version: 66.02
glider: 103
mission: 7
dive: 156
start: 12 10 107 15 29 16
data:
$ID,103
$MISSION,7
$DIVE,156
$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,-65206.637
$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,19
$R_STBD_OVSHOOT,18
$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
$GPS1,152208,6240.100,-1140.828,37,1.2,37,-11.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-59.6
$GPS2,152809,6240.019,-1140.905,10,1.9,10,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.071,0.207
$KALMAN_X,-226607.3,435.5,57.2,61628.4,-2333.1
$KALMAN_Y,-24810.7,103.8,-775.2,147761.5,-2768.5
$MHEAD_RNG_PITCHd_Wd,29.9,9857,-11.1,-6.000
$D_GRID,678
$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,-62.05,0.000,2,0.000,0.000,38,2907,3429
$GC,86,-1.10,-146.6,3.6,-8.4,3,109,12.05,1.75,-1.30,0.000,4,0.160,0.121,2163,3777,3502
$GC,360,-1.10,-146.6,34.4,-7.1,15,365,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2889,3503
$GC,687,-1.10,-146.6,53.8,-6.9,31,692,0.00,2.55,0.00,0.000,4,0.000,0.070,2164,1496,3503
$GC,764,-1.10,-146.6,61.2,-10.0,34,772,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2895,3503
$GC,1080,-1.10,-146.6,89.7,-8.1,50,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3502
$GC,1390,-1.10,-146.6,110.9,-6.1,65,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3503
$GC,1699,-1.10,-146.6,129.8,-5.6,80,1704,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1500,3503
$GC,1760,-1.10,-146.6,133.7,-6.3,83,1765,0.00,2.60,0.00,0.000,6,0.000,0.070,2164,2900,3503
$GC,2086,-1.10,-146.6,165.3,-10.5,99,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,2395,-1.10,-146.6,190.5,-7.0,114,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,2705,-1.10,-146.6,210.0,-6.2,129,2709,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1500,3503
$GC,2736,-1.10,-146.6,212.1,-7.1,130,2743,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2897,3503
$GC,3053,-1.10,-146.6,235.5,-6.7,146,3057,0.00,2.55,0.00,0.000,4,0.000,0.066,2164,1499,3502
$GC,3095,-1.10,-146.6,238.8,-7.4,148,3100,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2915,3503
$GC,3422,-1.10,-146.6,264.7,-8.0,164,3426,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1494,3502
$GC,3471,-1.10,-146.6,268.6,-7.7,166,3475,0.00,2.60,0.00,0.000,6,0.000,0.070,2164,2901,3503
$GC,3792,-1.10,-146.6,293.8,-7.7,182,3796,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1494,3502
$GC,3824,-1.10,-146.6,296.3,-8.1,183,3830,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,4139,-1.10,-146.6,318.8,-7.0,199,4144,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1500,3503
$GC,4205,-1.10,-146.6,323.8,-7.4,202,4210,0.00,2.58,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,4532,-1.10,-146.6,346.7,-7.1,218,4536,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1496,3502
$GC,4575,-1.10,-146.6,349.8,-7.0,220,4580,0.00,2.58,0.00,0.000,6,0.000,0.067,2164,2901,3503
$GC,4901,-1.10,-146.6,373.7,-7.9,236,4905,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1494,3503
$GC,4950,-1.10,-146.6,377.4,-7.4,238,4954,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2903,3503
$GC,5271,-1.10,-146.6,398.7,-6.1,254,5275,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1497,3503
$GC,5313,-1.10,-146.6,401.4,-5.9,256,5318,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2907,3503
$GC,5640,-1.10,-146.6,421.3,-6.4,272,5644,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1499,3503
$GC,5678,-1.10,-146.6,423.7,-6.9,274,5683,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2902,3502
$GC,6004,-1.10,-146.6,444.9,-6.6,290,6008,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1499,3503
