version: 66.02
glider: 103
mission: 7
dive: 177
start: 12 15 107 9 26 46
data:
$ID,103
$MISSION,7
$DIVE,177
$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,-65592.055
$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,13
$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
$GPS1,091831,6248.078,-1215.193,37,1.3,42,-11.5
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-56.7
$GPS2,092539,6248.095,-1215.053,14,1.3,14,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.081,0.203
$KALMAN_X,-210878.3,-653.5,-1006.0,17995.8,3718.3
$KALMAN_Y,-86546.7,712.4,108.9,222943.6,-5568.9
$MHEAD_RNG_PITCHd_Wd,349.7,14550,-11.1,-6.000
$D_GRID,668
$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,-61.50,0.000,2,0.000,0.000,42,2901,3420
$GC,86,-1.10,-146.6,3.5,-8.4,3,108,12.02,2.60,-1.42,0.000,4,0.160,0.074,2167,1499,3502
$GC,360,-1.10,-146.6,30.8,-7.8,15,364,0.00,2.65,0.00,0.000,6,0.000,0.077,2167,2898,3502
$GC,687,-1.10,-146.6,53.6,-6.7,31,691,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1487,3502
$GC,771,-1.10,-146.6,59.4,-6.8,35,775,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2905,3502
$GC,1098,-1.10,-146.6,81.0,-6.7,51,1102,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,1486,3502
$GC,1137,-1.10,-146.6,83.8,-7.4,53,1141,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2901,3502
$GC,1462,-1.10,-146.6,107.6,-7.4,69,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,1772,-1.10,-146.6,129.2,-6.6,84,1776,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1492,3502
$GC,1826,-1.10,-146.6,132.8,-6.7,86,1833,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2914,3502
$GC,2141,-1.10,-146.6,153.5,-6.8,102,2146,0.00,2.62,0.00,0.000,4,0.000,0.065,2167,1489,3502
$GC,2218,-1.10,-146.6,158.8,-6.9,105,2225,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2896,3502
$GC,2535,-1.10,-146.6,179.6,-6.7,121,2539,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1486,3503
$GC,2568,-1.10,-146.6,181.9,-6.7,122,2574,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2903,3503
$GC,2883,-1.10,-146.6,202.2,-6.3,138,2887,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1491,3503
$GC,2926,-1.10,-146.6,205.0,-6.3,140,2930,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2899,3503
$GC,3253,-1.10,-146.6,226.0,-6.6,156,3258,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1487,3503
$GC,3297,-1.10,-146.6,229.1,-7.0,158,3301,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2899,3503
$GC,3625,-1.10,-146.6,250.7,-6.8,174,3629,0.00,2.60,0.00,0.000,4,0.000,0.066,2167,1487,3503
$GC,3656,-1.10,-146.6,253.2,-7.3,175,3663,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2895,3503
$GC,3973,-1.10,-146.6,275.7,-7.2,191,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3503
$GC,4282,-1.10,-146.6,297.5,-7.1,206,4286,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1484,3503
$GC,4322,-1.10,-146.6,300.1,-7.1,208,4327,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2899,3503
$GC,4648,-1.10,-146.6,323.4,-7.0,224,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,4958,-1.10,-146.6,346.0,-7.4,239,4962,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1483,3503
$GC,5018,-1.10,-146.6,350.7,-7.4,242,5023,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2904,3503
$GC,5344,-1.10,-146.6,374.3,-7.1,258,5348,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1484,3503
$GC,5383,-1.10,-146.6,377.0,-6.8,260,5387,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2904,3503
$GC,5708,-1.10,-146.6,398.3,-6.2,276,5712,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1491,3503
$GC,5752,-1.10,-146.6,401.1,-6.5,278,5756,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,6079,-1.10,-146.6,421.8,-6.6,294,6083,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1485,3503
