version: 66.02
glider: 103
mission: 7
dive: 167
start: 12 13 107 4 4 52
data:
$ID,103
$MISSION,7
$DIVE,167
$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,-65381.188
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,035808,6245.861,-1153.260,52,1.6,52,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-51.0
$GPS2,040345,6245.851,-1153.143,11,1.9,11,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.109,0.189
$KALMAN_X,-223425.2,146.7,510.2,47515.6,819.0
$KALMAN_Y,-55303.7,432.1,-111.1,188037.8,-3531.3
$MHEAD_RNG_PITCHd_Wd,341.3,33148,-11.1,-6.000
$D_GRID,645
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-62.78,0.000,6,0.000,0.000,47,2907,3500
$GC,88,-1.10,-146.6,2.3,-5.6,3,104,11.95,1.73,0.00,0.000,4,0.158,0.095,2165,3776,3501
$GC,356,-1.10,-146.6,34.5,-8.7,14,361,0.00,1.50,0.00,0.000,6,0.000,0.031,2165,2896,3502
$GC,684,-1.10,-146.6,56.6,-4.6,30,687,0.00,1.67,0.00,0.000,4,0.000,0.081,2165,3780,3501
$GC,941,-1.10,-146.6,74.7,-6.6,41,945,0.00,1.50,0.00,0.000,6,0.000,0.031,2165,2898,3502
$GC,1262,-1.10,-146.6,96.9,-7.1,57,1266,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1497,3502
$GC,1316,-1.10,-146.6,100.7,-7.1,59,1324,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2897,3502
$GC,1634,-1.10,-146.6,121.5,-6.3,75,1638,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1500,3502
$GC,1672,-1.10,-146.6,124.0,-6.1,77,1677,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2903,3502
$GC,1999,-1.10,-146.6,145.3,-6.5,93,2003,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1491,3502
$GC,2053,-1.10,-146.6,149.1,-7.0,95,2060,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2891,3502
$GC,2369,-1.10,-146.6,170.7,-7.0,111,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2891,3502
$GC,2678,-1.10,-146.6,192.3,-7.0,126,2683,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1492,3502
$GC,2727,-1.10,-146.6,195.9,-7.5,128,2732,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2904,3502
$GC,3049,-1.10,-146.6,219.6,-7.3,144,3053,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1493,3502
$GC,3103,-1.10,-146.6,223.8,-7.8,146,3108,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2906,3502
$GC,3424,-1.10,-146.6,247.2,-7.2,162,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3502
$GC,3734,-1.10,-146.6,270.2,-7.6,177,3738,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1502,3502
$GC,3822,-1.10,-146.6,277.0,-7.4,181,3826,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2908,3502
$GC,4151,-1.10,-146.6,301.1,-7.3,197,4155,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1500,3502
$GC,4205,-1.10,-146.6,305.4,-7.4,199,4212,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2903,3502
$GC,4520,-1.10,-146.6,327.6,-7.0,215,4525,0.00,2.55,0.00,0.000,4,0.000,0.064,2165,1501,3502
$GC,4564,-1.10,-146.6,330.6,-6.9,217,4568,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2904,3502
$GC,4891,-1.10,-146.6,352.4,-6.6,233,4895,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1500,3502
$GC,4930,-1.10,-146.6,354.9,-6.8,235,4934,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2903,3502
$GC,5255,-1.10,-146.6,376.9,-6.9,251,5259,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1494,3502
$GC,5287,-1.10,-146.6,378.9,-6.7,252,5293,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,5603,-1.10,-146.6,398.9,-6.2,268,5607,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1500,3502
$GC,5651,-1.10,-146.6,402.1,-6.5,270,5655,0.00,2.58,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,5973,-1.10,-146.6,422.3,-6.4,286,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,6282,-1.10,-146.6,443.7,-7.3,301,6287,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1498,3502