$GC,6043,-1.10,-146.6,447.5,-6.9,291,6048,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2899,3502
$GC,6357,-1.10,-146.6,467.6,-6.2,307,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,6667,-1.10,-146.6,486.0,-5.5,322,6671,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1498,3502
$GC,6738,-1.10,-146.6,490.3,-6.2,325,6742,0.00,2.60,0.00,0.000,6,0.000,0.069,2164,2901,3503
$GC,7060,-1.10,-146.6,508.7,-5.7,341,7064,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1491,3502
$GC,7108,-1.10,-146.6,511.7,-6.3,343,7113,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,7429,-1.10,-146.6,532.7,-6.8,359,7433,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1491,3503
$GC,7507,-1.10,-146.6,538.5,-7.8,362,7513,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,7822,-1.10,-146.6,562.7,-8.2,378,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,8131,-1.10,-146.6,587.7,-8.0,393,8135,0.00,2.53,0.00,0.000,4,0.000,0.062,2163,1497,3502
$GC,8220,-1.10,-146.6,594.1,-7.5,397,8225,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2903,3503
$GC,8545,-1.10,-146.6,615.1,-6.3,413,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,8855,-1.10,-146.6,634.9,-6.4,428,8859,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1491,3503
$GC,8925,-1.10,-146.6,639.7,-6.7,431,8930,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2906,3502
$GC,9247,-1.10,-146.6,660.6,-6.3,447,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$STATE,9534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9534,begin apogee
$GC,9541,-0.42,0.0,678.8,6.1,461,9670,0.77,0.00,126.25,1.220,6,0.094,0.000,2318,2110,2901
$STATE,9671,end apogee,CONTROL_FINISHED_OK
$STATE,9671,begin climb
$GC,9673,1.10,146.6,683.0,0.0,467,9804,1.55,2.70,122.32,1.190,4,0.055,0.064,2651,694,2303
$GC,9955,1.10,146.6,673.2,6.1,480,9960,0.00,2.55,0.00,0.000,6,0.000,0.045,2651,2102,2303
$GC,10283,1.11,155.1,654.1,5.8,496,10297,0.00,2.70,8.82,1.032,4,0.000,0.076,2651,3508,2268
$GC,10382,1.11,155.7,648.5,6.0,500,10386,0.00,2.53,0.00,0.000,6,0.000,0.044,2651,2092,2268
$GC,10697,1.12,164.5,631.1,5.8,515,10711,0.00,2.75,9.18,1.056,4,0.000,0.075,2651,3514,2230
$GC,10778,1.12,164.5,625.5,8.0,518,10785,0.00,2.55,0.00,0.000,6,0.000,0.046,2651,2105,2231
$GC,11093,1.12,164.5,604.2,7.0,534,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2105,2230
$GC,11402,1.12,164.5,584.5,6.2,549,11404,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2105,2229
$GC,11712,1.13,166.8,566.3,5.9,564,11716,0.00,2.58,0.00,0.000,4,0.000,0.064,2651,691,2228
$GC,11779,1.13,166.8,562.1,6.0,567,11784,0.00,2.53,0.00,0.000,6,0.000,0.047,2651,2106,2228
$GC,12105,1.13,166.8,542.7,6.1,583,12109,0.00,2.62,0.00,0.000,4,0.000,0.075,2651,3508,2227
$GC,12221,1.14,178.7,535.3,5.7,588,12241,0.00,2.50,13.00,1.086,6,0.000,0.044,2651,2094,2172
$GC,12562,1.15,181.7,514.7,5.9,605,12572,0.00,2.65,4.30,0.801,4,0.000,0.072,2651,3510,2160
$GC,12611,1.15,181.7,511.7,6.3,607,12615,0.00,2.53,0.00,0.000,6,0.000,0.042,2651,2101,2160
$GC,12932,1.15,181.7,490.6,7.2,623,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2101,2160
$GC,13241,1.15,181.7,469.6,6.5,638,13245,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3510,2160
$GC,13302,1.15,181.7,465.3,7.2,641,13307,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2099,2161
$GC,13628,1.15,181.7,443.7,6.3,657,13632,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3510,2161
$GC,13670,1.15,181.7,440.6,6.7,659,13675,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2105,2161
$GC,13997,1.15,181.7,420.0,6.5,675,14002,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3509,2161
