version: 66.02
glider: 103
mission: 7
dive: 222
start: 12 24 107 17 55 31
data:
$ID,103
$MISSION,7
$DIVE,222
$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,-1
$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,571.30371
$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,-66572.266
$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,19
$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
$GPS1,174637,6325.136,-1257.572,34,1.7,34,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.58
$_SM_ANGLEo,-47.1
$GPS2,175427,6325.176,-1257.665,13,1.6,13,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.109,0.189
$KALMAN_X,-267321.0,-472.7,-1907.1,37580.0,4570.1
$KALMAN_Y,-181157.7,111.8,-1197.0,388154.4,1953.8
$MHEAD_RNG_PITCHd_Wd,342.4,8951,-11.1,-6.000
$D_GRID,601
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,132,0.00,0.00,-107.47,0.000,6,0.000,0.000,40,2902,3501
$GC,135,-1.10,-146.6,2.8,-3.8,5,156,12.10,2.62,0.00,0.000,4,0.162,0.054,2163,1483,3503
$GC,406,-1.10,-146.6,37.5,-4.6,17,411,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2898,3503
$GC,734,-1.10,-146.6,53.7,-5.0,33,738,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1487,3503
$GC,765,-1.10,-146.6,56.2,-6.5,34,772,0.00,2.72,0.00,0.000,6,0.000,0.080,2163,2901,3503
$GC,1082,-1.10,-146.6,78.4,-9.1,50,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,1392,-1.10,-146.6,107.5,-8.3,65,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,1700,-1.10,-146.6,132.6,-7.9,80,1705,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,1484,3503
$GC,1744,-1.10,-146.6,136.4,-8.2,82,1748,0.00,2.70,0.00,0.000,6,0.000,0.079,2163,2905,3503
$GC,2071,-1.10,-146.6,161.4,-7.6,98,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,2380,-1.10,-146.6,182.6,-7.0,113,2384,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1489,3503
$GC,2419,-1.10,-146.6,185.4,-7.3,115,2423,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2907,3503
$GC,2745,-1.10,-146.6,208.4,-6.9,131,2749,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1490,3503
$GC,2776,-1.10,-146.6,210.7,-7.1,132,2783,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2906,3503
$GC,3092,-1.10,-146.6,229.9,-6.1,148,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3503
$GC,3401,-1.10,-146.6,249.6,-6.3,163,3406,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1483,3503
$GC,3434,-1.10,-146.6,251.7,-6.2,164,3440,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2902,3503
$GC,3749,-1.10,-146.6,272.3,-6.4,180,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3503
$GC,4059,-1.10,-146.6,292.6,-6.4,195,4063,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1490,3503
$GC,4107,-1.10,-146.6,295.9,-6.7,197,4112,0.00,2.67,0.00,0.000,6,0.000,0.082,2163,2899,3503
$GC,4428,-1.10,-146.6,319.0,-7.5,213,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,4738,-1.10,-146.6,341.8,-7.3,228,4742,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1489,3503
$GC,4792,-1.10,-146.6,345.9,-7.2,230,4799,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2894,3503
$GC,5108,-1.10,-146.6,366.0,-6.3,246,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2894,3503
$GC,5418,-1.10,-146.6,386.8,-6.9,261,5422,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1488,3503
$GC,5483,-1.10,-146.6,391.5,-7.3,264,5487,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2903,3503
$GC,5811,-1.10,-146.6,412.3,-5.7,280,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3503
$GC,6119,-1.10,-146.6,430.9,-6.5,295,6124,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1487,3503
$GC,6185,-1.10,-146.6,435.4,-6.4,298,6190,0.00,2.67,0.00,0.000,6,0.000,0.078,2163,2901,3503
$GC,6512,-1.10,-146.6,456.0,-6.2,314,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,6824,-1.10,-146.6,475.6,-6.0,329,6828,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3503
$GC,6856,-1.10,-146.6,477.6,-5.7,330,6862,0.00,2.62,0.00,0.000,6,0.000,0.075,2163,2899,3503
$GC,7172,-1.10,-146.6,498.1,-7.4,346,7176,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1479,3503
$GC,7228,-1.10,-146.6,502.0,-6.6,348,7234,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2900,3503
