version: 66.02
glider: 103
mission: 7
dive: 219
start: 12 24 107 3 4 43
data:
$ID,103
$MISSION,7
$DIVE,219
$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,-66513.273
$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,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
$GPS1,023702,6319.723,-1252.104,42,1.4,42,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.69
$_SM_ANGLEo,-48.4
$GPS2,030339,6319.488,-1252.417,13,1.6,13,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.021,0.217
$KALMAN_X,-266955.2,1282.7,-19.9,38142.0,-1653.9
$KALMAN_Y,-179175.1,-81.0,-977.8,375625.7,1919.1
$MHEAD_RNG_PITCHd_Wd,17.6,19832,-11.1,-6.000
$D_GRID,574
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,135,0.00,0.00,-110.05,0.000,6,0.000,0.000,46,2901,3499
$GC,137,-1.10,-146.6,1.8,-2.8,5,159,12.02,2.65,0.00,0.000,4,0.161,0.065,2166,1492,3501
$GC,355,-1.10,-146.6,28.2,-5.0,14,361,0.00,2.70,0.00,0.000,6,0.000,0.084,2167,2906,3502
$GC,672,-1.10,-146.6,48.0,-6.8,30,676,0.00,2.67,0.00,0.000,4,0.000,0.077,2167,1488,3502
$GC,726,-1.10,-146.6,51.1,-5.0,32,733,0.00,2.72,0.00,0.000,6,0.000,0.084,2167,2892,3502
$GC,1042,-1.10,-146.6,70.7,-6.5,48,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2892,3502
$GC,1352,-1.10,-146.6,94.7,-6.0,63,1356,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1491,3502
$GC,1384,-1.10,-146.6,96.6,-5.8,64,1390,0.00,2.67,0.00,0.000,6,0.000,0.082,2167,2900,3502
$GC,1701,-1.10,-146.6,120.6,-8.3,80,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,2009,-1.10,-146.6,146.8,-8.0,95,2013,0.00,2.65,0.00,0.000,4,0.000,0.074,2167,1488,3502
$GC,2048,-1.10,-146.6,150.3,-9.1,97,2053,0.00,2.70,0.00,0.000,6,0.000,0.081,2167,2907,3502
$GC,2374,-1.10,-146.6,178.1,-8.9,113,2378,0.00,2.65,0.00,0.000,4,0.000,0.074,2167,1489,3502
$GC,2435,-1.10,-146.6,183.3,-8.4,116,2440,0.00,2.70,0.00,0.000,6,0.000,0.081,2167,2903,3502
$GC,2761,-1.10,-146.6,206.9,-6.4,132,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,3070,-1.10,-146.6,227.9,-7.2,147,3075,0.00,2.65,0.00,0.000,4,0.000,0.073,2167,1482,3502
$GC,3125,-1.10,-146.6,232.2,-7.7,149,3132,0.00,2.70,0.00,0.000,6,0.000,0.081,2167,2904,3502
$GC,3440,-1.10,-146.6,257.0,-8.3,165,3445,0.00,2.65,0.00,0.000,4,0.000,0.072,2167,1486,3502
$GC,3479,-1.10,-146.6,260.0,-7.6,167,3484,0.00,2.70,0.00,0.000,6,0.000,0.079,2167,2908,3502
$GC,3805,-1.10,-146.6,281.3,-6.5,183,3809,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1483,3502
$GC,3838,-1.10,-146.6,283.4,-6.6,184,3844,0.00,2.70,0.00,0.000,6,0.000,0.079,2167,2900,3502
$GC,4153,-1.10,-146.6,306.4,-7.5,200,4158,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1489,3502
$GC,4186,-1.10,-146.6,309.1,-7.8,201,4192,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2905,3502
$GC,4501,-1.10,-146.6,330.8,-6.7,217,4505,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1489,3502
$GC,4540,-1.10,-146.6,333.6,-7.5,219,4545,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2904,3502
$GC,4865,-1.10,-146.6,358.1,-7.7,235,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3502
$GC,5175,-1.10,-146.6,382.4,-7.9,250,5179,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1489,3502
$GC,5240,-1.10,-146.6,387.8,-8.2,253,5245,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2903,3502
$GC,5561,-1.10,-146.6,413.2,-7.8,269,5565,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1487,3502
$GC,5600,-1.10,-146.6,416.1,-7.3,271,5605,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2902,3502
$GC,5926,-1.10,-146.6,439.8,-7.0,287,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,6235,-1.10,-146.6,459.7,-6.3,302,6239,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1483,3502
$GC,6289,-1.10,-146.6,463.6,-7.2,304,6295,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2903,3502
$GC,6605,-1.10,-146.6,483.8,-6.0,320,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3501
$GC,6915,-1.10,-146.6,500.8,-4.9,335,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,7223,-1.10,-146.6,516.2,-6.2,350,7227,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1483,3502
$GC,7279,-1.10,-146.6,520.3,-7.6,352,7285,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2904,3502
