version: 66.02
glider: 103
mission: 7
dive: 165
start: 12 12 107 16 37 12
data:
$ID,103
$MISSION,7
$DIVE,165
$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,-65354.105
$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,15
$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
$GPS1,162308,6243.387,-1154.095,26,1.9,26,-11.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-58.7
$GPS2,163607,6243.302,-1154.101,14,1.6,30,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.133,0.173
$KALMAN_X,-226317.5,22.5,91.4,50108.5,992.3
$KALMAN_Y,-50743.8,259.5,-546.5,179378.8,-2892.7
$MHEAD_RNG_PITCHd_Wd,333.7,34335,-11.1,-6.000
$D_GRID,680
$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,19,begin dive
$GC,21,-1.10,-146.6,0.0,0.0,0,85,0.00,0.00,-62.00,0.000,2,0.000,0.000,49,2902,3462
$GC,87,-1.10,-146.6,4.4,-10.5,3,109,11.93,1.77,-0.68,0.000,4,0.158,0.122,2165,3779,3503
$GC,361,-1.10,-146.6,33.7,-7.6,15,365,0.00,1.52,0.00,0.000,6,0.000,0.032,2165,2892,3503
$GC,688,-1.10,-146.6,56.6,-6.6,31,691,0.00,1.70,0.00,0.000,4,0.000,0.081,2165,3787,3503
$GC,945,-1.10,-146.6,75.7,-7.3,42,949,0.00,1.50,0.00,0.000,6,0.000,0.031,2165,2903,3503
$GC,1266,-1.10,-146.6,98.2,-6.9,58,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,1576,-1.10,-146.6,119.4,-7.0,73,1580,0.00,2.58,0.00,0.000,4,0.000,0.069,2165,1502,3503
$GC,1614,-1.10,-146.6,122.1,-7.2,75,1619,0.00,2.60,0.00,0.000,6,0.000,0.071,2165,2898,3503
$GC,1940,-1.10,-146.6,146.1,-7.6,91,1944,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1501,3503
$GC,1972,-1.10,-146.6,148.2,-6.6,92,1979,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2900,3503
$GC,2287,-1.10,-146.6,171.5,-7.1,108,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,2596,-1.10,-146.6,194.3,-7.7,123,2601,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1501,3504
$GC,2623,-1.10,-146.6,196.4,-7.9,124,2628,0.00,2.60,0.00,0.000,6,0.000,0.071,2165,2896,3503
$GC,2944,-1.10,-146.6,220.4,-7.4,140,2948,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1492,3504
$GC,2976,-1.10,-146.6,222.8,-7.9,141,2982,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2906,3503
$GC,3291,-1.10,-146.6,246.7,-7.8,157,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,3600,-1.10,-146.6,269.7,-7.4,172,3605,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1501,3503
$GC,3644,-1.10,-146.6,273.2,-7.4,174,3648,0.00,2.58,0.00,0.000,6,0.000,0.069,2165,2899,3503
$GC,3971,-1.10,-146.6,298.1,-7.8,190,3975,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1492,3503
$GC,3998,-1.10,-146.6,300.4,-8.6,191,4002,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2897,3503
$GC,4313,-1.10,-146.6,325.6,-8.0,206,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3503
$GC,4624,-1.10,-146.6,350.6,-8.0,221,4629,0.00,2.55,0.00,0.000,4,0.000,0.065,2165,1499,3503
$GC,4663,-1.10,-146.6,354.0,-8.3,223,4668,0.00,2.60,0.00,0.000,6,0.000,0.069,2166,2902,3503
$GC,4989,-1.10,-146.6,380.1,-8.0,239,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,5299,-1.10,-146.6,402.5,-7.1,254,5303,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1497,3503
$GC,5341,-1.10,-146.6,405.8,-7.3,256,5346,0.00,2.60,0.00,0.000,6,0.000,0.069,2165,2901,3503
$GC,5668,-1.10,-146.6,429.7,-7.3,272,5672,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1500,3503
$GC,5711,-1.10,-146.6,432.9,-7.3,274,5715,0.00,2.58,0.00,0.000,6,0.000,0.069,2165,2900,3503
$GC,6038,-1.10,-146.6,456.3,-7.2,290,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,6347,-1.10,-146.6,478.5,-7.0,305,6351,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1497,3503
$GC,6373,-1.10,-146.6,480.3,-6.9,306,6377,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2900,3503
$GC,6694,-1.10,-146.6,501.8,-7.0,322,6698,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1489,3503