$GC,7542,-1.10,-146.6,524.0,-6.8,364,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,7852,-1.10,-146.6,543.7,-6.8,379,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,8161,-1.10,-146.6,563.8,-5.9,394,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,8470,-1.10,-146.6,583.3,-6.4,409,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$STATE,8716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8716,begin apogee
$GC,8723,-0.42,0.0,601.2,7.6,421,8851,0.75,0.00,124.78,1.187,6,0.086,0.000,2315,2096,2901
$STATE,8852,end apogee,CONTROL_FINISHED_OK
$STATE,8852,begin climb
$GC,8854,1.10,146.6,606.7,0.0,427,8985,1.55,2.65,121.50,1.162,4,0.056,0.056,2648,691,2303
$GC,9126,1.13,168.6,600.9,5.4,439,9153,0.00,2.50,20.00,1.089,6,0.000,0.038,2648,2118,2213
$GC,9461,1.13,171.4,580.5,5.9,456,9470,0.00,2.60,3.88,0.760,4,0.000,0.067,2648,3501,2202
$GC,9561,1.19,213.6,575.0,4.8,460,9603,0.00,2.47,36.30,1.142,6,0.000,0.038,2648,2091,2030
$GC,9919,1.24,257.6,557.1,4.8,478,9963,0.15,2.75,37.65,1.141,4,0.041,0.074,2694,3507,1850
$GC,10002,1.24,257.6,551.4,6.3,482,10006,0.00,2.50,0.00,0.000,6,0.000,0.042,2694,2102,1849
$GC,10328,1.24,257.6,520.2,8.8,498,10332,0.00,2.55,0.00,0.000,4,0.000,0.056,2694,693,1848
$GC,10412,1.24,257.6,512.1,10.5,502,10417,0.00,2.47,0.00,0.000,6,0.000,0.040,2694,2095,1847
$GC,10739,1.24,257.6,481.6,6.8,518,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2095,1847
$GC,11048,1.24,257.6,459.6,9.5,533,11052,0.00,2.55,0.00,0.000,4,0.000,0.057,2694,694,1847
$GC,11136,1.24,257.6,450.4,10.6,537,11140,0.00,2.47,0.00,0.000,6,0.000,0.042,2694,2100,1847
$GC,11463,1.24,257.6,414.0,10.9,553,11467,0.00,2.65,0.00,0.000,4,0.000,0.077,2694,3508,1846
$GC,11502,1.24,257.6,409.8,10.9,555,11506,0.00,2.50,0.00,0.000,6,0.000,0.047,2694,2102,1847
$GC,11828,1.24,257.6,380.4,8.8,571,11829,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2102,1847
$GC,12137,1.24,257.6,349.1,10.6,586,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2102,1847
$GC,12446,1.24,257.6,317.5,10.2,601,12450,0.00,2.65,0.00,0.000,4,0.000,0.078,2694,3509,1847
$GC,12484,1.24,257.6,313.4,9.9,603,12489,0.00,2.50,0.00,0.000,6,0.000,0.049,2694,2100,1847
$GC,12811,1.24,257.6,281.6,9.5,619,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2100,1848
$GC,13120,1.24,257.6,251.6,10.0,634,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2100,1848
$GC,13429,1.24,257.6,221.7,9.1,649,13433,0.00,2.67,0.00,0.000,4,0.000,0.080,2694,3510,1848
$GC,13472,1.24,257.6,217.7,9.5,651,13477,0.00,2.50,0.00,0.000,6,0.000,0.051,2694,2101,1848
$GC,13799,1.24,257.6,188.1,9.2,667,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2101,1848
$GC,14108,1.24,257.6,161.2,9.1,682,14112,0.00,2.67,0.00,0.000,4,0.000,0.080,2694,3508,1848
$GC,14147,1.24,257.6,157.7,9.5,684,14151,0.00,2.53,0.00,0.000,6,0.000,0.052,2694,2100,1849
$GC,14473,1.24,257.6,129.3,9.3,700,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2101,1849
$GC,14782,1.24,257.6,100.1,10.4,715,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2101,1849
$GC,15091,1.24,257.6,72.0,9.0,730,15096,0.00,2.67,0.00,0.000,4,0.000,0.079,2694,3508,1849
$GC,15118,1.24,257.6,69.3,9.5,731,15122,0.00,2.53,0.00,0.000,6,0.000,0.054,2694,2100,1850
$GC,15440,1.24,257.6,37.0,9.3,747,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2100,1849
$GC,15749,1.24,257.6,11.0,7.1,762,15753,0.00,2.55,0.00,0.000,4,0.000,0.062,2694,691,1851
$GC,15838,1.24,257.6,4.8,9.3,766,15843,0.00,2.50,0.00,0.000,6,0.000,0.047,2694,2088,1851
$STATE,15874,end climb,SURFACE_DEPTH_REACHED
$STATE,15874,begin surface coast
$FINISH,-1.2,1.027395
$STATE,15896,end surface coast,CONTROL_FINISHED_OK
$STATE,15896,begin surface
$SM_CCo,15918,247.07,0.740,1,0,572,571.30
$SM_GC,-0.72,0.00,0.00,247.07,0.000,0.000,0.740,46,2894,572,-10.87,-0.17,571.30
$IRIDIUM_FIX,6258.74,-1249.96,241207,161606
$TT8_MAMPS,0.028379
$HUMID,2012
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.9,76.1
$24V_AH,23.4,39.049
$10V_AH,10.1,19.397
$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,26.325,123.275,344.100,247.075,0.000,40.378,33.714,291.937,5.000,0.000,0.000,13.650,1401.363,12257.312,745.349,1666.474,584.681,33.372,1591.314,0.000,1645.526,0.000,31.476
$DEVICE_MAMPS,161.837,112.749,1186.549,740.155,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.706,532.043,492.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37967,769
$CFSIZE,260165632,245510144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
$GPS,241207,222608,6328.319,-1258.175,31,1.6,31,-12.2