version: 66.02
glider: 103
mission: 7
dive: 147
start: 12 8 107 14 41 13
data:
$ID,103
$MISSION,7
$DIVE,147
$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,-65060.008
$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,20
$R_STBD_OVSHOOT,10
$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
$GPS1,143438,6231.942,-1049.905,41,1.0,41,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-58.2
$GPS2,144008,6231.978,-1050.080,11,1.0,16,-10.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6237.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.179,0.125
$KALMAN_X,-192607.6,544.4,-456.5,72878.1,-3834.7
$KALMAN_Y,-2157.4,323.8,-1159.0,110400.7,5473.2
$MHEAD_RNG_PITCHd_Wd,315.4,12566,-11.1,-6.000
$D_GRID,640
$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,-62.12,0.000,2,0.000,0.000,44,2905,3366
$GC,86,-1.10,-146.6,3.5,-9.2,3,109,12.00,1.77,-2.42,0.000,4,0.160,0.126,2164,3782,3501
$GC,360,-1.10,-146.6,33.3,-6.7,15,365,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2888,3502
$GC,687,-1.10,-146.6,65.5,-7.4,31,691,0.00,1.73,0.00,0.000,4,0.000,0.084,2164,3790,3502
$GC,912,-1.10,-146.6,81.2,-6.0,41,915,0.00,1.52,0.00,0.000,6,0.000,0.034,2164,2907,3502
$GC,1245,-1.10,-146.6,106.2,-8.5,57,1249,0.00,2.58,0.00,0.000,4,0.000,0.069,2164,1500,3502
$GC,1284,-1.10,-146.6,109.3,-8.0,59,1288,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2908,3502
$GC,1609,-1.10,-146.6,134.7,-7.0,75,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,1918,-1.10,-146.6,160.3,-8.0,90,1922,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1502,3502
$GC,1960,-1.10,-146.6,163.9,-8.4,92,1965,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2889,3502
$GC,2287,-1.10,-146.6,188.0,-6.7,108,2292,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1497,3502
$GC,2326,-1.10,-146.6,190.8,-7.3,110,2331,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2903,3502
$GC,2652,-1.10,-146.6,213.8,-7.2,126,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,2962,-1.10,-146.6,237.6,-7.4,141,2966,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1502,3502
$GC,3038,-1.10,-146.6,243.5,-7.1,144,3045,0.00,2.60,0.00,0.000,6,0.000,0.074,2164,2895,3502
$GC,3354,-1.10,-146.6,263.5,-6.1,160,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3502
$GC,3663,-1.10,-146.6,281.4,-5.7,175,3668,0.00,2.58,0.00,0.000,4,0.000,0.068,2164,1500,3502
$GC,3696,-1.10,-146.6,283.3,-5.3,176,3702,0.00,2.62,0.00,0.000,6,0.000,0.075,2164,2907,3502
$GC,4011,-1.10,-146.6,302.4,-6.5,192,4016,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1502,3502
$GC,4043,-1.10,-146.6,304.8,-7.1,193,4050,0.00,2.62,0.00,0.000,6,0.000,0.076,2164,2900,3502
$GC,4359,-1.10,-146.6,328.4,-7.9,209,4363,0.00,2.58,0.00,0.000,4,0.000,0.069,2164,1500,3502
$GC,4392,-1.10,-146.6,331.2,-8.1,210,4398,0.00,2.62,0.00,0.000,6,0.000,0.076,2164,2898,3502
$GC,4707,-1.10,-146.6,355.1,-7.0,226,4711,0.00,2.55,0.00,0.000,4,0.000,0.068,2164,1501,3502
$GC,4738,-1.10,-146.6,357.4,-7.0,227,4745,0.00,2.62,0.00,0.000,6,0.000,0.076,2164,2899,3502
$GC,5054,-1.10,-146.6,378.6,-7.0,243,5058,0.00,2.58,0.00,0.000,4,0.000,0.068,2164,1500,3502
$GC,5119,-1.10,-146.6,383.4,-7.7,246,5124,0.00,2.62,0.00,0.000,6,0.000,0.077,2164,2905,3502
$GC,5446,-1.10,-146.6,405.3,-6.5,262,5450,0.00,2.58,0.00,0.000,4,0.000,0.069,2164,1500,3502
$GC,5478,-1.10,-146.6,407.2,-5.9,263,5484,0.00,2.62,0.00,0.000,6,0.000,0.077,2164,2901,3502
$GC,5793,-1.10,-146.6,430.4,-8.9,279,5797,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1493,3502
$GC,5832,-1.10,-146.6,434.0,-9.4,281,5836,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2898,3502
$GC,6157,-1.10,-146.6,463.3,-8.1,297,6161,0.00,2.55,0.00,0.000,4,0.000,0.067,2164,1500,3502
$GC,6211,-1.10,-146.6,467.2,-6.8,299,6218,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2914,3502
$GC,6527,-1.10,-146.6,478.7,-2.0,315,6531,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1500,3502
$GC,6658,-1.10,-146.6,483.0,-4.0,321,6662,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2899,3502
$GC,6983,-1.10,-146.6,501.1,-8.1,337,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,7292,-1.10,-146.6,532.7,-9.6,352,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,7602,-1.10,-146.6,548.1,-2.8,367,7606,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1494,3502
$GC,7686,-1.10,-146.6,551.2,-4.2,371,7690,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2906,3502
$GC,8011,-1.10,-146.6,573.5,-7.9,387,8015,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1499,3502
$GC,8043,-1.10,-146.6,576.1,-8.2,388,8047,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2906,3502
