version: 66.02
glider: 103
mission: 7
dive: 160
start: 12 11 107 13 47 46
data:
$ID,103
$MISSION,7
$DIVE,160
$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,-65266.918
$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,23
$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
$GPS1,133337,6244.379,-1138.214,71,1.3,71,-11.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-52.9
$GPS2,134639,6244.312,-1138.106,12,1.2,12,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6245.000,-1145.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.093,0.198
$KALMAN_X,-230898.6,523.1,874.6,67500.1,-3097.0
$KALMAN_Y,-36562.0,656.5,634.1,165468.6,-4990.0
$MHEAD_RNG_PITCHd_Wd,345.9,5983,-11.1,-6.000
$D_GRID,631
$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,21,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-61.75,0.000,2,0.000,0.000,48,2901,3375
$GC,86,-1.10,-146.6,3.5,-9.1,3,109,11.93,2.60,-2.30,0.000,4,0.156,0.077,2166,1486,3502
$GC,361,-1.10,-146.6,37.7,-4.2,15,366,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2902,3503
$GC,682,-1.10,-146.6,64.1,-10.1,31,686,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1489,3503
$GC,747,-1.10,-146.6,67.6,-5.7,34,752,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2899,3503
$GC,1068,-1.10,-146.6,89.0,-6.5,50,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,1378,-1.10,-146.6,107.3,-5.4,65,1382,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1489,3503
$GC,1410,-1.10,-146.6,108.9,-4.9,66,1417,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2899,3503
$GC,1727,-1.10,-146.6,127.8,-6.6,82,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,2034,-1.10,-146.6,153.2,-8.8,97,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,2344,-1.10,-146.6,178.7,-8.3,112,2348,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1486,3503
$GC,2398,-1.10,-146.6,183.4,-8.9,114,2405,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2905,3503
$GC,2713,-1.10,-146.6,209.1,-8.3,130,2718,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1483,3503
$GC,2740,-1.10,-146.6,211.5,-8.7,131,2744,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2904,3503
$GC,3061,-1.10,-146.6,238.5,-8.5,147,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,3370,-1.10,-146.6,262.8,-7.4,162,3374,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1485,3503
$GC,3419,-1.10,-146.6,266.3,-7.3,164,3423,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2899,3504
$GC,3739,-1.10,-146.6,288.0,-6.7,180,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,4049,-1.10,-146.6,309.4,-6.9,195,4053,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1488,3503
$GC,4103,-1.10,-146.6,313.2,-7.3,197,4110,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2899,3503
$GC,4418,-1.10,-146.6,335.0,-7.2,213,4422,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1489,3503
$GC,4452,-1.10,-146.6,337.1,-6.5,214,4458,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2899,3503
$GC,4766,-1.10,-146.6,359.1,-7.1,230,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,5076,-1.10,-146.6,380.6,-6.8,245,5080,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1491,3503
$GC,5137,-1.10,-146.6,385.0,-7.2,248,5142,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2902,3503
$GC,5463,-1.10,-146.6,405.7,-5.9,264,5468,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1486,3503
$GC,5495,-1.10,-146.6,407.9,-6.7,265,5502,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2897,3503
$GC,5811,-1.10,-146.6,429.1,-7.0,281,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2897,3503
$GC,6121,-1.10,-146.6,451.8,-7.6,296,6126,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1490,3503
$GC,6160,-1.10,-146.6,454.8,-7.4,298,6164,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2903,3503
$GC,6485,-1.10,-146.6,477.5,-6.5,314,6489,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1489,3503
$GC,6517,-1.10,-146.6,479.6,-6.8,315,6524,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2900,3503
$GC,6835,-1.10,-146.6,501.0,-6.9,331,6839,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1489,3503
$GC,6866,-1.10,-146.6,503.4,-6.9,332,6873,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2905,3503
$GC,7183,-1.10,-146.6,526.4,-7.6,348,7187,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1490,3503
$GC,7245,-1.10,-146.6,531.0,-8.0,351,7250,0.00,2.58,0.00,0.000,6,0.000,0.064,2166,2901,3503
$GC,7571,-1.10,-146.6,555.7,-7.5,367,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,7881,-1.10,-146.6,577.7,-6.7,382,7885,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1489,3503
$GC,7946,-1.10,-146.6,582.1,-7.0,385,7950,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2901,3503
$GC,8273,-1.10,-146.6,602.6,-5.9,401,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,8582,-1.10,-146.6,622.5,-6.8,416,8587,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1488,3503
$GC,8609,-1.10,-146.6,624.5,-7.1,417,8613,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2905,3503
