version: 66.02
glider: 103
mission: 7
dive: 174
start: 12 14 107 17 11 29
data:
$ID,103
$MISSION,7
$DIVE,174
$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,-65529.504
$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,18
$R_STBD_OVSHOOT,14
$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
$GPS1,165656,6247.116,-1207.205,101,1.0,101,-11.4
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-50.3
$GPS2,171021,6247.052,-1206.941,16,0.9,16,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.141,0.167
$KALMAN_X,-212638.1,-17.6,313.2,24922.5,2186.0
$KALMAN_Y,-74986.5,-64.9,-264.4,210605.3,-3271.9
$MHEAD_RNG_PITCHd_Wd,331.2,21524,-11.1,-6.000
$D_GRID,665
$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,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-61.47,0.000,2,0.000,0.000,51,2909,3417
$GC,85,-1.10,-146.6,3.5,-8.3,3,108,12.00,1.73,-1.52,0.000,4,0.160,0.110,2164,3785,3502
$GC,359,-1.10,-146.6,30.9,-6.2,15,364,0.00,1.52,0.00,0.000,6,0.000,0.034,2165,2899,3502
$GC,687,-1.10,-146.6,62.2,-8.4,31,690,0.00,1.70,0.00,0.000,4,0.000,0.083,2165,3789,3502
$GC,944,-1.10,-146.6,81.5,-9.6,42,948,0.00,1.52,0.00,0.000,6,0.000,0.032,2165,2899,3503
$GC,1265,-1.10,-146.6,105.2,-8.5,58,1269,0.00,1.70,0.00,0.000,4,0.000,0.084,2165,3790,3503
$GC,1320,-1.10,-146.6,110.0,-8.2,60,1324,0.00,1.52,0.00,0.000,6,0.000,0.031,2165,2896,3503
$GC,1641,-1.10,-146.6,133.7,-6.6,76,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3503
$GC,1951,-1.10,-146.6,155.3,-6.8,91,1955,0.00,2.58,0.00,0.000,4,0.000,0.071,2165,1500,3503
$GC,1994,-1.10,-146.6,158.0,-5.5,93,1998,0.00,2.62,0.00,0.000,6,0.000,0.074,2165,2898,3503
$GC,2320,-1.10,-146.6,179.1,-6.3,109,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3503
$GC,2631,-1.10,-146.6,200.2,-7.2,124,2635,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1492,3503
$GC,2669,-1.10,-146.6,202.8,-6.8,126,2674,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2899,3503
$GC,2995,-1.10,-146.6,227.8,-7.7,142,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,3305,-1.10,-146.6,251.3,-7.7,157,3310,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1496,3503
$GC,3371,-1.10,-146.6,256.6,-8.4,160,3376,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2892,3503
$GC,3698,-1.10,-146.6,279.5,-6.7,176,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2892,3503
$GC,4009,-1.10,-146.6,300.3,-6.8,191,4013,0.00,2.55,0.00,0.000,4,0.000,0.067,2164,1496,3503
$GC,4058,-1.10,-146.6,303.9,-6.9,193,4063,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2903,3503
$GC,4380,-1.10,-146.6,326.3,-7.3,209,4384,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1491,3503
$GC,4412,-1.10,-146.6,328.8,-7.7,210,4418,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2899,3503
$GC,4728,-1.10,-146.6,352.3,-7.6,226,4732,0.00,2.58,0.00,0.000,4,0.000,0.067,2165,1498,3503
$GC,4766,-1.10,-146.6,355.5,-8.2,228,4770,0.00,2.60,0.00,0.000,6,0.000,0.071,2165,2900,3503
$GC,5091,-1.10,-146.6,381.5,-8.0,244,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5400,-1.10,-146.6,406.9,-8.3,259,5405,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1497,3503
$GC,5472,-1.10,-146.6,412.9,-8.3,262,5476,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2901,3503
$GC,5793,-1.10,-146.6,437.7,-7.6,278,5797,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1490,3503
$GC,5831,-1.10,-146.6,440.6,-7.7,280,5836,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2900,3503
$GC,6158,-1.10,-146.6,463.0,-6.6,296,6162,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1486,3503
$GC,6196,-1.10,-146.6,465.5,-6.5,298,6200,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3503
