version: 66.02
glider: 103
mission: 7
dive: 163
start: 12 12 107 5 28 22
data:
$ID,103
$MISSION,7
$DIVE,163
$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,-65310.223
$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,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
$GPS1,051656,6244.343,-1147.539,41,1.3,41,-11.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-60.2
$GPS2,052715,6244.225,-1147.547,13,1.3,13,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,0.092
$KALMAN_X,-228857.7,226.4,-305.8,58607.8,1424.9
$KALMAN_Y,-43588.9,-254.5,-1112.2,175028.4,-897.1
$MHEAD_RNG_PITCHd_Wd,306.2,38641,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,85,0.00,0.00,-61.55,0.000,2,0.000,0.000,48,2895,3426
$GC,87,-1.10,-146.6,3.5,-8.0,3,110,11.93,2.60,-1.33,0.000,4,0.157,0.073,2164,1491,3502
$GC,159,-1.10,-146.6,17.2,-7.8,6,164,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2906,3503
$GC,488,-1.10,-146.6,42.7,-8.1,22,491,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3784,3503
$GC,537,-1.10,-146.6,47.1,-8.5,24,541,0.00,1.52,0.00,0.000,6,0.000,0.032,2164,2893,3503
$GC,864,-1.10,-146.6,72.8,-7.5,40,869,0.00,2.55,0.00,0.000,4,0.000,0.067,2164,1500,3503
$GC,919,-1.10,-146.6,76.9,-7.7,42,926,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2903,3503
$GC,1235,-1.10,-146.6,101.2,-7.9,58,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,1544,-1.10,-146.6,126.3,-8.1,73,1548,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1497,3503
$GC,1605,-1.10,-146.6,131.3,-8.9,76,1610,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2906,3503
$GC,1931,-1.10,-146.6,157.1,-7.9,92,1935,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1497,3503
$GC,1957,-1.10,-146.6,159.2,-7.9,93,1962,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2899,3503
$GC,2278,-1.10,-146.6,183.2,-7.2,109,2279,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2588,-1.10,-146.6,205.8,-7.0,124,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2897,-1.10,-146.6,228.3,-7.2,139,2901,0.00,2.55,0.00,0.000,4,0.000,0.062,2164,1499,3503
$GC,2957,-1.10,-146.6,232.7,-7.9,142,2962,0.00,2.55,0.00,0.000,6,0.000,0.064,2164,2899,3503
$GC,3283,-1.10,-146.6,256.5,-7.5,158,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,3592,-1.10,-146.6,279.6,-7.4,173,3596,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1496,3503
$GC,3653,-1.10,-146.6,284.0,-7.6,175,3660,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2899,3503
$GC,3969,-1.10,-146.6,306.4,-7.1,191,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,4278,-1.10,-146.6,328.7,-7.4,206,4282,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1490,3503
$GC,4321,-1.10,-146.6,332.0,-7.3,208,4325,0.00,2.58,0.00,0.000,6,0.000,0.065,2164,2899,3503
$GC,4648,-1.10,-146.6,354.8,-6.9,224,4652,0.00,2.53,0.00,0.000,4,0.000,0.060,2164,1497,3503
$GC,4680,-1.10,-146.6,357.2,-7.1,225,4685,0.00,2.58,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,5002,-1.10,-146.6,379.1,-6.8,241,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,5311,-1.10,-146.6,399.8,-6.6,256,5319,0.00,2.53,0.00,0.000,4,0.000,0.061,2164,1499,3503
$GC,5363,-1.10,-146.6,403.5,-7.3,258,5367,0.00,2.58,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,5689,-1.10,-146.6,425.0,-6.6,274,5694,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1496,3503
$GC,5738,-1.10,-146.6,428.2,-6.7,276,5742,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2912,3503
$GC,6065,-1.10,-146.6,448.5,-5.9,292,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2912,3503