$GC,6331,-1.10,-146.6,447.4,-6.9,303,6336,0.00,2.58,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,6652,-1.10,-146.6,469.6,-6.7,319,6656,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1492,3502
$GC,6720,-1.10,-146.6,474.1,-7.2,322,6724,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2906,3502
$GC,7045,-1.10,-146.6,497.6,-7.3,338,7049,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1498,3502
$GC,7088,-1.10,-146.6,501.0,-7.3,340,7092,0.00,2.58,0.00,0.000,6,0.000,0.065,2165,2905,3502
$GC,7416,-1.10,-146.6,525.3,-7.5,356,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3502
$GC,7724,-1.10,-146.6,547.2,-6.4,371,7728,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1493,3502
$GC,7772,-1.10,-146.6,550.5,-6.2,373,7777,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2900,3502
$GC,8094,-1.10,-146.6,570.1,-6.2,389,8098,0.00,2.53,0.00,0.000,4,0.000,0.057,2165,1490,3502
$GC,8171,-1.10,-146.6,575.2,-6.7,392,8177,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2901,3502
$GC,8486,-1.10,-146.6,596.3,-6.7,408,8490,0.00,2.53,0.00,0.000,4,0.000,0.056,2165,1488,3502
$GC,8552,-1.10,-146.6,600.8,-6.6,411,8556,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2901,3502
$GC,8878,-1.10,-146.6,622.2,-6.7,427,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,9188,-1.10,-146.6,643.0,-7.0,442,9192,0.00,2.50,0.00,0.000,4,0.000,0.054,2165,1494,3502
$STATE,9214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9219,-0.42,0.0,645.0,8.0,443,9351,0.73,0.00,125.55,1.190,6,0.087,0.000,2315,2113,2901
$STATE,9351,end apogee,CONTROL_FINISHED_OK
$STATE,9352,begin climb
$GC,9353,1.10,146.6,650.3,0.0,450,9485,1.55,2.65,122.32,1.154,4,0.054,0.055,2648,705,2303
$GC,9676,1.12,156.5,638.4,5.7,465,9691,0.00,2.45,10.18,1.017,6,0.000,0.035,2648,2105,2262
$GC,10001,1.16,191.8,620.7,5.0,480,10037,0.00,2.65,30.45,1.134,4,0.000,0.064,2648,3506,2119
$GC,10109,1.16,191.8,614.1,7.1,484,10113,0.00,2.50,0.00,0.000,6,0.000,0.038,2648,2104,2118
$GC,10436,1.16,193.4,594.1,6.0,500,10440,0.00,2.60,0.00,0.000,4,0.000,0.065,2648,3505,2117
$GC,10507,1.16,193.4,589.5,6.6,503,10511,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2106,2117
$GC,10828,1.16,193.4,569.6,6.6,519,10832,0.00,2.55,0.00,0.000,4,0.000,0.058,2648,698,2117
$GC,10877,1.16,193.4,566.0,7.2,521,10881,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2096,2117
$GC,11198,1.16,193.4,543.9,6.8,537,11202,0.00,2.60,0.00,0.000,4,0.000,0.065,2647,3507,2116
$GC,11303,1.16,193.4,536.7,7.0,542,11308,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2098,2116
$GC,11629,1.17,202.7,517.5,5.7,558,11642,0.00,0.00,10.27,1.037,6,0.000,0.000,2648,2098,2074
$GC,11938,1.18,212.0,499.7,5.7,573,11953,0.00,2.65,9.62,1.007,4,0.000,0.065,2648,3506,2036
$GC,12016,1.18,212.0,495.1,6.7,575,12022,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2099,2036
$GC,12330,1.18,212.0,475.1,6.7,591,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2099,2036
$GC,12640,1.18,212.0,454.3,6.7,606,12644,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3506,2036
$GC,12678,1.18,212.0,451.5,7.5,608,12682,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2098,2036
$GC,13003,1.18,212.0,429.8,6.7,624,13008,0.00,2.65,0.00,0.000,4,0.000,0.070,2648,3512,2036
$GC,13057,1.18,212.0,425.7,7.1,626,13064,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2103,2036
$GC,13373,1.18,212.0,404.2,7.1,642,13378,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3512,2036
$GC,13428,1.18,212.0,399.9,7.3,644,13434,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2104,2036
$GC,13743,1.18,212.0,377.8,7.0,660,13748,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3508,2036
$GC,13787,1.18,212.0,374.6,7.5,662,13791,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2104,2036
