version: 66.02
glider: 103
mission: 7
dive: 171
start: 12 14 107 1 0 52
data:
$ID,103
$MISSION,7
$DIVE,171
$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,-65483.285
$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,10
$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
$GPS1,005408,6247.866,-1201.163,38,0.9,38,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-55.5
$GPS2,005945,6247.831,-1200.961,12,1.2,12,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.194,0.100
$KALMAN_X,-218884.7,-48.8,605.4,36198.6,881.5
$KALMAN_Y,-67000.9,306.8,944.7,202482.7,-5978.4
$MHEAD_RNG_PITCHd_Wd,308.8,25714,-11.1,-6.000
$D_GRID,646
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-72.40,0.000,6,0.000,0.000,48,2908,3500
$GC,96,-1.10,-146.6,2.2,-5.3,3,118,12.00,2.62,0.00,0.000,4,0.160,0.058,2166,1493,3502
$GC,255,-1.10,-146.6,23.7,-5.4,10,259,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2901,3502
$GC,582,-1.10,-146.6,49.5,-8.9,26,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,890,-1.10,-146.6,62.7,-5.0,41,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,1199,-1.10,-146.6,80.7,-6.4,56,1203,0.00,1.65,0.00,0.000,4,0.000,0.084,2166,3786,3503
$GC,1254,-1.10,-146.6,83.5,-4.0,58,1258,0.00,1.52,0.00,0.000,6,0.000,0.033,2166,2896,3503
$GC,1576,-1.10,-146.6,104.9,-10.5,74,1580,0.00,2.58,0.00,0.000,4,0.000,0.070,2166,1492,3503
$GC,1592,-1.10,-146.6,106.2,-9.8,75,1597,0.00,2.62,0.00,0.000,6,0.000,0.070,2167,2902,3502
$GC,1918,-1.10,-146.6,132.6,-8.1,91,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,2227,-1.10,-146.6,160.5,-9.0,106,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2537,-1.10,-146.6,183.4,-7.0,121,2541,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1490,3503
$GC,2569,-1.10,-146.6,185.5,-6.4,122,2575,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2901,3503
$GC,2884,-1.10,-146.6,204.7,-6.5,138,2888,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1492,3503
$GC,2911,-1.10,-146.6,206.6,-6.9,139,2915,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2912,3503
$GC,3232,-1.10,-146.6,228.4,-6.9,155,3236,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1499,3503
$GC,3263,-1.10,-146.6,230.7,-6.8,156,3270,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2903,3503
$GC,3579,-1.10,-146.6,254.1,-7.4,172,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,3889,-1.10,-146.6,276.3,-7.2,187,3893,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1491,3503
$GC,3937,-1.10,-146.6,280.1,-7.4,189,3942,0.00,2.60,0.00,0.000,6,0.000,0.068,2166,2901,3502
$GC,4259,-1.10,-146.6,303.0,-6.9,205,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,4568,-1.10,-146.6,322.2,-6.2,220,4572,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1498,3503
$GC,4599,-1.10,-146.6,324.3,-6.8,221,4606,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2908,3503
$GC,4915,-1.10,-146.6,345.0,-6.7,237,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,5224,-1.10,-146.6,365.6,-6.8,252,5228,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1491,3503
$GC,5272,-1.10,-146.6,369.0,-7.0,254,5277,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2901,3502
$GC,5594,-1.10,-146.6,389.0,-5.9,270,5598,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1492,3503
$GC,5626,-1.10,-146.6,391.2,-7.0,271,5632,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2906,3503
