version: 66.02
glider: 103
mission: 7
dive: 162
start: 12 11 107 23 58 46
data:
$ID,103
$MISSION,7
$DIVE,162
$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,-65295.852
$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,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
$GPS1,235108,6246.473,-1143.321,32,1.1,32,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-58.8
$GPS2,235739,6246.459,-1143.141,15,1.4,15,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6252.000,-1230.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,0.079
$KALMAN_X,-230801.5,137.1,1325.6,62898.7,-3007.9
$KALMAN_Y,-40121.1,-75.1,1008.3,173376.1,-4474.9
$MHEAD_RNG_PITCHd_Wd,302.3,40887,-11.1,-6.000
$D_GRID,617
$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,21,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-61.72,0.000,2,0.000,0.000,40,2896,3430
$GC,86,-1.10,-146.6,3.6,-8.8,3,109,11.95,2.62,-1.25,0.000,4,0.156,0.075,2165,1488,3502
$GC,238,-1.10,-146.6,22.6,-5.7,9,244,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2901,3502
$GC,553,-1.10,-146.6,46.6,-7.4,25,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,862,-1.10,-146.6,69.7,-7.4,40,867,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1493,3502
$GC,906,-1.10,-146.6,72.9,-7.4,42,910,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2903,3502
$GC,1233,-1.10,-146.6,95.2,-6.8,58,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,1544,-1.10,-146.6,117.8,-7.4,73,1548,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1486,3503
$GC,1607,-1.10,-146.6,122.3,-6.9,76,1611,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2900,3503
$GC,1932,-1.10,-146.6,144.8,-6.9,92,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,2241,-1.10,-146.6,165.5,-6.8,107,2246,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1487,3503
$GC,2285,-1.10,-146.6,168.7,-7.2,109,2289,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2909,3503
$GC,2612,-1.10,-146.6,194.3,-8.0,125,2616,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1491,3503
$GC,2638,-1.10,-146.6,196.4,-7.6,126,2642,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2903,3503
$GC,2959,-1.10,-146.6,220.7,-7.6,142,2964,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1483,3503
$GC,2986,-1.10,-146.6,222.9,-7.4,143,2990,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2909,3503
$GC,3307,-1.10,-146.6,244.2,-6.7,159,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3503
$GC,3616,-1.10,-146.6,266.7,-7.6,174,3621,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1484,3503
$GC,3678,-1.10,-146.6,271.2,-7.1,177,3682,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2900,3503
$GC,4003,-1.10,-146.6,292.8,-6.2,193,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,4312,-1.10,-146.6,314.6,-6.9,208,4316,0.00,2.58,0.00,0.000,4,0.000,0.063,2165,1490,3503
$GC,4350,-1.10,-146.6,317.3,-7.5,210,4355,0.00,2.58,0.00,0.000,6,0.000,0.063,2165,2900,3503
$GC,4677,-1.10,-146.6,340.4,-7.1,226,4681,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1485,3503
$GC,4709,-1.10,-146.6,342.7,-7.0,227,4715,0.00,2.58,0.00,0.000,6,0.000,0.064,2165,2900,3503
$GC,5024,-1.10,-146.6,364.0,-7.1,243,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5334,-1.10,-146.6,384.4,-6.5,258,5338,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1484,3503
$GC,5372,-1.10,-146.6,387.0,-7.0,260,5376,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2905,3503
$GC,5697,-1.10,-146.6,408.8,-6.6,276,5702,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1486,3503
$GC,5730,-1.10,-146.6,410.9,-6.2,277,5736,0.00,2.58,0.00,0.000,6,0.000,0.066,2165,2900,3503
$GC,6045,-1.10,-146.6,431.8,-6.6,293,6050,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1482,3503
