version: 66.02
glider: 103
mission: 7
dive: 173
start: 12 14 107 11 56 3
data:
$ID,103
$MISSION,7
$DIVE,173
$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,-65512.637
$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,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
$GPS1,114739,6247.897,-1206.125,28,1.8,29,-11.4
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-54.6
$GPS2,115456,6247.935,-1205.735,11,1.7,16,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.188,0.110
$KALMAN_X,-215569.5,21.8,156.3,29047.8,1502.1
$KALMAN_Y,-72472.9,285.0,838.0,208275.2,-5884.3
$MHEAD_RNG_PITCHd_Wd,311.8,21834,-11.1,-6.000
$D_GRID,649
$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,-146.6,0.0,0.0,0,96,0.00,0.00,-74.47,0.000,6,0.000,0.000,49,2900,3501
$GC,99,-1.10,-146.6,2.3,-4.5,4,120,11.93,2.62,0.00,0.000,4,0.157,0.061,2163,1492,3503
$GC,345,-1.10,-146.6,32.6,-6.4,15,350,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2895,3503
$GC,671,-1.10,-146.6,60.8,-8.0,31,675,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1487,3504
$GC,732,-1.10,-146.6,66.2,-9.7,34,737,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2901,3504
$GC,1060,-1.10,-146.6,98.2,-10.4,50,1064,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1487,3503
$GC,1092,-1.10,-146.6,102.1,-11.1,51,1099,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2906,3503
$GC,1407,-1.10,-146.6,131.4,-8.8,67,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3504
$GC,1716,-1.10,-146.6,158.1,-8.5,82,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3504
$GC,2026,-1.10,-146.6,182.5,-7.4,97,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3503
$GC,2335,-1.10,-146.6,202.5,-6.2,112,2339,0.00,2.62,0.00,0.000,4,0.000,0.065,2163,1481,3503
$GC,2373,-1.10,-146.6,205.1,-6.4,114,2378,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2902,3503
$GC,2699,-1.10,-146.6,228.3,-7.5,130,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,3010,-1.10,-146.6,250.2,-6.7,145,3014,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1491,3504
$GC,3036,-1.10,-146.6,252.2,-6.9,146,3041,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2902,3504
$GC,3357,-1.10,-146.6,273.2,-6.5,162,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3504
$GC,3666,-1.10,-146.6,293.5,-6.8,177,3671,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1486,3504
$GC,3705,-1.10,-146.6,296.3,-7.6,179,3710,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2900,3504
$GC,4031,-1.10,-146.6,318.8,-6.9,195,4035,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1484,3504
$GC,4063,-1.10,-146.6,321.0,-6.7,196,4070,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2900,3504
$GC,4379,-1.10,-146.6,342.9,-7.2,212,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,4688,-1.10,-146.6,362.8,-6.3,227,4693,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1481,3503
$GC,4727,-1.10,-146.6,365.2,-6.1,229,4732,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2899,3504
$GC,5053,-1.10,-146.6,385.5,-6.4,245,5057,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1489,3504
$GC,5092,-1.10,-146.6,388.0,-6.1,247,5096,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2903,3504
$GC,5417,-1.10,-146.6,409.3,-6.7,263,5421,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1486,3504
$GC,5450,-1.10,-146.6,411.8,-7.5,264,5456,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2899,3503
$GC,5765,-1.10,-146.6,434.0,-7.1,280,5769,0.00,2.55,0.00,0.000,4,0.000,0.062,2163,1487,3504
$GC,5803,-1.10,-146.6,436.7,-7.2,282,5807,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2907,3503
$GC,6128,-1.10,-146.6,460.5,-7.5,298,6133,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1484,3504
$GC,6167,-1.10,-146.6,463.6,-8.4,300,6172,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2899,3504
$GC,6494,-1.10,-146.6,489.8,-7.9,316,6498,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1484,3504
$GC,6537,-1.10,-146.6,493.6,-8.9,318,6541,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2903,3503
$GC,6864,-1.10,-146.6,520.0,-8.0,334,6868,0.00,2.53,0.00,0.000,4,0.000,0.054,2163,1483,3504
$GC,6897,-1.10,-146.6,522.6,-8.0,335,6903,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2903,3503
$GC,7212,-1.10,-146.6,546.1,-7.3,351,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3504
$GC,7522,-1.10,-146.6,567.6,-7.1,366,7526,0.00,2.53,0.00,0.000,4,0.000,0.051,2163,1482,3503
$GC,7565,-1.10,-146.6,570.8,-7.3,368,7569,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2908,3503
$GC,7892,-1.10,-146.6,593.7,-6.9,384,7896,0.00,2.53,0.00,0.000,4,0.000,0.049,2163,1480,3503
$GC,7988,-1.10,-146.6,600.3,-7.6,388,7992,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2900,3504
$GC,8302,-1.10,-146.6,619.3,-6.2,403,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,8612,-1.10,-146.6,637.0,-6.0,418,8616,0.00,2.50,0.00,0.000,4,0.000,0.048,2163,1477,3503
$GC,8661,-1.10,-146.6,639.7,-5.4,420,8665,0.00,2.58,0.00,0.000,6,0.000,0.059,2163,2901,3504
$STATE,8829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8829,begin apogee