$GC,5941,-1.10,-146.6,413.3,-6.5,287,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,6251,-1.10,-146.6,432.1,-5.9,302,6255,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1490,3502
$GC,6285,-1.10,-146.6,433.9,-5.3,303,6291,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2900,3502
$GC,6599,-1.10,-146.6,452.7,-6.4,319,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,6909,-1.10,-146.6,475.7,-7.6,334,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,7218,-1.10,-146.6,498.8,-7.0,349,7222,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1484,3503
$GC,7267,-1.10,-146.6,502.1,-6.9,351,7271,0.00,2.60,0.00,0.000,6,0.000,0.062,2166,2906,3503
$GC,7582,-1.10,-146.6,522.1,-6.3,366,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,7892,-1.10,-146.6,539.5,-5.1,381,7896,0.00,2.53,0.00,0.000,4,0.000,0.052,2166,1489,3502
$GC,7930,-1.10,-146.6,541.5,-5.2,383,7935,0.00,2.58,0.00,0.000,6,0.000,0.061,2166,2902,3502
$GC,8257,-1.10,-146.6,558.8,-6.0,399,8261,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1482,3503
$GC,8283,-1.10,-146.6,560.6,-6.8,400,8287,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2910,3503
$GC,8604,-1.10,-146.6,581.9,-7.0,416,8608,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1484,3503
$GC,8636,-1.10,-146.6,584.2,-7.2,417,8641,0.00,2.58,0.00,0.000,6,0.000,0.059,2166,2907,3503
$GC,8958,-1.10,-146.6,605.3,-6.5,433,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,9267,-1.10,-146.6,625.3,-6.7,448,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3503
$GC,9577,-1.10,-146.6,645.2,-5.9,463,9581,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1485,3502
$STATE,9591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9591,begin apogee
$GC,9597,-0.42,0.0,646.0,4.6,464,9725,0.73,0.00,125.03,1.201,6,0.077,0.000,2317,2106,2901
$STATE,9726,end apogee,CONTROL_FINISHED_OK
$STATE,9726,begin climb
$GC,9728,1.10,146.6,648.7,0.0,470,9855,1.55,0.00,121.75,1.181,6,0.052,0.000,2650,2108,2303
$GC,10166,1.11,153.4,632.0,5.8,492,10180,0.00,2.62,7.43,1.001,4,0.000,0.055,2650,704,2275
$GC,10346,1.11,153.4,618.6,7.3,500,10351,0.00,2.45,0.00,0.000,6,0.000,0.037,2650,2107,2274
$GC,10672,1.15,181.8,599.9,5.2,516,10702,0.00,2.65,24.50,1.162,4,0.000,0.064,2650,3504,2159
$GC,10797,1.15,181.8,592.5,6.2,522,10802,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2094,2158
$GC,11123,1.16,196.1,574.4,5.6,538,11145,0.00,2.67,13.32,1.098,4,0.000,0.063,2650,3497,2101
$GC,11200,1.17,199.7,569.7,5.9,541,11212,0.00,2.45,4.70,0.861,6,0.000,0.036,2650,2097,2087
$GC,11521,1.18,206.5,550.1,5.8,557,11535,0.00,2.65,7.40,1.014,4,0.000,0.063,2650,3493,2059
$GC,11580,1.18,206.5,546.6,6.0,559,11587,0.00,2.47,0.00,0.000,6,0.000,0.036,2650,2100,2059
$GC,11895,1.18,206.5,528.8,6.2,575,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2059
$GC,12205,1.18,206.5,509.0,6.4,590,12209,0.00,2.60,0.00,0.000,4,0.000,0.064,2650,3504,2058
$GC,12243,1.18,206.5,506.3,6.6,592,12247,0.00,2.47,0.00,0.000,6,0.000,0.040,2650,2095,2058
$GC,12568,1.18,206.5,483.8,6.8,608,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2095,2058
$GC,12878,1.18,206.5,463.9,6.7,623,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2095,2058
$GC,13187,1.18,206.5,441.5,6.8,638,13191,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3502,2058