$GC,8364,-1.10,-146.6,599.8,-7.8,404,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,8673,-1.10,-146.6,623.8,-7.5,419,8677,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1500,3502
$GC,8712,-1.10,-146.6,626.4,-7.0,421,8717,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2903,3502
$STATE,8913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8913,begin apogee
$GC,8919,-0.42,0.0,641.5,8.8,431,9047,0.75,0.00,124.50,1.193,6,0.086,0.000,2316,2113,2901
$STATE,9048,end apogee,CONTROL_FINISHED_OK
$STATE,9048,begin climb
$GC,9050,1.10,146.6,647.3,0.0,437,9181,1.55,2.70,121.53,1.162,4,0.053,0.064,2650,692,2303
$GC,9434,1.21,234.2,634.5,3.6,454,9515,0.12,2.53,73.10,1.159,6,0.044,0.041,2694,2114,1946
$GC,9829,1.21,234.2,595.6,11.2,474,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2115,1945
$GC,10139,1.21,234.2,573.2,6.3,489,10143,0.00,2.65,0.00,0.000,4,0.000,0.078,2694,3512,1944
$GC,10200,1.21,234.2,569.2,6.8,492,10204,0.00,2.55,0.00,0.000,6,0.000,0.048,2694,2092,1944
$GC,10525,1.27,284.2,548.5,4.6,508,10569,0.00,0.00,42.25,1.138,6,0.000,0.000,2694,2092,1742
$GC,10874,1.27,284.2,518.1,11.1,525,10879,0.00,2.55,0.00,0.000,4,0.000,0.064,2694,693,1741
$GC,10928,1.27,284.2,513.0,9.2,527,10935,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2087,1741
$GC,11244,1.27,284.2,482.3,13.0,543,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2087,1740
$GC,11553,1.27,284.2,439.3,11.6,558,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2087,1740
$GC,11862,1.27,284.2,416.4,6.3,573,11867,0.00,2.67,0.00,0.000,4,0.000,0.076,2694,3519,1740
$GC,11916,1.27,284.2,412.5,7.0,575,11923,0.00,2.55,0.00,0.000,6,0.000,0.048,2694,2103,1740
$GC,12232,1.27,284.2,386.9,8.5,591,12237,0.00,2.55,0.00,0.000,4,0.000,0.061,2694,692,1740
$GC,12276,1.27,284.2,382.6,9.3,593,12280,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2095,1740
$GC,12602,1.27,284.2,352.1,9.1,609,12607,0.00,2.65,0.00,0.000,4,0.000,0.076,2694,3512,1740
$GC,12646,1.27,284.2,348.0,9.2,611,12650,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2096,1740
$GC,12972,1.27,284.2,319.2,8.7,627,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2096,1740
$GC,13282,1.27,284.2,291.9,9.3,642,13283,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2096,1741
$GC,13591,1.27,284.2,269.1,6.2,657,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2096,1741
$GC,13900,1.27,284.2,239.4,11.4,672,13904,0.00,2.67,0.00,0.000,4,0.000,0.076,2694,3512,1741
$GC,13938,1.27,284.2,235.5,10.4,674,13942,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2100,1741
$GC,14270,1.27,284.2,201.9,10.5,690,14274,0.00,2.55,0.00,0.000,4,0.000,0.064,2694,693,1742
$GC,14301,1.27,284.2,198.6,10.5,691,14308,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2098,1742
$GC,14617,1.27,284.2,165.3,10.8,707,14621,0.00,2.62,0.00,0.000,4,0.000,0.074,2694,3513,1742
$GC,14661,1.27,284.2,160.0,11.5,709,14666,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2100,1742
$GC,14983,1.27,284.2,129.6,7.1,725,14987,0.00,2.55,0.00,0.000,4,0.000,0.062,2694,693,1743
$GC,15037,1.27,284.2,125.2,7.6,727,15044,0.00,2.53,0.00,0.000,6,0.000,0.049,2694,2100,1743
$GC,15353,1.27,284.2,103.0,8.5,743,15357,0.00,2.62,0.00,0.000,4,0.000,0.075,2694,3512,1743
$GC,15392,1.27,284.2,99.1,10.3,745,15396,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2100,1743
$GC,15717,1.27,284.2,72.9,8.7,761,15721,0.00,2.58,0.00,0.000,4,0.000,0.067,2694,692,1743
$GC,15760,1.27,284.2,68.4,10.2,763,15765,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2097,1743
$GC,16087,1.27,284.2,33.3,11.1,779,16091,0.00,2.65,0.00,0.000,4,0.000,0.075,2694,3518,1743
$GC,16126,1.27,284.2,29.9,8.7,781,16130,0.00,2.50,0.00,0.000,6,0.000,0.049,2694,2101,1743
$STATE,16429,end climb,SURFACE_DEPTH_REACHED
$STATE,16429,begin surface coast
$FINISH,-0.9,1.027336
$STATE,16451,end surface coast,CONTROL_FINISHED_OK
$STATE,16451,begin surface
$SM_CCo,16472,15.12,0.669,1,0,1678,300.00
$SM_GC,-0.64,0.00,0.00,15.12,0.000,0.000,0.669,43,2897,1678,-10.89,-0.08,300.00
$IRIDIUM_FIX,6207.28,-1046.62,081207,131319
$TT8_MAMPS,0.028379
$HUMID,2085
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.1,78.3
$24V_AH,23.4,27.946
$10V_AH,10.1,13.001
$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,25.975,159.525,361.375,15.125,0.000,40.344,38.487,150.545,5.250,0.000,0.000,16.418,1484.459,12555.843,520.653,1845.790,431.402,33.371,1461.088,0.000,1819.834,0.000,33.102
$DEVICE_MAMPS,159.536,125.788,1193.452,668.824,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.330,559.913,499.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41223,797
$CFSIZE,260165632,250171392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,081207,191728,6234.870,-1100.027,28,3.2,47,-10.7