version: 66.02
glider: 103
mission: 7
dive: 179
start: 12 15 107 20 5 7
data:
$ID,103
$MISSION,7
$DIVE,179
$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,-65642.141
$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
$GPS1,195808,6251.093,-1222.141,34,1.0,34,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-62.2
$GPS2,200402,6251.093,-1222.160,15,1.3,32,-11.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.159,0.150
$KALMAN_X,-212412.5,21.9,-940.1,12514.7,1388.9
$KALMAN_Y,-87299.7,707.4,-262.7,229612.0,-2739.1
$MHEAD_RNG_PITCHd_Wd,324.9,6832,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-60.62,0.000,2,0.000,0.000,43,2899,3421
$GC,86,-1.10,-146.6,3.9,-9.3,3,109,11.93,2.62,-1.40,0.000,4,0.156,0.076,2167,1493,3502
$GC,249,-1.10,-146.6,23.9,-5.8,10,254,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2906,3502
$GC,571,-1.10,-146.6,46.1,-6.6,26,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3502
$GC,879,-1.10,-146.6,66.1,-7.3,41,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,1188,-1.10,-146.6,89.2,-7.4,56,1192,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1494,3502
$GC,1227,-1.10,-146.6,92.2,-7.2,58,1231,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2900,3503
$GC,1552,-1.10,-146.6,116.2,-7.1,74,1557,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1491,3503
$GC,1579,-1.10,-146.6,118.2,-7.0,75,1583,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2899,3503
$GC,1900,-1.10,-146.6,140.9,-7.0,91,1905,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1493,3503
$GC,1940,-1.10,-146.6,143.8,-7.2,93,1944,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,2265,-1.10,-146.6,168.0,-7.4,109,2270,0.00,2.60,0.00,0.000,4,0.000,0.068,2167,1494,3503
$GC,2292,-1.10,-146.6,170.1,-7.4,110,2296,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2901,3503
$GC,2613,-1.10,-146.6,193.2,-6.8,126,2618,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1490,3503
$GC,2646,-1.10,-146.6,195.3,-6.4,127,2652,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2906,3504
$GC,2961,-1.10,-146.6,216.0,-7.0,143,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,3270,-1.10,-146.6,237.5,-6.8,158,3275,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1493,3503
$GC,3342,-1.10,-146.6,242.2,-6.5,161,3347,0.00,2.58,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,3663,-1.10,-146.6,260.4,-5.5,177,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3972,-1.10,-146.6,279.2,-6.3,192,3976,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3503
$GC,4015,-1.10,-146.6,282.1,-6.6,194,4019,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2903,3503
$GC,4342,-1.10,-146.6,302.3,-6.1,210,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3503
$GC,4651,-1.10,-146.6,324.9,-7.8,225,4656,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1489,3504
$GC,4705,-1.10,-146.6,329.4,-7.8,227,4710,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2899,3503
$GC,5026,-1.10,-146.6,351.7,-6.6,243,5030,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1484,3503
$GC,5057,-1.10,-146.6,353.7,-6.3,244,5064,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2903,3503
$GC,5373,-1.10,-146.6,373.5,-6.6,260,5377,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1488,3503
$GC,5426,-1.10,-146.6,377.1,-6.1,262,5433,0.00,2.60,0.00,0.000,6,0.000,0.068,2167,2899,3503
$GC,5742,-1.10,-146.6,398.5,-7.3,278,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,6052,-1.10,-146.6,421.8,-7.6,293,6056,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1485,3503