$GC,6077,-1.10,-146.6,434.0,-6.7,294,6084,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2908,3503
$GC,6393,-1.10,-146.6,451.0,-4.9,310,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3503
$GC,6703,-1.10,-146.6,471.3,-7.1,325,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3503
$GC,7011,-1.10,-146.6,492.4,-6.2,340,7016,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1480,3503
$GC,7055,-1.10,-146.6,495.1,-6.0,342,7060,0.00,2.58,0.00,0.000,6,0.000,0.062,2165,2900,3503
$GC,7382,-1.10,-146.6,515.8,-6.8,358,7386,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1484,3503
$GC,7413,-1.10,-146.6,518.1,-7.0,359,7420,0.00,2.58,0.00,0.000,6,0.000,0.060,2165,2909,3503
$GC,7729,-1.10,-146.6,535.5,-4.4,375,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3503
$GC,8038,-1.10,-146.6,549.7,-5.3,390,8046,0.00,2.53,0.00,0.000,4,0.000,0.051,2165,1482,3503
$GC,8108,-1.10,-146.6,554.1,-6.5,393,8112,0.00,2.58,0.00,0.000,6,0.000,0.061,2165,2900,3503
$GC,8434,-1.10,-146.6,573.9,-5.6,409,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,8743,-1.10,-146.6,591.6,-5.7,424,8747,0.00,2.50,0.00,0.000,4,0.000,0.050,2165,1481,3502
$GC,8769,-1.10,-146.6,593.4,-6.4,425,8773,0.00,2.58,0.00,0.000,6,0.000,0.061,2165,2903,3502
$GC,9091,-1.10,-146.6,614.1,-6.6,441,9095,0.00,2.50,0.00,0.000,4,0.000,0.048,2165,1481,3501
$GC,9130,-1.10,-146.6,616.7,-6.9,443,9134,0.00,2.58,0.00,0.000,6,0.000,0.061,2165,2901,3501
$STATE,9137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9137,begin apogee
$GC,9143,-0.42,0.0,617.3,6.9,443,9272,0.73,0.00,124.80,1.190,6,0.084,0.000,2315,2085,2901
$STATE,9272,end apogee,CONTROL_FINISHED_OK
$STATE,9272,begin climb
$GC,9274,1.10,146.6,622.4,0.0,450,9406,1.55,2.58,121.60,1.147,4,0.051,0.054,2651,704,2303
$GC,9580,1.12,163.0,612.7,5.5,464,9600,0.00,2.45,15.40,1.072,6,0.000,0.036,2651,2119,2236
$GC,9922,1.15,183.6,595.2,5.4,481,9946,0.00,2.62,18.58,1.095,4,0.000,0.063,2651,3495,2152
$GC,10002,1.15,185.0,590.5,6.0,484,10009,0.00,2.45,0.00,0.000,6,0.000,0.036,2651,2089,2151
$GC,10318,1.15,189.1,571.8,5.9,500,10329,0.00,2.65,6.20,0.930,4,0.000,0.064,2650,3499,2130
$GC,10395,1.15,189.1,567.0,6.5,503,10402,0.00,2.45,0.00,0.000,6,0.000,0.037,2651,2093,2130
$GC,10711,1.18,212.4,549.4,5.4,519,10739,0.00,2.58,20.77,1.108,4,0.000,0.055,2651,697,2035
$GC,10762,1.18,212.4,546.4,6.2,521,10766,0.00,2.45,0.00,0.000,6,0.000,0.038,2651,2090,2035
$GC,11082,1.18,212.4,525.7,7.1,537,11086,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3505,2034
$GC,11195,1.18,212.4,517.3,7.3,542,11199,0.00,2.45,0.00,0.000,6,0.000,0.039,2651,2103,2034
$GC,11520,1.18,212.4,495.9,6.5,558,11524,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3511,2033
$GC,11613,1.18,212.4,489.1,7.9,562,11618,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2087,2033
$GC,11935,1.18,212.4,466.7,6.9,578,11939,0.00,2.65,0.00,0.000,4,0.000,0.067,2651,3512,2033
$GC,11973,1.18,212.4,464.0,7.4,580,11977,0.00,2.47,0.00,0.000,6,0.000,0.039,2651,2094,2033
$GC,12298,1.18,212.4,441.0,7.5,596,12303,0.00,2.62,0.00,0.000,4,0.000,0.067,2651,3506,2033
$GC,12338,1.18,212.4,438.1,7.6,598,12342,0.00,2.45,0.00,0.000,6,0.000,0.040,2651,2101,2033
$GC,12663,1.18,212.4,414.4,7.1,614,12668,0.00,2.62,0.00,0.000,4,0.000,0.069,2651,3512,2033
$GC,12712,1.18,212.4,410.6,7.4,616,12717,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2082,2033
$GC,13034,1.18,212.4,388.8,6.5,632,13038,0.00,2.65,0.00,0.000,4,0.000,0.070,2651,3506,2033
$GC,13072,1.18,212.4,386.1,6.9,634,13076,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2096,2033
$GC,13403,1.18,212.4,363.7,6.7,650,13407,0.00,2.65,0.00,0.000,4,0.000,0.071,2651,3512,2034