$STATE,8701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8701,begin apogee
$GC,8708,-0.42,0.0,631.3,7.3,422,8836,0.75,0.00,125.38,1.202,6,0.087,0.000,2317,2103,2901
$STATE,8837,end apogee,CONTROL_FINISHED_OK
$STATE,8837,begin climb
$GC,8839,1.10,146.6,636.7,0.0,428,8971,1.55,2.65,122.22,1.152,4,0.054,0.059,2649,697,2303
$GC,9119,1.13,172.0,631.5,5.3,441,9148,0.00,2.50,22.80,1.113,6,0.000,0.040,2649,2108,2199
$GC,9469,1.13,172.0,609.3,7.2,458,9473,0.00,2.60,0.00,0.000,4,0.000,0.070,2649,3504,2198
$GC,9575,1.13,172.0,601.6,7.3,463,9579,0.00,2.50,0.00,0.000,6,0.000,0.041,2649,2092,2198
$GC,9900,1.13,172.0,580.4,6.2,479,9904,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3504,2197
$GC,9961,1.13,172.0,576.7,6.8,482,9965,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2100,2196
$GC,10287,1.18,212.1,559.1,4.9,498,10327,0.00,0.00,33.92,1.153,6,0.000,0.000,2649,2100,2036
$GC,10636,1.18,212.1,538.2,6.4,515,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,2035
$GC,10945,1.18,212.1,516.9,6.9,530,10949,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3507,2035
$GC,11039,1.18,212.1,510.0,7.0,534,11043,0.00,2.47,0.00,0.000,6,0.000,0.040,2649,2098,2034
$GC,11354,1.18,212.1,486.3,7.8,549,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2098,2034
$GC,11663,1.18,212.1,464.6,6.5,564,11667,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3504,2034
$GC,11728,1.18,212.1,460.3,7.3,567,11733,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2094,2034
$GC,12055,1.20,228.6,441.6,5.5,583,12076,0.10,0.00,14.98,1.029,6,0.051,0.000,2686,2094,1968
$GC,12384,1.20,228.6,417.7,8.2,599,12389,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3512,1968
$GC,12434,1.20,228.6,413.3,8.5,601,12438,0.00,2.50,0.00,0.000,6,0.000,0.044,2686,2093,1968
$GC,12754,1.20,228.6,385.2,8.6,617,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2094,1968
$GC,13064,1.20,228.6,360.1,7.4,632,13068,0.00,2.62,0.00,0.000,4,0.000,0.074,2686,3505,1968
$GC,13102,1.20,228.6,357.3,7.6,634,13107,0.00,2.50,0.00,0.000,6,0.000,0.047,2686,2097,1968
$GC,13427,1.20,228.6,334.1,7.2,650,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2096,1968
$GC,13737,1.20,228.6,313.2,6.5,665,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2096,1969
$GC,14046,1.20,228.6,292.8,6.6,680,14050,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3505,1969
$GC,14089,1.20,228.6,289.6,7.6,682,14093,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2086,1969
$GC,14416,1.20,228.6,267.7,7.2,698,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2086,1969
$GC,14725,1.20,228.6,242.4,8.8,713,14729,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3506,1970
$GC,14779,1.20,228.6,237.2,10.4,715,14786,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2098,1970
$GC,15095,1.20,228.6,208.3,8.7,731,15096,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1970
$GC,15405,1.20,228.6,184.9,7.4,746,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1970
$GC,15714,1.20,228.6,161.4,7.1,761,15718,0.00,2.62,0.00,0.000,4,0.000,0.071,2686,3505,1970
$GC,15752,1.20,228.6,158.6,6.7,763,15756,0.00,2.50,0.00,0.000,6,0.000,0.048,2686,2093,1970
$GC,16083,1.20,228.6,135.4,6.8,779,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1970
$GC,16394,1.20,228.6,113.8,6.8,794,16398,0.00,2.65,0.00,0.000,4,0.000,0.072,2686,3506,1970
$GC,16448,1.20,228.6,109.9,7.5,796,16455,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2099,1970
$GC,16764,1.20,228.6,86.2,7.8,812,16768,0.00,2.53,0.00,0.000,4,0.000,0.061,2686,695,1970
$GC,16812,1.20,228.6,82.1,8.5,814,16817,0.00,2.47,0.00,0.000,6,0.000,0.045,2687,2089,1970
$GC,17134,1.20,228.6,59.2,7.6,830,17135,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2089,1971
$GC,17443,1.20,228.6,35.2,7.0,845,17445,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2089,1971
$GC,17752,1.20,228.6,12.1,8.0,860,17754,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2089,1971
$STATE,17895,end climb,SURFACE_DEPTH_REACHED
$STATE,17895,begin surface coast
$FINISH,-0.4,1.027317
$STATE,17917,end surface coast,CONTROL_FINISHED_OK
$STATE,17917,begin surface
$SM_CCo,17938,58.65,0.743,1,0,1678,300.00
$SM_GC,-0.21,0.00,0.00,58.65,0.000,0.000,0.743,33,2896,1678,-10.93,-0.11,300.00
$IRIDIUM_FIX,6221.17,-1047.28,111207,171703
$TT8_MAMPS,0.029146
$HUMID,2058
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.0,77.7
$24V_AH,23.4,29.746
$10V_AH,10.1,14.150
$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,25.825,147.600,319.300,58.650,0.000,116.551,124.542,306.292,5.500,0.000,0.000,12.826,1580.215,14048.739,531.333,1866.996,773.509,33.372,1469.135,0.000,1848.848,0.000,36.049
$DEVICE_MAMPS,156.468,96.642,1201.889,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,635.271,610.567,560.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44334,868
$CFSIZE,260165632,249311232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,111207,184902,6244.616,-1143.016,39,1.9,39,-11.2