$GC,6128,-1.10,-146.6,427.9,-8.4,296,6135,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2899,3503
$GC,6444,-1.10,-146.6,455.1,-9.4,312,6448,0.00,2.55,0.00,0.000,4,0.000,0.060,2167,1490,3503
$GC,6475,-1.10,-146.6,458.1,-9.7,313,6482,0.00,2.60,0.00,0.000,6,0.000,0.065,2167,2903,3503
$GC,6791,-1.10,-146.6,482.8,-6.6,329,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3503
$GC,7100,-1.10,-146.6,506.7,-7.9,344,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3503
$GC,7410,-1.10,-146.6,533.1,-8.9,359,7414,0.00,2.53,0.00,0.000,4,0.000,0.051,2167,1484,3503
$GC,7503,-1.10,-146.6,542.3,-9.7,363,7507,0.00,2.58,0.00,0.000,6,0.000,0.060,2167,2900,3503
$GC,7825,-1.10,-146.6,562.3,-4.7,379,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,8134,-1.10,-146.6,576.8,-5.0,394,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,8443,-1.10,-146.6,595.1,-6.3,409,8447,0.00,2.50,0.00,0.000,4,0.000,0.047,2167,1479,3503
$GC,8482,-1.10,-146.6,597.5,-6.9,411,8486,0.00,2.58,0.00,0.000,6,0.000,0.058,2167,2901,3503
$GC,8807,-1.10,-146.6,618.7,-7.0,427,8812,0.00,2.47,0.00,0.000,4,0.000,0.043,2167,1476,3503
$GC,8914,-1.10,-146.6,623.9,-4.5,432,8918,0.00,2.58,0.00,0.000,6,0.000,0.058,2167,2902,3503
$GC,9240,-1.10,-146.6,645.1,-6.4,448,9244,0.00,2.50,0.00,0.000,4,0.000,0.046,2167,1483,3502
$STATE,9305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9306,begin apogee
$GC,9311,-0.42,0.0,649.1,6.2,451,9439,0.70,0.00,124.82,1.233,6,0.079,0.000,2314,2117,2901
$STATE,9440,end apogee,CONTROL_FINISHED_OK
$STATE,9440,begin climb
$GC,9442,1.10,146.6,654.6,0.0,457,9573,1.55,2.65,122.05,1.193,4,0.050,0.061,2651,3500,2303
$GC,9662,1.12,162.6,653.7,5.6,467,9682,0.00,2.47,15.00,1.097,6,0.000,0.037,2651,2093,2238
$GC,10004,1.18,208.0,633.9,4.7,484,10049,0.00,2.62,39.12,1.184,4,0.000,0.059,2651,708,2053
$GC,10077,1.18,208.0,629.2,6.7,487,10081,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2114,2053
$GC,10398,1.18,208.0,609.1,6.5,503,10402,0.00,2.58,0.00,0.000,4,0.000,0.057,2651,701,2051
$GC,10486,1.18,208.0,602.2,7.0,507,10490,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2100,2051
$GC,10813,1.19,219.5,580.3,5.7,523,10825,0.00,0.00,10.68,1.110,6,0.000,0.000,2651,2100,2006
$GC,11122,1.19,219.5,559.3,6.6,538,11126,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3501,2004
$GC,11187,1.19,219.5,554.8,6.5,541,11192,0.00,2.45,0.00,0.000,6,0.000,0.040,2651,2102,2004
$GC,11514,1.19,219.5,532.0,6.6,557,11518,0.00,2.53,0.00,0.000,4,0.000,0.057,2651,700,2004
$GC,11579,1.19,219.5,527.1,7.2,560,11584,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2116,2003
$GC,11906,1.19,219.5,505.2,6.1,576,11911,0.00,2.58,0.00,0.000,4,0.000,0.067,2651,3508,2003
$GC,11972,1.19,219.5,500.4,6.9,579,11977,0.00,2.47,0.00,0.000,6,0.000,0.039,2651,2096,2003
$GC,12299,1.19,219.5,476.6,7.5,595,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2096,2003
$GC,12608,1.19,219.5,454.5,6.1,610,12612,0.00,2.62,0.00,0.000,4,0.000,0.067,2651,3504,2003
$GC,12662,1.19,219.5,451.0,6.0,612,12669,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2107,2003
$GC,12978,1.19,219.5,431.8,6.6,628,12982,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3507,2003
$GC,13054,1.19,219.5,426.2,7.2,631,13061,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2083,2003
$GC,13370,1.19,219.5,405.3,6.2,647,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2083,2003
$GC,13679,1.19,219.5,386.9,6.4,662,13684,0.00,2.62,0.00,0.000,4,0.000,0.067,2651,3505,2004