$GC,8836,-0.42,0.0,649.5,5.6,428,8964,0.75,0.00,125.03,1.212,6,0.074,0.000,2320,2091,2901
$STATE,8965,end apogee,CONTROL_FINISHED_OK
$STATE,8965,begin climb
$GC,8967,1.10,146.6,651.8,0.0,434,9098,1.52,2.62,121.62,1.172,4,0.050,0.057,2650,701,2303
$GC,9115,1.18,205.9,647.6,4.4,441,9173,0.00,2.50,50.80,1.137,6,0.000,0.035,2650,2128,2061
$GC,9484,1.18,205.9,623.7,7.0,459,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2128,2060
$GC,9790,1.18,205.9,604.3,6.1,474,9794,0.00,2.55,0.00,0.000,4,0.000,0.067,2650,3502,2058
$GC,9883,1.18,205.9,597.7,7.2,478,9888,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2090,2058
$GC,10205,1.18,205.9,574.7,7.1,494,10209,0.00,2.50,0.00,0.000,4,0.000,0.057,2650,701,2056
$GC,10270,1.18,205.9,569.9,7.2,497,10275,0.00,2.45,0.00,0.000,6,0.000,0.037,2650,2092,2056
$GC,10597,1.18,205.9,549.3,6.2,513,10601,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3506,2055
$GC,10696,1.18,205.9,542.6,6.5,517,10703,0.00,2.45,0.00,0.000,6,0.000,0.039,2650,2103,2055
$GC,11011,1.18,211.0,524.3,5.9,533,11021,0.00,2.65,5.00,0.903,4,0.000,0.067,2650,3508,2040
$GC,11060,1.18,211.0,521.3,6.6,535,11064,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2097,2040
$GC,11381,1.18,211.0,500.5,6.6,551,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2097,2040
$GC,11690,1.18,211.0,480.3,6.5,566,11695,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3504,2039
$GC,11734,1.18,211.0,477.2,6.9,568,11738,0.00,2.47,0.00,0.000,6,0.000,0.040,2650,2103,2040
$GC,12061,1.22,238.9,458.0,5.2,584,12091,0.12,2.67,23.88,1.079,4,0.045,0.071,2686,3502,1927
$GC,12118,1.22,238.9,453.9,8.2,586,12125,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2099,1927
$GC,12434,1.22,238.9,431.0,7.3,602,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2099,1927
$GC,12743,1.22,238.9,407.6,7.5,617,12747,0.00,2.62,0.00,0.000,4,0.000,0.074,2687,3502,1927
$GC,12774,1.22,238.9,405.0,8.1,618,12781,0.00,2.50,0.00,0.000,6,0.000,0.046,2687,2112,1927
$GC,13090,1.22,238.9,380.8,7.8,634,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2112,1927
$GC,13399,1.22,238.9,355.8,8.2,649,13400,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2112,1928
$GC,13708,1.22,238.9,329.8,8.6,664,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2112,1928
$GC,14017,1.22,238.9,302.6,9.1,679,14022,0.00,2.62,0.00,0.000,4,0.000,0.075,2687,3509,1929
$GC,14049,1.22,238.9,299.6,8.8,680,14057,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2103,1929
$GC,14365,1.22,238.9,273.0,8.1,696,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2103,1929
$GC,14674,1.22,238.9,249.2,7.4,711,14679,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3509,1929
$GC,14742,1.22,238.9,244.3,7.8,714,14746,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2098,1929
$GC,15061,1.22,238.9,220.9,7.3,730,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2097,1930
$GC,15371,1.22,238.9,199.9,6.8,745,15375,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3508,1930
$GC,15419,1.22,238.9,196.1,8.3,747,15424,0.00,2.53,0.00,0.000,6,0.000,0.049,2687,2100,1930
$GC,15740,1.22,238.9,172.3,7.4,763,15741,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1930
$GC,16049,1.22,238.9,146.6,8.5,778,16054,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3509,1931
$GC,16127,1.22,238.9,139.6,8.1,781,16134,0.00,2.53,0.00,0.000,6,0.000,0.049,2687,2104,1931
$GC,16442,1.22,238.9,111.0,9.1,797,16447,0.00,2.65,0.00,0.000,4,0.000,0.076,2686,3508,1931
$GC,16474,1.22,238.9,108.0,8.6,798,16481,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2103,1931
$GC,16792,1.22,238.9,84.3,7.5,814,16793,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1931
$GC,17100,1.22,238.9,53.8,9.3,829,17104,0.00,2.55,0.00,0.000,4,0.000,0.062,2687,690,1931
$GC,17188,1.22,238.9,45.4,9.0,833,17192,0.00,2.50,0.00,0.000,6,0.000,0.051,2687,2092,1931
$GC,17515,1.22,238.9,16.6,7.0,849,17519,0.00,2.53,0.00,0.000,4,0.000,0.054,2687,690,1931
$GC,17614,1.22,238.9,9.5,7.2,853,17621,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2095,1931
$STATE,17784,end climb,SURFACE_DEPTH_REACHED
$STATE,17784,begin surface coast
$FINISH,-1.0,1.027284
$STATE,17827,end surface coast,CONTROL_FINISHED_OK
$STATE,17827,begin surface
$SM_CCo,17848,53.17,0.718,3,0,1678,300.00
$SM_GC,0.29,0.00,0.00,53.17,0.000,0.000,0.718,51,2907,1678,-10.85,0.20,300.00
$IRIDIUM_FIX,6221.17,-1203.72,141207,101003
$TT8_MAMPS,0.028379
$HUMID,2056
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.0,40.2
$24V_AH,23.4,31.554
$10V_AH,10.1,15.291
$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,25.975,167.950,326.325,53.175,0.000,40.719,34.706,251.589,5.750,0.000,0.000,16.155,1587.483,13787.372,553.450,1886.147,552.508,33.365,1517.968,0.000,1859.717,0.000,36.239
$DEVICE_MAMPS,157.235,75.933,1211.860,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,633.254,600.984,521.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44186,864
$CFSIZE,260165632,248455168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,3,0
$GPS,141207,165656,6247.116,-1207.205,101,1.0,101,-11.4