version: 66.02
glider: 103
mission: 7
dive: 161
start: 12 11 107 18 55 46
data:
$ID,103
$MISSION,7
$DIVE,161
$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,-65279.66
$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,22
$R_STBD_OVSHOOT,6
$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
$GPS1,184902,6244.616,-1143.016,39,1.9,39,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-54.6
$GPS2,185439,6244.612,-1142.994,12,1.5,12,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.121,0.182
$KALMAN_X,-231544.6,467.8,-747.1,65525.2,-321.3
$KALMAN_Y,-38705.0,222.3,-338.2,169594.3,-2893.0
$MHEAD_RNG_PITCHd_Wd,337.6,41994,-11.1,-6.000
$D_GRID,634
$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,-61.28,0.000,2,0.000,0.000,33,2898,3371
$GC,86,-1.10,-146.6,3.0,-7.1,3,109,12.05,2.62,-2.45,0.000,4,0.159,0.084,2166,1489,3502
$GC,113,-1.10,-146.6,11.8,-29.4,4,118,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2905,3502
$GC,440,-1.10,-146.6,34.5,-7.2,20,445,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1483,3503
$GC,697,-1.10,-146.6,56.1,-8.0,31,704,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2898,3503
$GC,1014,-1.10,-146.6,75.6,-5.8,47,1018,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1484,3503
$GC,1090,-1.10,-146.6,81.0,-6.8,50,1098,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2893,3503
$GC,1406,-1.10,-146.6,106.6,-8.4,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3503
$GC,1716,-1.10,-146.6,127.9,-5.5,81,1720,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1491,3503
$GC,1764,-1.10,-146.6,130.8,-6.2,83,1769,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2900,3503
$GC,2085,-1.10,-146.6,151.7,-6.8,99,2090,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1492,3503
$GC,2112,-1.10,-146.6,153.5,-6.6,100,2116,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2895,3503
$GC,2434,-1.10,-146.6,177.3,-7.5,116,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2895,3503
$GC,2744,-1.10,-146.6,200.5,-7.8,131,2748,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1489,3503
$GC,2792,-1.10,-146.6,204.5,-8.6,133,2797,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2901,3503
$GC,3113,-1.10,-146.6,226.5,-6.7,149,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,3423,-1.10,-146.6,247.3,-6.6,164,3427,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1492,3503
$GC,3471,-1.10,-146.6,250.5,-6.5,166,3475,0.00,2.58,0.00,0.000,6,0.000,0.064,2166,2900,3503
$GC,3792,-1.10,-146.6,272.0,-7.0,182,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,4102,-1.10,-146.6,294.1,-7.6,197,4106,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1491,3503
$GC,4140,-1.10,-146.6,297.1,-7.8,199,4144,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2901,3503
$GC,4465,-1.10,-146.6,321.6,-7.5,215,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,4774,-1.10,-146.6,342.6,-6.7,230,4779,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1486,3503
$GC,4829,-1.10,-146.6,346.5,-7.2,232,4836,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2905,3503
$GC,5145,-1.10,-146.6,368.3,-7.1,248,5149,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1484,3503
$GC,5187,-1.10,-146.6,371.6,-7.9,250,5192,0.00,2.58,0.00,0.000,6,0.000,0.062,2166,2901,3503
$GC,5515,-1.10,-146.6,395.7,-7.7,266,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,5824,-1.10,-146.6,419.4,-7.1,281,5828,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1489,3503
$GC,5907,-1.10,-146.6,425.4,-7.3,285,5912,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2905,3503
$GC,6233,-1.10,-146.6,446.7,-6.5,301,6237,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1489,3503
$GC,6278,-1.10,-146.6,449.8,-6.8,303,6283,0.00,2.58,0.00,0.000,6,0.000,0.063,2166,2901,3503
$GC,6609,-1.10,-146.6,472.3,-7.2,319,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,6918,-1.10,-146.6,492.9,-6.1,334,6923,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1489,3503
$GC,7007,-1.10,-146.6,498.4,-6.2,338,7011,0.00,2.58,0.00,0.000,6,0.000,0.063,2166,2900,3503
$GC,7334,-1.10,-146.6,518.8,-6.6,354,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,7643,-1.10,-146.6,542.6,-8.3,369,7647,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1481,3503
$GC,7714,-1.10,-146.6,548.9,-8.8,372,7719,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2893,3503
$GC,8036,-1.10,-146.6,570.0,-5.6,388,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3503
$GC,8344,-1.10,-146.6,590.2,-7.3,403,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3503
$GC,8654,-1.10,-146.6,613.5,-7.5,418,8658,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1480,3503
$GC,8702,-1.10,-146.6,617.0,-7.0,420,8707,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2899,3503
