247.317,-1156.717,30,1.1,30,-11.3