$GC,6133,-1.10,-146.6,425.7,-6.9,296,6139,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2899,3503
$GC,6448,-1.10,-146.6,448.0,-7.5,312,6452,0.00,2.55,0.00,0.000,4,0.000,0.061,2167,1489,3503
$GC,6492,-1.10,-146.6,451.5,-8.1,314,6497,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2903,3503
$GC,6813,-1.10,-146.6,475.5,-7.1,330,6818,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1482,3503
$GC,6852,-1.10,-146.6,478.5,-7.4,332,6857,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2900,3503
$GC,7178,-1.10,-146.6,499.8,-6.1,348,7183,0.00,2.55,0.00,0.000,4,0.000,0.057,2167,1484,3503
$GC,7272,-1.10,-146.6,506.0,-7.3,352,7276,0.00,2.60,0.00,0.000,6,0.000,0.062,2167,2906,3503
$GC,7599,-1.10,-146.6,527.7,-6.8,368,7603,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1484,3503
$GC,7705,-1.10,-146.6,535.0,-6.5,373,7709,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2905,3503
$GC,8030,-1.10,-146.6,555.5,-6.6,389,8033,0.00,1.65,0.00,0.000,4,0.000,0.083,2167,3787,3503
$GC,8062,-1.10,-146.6,558.2,-7.7,390,8066,0.00,1.52,0.00,0.000,6,0.000,0.033,2167,2886,3503
$GC,8384,-1.10,-146.6,581.7,-7.6,406,8388,0.00,2.42,0.00,0.000,4,0.000,0.052,2167,1499,3503
$GC,8455,-1.10,-146.6,587.0,-7.2,409,8460,0.00,2.55,0.00,0.000,6,0.000,0.061,2167,2901,3503
$GC,8782,-1.10,-146.6,609.9,-6.7,425,8786,0.00,2.50,0.00,0.000,4,0.000,0.049,2167,1490,3502
$GC,8826,-1.10,-146.6,612.8,-6.6,427,8830,0.00,2.58,0.00,0.000,6,0.000,0.061,2167,2901,3502
$GC,9151,-1.10,-146.6,632.6,-6.1,443,9155,0.00,2.50,0.00,0.000,4,0.000,0.048,2167,1490,3502
$GC,9223,-1.10,-146.6,637.5,-6.7,446,9227,0.00,2.58,0.00,0.000,6,0.000,0.062,2167,2900,3502
$GC,9544,-1.10,-146.6,657.1,-6.4,462,9548,0.00,2.47,0.00,0.000,4,0.000,0.047,2167,1496,3501
$GC,9587,-1.10,-146.6,659.2,-4.4,464,9591,0.00,2.55,0.00,0.000,6,0.000,0.061,2167,2902,3501
$STATE,9623,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9624,begin apogee
$GC,9630,-0.42,0.0,661.1,5.3,466,9758,0.73,0.00,124.93,1.239,6,0.080,0.000,2317,2102,2901
$STATE,9759,end apogee,CONTROL_FINISHED_OK
$STATE,9760,begin climb
$GC,9761,1.10,146.6,664.8,0.0,472,9892,1.52,2.62,121.85,1.190,4,0.047,0.058,2649,708,2303
$GC,9976,1.14,173.8,658.2,5.2,482,10006,0.00,2.47,24.30,1.134,6,0.000,0.037,2649,2120,2192
$GC,10322,1.18,206.7,637.0,5.1,499,10353,0.00,0.00,29.00,1.167,6,0.000,0.000,2649,2120,2058
$GC,10651,1.18,206.7,614.9,7.0,515,10655,0.00,2.60,0.00,0.000,4,0.000,0.058,2649,698,2056
$GC,10727,1.18,206.7,609.2,6.9,518,10734,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2092,2056
$GC,11043,1.18,208.1,590.4,6.0,534,11048,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3502,2054
$GC,11092,1.18,208.1,587.4,6.6,536,11096,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2092,2054
$GC,11413,1.18,208.1,567.3,6.9,552,11417,0.00,2.62,0.00,0.000,4,0.000,0.066,2649,3507,2053
$GC,11461,1.18,208.1,563.9,7.0,554,11466,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2094,2053
$GC,11783,1.20,222.8,544.5,5.6,570,11803,0.00,0.00,14.07,1.141,6,0.000,0.000,2649,2094,1992
$GC,12112,1.20,222.8,523.2,7.2,586,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2094,1991
$GC,12421,1.20,222.8,502.5,6.2,601,12422,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2094,1991
$GC,12731,1.20,222.8,483.7,7.1,616,12735,0.00,2.60,0.00,0.000,4,0.000,0.064,2649,3502,1991
$GC,12830,1.20,222.8,475.7,7.4,620,12837,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2108,1991
$GC,13146,1.20,222.8,454.5,6.6,636,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2108,1990
$GC,13455,1.20,222.8,434.5,6.4,651,13459,0.00,2.58,0.00,0.000,4,0.000,0.064,2649,3505,1991
$GC,13520,1.20,222.8,429.9,7.5,654,13525,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2093,1991