$STATE,8919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8919,begin apogee
$GC,8925,-0.42,0.0,630.0,5.8,431,9054,0.75,0.00,125.05,1.178,6,0.087,0.000,2317,2094,2901
$STATE,9054,end apogee,CONTROL_FINISHED_OK
$STATE,9054,begin climb
$GC,9057,1.10,146.6,634.2,0.0,437,9187,1.55,2.65,121.60,1.150,4,0.054,0.060,2650,688,2303
$GC,9349,1.15,187.8,623.6,4.9,450,9390,0.00,2.53,35.47,1.109,6,0.000,0.039,2650,2105,2135
$GC,9702,1.18,207.1,602.1,5.5,467,9726,0.00,2.70,17.60,1.085,4,0.000,0.071,2650,3496,2056
$GC,9753,1.18,207.1,598.3,7.3,469,9758,0.00,2.53,0.00,0.000,6,0.000,0.041,2650,2096,2056
$GC,10075,1.18,207.1,576.9,6.5,485,10079,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3512,2056
$GC,10113,1.18,207.1,574.3,6.3,487,10117,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2098,2056
$GC,10438,1.20,225.0,555.1,5.5,503,10460,0.00,2.72,16.02,1.098,4,0.000,0.071,2650,3509,1983
$GC,10533,1.21,237.4,549.7,5.7,507,10551,0.10,2.53,11.57,1.062,6,0.051,0.044,2683,2094,1933
$GC,10858,1.21,237.4,526.1,7.2,523,10862,0.00,2.53,0.00,0.000,4,0.000,0.060,2683,695,1932
$GC,10934,1.21,237.4,520.0,7.6,526,10941,0.00,2.47,0.00,0.000,6,0.000,0.042,2683,2098,1932
$GC,11250,1.21,237.4,493.9,8.8,542,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2098,1932
$GC,11559,1.21,237.4,465.2,9.3,557,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2097,1931
$GC,11868,1.21,237.4,440.2,7.3,572,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2098,1931
$GC,12177,1.21,237.4,419.5,6.9,587,12182,0.00,2.65,0.00,0.000,4,0.000,0.072,2683,3516,1931
$GC,12222,1.21,237.4,416.1,7.4,589,12226,0.00,2.53,0.00,0.000,6,0.000,0.045,2683,2099,1931
$GC,12542,1.21,237.4,392.4,7.7,605,12543,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2099,1931
$GC,12851,1.21,237.4,370.0,7.2,620,12855,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3509,1931
$GC,12889,1.21,237.4,367.3,7.6,622,12893,0.00,2.50,0.00,0.000,6,0.000,0.045,2683,2094,1931
$GC,13214,1.21,237.4,344.4,7.4,638,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1932
$GC,13523,1.21,237.4,321.1,7.4,653,13524,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1933
$GC,13832,1.21,237.4,296.6,8.3,668,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1933
$GC,14142,1.21,237.4,271.4,7.8,683,14146,0.00,2.65,0.00,0.000,4,0.000,0.073,2683,3510,1934
$GC,14185,1.21,237.4,267.9,7.9,685,14189,0.00,2.53,0.00,0.000,6,0.000,0.047,2683,2081,1934
$GC,14512,1.21,237.4,244.0,7.5,701,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2081,1934
$GC,14822,1.21,237.4,220.1,7.4,716,14826,0.00,2.70,0.00,0.000,4,0.000,0.073,2683,3516,1934
$GC,14876,1.21,237.4,215.7,7.9,718,14883,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2105,1934
$GC,15191,1.21,237.4,191.7,7.6,734,15193,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2105,1935
$GC,15501,1.21,237.4,167.7,8.2,749,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2105,1935
$GC,15810,1.21,237.4,141.7,8.3,764,15815,0.00,2.65,0.00,0.000,4,0.000,0.075,2683,3511,1935
$GC,15850,1.21,237.4,138.5,8.1,766,15854,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2094,1935
$GC,16181,1.21,237.4,112.9,8.2,782,16182,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1936
$GC,16491,1.21,237.4,88.8,8.1,797,16495,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3514,1936
$GC,16529,1.21,237.4,85.5,8.4,799,16534,0.00,2.47,0.00,0.000,6,0.000,0.044,2683,2100,1936
$GC,16856,1.21,237.4,57.7,8.7,815,16857,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1936
$GC,17165,1.21,237.4,32.3,8.3,830,17166,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1936
$GC,17476,1.21,237.4,7.2,8.3,845,17477,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1936
$STATE,17555,end climb,SURFACE_DEPTH_REACHED
$STATE,17555,begin surface coast
$FINISH,-1.0,1.027320
$STATE,17577,end surface coast,CONTROL_FINISHED_OK
$STATE,17577,begin surface
$SM_CCo,17599,52.10,0.736,1,0,1678,300.00
$SM_GC,-0.33,0.00,0.00,52.10,0.000,0.000,0.736,40,2893,1678,-10.90,-0.20,300.00
$IRIDIUM_FIX,6216.53,-1030.85,111207,171748
$TT8_MAMPS,0.028379
$HUMID,2058
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.1,64.5
$24V_AH,23.5,29.878
$10V_AH,10.1,14.231
$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,25.875,137.475,327.325,52.100,0.000,40.742,39.194,158.224,5.500,0.000,0.000,12.114,1547.407,13673.319,505.191,1837.773,446.140,33.369,1425.154,0.000,1815.607,0.000,35.999
$DEVICE_MAMPS,158.769,83.603,1178.112,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.544,600.165,545.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44316,850
$CFSIZE,260165632,249262080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,111207,235108,6246.473,-1143.321,32,1.1,32,-11.2