$GC,14052,1.15,181.7,416.2,6.5,677,14059,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2097,2161
$GC,14367,1.15,181.7,396.0,6.4,693,14372,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3513,2161
$GC,14422,1.15,181.7,392.4,6.5,695,14429,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2102,2161
$GC,14737,1.15,181.7,372.8,6.2,711,14742,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3514,2161
$GC,14781,1.15,181.7,369.6,7.2,713,14785,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2103,2161
$GC,15108,1.15,182.6,349.8,6.0,729,15112,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3511,2162
$GC,15156,1.15,182.6,346.5,6.3,731,15161,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2101,2162
$GC,15478,1.15,183.6,327.4,6.0,747,15487,0.00,2.65,4.07,0.683,4,0.000,0.072,2651,3508,2152
$GC,15537,1.15,183.6,323.5,6.7,749,15544,0.00,2.50,0.00,0.000,6,0.000,0.043,2651,2107,2152
$GC,15852,1.15,183.6,303.7,6.1,765,15857,0.00,2.65,0.00,0.000,4,0.000,0.074,2651,3511,2152
$GC,15906,1.15,183.6,300.3,6.0,767,15913,0.00,2.50,0.00,0.000,6,0.000,0.043,2651,2107,2152
$GC,16222,1.15,186.6,281.4,5.9,783,16232,0.00,2.65,4.43,0.716,4,0.000,0.074,2651,3508,2140
$GC,16283,1.15,186.6,277.7,6.3,786,16288,0.00,2.50,0.00,0.000,6,0.000,0.045,2651,2098,2140
$GC,16609,1.16,195.9,258.8,5.7,802,16620,0.00,0.00,9.25,0.841,6,0.000,0.000,2651,2098,2102
$GC,16919,1.18,208.6,240.1,5.6,817,16940,0.00,2.75,12.02,0.857,4,0.000,0.074,2651,3508,2050
$GC,17024,1.18,210.3,233.8,6.0,821,17030,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2094,2050
$GC,17339,1.18,210.3,215.9,6.0,837,17343,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3508,2050
$GC,17400,1.18,210.3,212.2,6.6,840,17405,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2093,2050
$GC,17727,1.26,274.3,194.6,4.2,856,17789,0.15,2.78,53.45,0.880,4,0.041,0.077,2695,3505,1781
$GC,17827,1.26,274.3,187.5,7.0,860,17834,0.00,2.55,0.00,0.000,6,0.000,0.050,2695,2104,1781
$GC,18143,1.26,274.3,164.2,7.6,876,18144,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2104,1781
$GC,18452,1.26,274.3,139.2,8.3,891,18453,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2104,1781
$GC,18762,1.26,274.3,112.8,8.8,906,18763,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2104,1781
$GC,19072,1.26,274.3,83.4,10.2,921,19074,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2104,1781
$GC,19380,1.26,274.3,54.1,9.8,936,19385,0.00,2.67,0.00,0.000,4,0.000,0.076,2695,3516,1781
$GC,19407,1.26,274.3,51.5,9.6,937,19411,0.00,2.53,0.00,0.000,6,0.000,0.051,2695,2101,1781
$GC,19722,1.26,274.3,23.3,8.8,952,19723,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2101,1781
$STATE,19968,end climb,SURFACE_DEPTH_REACHED
$STATE,19968,begin surface coast
$FINISH,-0.9,1.027427
$STATE,19991,end surface coast,CONTROL_FINISHED_OK
$STATE,19991,begin surface
$SM_CCo,20012,22.40,0.704,1,0,1678,300.00
$SM_GC,-0.06,0.00,0.00,22.40,0.000,0.000,0.704,39,2898,1678,-10.91,-0.06,300.00
$IRIDIUM_FIX,6216.53,-1142.47,101207,131358
$TT8_MAMPS,0.028379
$HUMID,2080
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.6,65.6
$24V_AH,23.4,29.182
$10V_AH,10.1,13.798
$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,25.975,192.700,367.100,22.400,0.000,39.648,38.849,182.193,6.000,0.000,0.000,10.789,1783.430,15385.704,553.709,2192.224,499.711,33.370,1670.942,0.000,2165.891,0.000,39.244
$DEVICE_MAMPS,159.536,121.186,1219.530,704.106,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,702.343,678.755,564.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50600,965
$CFSIZE,260165632,249552896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,47,1,0
$GPS,101207,210432,6240.695,-1141.224,42,0.9,42,-11.1