$GC,6374,-1.10,-146.6,467.8,-6.5,307,6378,0.00,2.55,0.00,0.000,4,0.000,0.055,2164,1494,3503
$GC,6422,-1.10,-146.6,471.0,-6.8,309,6427,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2908,3503
$GC,6743,-1.10,-146.6,492.5,-6.7,325,6747,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1492,3503
$GC,6781,-1.10,-146.6,494.9,-6.5,327,6786,0.00,2.58,0.00,0.000,6,0.000,0.062,2164,2905,3503
$GC,7107,-1.10,-146.6,515.4,-6.3,343,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,7416,-1.10,-146.6,537.0,-7.0,358,7421,0.00,2.50,0.00,0.000,4,0.000,0.050,2164,1492,3503
$GC,7527,-1.10,-146.6,544.9,-7.3,363,7532,0.00,2.55,0.00,0.000,6,0.000,0.060,2164,2902,3503
$GC,7854,-1.10,-146.6,564.7,-5.7,379,7858,0.00,2.50,0.00,0.000,4,0.000,0.047,2164,1482,3503
$GC,7894,-1.10,-146.6,567.0,-5.9,381,7898,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2908,3503
$GC,8219,-1.10,-146.6,588.1,-7.3,397,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,8528,-1.10,-146.6,609.2,-6.2,412,8533,0.00,2.47,0.00,0.000,4,0.000,0.044,2164,1490,3503
$GC,8572,-1.10,-146.6,611.9,-6.0,414,8576,0.00,2.55,0.00,0.000,6,0.000,0.056,2164,2908,3503
$GC,8899,-1.10,-146.6,632.4,-6.4,430,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3503
$STATE,9165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9165,begin apogee
$GC,9171,-0.42,0.0,650.3,6.5,443,9299,0.75,0.00,125.20,1.195,6,0.074,0.000,2321,2093,2901
$STATE,9300,end apogee,CONTROL_FINISHED_OK
$STATE,9300,begin climb
$GC,9302,1.10,146.6,654.7,0.0,449,9433,1.50,2.58,121.62,1.162,4,0.048,0.054,2649,710,2303
$GC,9592,1.11,153.6,646.0,5.8,462,9606,0.00,2.45,7.78,0.968,6,0.000,0.035,2649,2113,2274
$GC,9933,1.15,186.0,629.0,5.1,479,9967,0.00,2.62,28.12,1.135,4,0.000,0.059,2649,3492,2142
$GC,10019,1.15,186.0,624.2,6.3,483,10024,0.00,2.42,0.00,0.000,6,0.000,0.035,2649,2102,2142
$GC,10345,1.16,196.1,605.6,5.7,499,10360,0.00,2.62,9.98,1.051,4,0.000,0.059,2649,3502,2101
$GC,10437,1.16,197.2,600.4,6.0,502,10442,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2096,2101
$GC,10759,1.17,204.8,581.4,5.8,518,10769,0.00,0.00,8.68,1.036,6,0.000,0.000,2649,2097,2066
$GC,11068,1.17,204.8,559.1,7.8,533,11072,0.00,2.58,0.00,0.000,4,0.000,0.061,2649,3505,2066
$GC,11167,1.17,204.8,551.5,7.1,537,11174,0.00,2.42,0.00,0.000,6,0.000,0.035,2649,2101,2065
$GC,11482,1.17,204.8,532.2,6.4,553,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2101,2065
$GC,11791,1.17,204.8,509.4,7.7,568,11796,0.00,2.58,0.00,0.000,4,0.000,0.063,2649,3496,2064
$GC,11823,1.17,204.8,506.6,7.9,569,11830,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2102,2064
$GC,12139,1.17,204.8,483.8,6.6,585,12143,0.00,2.53,0.00,0.000,4,0.000,0.055,2649,697,2064
$GC,12165,1.17,204.8,481.9,6.1,586,12170,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2090,2064
$GC,12486,1.17,204.8,461.8,6.3,602,12490,0.00,2.60,0.00,0.000,4,0.000,0.064,2649,3512,2064
$GC,12552,1.17,204.8,457.3,6.4,605,12556,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2104,2065
$GC,12879,1.17,204.8,436.3,6.6,621,12883,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3506,2065
$GC,12910,1.17,204.8,434.0,7.0,622,12917,0.00,2.47,0.00,0.000,6,0.000,0.039,2649,2099,2065
$GC,13226,1.17,204.8,411.5,7.1,638,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2099,2065
$GC,13535,1.17,204.8,390.4,6.4,653,13539,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3511,2066
$GC,13598,1.17,204.8,386.3,6.8,656,13602,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2096,2066