$GC,13282,1.18,206.5,435.1,6.5,642,13286,0.00,2.47,0.00,0.000,6,0.000,0.040,2650,2097,2059
$GC,13597,1.20,224.6,416.6,5.5,657,13617,0.00,0.00,16.17,1.045,6,0.000,0.000,2650,2097,1985
$GC,13926,1.23,248.8,398.6,5.3,673,13955,0.12,2.72,21.33,1.022,4,0.044,0.068,2692,3499,1886
$GC,13999,1.23,248.8,393.3,7.6,676,14003,0.00,2.50,0.00,0.000,6,0.000,0.042,2692,2107,1886
$GC,14320,1.23,248.8,370.2,6.9,692,14321,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2107,1885
$GC,14629,1.23,248.8,346.9,7.9,707,14630,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2107,1886
$GC,14939,1.23,248.8,322.2,7.8,722,14943,0.00,2.62,0.00,0.000,4,0.000,0.071,2692,3504,1886
$GC,14987,1.23,248.8,318.0,8.5,724,14992,0.00,2.50,0.00,0.000,6,0.000,0.047,2692,2094,1886
$GC,15308,1.23,248.8,293.4,7.5,740,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,1886
$GC,15618,1.23,248.8,270.9,7.0,755,15622,0.00,2.62,0.00,0.000,4,0.000,0.072,2692,3501,1886
$GC,15656,1.23,248.8,267.8,7.8,757,15660,0.00,2.50,0.00,0.000,6,0.000,0.048,2692,2098,1886
$GC,15981,1.23,248.8,244.5,6.9,773,15982,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1887
$GC,16290,1.23,248.8,223.8,7.3,788,16295,0.00,2.65,0.00,0.000,4,0.000,0.073,2692,3507,1887
$GC,16339,1.23,248.8,220.1,7.6,790,16343,0.00,2.50,0.00,0.000,6,0.000,0.048,2692,2100,1887
$GC,16660,1.23,248.8,197.4,7.0,806,16665,0.00,2.55,0.00,0.000,4,0.000,0.062,2692,690,1887
$GC,16704,1.23,248.8,193.6,8.8,808,16708,0.00,2.47,0.00,0.000,6,0.000,0.044,2692,2099,1887
$GC,17031,1.23,248.8,168.0,7.3,824,17032,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2099,1887
$GC,17340,1.23,248.8,145.1,7.2,839,17341,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1888
$GC,17649,1.23,248.8,119.1,8.8,854,17654,0.00,2.58,0.00,0.000,4,0.000,0.061,2692,690,1888
$GC,17689,1.23,248.8,115.8,9.1,856,17693,0.00,2.47,0.00,0.000,6,0.000,0.046,2692,2096,1888
$GC,18020,1.23,248.8,90.1,8.4,872,18021,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2096,1888
$GC,18329,1.23,248.8,65.3,7.7,887,18334,0.00,2.58,0.00,0.000,4,0.000,0.064,2692,691,1888
$GC,18384,1.23,248.8,60.5,8.5,889,18391,0.00,2.50,0.00,0.000,6,0.000,0.047,2692,2093,1888
$GC,18700,1.23,248.8,35.7,7.8,905,18701,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2093,1888
$GC,19011,1.23,248.8,6.9,8.7,920,19012,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2093,1888
$STATE,19070,end climb,SURFACE_DEPTH_REACHED
$STATE,19070,begin surface coast
$FINISH,-1.0,1.027340
$STATE,19091,end surface coast,CONTROL_FINISHED_OK
$STATE,19091,begin surface
$SM_CCo,19112,42.47,0.752,1,0,1677,300.00
$SM_GC,-0.42,0.00,0.00,42.47,0.000,0.000,0.752,46,2896,1677,-10.87,-0.11,300.00
$IRIDIUM_FIX,6221.17,-1200.10,131207,232306
$TT8_MAMPS,0.029146
$HUMID,2073
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.7,110.0
$24V_AH,23.4,31.258
$10V_AH,10.1,15.118
$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,26.000,147.275,341.625,42.475,0.000,34.893,43.402,158.161,5.000,0.000,0.000,12.663,1667.433,14928.966,556.026,1903.119,457.777,33.372,1505.969,0.000,1881.948,0.000,31.564
$DEVICE_MAMPS,159.536,92.040,1201.122,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.826,646.071,572.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47365,924
$CFSIZE,260165632,248590336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,141207,062138,6246.826,-1204.657,51,1.0,51,-11.4