$GC,6521,-1.10,-146.6,486.7,-6.8,314,6526,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1484,3503
$GC,6587,-1.10,-146.6,491.5,-7.6,317,6592,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2908,3503
$GC,6914,-1.10,-146.6,514.0,-7.1,333,6918,0.00,2.50,0.00,0.000,4,0.000,0.052,2165,1492,3503
$GC,6952,-1.10,-146.6,516.9,-7.6,335,6957,0.00,2.58,0.00,0.000,6,0.000,0.062,2165,2900,3503
$GC,7279,-1.10,-146.6,540.1,-6.8,351,7283,0.00,2.50,0.00,0.000,4,0.000,0.049,2165,1490,3503
$GC,7327,-1.10,-146.6,543.4,-7.0,353,7332,0.00,2.58,0.00,0.000,6,0.000,0.061,2165,2904,3503
$GC,7648,-1.10,-146.6,564.3,-6.9,369,7653,0.00,2.50,0.00,0.000,4,0.000,0.048,2165,1482,3503
$GC,7669,-1.10,-146.6,565.7,-6.5,370,7674,0.00,2.58,0.00,0.000,6,0.000,0.058,2165,2904,3503
$GC,7997,-1.10,-146.6,587.3,-6.5,386,8001,0.00,2.50,0.00,0.000,4,0.000,0.046,2165,1483,3503
$GC,8045,-1.10,-146.6,590.5,-6.2,388,8049,0.00,2.58,0.00,0.000,6,0.000,0.059,2165,2904,3502
$GC,8366,-1.10,-146.6,610.8,-6.5,404,8370,0.00,2.47,0.00,0.000,4,0.000,0.044,2165,1487,3502
$GC,8432,-1.10,-146.6,615.0,-6.1,407,8436,0.00,2.55,0.00,0.000,6,0.000,0.056,2165,2904,3502
$GC,8758,-1.10,-146.6,634.2,-6.2,423,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,9068,-1.10,-146.6,652.6,-5.8,438,9072,0.00,2.47,0.00,0.000,4,0.000,0.042,2165,1489,3502
$GC,9152,-1.10,-146.6,657.3,-5.8,442,9156,0.00,2.55,0.00,0.000,6,0.000,0.055,2165,2905,3501
$STATE,9310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9310,begin apogee
$GC,9316,-0.42,0.0,665.3,5.0,450,9445,0.73,0.00,125.05,1.213,6,0.067,0.000,2319,2088,2901
$STATE,9445,end apogee,CONTROL_FINISHED_OK
$STATE,9445,begin climb
$GC,9448,1.10,146.6,669.1,0.0,456,9579,1.52,2.58,121.65,1.177,4,0.051,0.056,2649,712,2303
$GC,9673,1.16,189.8,661.0,4.8,466,9720,0.00,2.45,37.53,1.137,6,0.000,0.035,2649,2117,2127
$GC,10030,1.17,204.6,639.6,5.6,484,10052,0.00,2.60,13.82,1.100,4,0.000,0.063,2649,3495,2067
$GC,10084,1.17,204.6,636.0,7.1,486,10089,0.00,2.47,0.00,0.000,6,0.000,0.036,2649,2106,2067
$GC,10406,1.17,204.6,614.4,6.8,502,10410,0.00,2.58,0.00,0.000,4,0.000,0.062,2649,3501,2065
$GC,10471,1.17,204.6,609.5,7.3,505,10475,0.00,2.47,0.00,0.000,6,0.000,0.036,2649,2100,2065
$GC,10798,1.17,204.6,588.4,6.3,521,10802,0.00,2.58,0.00,0.000,4,0.000,0.061,2649,3502,2064
$GC,10852,1.17,204.6,584.9,6.1,523,10859,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2091,2064
$GC,11168,1.17,204.6,565.0,6.6,539,11172,0.00,2.47,0.00,0.000,4,0.000,0.054,2649,701,2063
$GC,11209,1.19,213.6,562.4,5.7,541,11223,0.00,2.42,8.48,1.058,6,0.000,0.034,2649,2104,2030
$GC,11539,1.19,213.6,539.0,7.1,557,11543,0.00,2.55,0.00,0.000,4,0.000,0.061,2649,3499,2029
$GC,11572,1.19,213.6,536.5,7.5,558,11578,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2093,2029
$GC,11886,1.19,213.6,513.2,7.4,574,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,2029
$GC,12196,1.19,213.6,492.8,6.4,589,12200,0.00,2.58,0.00,0.000,4,0.000,0.062,2649,3500,2029
$GC,12289,1.19,213.6,486.3,6.8,593,12294,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2103,2029
$GC,12610,1.19,213.6,465.2,6.3,609,12615,0.00,2.58,0.00,0.000,4,0.000,0.064,2649,3502,2029
$GC,12654,1.19,213.6,462.2,7.1,611,12658,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2096,2029
$GC,12980,1.19,213.6,440.6,6.8,627,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2096,2029
$GC,13290,1.19,213.6,419.7,6.7,642,13294,0.00,2.60,0.00,0.000,4,0.000,0.069,2649,3499,2029
$GC,13377,1.19,213.6,413.5,7.2,646,13382,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2106,2030