$GC,6726,-1.10,-146.6,504.2,-7.0,323,6732,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2902,3503
$GC,7044,-1.10,-146.6,525.8,-6.6,339,7048,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1489,3503
$GC,7109,-1.10,-146.6,530.3,-5.9,342,7114,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2906,3503
$GC,7436,-1.10,-146.6,550.3,-6.4,358,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,7745,-1.10,-146.6,571.1,-6.7,373,7749,0.00,2.53,0.00,0.000,4,0.000,0.055,2165,1496,3503
$GC,7810,-1.10,-146.6,575.6,-6.8,376,7815,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2902,3503
$GC,8137,-1.10,-146.6,595.8,-6.2,392,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,8447,-1.10,-146.6,615.6,-6.4,407,8451,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1491,3503
$GC,8508,-1.10,-146.6,619.6,-6.8,410,8512,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2899,3503
$GC,8833,-1.10,-146.6,639.8,-6.2,426,8838,0.00,2.50,0.00,0.000,4,0.000,0.053,2165,1494,3503
$GC,8895,-1.10,-146.6,643.7,-6.1,429,8899,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2903,3503
$GC,9220,-1.10,-146.6,664.8,-7.0,445,9224,0.00,2.50,0.00,0.000,4,0.000,0.053,2165,1492,3503
$GC,9268,-1.10,-146.6,668.1,-7.1,447,9273,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2904,3503
$STATE,9444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9444,begin apogee
$GC,9450,-0.42,0.0,680.2,7.3,456,9579,0.75,0.00,126.03,1.210,6,0.079,0.000,2321,2102,2901
$STATE,9580,end apogee,CONTROL_FINISHED_OK
$STATE,9580,begin climb
$GC,9582,1.10,146.6,684.7,0.0,462,9713,1.52,2.65,122.03,1.184,4,0.054,0.058,2649,697,2303
$GC,9751,1.11,153.2,681.9,5.8,470,9768,0.00,2.47,7.43,0.966,6,0.000,0.035,2649,2117,2276
$GC,10077,1.13,168.8,663.7,5.6,486,10098,0.00,2.62,14.80,1.104,4,0.000,0.064,2649,3501,2212
$GC,10137,1.15,182.3,660.1,5.6,488,10156,0.00,2.47,12.88,1.081,6,0.000,0.037,2649,2093,2157
$GC,10472,1.15,182.3,639.5,6.2,505,10477,0.00,2.60,0.00,0.000,4,0.000,0.065,2648,3495,2157
$GC,10533,1.15,182.3,635.8,6.6,508,10537,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2099,2157
$GC,10858,1.15,182.3,615.2,6.4,524,10863,0.00,2.55,0.00,0.000,4,0.000,0.060,2649,698,2156
$GC,10975,1.15,182.3,607.2,7.2,529,10980,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2085,2155
$GC,11296,1.15,182.3,585.1,7.2,545,11301,0.00,2.62,0.00,0.000,4,0.000,0.065,2649,3512,2155
$GC,11380,1.15,182.3,578.5,8.1,549,11385,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2097,2154
$GC,11706,1.15,182.3,556.6,6.5,565,11710,0.00,2.60,0.00,0.000,4,0.000,0.065,2648,3512,2154
$GC,11738,1.15,182.3,554.2,6.7,566,11744,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2101,2154
$GC,12053,1.15,182.3,534.0,6.6,582,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2101,2153
$GC,12363,1.17,200.1,515.8,5.5,597,12383,0.00,0.00,15.70,1.074,6,0.000,0.000,2649,2101,2085
$GC,12692,1.17,200.1,496.5,6.0,613,12696,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3506,2085
$GC,12735,1.17,200.1,493.7,6.2,615,12739,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2105,2085
$GC,13062,1.17,200.1,472.9,6.5,631,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2105,2085
$GC,13371,1.17,200.1,452.4,7.0,646,13376,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3508,2085
$GC,13455,1.17,200.1,446.1,7.4,650,13460,0.00,2.47,0.00,0.000,6,0.000,0.040,2649,2097,2085
$GC,13782,1.17,200.1,422.1,7.4,666,13786,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3507,2086
$GC,13836,1.17,200.1,417.6,7.7,668,13843,0.00,2.50,0.00,0.000,6,0.000,0.041,2649,2097,2085
$GC,14151,1.17,200.1,396.6,6.0,684,14156,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3511,2085
$GC,14190,1.17,200.1,394.1,6.6,686,14194,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2099,2085