$GC,14114,1.18,212.0,351.6,7.3,678,14118,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3508,2036
$GC,14152,1.18,212.0,348.8,7.1,680,14156,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2100,2036
$GC,14478,1.18,212.0,324.6,7.5,696,14482,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3508,2036
$GC,14520,1.18,212.0,321.2,7.3,698,14525,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2101,2036
$GC,14847,1.18,212.0,298.1,6.9,714,14852,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3508,2037
$GC,14891,1.18,212.0,294.8,7.2,716,14895,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2098,2037
$GC,15217,1.18,212.0,272.8,6.6,732,15221,0.00,2.60,0.00,0.000,4,0.000,0.070,2648,3508,2037
$GC,15267,1.18,212.0,269.3,6.9,734,15271,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2096,2037
$GC,15594,1.19,217.1,249.7,5.9,750,15602,0.00,0.00,6.20,0.780,6,0.000,0.000,2648,2096,2016
$GC,15902,1.19,217.1,229.8,6.3,765,15907,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3514,2016
$GC,15951,1.19,217.1,226.4,6.6,767,15956,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2093,2015
$GC,16273,1.19,217.1,205.6,6.6,783,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2093,2016
$GC,16582,1.19,217.1,185.8,6.6,798,16586,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3509,2016
$GC,16631,1.19,217.1,182.3,6.9,800,16635,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2096,2016
$GC,16952,1.19,217.1,160.1,7.1,816,16956,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3510,2016
$GC,17000,1.19,217.1,156.4,7.2,818,17005,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2102,2016
$GC,17322,1.19,217.1,133.5,7.1,834,17326,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3508,2016
$GC,17370,1.19,217.1,129.8,6.9,836,17375,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2096,2016
$GC,17692,1.19,217.1,108.6,6.3,852,17696,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3512,2016
$GC,17735,1.19,217.1,105.7,6.6,854,17739,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2100,2016
$GC,18062,1.19,217.1,83.2,7.6,870,18066,0.00,2.62,0.00,0.000,4,0.000,0.068,2648,3512,2017
$GC,18123,1.20,227.8,79.5,5.7,873,18139,0.12,2.47,10.20,0.755,6,0.044,0.042,2689,2100,1972
$GC,18450,1.20,227.8,57.5,6.8,888,18451,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,1972
$GC,18758,1.20,227.8,33.6,8.0,903,18762,0.00,2.58,0.00,0.000,4,0.000,0.065,2689,690,1972
$GC,18821,1.20,227.8,28.4,8.6,906,18826,0.00,2.50,0.00,0.000,6,0.000,0.048,2689,2095,1972
$GC,19147,1.20,227.8,2.6,7.3,922,19151,0.00,2.67,0.00,0.000,4,0.000,0.080,2689,3516,1972
$STATE,19155,end climb,SURFACE_DEPTH_REACHED
$STATE,19155,begin surface coast
$FINISH,0.0,1.027332
$STATE,19178,end surface coast,CONTROL_FINISHED_OK
$STATE,19178,begin surface
$SM_CCo,19199,56.55,0.746,0,0,1677,300.00
$SM_GC,-0.24,0.00,0.00,56.55,0.000,0.000,0.746,37,2884,1677,-10.92,-0.45,300.00
$IRIDIUM_FIX,6221.17,-1153.56,131207,020219
$TT8_MAMPS,0.028379
$HUMID,2061
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,18.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.0,66.0
$24V_AH,23.4,30.711
$10V_AH,10.1,14.783
$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,26.025,208.475,324.800,56.550,0.000,37.907,42.595,155.448,5.500,0.000,0.000,11.436,1758.718,14620.799,540.168,2211.663,475.657,33.371,1661.640,0.000,2183.674,0.000,34.683
$DEVICE_MAMPS,158.002,95.108,1190.384,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,669.054,652.869,582.932,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47438,923
$CFSIZE,260165632,248827904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,45,0,0
$GPS,131207,092721,6246.645,-1156.789,38,2.1,57,-11.3