$GC,13768,1.19,219.5,380.3,7.7,666,13772,0.00,2.47,0.00,0.000,6,0.000,0.040,2651,2107,2004
$GC,14094,1.19,219.5,356.8,6.9,682,14099,0.00,2.60,0.00,0.000,4,0.000,0.069,2651,3504,2004
$GC,14138,1.19,219.5,353.5,7.2,684,14142,0.00,2.45,0.00,0.000,6,0.000,0.041,2651,2100,2004
$GC,14464,1.19,219.5,330.4,7.0,700,14469,0.00,2.62,0.00,0.000,4,0.000,0.070,2651,3508,2005
$GC,14503,1.19,219.5,327.5,7.7,702,14508,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2098,2005
$GC,14829,1.19,219.5,304.1,7.4,718,14834,0.00,2.62,0.00,0.000,4,0.000,0.069,2651,3506,2005
$GC,14868,1.19,219.5,301.1,8.1,720,14873,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2097,2005
$GC,15194,1.19,219.5,277.2,7.0,736,15198,0.00,2.62,0.00,0.000,4,0.000,0.068,2651,3506,2005
$GC,15226,1.19,219.5,274.7,7.5,737,15232,0.00,2.45,0.00,0.000,6,0.000,0.041,2651,2102,2006
$GC,15541,1.19,219.5,250.1,8.5,753,15545,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3504,2006
$GC,15579,1.19,219.5,246.6,8.8,755,15583,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2093,2006
$GC,15906,1.19,219.5,220.2,7.7,771,15907,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2093,2007
$GC,16215,1.19,219.5,197.5,7.3,786,16219,0.00,2.62,0.00,0.000,4,0.000,0.068,2651,3504,2007
$GC,16263,1.19,219.5,193.7,7.4,788,16268,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2092,2007
$GC,16585,1.19,219.5,170.8,6.9,804,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2092,2007
$GC,16894,1.19,219.5,149.2,6.8,819,16898,0.00,2.60,0.00,0.000,4,0.000,0.068,2651,3504,2008
$GC,16955,1.19,219.5,144.6,7.4,822,16959,0.00,2.47,0.00,0.000,6,0.000,0.043,2651,2093,2008
$GC,17281,1.19,221.0,123.6,6.0,838,17286,0.00,2.62,0.00,0.000,4,0.000,0.067,2651,3508,2008
$GC,17336,1.19,221.0,119.9,6.4,840,17343,0.00,2.50,0.00,0.000,6,0.000,0.045,2650,2104,2008
$GC,17652,1.19,221.0,99.8,6.4,856,17653,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2104,2008
$GC,17961,1.19,221.0,79.8,6.7,871,17966,0.00,2.60,0.00,0.000,4,0.000,0.069,2651,3504,2008
$GC,18027,1.19,221.0,75.3,6.3,874,18032,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2107,2008
$GC,18355,1.20,223.8,54.5,5.9,890,18366,0.00,2.62,5.97,0.684,4,0.000,0.070,2651,3504,1988
$GC,18395,1.21,230.4,52.3,5.8,892,18408,0.00,2.47,6.93,0.704,6,0.000,0.044,2651,2100,1961
$GC,18725,1.21,230.4,29.8,7.5,908,18726,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2101,1961
$GC,19034,1.21,230.4,7.9,7.0,923,19039,0.00,2.65,0.00,0.000,4,0.000,0.077,2651,3503,1961
$GC,19089,1.21,230.4,4.3,6.5,925,19096,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2095,1961
$STATE,19135,end climb,SURFACE_DEPTH_REACHED
$STATE,19135,begin surface coast
$FINISH,0.3,1.027319
$STATE,19157,end surface coast,CONTROL_FINISHED_OK
$STATE,19157,begin surface
$SM_CCo,19178,54.67,0.768,0,0,1678,300.00
$SM_GC,-0.20,0.00,0.00,54.67,0.000,0.000,0.768,48,2896,1678,-10.87,-0.11,300.00
$IRIDIUM_FIX,6225.82,-1220.49,151207,191901
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.9,65.5
$24V_AH,23.4,32.407
$10V_AH,10.1,15.826
$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,25.825,189.725,324.575,54.675,0.000,38.932,34.702,158.732,5.250,0.000,0.000,32.057,1719.740,14772.863,544.903,2098.062,467.246,33.371,1591.961,0.000,2050.777,0.000,35.029
$DEVICE_MAMPS,155.701,76.700,1232.569,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.410,656.899,600.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47443,929
$CFSIZE,260165632,248045568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
$GPS,161207,012656,6252.804,-1228.752,41,1.6,41,-11.7