$GC,14516,1.17,201.4,374.8,6.0,702,14520,0.00,2.62,0.00,0.000,4,0.000,0.068,2649,3508,2086
$GC,14549,1.17,201.4,372.7,6.6,703,14555,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2100,2086
$GC,14864,1.17,201.4,352.8,6.5,719,14868,0.00,2.60,0.00,0.000,4,0.000,0.070,2649,3506,2086
$GC,14902,1.17,201.4,350.2,6.7,721,14907,0.00,2.47,0.00,0.000,6,0.000,0.043,2649,2099,2086
$GC,15228,1.17,201.4,328.0,6.9,737,15229,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2099,2086
$GC,15538,1.17,201.4,306.1,7.3,752,15542,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3507,2087
$GC,15603,1.17,201.4,301.3,7.5,755,15607,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2093,2087
$GC,15930,1.17,201.4,279.0,6.6,771,15934,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3506,2087
$GC,15968,1.17,201.4,276.2,6.8,773,15973,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2093,2087
$GC,16295,1.17,203.0,256.4,6.0,789,16305,0.00,2.62,4.88,0.736,4,0.000,0.071,2649,3505,2073
$GC,16355,1.18,207.6,252.7,5.9,792,16366,0.00,2.47,5.57,0.752,6,0.000,0.041,2649,2102,2054
$GC,16681,1.18,207.6,232.4,6.3,808,16682,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2102,2054
$GC,16990,1.18,207.6,212.3,6.4,823,16995,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3507,2054
$GC,17063,1.18,207.6,207.0,7.8,826,17067,0.00,2.50,0.00,0.000,6,0.000,0.043,2649,2093,2054
$GC,17378,1.18,207.6,184.4,7.4,841,17382,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3505,2054
$GC,17432,1.18,207.6,180.3,7.8,843,17439,0.00,2.50,0.00,0.000,6,0.000,0.045,2648,2102,2054
$GC,17747,1.18,207.6,159.6,6.4,859,17752,0.00,2.60,0.00,0.000,4,0.000,0.070,2648,3506,2054
$GC,17802,1.18,207.6,155.7,7.0,861,17809,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2097,2054
$GC,18118,1.18,207.9,135.9,6.0,877,18123,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3505,2055
$GC,18173,1.18,207.9,132.2,6.3,879,18180,0.00,2.50,0.00,0.000,6,0.000,0.046,2649,2104,2054
$GC,18489,1.18,213.1,112.6,5.9,895,18502,0.00,2.65,6.22,0.696,4,0.000,0.071,2649,3508,2032
$GC,18536,1.19,218.4,109.7,5.9,897,18548,0.00,2.53,6.22,0.686,6,0.000,0.047,2649,2104,2010
$GC,18859,1.19,218.4,89.1,6.7,912,18863,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3505,2010
$GC,18913,1.19,218.4,85.0,6.6,914,18920,0.00,2.53,0.00,0.000,6,0.000,0.047,2649,2101,2009
$GC,19229,1.19,218.4,64.7,6.3,930,19233,0.00,2.65,0.00,0.000,4,0.000,0.073,2649,3508,2010
$GC,19268,1.19,218.4,62.1,7.6,932,19272,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2101,2010
$GC,19593,1.19,218.4,40.3,6.9,948,19594,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,2010
$GC,19903,1.19,218.4,19.6,7.1,963,19904,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,2010
$GC,20212,1.29,301.8,4.7,3.7,978,20282,0.20,0.00,66.40,0.748,6,0.034,0.000,2708,2095,1670
$STATE,20286,end climb,SURFACE_DEPTH_REACHED
$STATE,20286,begin surface coast
$FINISH,-1.0,1.002807
$STATE,20330,end surface coast,CONTROL_FINISHED_OK
$STATE,20330,begin surface
$SM_CCo,20411,0.00,0.000,0,0,1668,302.45
$SM_GC,0.10,11.80,0.00,0.00,0.030,0.000,0.000,50,2889,1668,-10.78,-0.31,302.45
$IRIDIUM_FIX,6221.17,-1158.15,121207,202027
$TT8_MAMPS,0.028379
$HUMID,2039
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.4,68.5
$24V_AH,23.4,30.435
$10V_AH,10.1,14.599
$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,26.200,204.050,388.150,0.000,0.000,120.611,102.971,300.967,6.000,0.000,0.000,30.034,1828.248,15783.830,560.038,2249.316,776.923,33.370,1692.137,0.000,2199.925,0.000,39.247
$DEVICE_MAMPS,158.002,121.953,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,710.500,698.026,625.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50629,984
$CFSIZE,260165632,248954880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,46,0,0
$GPS,121207,221837,6244.655,-1157.445,38,1.1,42,-11.3