$GC,13704,1.19,213.6,391.7,6.6,662,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2106,2030
$GC,14013,1.19,213.6,371.5,6.5,677,14018,0.00,2.60,0.00,0.000,4,0.000,0.070,2649,3502,2030
$GC,14091,1.19,213.6,366.2,7.0,680,14097,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2099,2030
$GC,14407,1.20,222.0,347.1,5.8,696,14421,0.00,2.67,8.68,0.917,4,0.000,0.070,2649,3498,1996
$GC,14455,1.20,226.8,344.1,5.9,698,14466,0.10,2.47,5.75,0.813,6,0.050,0.043,2684,2099,1976
$GC,14775,1.20,226.8,320.5,8.1,713,14779,0.00,2.55,0.00,0.000,4,0.000,0.063,2685,692,1976
$GC,14807,1.20,226.8,317.8,8.2,714,14813,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2091,1976
$GC,15122,1.20,226.8,292.1,8.5,730,15127,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3513,1976
$GC,15171,1.20,226.8,287.6,9.4,732,15175,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2099,1976
$GC,15492,1.20,226.8,261.1,8.0,748,15496,0.00,2.55,0.00,0.000,4,0.000,0.062,2685,692,1976
$GC,15568,1.20,226.8,254.5,8.6,751,15575,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2100,1976
$GC,15884,1.20,226.8,228.2,8.4,767,15885,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1976
$GC,16193,1.20,226.8,204.2,7.5,782,16197,0.00,2.62,0.00,0.000,4,0.000,0.072,2685,3515,1976
$GC,16225,1.20,226.8,201.7,7.4,783,16231,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2094,1976
$GC,16540,1.20,226.8,178.3,7.2,799,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2094,1976
$GC,16849,1.20,226.8,156.5,7.4,814,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2094,1977
$GC,17159,1.20,226.8,131.7,8.4,829,17164,0.00,2.67,0.00,0.000,4,0.000,0.074,2685,3518,1977
$GC,17230,1.20,226.8,125.3,8.8,832,17234,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2094,1977
$GC,17552,1.20,226.8,97.5,8.6,848,17556,0.00,2.65,0.00,0.000,4,0.000,0.071,2684,3512,1977
$GC,17591,1.20,226.8,94.0,9.3,850,17595,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2102,1977
$GC,17916,1.20,226.8,68.5,6.5,866,17920,0.00,2.58,0.00,0.000,4,0.000,0.065,2684,688,1978
$GC,17970,1.22,238.5,64.8,5.7,868,17987,0.00,2.50,11.32,0.768,6,0.000,0.043,2684,2099,1928
$GC,18302,1.22,238.5,38.5,8.2,885,18307,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3516,1928
$GC,18346,1.22,238.5,34.8,8.5,887,18350,0.00,2.53,0.00,0.000,6,0.000,0.047,2685,2093,1928
$GC,18673,1.22,238.5,9.3,8.6,903,18677,0.00,2.55,0.00,0.000,4,0.000,0.062,2685,688,1928
$GC,18734,1.22,238.5,2.6,11.0,906,18739,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2097,1928
$STATE,18742,end climb,SURFACE_DEPTH_REACHED
$STATE,18742,begin surface coast
$FINISH,-0.3,1.027293
$STATE,18771,end surface coast,CONTROL_FINISHED_OK
$STATE,18771,begin surface
$SM_CCo,18792,51.00,0.722,2,0,1678,300.00
$SM_GC,-0.09,0.00,0.00,51.00,0.000,0.000,0.722,48,2906,1678,-10.87,0.17,300.00
$IRIDIUM_FIX,6221.17,-1210.29,141207,212121
$TT8_MAMPS,0.028379
$HUMID,2059
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,15.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.3,109.5
$24V_AH,23.4,31.705
$10V_AH,10.1,15.384
$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,25.925,196.300,332.275,51.000,0.000,111.789,110.285,342.369,5.250,0.000,0.000,16.237,1709.724,14482.702,549.761,2133.905,799.767,33.370,1633.799,0.000,2091.761,0.000,33.189
$DEVICE_MAMPS,160.303,109.681,1212.627,721.747,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.473,633.317,552.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47413,908
$CFSIZE,260165632,248373248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,51,2,0
$GPS,141207,222716,6246.718,-1210.456,39,5.2,58,-11.5