$GC,13441,1.18,212.4,360.8,8.1,652,13446,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2096,2034
$GC,13766,1.18,212.4,339.7,6.3,668,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2096,2034
$GC,14076,1.18,212.9,321.0,6.0,683,14080,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3505,2035
$GC,14149,1.18,212.9,316.2,6.5,686,14153,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2102,2035
$GC,14463,1.18,212.9,296.6,6.3,701,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2102,2035
$GC,14773,1.18,212.9,276.6,6.7,716,14777,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3505,2035
$GC,14844,1.18,212.9,271.4,6.8,719,14848,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2095,2035
$GC,15165,1.18,212.9,249.0,6.9,735,15169,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3505,2036
$GC,15203,1.18,212.9,246.3,7.0,737,15207,0.00,2.47,0.00,0.000,6,0.000,0.043,2651,2094,2036
$GC,15528,1.18,212.9,223.7,7.0,753,15533,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3511,2036
$GC,15567,1.18,212.9,220.8,7.7,755,15571,0.00,2.47,0.00,0.000,6,0.000,0.043,2651,2099,2036
$GC,15893,1.18,212.9,198.5,6.8,771,15894,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,2036
$GC,16202,1.18,212.9,177.5,6.6,786,16206,0.00,2.62,0.00,0.000,4,0.000,0.070,2650,3505,2036
$GC,16295,1.18,212.9,170.5,7.3,790,16300,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2093,2036
$GC,16617,1.20,224.8,150.4,5.7,806,16639,0.00,2.72,11.93,0.821,4,0.000,0.071,2651,3505,1983
$GC,16688,1.20,224.8,146.0,6.2,809,16692,0.00,2.50,0.00,0.000,6,0.000,0.042,2651,2088,1983
$GC,17017,1.20,224.8,126.0,6.0,825,17021,0.00,2.67,0.00,0.000,4,0.000,0.073,2651,3510,1983
$GC,17060,1.20,226.3,123.1,6.0,827,17064,0.00,2.47,0.00,0.000,6,0.000,0.042,2651,2095,1983
$GC,17382,1.20,227.6,104.0,6.0,843,17391,0.00,2.65,3.90,0.603,4,0.000,0.069,2651,3511,1973
$GC,17430,1.20,227.6,100.8,7.4,845,17434,0.00,2.50,0.00,0.000,6,0.000,0.045,2651,2097,1973
$GC,17757,1.20,227.6,80.7,6.4,861,17762,0.00,2.65,0.00,0.000,4,0.000,0.071,2651,3511,1973
$GC,17805,1.20,227.6,77.3,7.2,863,17810,0.00,2.53,0.00,0.000,6,0.000,0.045,2651,2098,1973
$GC,18127,1.20,227.6,56.3,6.5,879,18131,0.00,2.65,0.00,0.000,4,0.000,0.073,2651,3509,1973
$GC,18159,1.20,227.6,54.1,6.4,880,18166,0.00,2.53,0.00,0.000,6,0.000,0.048,2651,2099,1973
$GC,18476,1.20,227.6,32.4,7.4,896,18480,0.00,2.62,0.00,0.000,4,0.000,0.072,2651,3505,1973
$GC,18496,1.20,227.6,30.5,8.1,897,18502,0.00,2.50,0.00,0.000,6,0.000,0.047,2651,2105,1973
$GC,18824,1.20,227.6,9.5,6.5,913,18828,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3511,1973
$GC,18878,1.22,241.7,5.7,5.6,915,18899,0.08,2.50,12.90,0.739,6,0.032,0.047,2698,2105,1915
$STATE,18924,end climb,SURFACE_DEPTH_REACHED
$STATE,18924,begin surface coast
$FINISH,0.1,1.027313
$STATE,18947,end surface coast,CONTROL_FINISHED_OK
$STATE,18948,begin surface
$SM_CCo,18969,45.60,0.747,0,0,1678,300.00
$SM_GC,-0.11,0.00,0.00,45.60,0.000,0.000,0.747,48,2892,1678,-10.86,-0.23,300.00
$IRIDIUM_FIX,6221.17,-1140.73,111207,222256
$TT8_MAMPS,0.028379
$HUMID,2052
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.1,62.4
$24V_AH,23.4,30.012
$10V_AH,10.1,14.320
$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,25.900,208.425,336.075,45.600,0.000,40.534,40.566,211.174,5.250,0.000,0.000,15.561,1725.674,14527.522,550.838,2084.487,535.086,33.367,1618.646,0.000,2057.754,0.000,33.067
$DEVICE_MAMPS,155.701,88.205,1190.384,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,668.896,646.206,596.715,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47369,919
$CFSIZE,260165632,249167872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,121207,051656,6244.343,-1147.539,41,1.3,41,-11.2