$GC,13924,1.19,220.6,367.1,5.6,672,13943,0.00,0.00,14.60,0.958,6,0.000,0.000,2649,2096,2001
$GC,14252,1.19,220.6,347.3,6.2,688,14257,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3511,2001
$GC,14329,1.19,220.6,341.6,7.5,691,14336,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2100,2001
$GC,14645,1.19,220.6,318.6,7.3,707,14649,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3515,2001
$GC,14677,1.19,220.6,316.1,7.6,708,14683,0.00,2.50,0.00,0.000,6,0.000,0.041,2649,2103,2001
$GC,14992,1.19,220.6,292.9,7.1,724,14997,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3509,2001
$GC,15032,1.19,220.6,289.9,8.1,726,15036,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2099,2001
$GC,15357,1.19,220.6,266.2,6.8,742,15361,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3507,2002
$GC,15411,1.19,220.6,262.2,7.5,744,15418,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2100,2002
$GC,15727,1.19,220.6,241.3,6.6,760,15731,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3507,2002
$GC,15758,1.19,220.6,238.9,7.3,761,15765,0.00,2.50,0.00,0.000,6,0.000,0.043,2649,2098,2002
$GC,16074,1.19,220.6,217.4,7.0,777,16078,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3505,2002
$GC,16117,1.19,220.6,214.0,7.4,779,16121,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2094,2003
$GC,16443,1.19,220.6,190.1,7.3,795,16444,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2094,2003
$GC,16753,1.20,226.3,169.6,5.8,810,16767,0.10,2.70,6.78,0.762,4,0.051,0.071,2685,3505,1978
$GC,16840,1.20,226.3,163.0,8.8,814,16845,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2093,1978
$GC,17167,1.20,226.3,138.1,7.7,830,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2093,1978
$GC,17476,1.20,226.3,113.5,7.8,845,17477,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2093,1978
$GC,17785,1.20,226.3,88.9,7.9,860,17790,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3512,1978
$GC,17829,1.20,226.3,85.1,8.2,862,17833,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2102,1978
$GC,18156,1.20,226.3,59.4,7.9,878,18157,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2102,1979
$GC,18465,1.20,226.3,36.1,7.0,893,18470,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3512,1978
$GC,18505,1.20,226.3,33.2,8.2,895,18509,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2099,1978
$GC,18830,1.20,226.3,9.5,7.5,911,18834,0.00,2.55,0.00,0.000,4,0.000,0.061,2685,686,1979
$GC,18879,1.20,226.3,5.1,8.3,913,18884,0.00,2.47,0.00,0.000,6,0.000,0.043,2685,2096,1979
$STATE,18931,end climb,SURFACE_DEPTH_REACHED
$STATE,18931,begin surface coast
$FINISH,-0.3,1.027316
$STATE,18953,end surface coast,CONTROL_FINISHED_OK
$STATE,18953,begin surface
$SM_CCo,18974,59.80,0.747,1,0,1678,300.00
$SM_GC,0.19,0.00,0.00,59.80,0.000,0.000,0.747,40,2897,1678,-10.90,-0.08,300.00
$IRIDIUM_FIX,6216.53,-1144.37,121207,090954
$TT8_MAMPS,0.029146
$HUMID,2058
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.6,48.9
$24V_AH,23.4,30.155
$10V_AH,10.1,14.409
$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,25.825,179.600,322.750,59.800,0.000,74.522,84.703,289.422,6.000,0.000,0.000,13.743,1693.949,14718.069,551.943,2022.388,686.768,33.370,1577.857,0.000,1995.840,0.000,39.225
$DEVICE_MAMPS,157.235,94.341,1194.986,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.299,638.489,560.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47392,917
$CFSIZE,260165632,249106432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,1,0
$GPS,121207,104656,6244.276,-1150.733,40,1.5,40,-11.3