$GC,13847,1.20,224.0,409.6,6.0,670,13852,0.00,2.62,0.00,0.000,4,0.000,0.065,2649,3509,1991
$GC,13886,1.20,224.0,407.0,6.6,672,13891,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2099,1991
$GC,14212,1.20,224.0,386.4,6.6,688,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2099,1992
$GC,14522,1.20,224.0,365.9,6.5,703,14526,0.00,2.60,0.00,0.000,4,0.000,0.066,2649,3504,1992
$GC,14587,1.20,224.0,361.1,7.4,706,14592,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2102,1993
$GC,14914,1.20,224.0,339.6,6.6,722,14918,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3507,1993
$GC,14952,1.20,224.0,336.9,6.9,724,14956,0.00,2.47,0.00,0.000,6,0.000,0.040,2649,2093,1993
$GC,15277,1.20,224.0,315.5,6.6,740,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,1993
$GC,15587,1.20,224.0,295.1,6.2,755,15591,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3506,1993
$GC,15647,1.20,224.0,290.9,6.8,758,15651,0.00,2.45,0.00,0.000,6,0.000,0.041,2649,2101,1994
$GC,15979,1.20,224.0,269.8,6.2,774,15983,0.00,2.60,0.00,0.000,4,0.000,0.068,2649,3504,1994
$GC,16018,1.20,224.0,267.4,6.9,776,16022,0.00,2.45,0.00,0.000,6,0.000,0.041,2649,2100,1995
$GC,16344,1.20,224.0,246.6,6.5,792,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,1994
$GC,16653,1.20,224.0,225.3,7.2,807,16657,0.00,2.62,0.00,0.000,4,0.000,0.068,2649,3512,1995
$GC,16695,1.20,224.0,222.0,7.0,809,16700,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2096,1995
$GC,17023,1.20,224.0,198.8,7.4,825,17027,0.00,2.60,0.00,0.000,4,0.000,0.069,2649,3505,1995
$GC,17083,1.20,224.0,193.8,8.2,828,17088,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2096,1995
$GC,17409,1.20,224.0,169.0,7.9,844,17410,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2096,1996
$GC,17719,1.20,224.0,145.9,7.4,859,17728,0.00,2.62,3.78,0.614,4,0.000,0.068,2649,3505,1987
$GC,17767,1.20,224.0,142.1,9.3,861,17771,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2098,1987
$GC,18094,1.20,224.0,118.8,6.8,877,18098,0.00,2.62,0.00,0.000,4,0.000,0.068,2649,3509,1987
$GC,18160,1.20,224.0,114.3,6.6,880,18164,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2100,1987
$GC,18486,1.20,224.0,93.0,6.6,896,18488,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,1987
$GC,18796,1.20,224.0,70.4,8.6,911,18800,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3504,1987
$GC,18857,1.20,224.0,63.9,10.6,914,18862,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2099,1988
$GC,19184,1.20,224.0,37.6,7.3,930,19188,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3511,1988
$GC,19223,1.20,224.0,35.0,7.0,932,19227,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2097,1988
$GC,19549,1.20,224.0,9.3,8.0,948,19550,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2097,1988
$STATE,19713,end climb,SURFACE_DEPTH_REACHED
$STATE,19714,begin surface coast
$FINISH,-0.8,1.027280
$STATE,19734,end surface coast,CONTROL_FINISHED_OK
$STATE,19734,begin surface
$SM_CCo,19755,61.75,0.750,1,0,1678,300.00
$SM_GC,-0.10,0.00,0.00,61.75,0.000,0.000,0.750,44,2892,1678,-10.88,-0.23,300.00
$IRIDIUM_FIX,6221.17,-1213.89,151207,080807
$TT8_MAMPS,0.029146
$HUMID,2051
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.6,94.5
$24V_AH,23.4,32.131
$10V_AH,10.1,15.656
$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,25.600,206.275,317.925,61.750,0.000,40.232,36.041,248.671,5.250,0.000,0.000,14.682,1790.094,15155.857,557.891,2197.518,565.644,33.365,1662.093,0.000,2162.859,0.000,33.156
$DEVICE_MAMPS,159.536,82.836,1239.472,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.369,672.495,600.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47343,957
$CFSIZE,260165632,248168448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,45,1,0
$GPS,151207,145807,6250.939,-1215.569,24,2.0,24,-11.5