$GC,7594,-1.10,-146.6,543.2,-6.9,368,7598,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1479,3502
$GC,7625,-1.10,-146.6,545.3,-6.8,369,7632,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2908,3501
$GC,7942,-1.10,-146.6,560.9,-4.7,385,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2909,3501
$STATE,8170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8170,begin apogee
$GC,8177,-0.42,0.0,575.1,7.0,396,8309,0.75,0.00,124.93,1.170,6,0.091,0.000,2317,2097,2900
$STATE,8309,end apogee,CONTROL_FINISHED_OK
$STATE,8309,begin climb
$GC,8312,1.10,146.6,580.9,0.0,403,8443,1.55,2.67,121.28,1.139,4,0.058,0.058,2648,685,2303
$GC,8618,1.13,166.7,571.9,5.4,417,8642,0.00,2.50,18.50,1.088,6,0.000,0.039,2649,2113,2221
$GC,8964,1.13,166.7,551.6,6.1,434,8969,0.00,2.60,0.00,0.000,4,0.000,0.070,2649,3507,2220
$GC,9104,1.15,182.4,543.7,5.6,440,9124,0.00,2.47,14.20,1.086,6,0.000,0.039,2649,2092,2157
$GC,9446,1.15,186.3,527.0,5.9,457,9456,0.00,2.70,5.18,0.894,4,0.000,0.073,2649,3502,2141
$GC,9517,1.15,186.3,522.0,7.0,460,9521,0.00,2.47,0.00,0.000,6,0.000,0.040,2649,2101,2141
$GC,9839,1.17,198.4,501.5,5.7,476,9852,0.00,0.00,11.48,1.075,6,0.000,0.000,2649,2101,2092
$GC,10148,1.24,254.7,485.4,4.4,491,10203,0.15,2.78,47.50,1.136,4,0.043,0.080,2699,3502,1861
$GC,10286,1.24,254.7,476.4,7.4,497,10291,0.00,2.50,0.00,0.000,6,0.000,0.045,2699,2104,1861
$GC,10607,1.24,254.7,451.3,9.1,513,10612,0.00,2.58,0.00,0.000,4,0.000,0.060,2699,690,1861
$GC,10646,1.24,254.7,447.7,9.5,515,10651,0.00,2.47,0.00,0.000,6,0.000,0.041,2699,2093,1861
$GC,10972,1.24,254.7,418.6,8.4,531,10977,0.00,2.67,0.00,0.000,4,0.000,0.079,2699,3509,1860
$GC,11011,1.24,254.7,415.2,8.7,533,11015,0.00,2.53,0.00,0.000,6,0.000,0.047,2699,2093,1860
$GC,11336,1.24,254.7,385.2,9.5,549,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2093,1860
$GC,11646,1.24,254.7,356.2,8.9,564,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2093,1860
$GC,11955,1.24,254.7,329.2,8.4,579,11959,0.00,2.70,0.00,0.000,4,0.000,0.077,2699,3514,1860
$GC,12003,1.24,254.7,324.8,9.0,581,12008,0.00,2.55,0.00,0.000,6,0.000,0.048,2699,2100,1860
$GC,12325,1.24,254.7,296.4,9.1,597,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1861
$GC,12634,1.24,254.7,266.4,9.6,612,12635,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1862
$GC,12943,1.24,254.7,236.4,9.3,627,12947,0.00,2.67,0.00,0.000,4,0.000,0.078,2699,3509,1862
$GC,12992,1.24,254.7,231.6,9.3,629,12996,0.00,2.50,0.00,0.000,6,0.000,0.048,2699,2100,1862
$GC,13313,1.24,254.7,203.9,8.4,645,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2101,1862
$GC,13622,1.24,254.7,177.4,8.9,660,13623,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1862
$GC,13931,1.24,254.7,149.6,8.3,675,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1863
$GC,14243,1.24,254.7,122.5,9.1,690,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,1863
$GC,14550,1.24,254.7,95.5,9.7,705,14555,0.00,2.70,0.00,0.000,4,0.000,0.079,2699,3516,1864
$GC,14589,1.24,254.7,92.2,8.0,707,14594,0.00,2.55,0.00,0.000,6,0.000,0.052,2699,2093,1864
$GC,14916,1.24,254.7,67.0,8.5,723,14920,0.00,2.55,0.00,0.000,4,0.000,0.063,2699,686,1864
$GC,14948,1.24,254.7,64.3,8.4,724,14955,0.00,2.53,0.00,0.000,6,0.000,0.046,2699,2099,1864
$GC,15265,1.24,254.7,37.5,6.9,740,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2098,1864
$GC,15573,1.24,254.7,9.9,9.8,755,15574,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2098,1865
$STATE,15674,end climb,SURFACE_DEPTH_REACHED
$STATE,15674,begin surface coast
$FINISH,-1.1,1.016712
$STATE,15696,end surface coast,CONTROL_FINISHED_OK
$STATE,15696,begin surface
$SM_CCo,15718,251.93,0.736,2,0,572,571.30
$SM_GC,-0.78,0.00,0.00,251.93,0.000,0.000,0.736,35,2903,572,-10.92,0.08,571.30
$IRIDIUM_FIX,6254.00,-1253.57,241207,060628
$TT8_MAMPS,0.029146
$HUMID,2017
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,575.1,23.3
$24V_AH,23.4,38.409
$10V_AH,10.1,19.136
$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,26.200,134.600,343.050,251.925,0.000,200.303,175.942,843.672,5.500,0.000,0.000,13.405,1387.499,12298.747,776.508,1672.654,1457.551,33.368,1623.798,0.000,1645.135,0.000,32.953
$DEVICE_MAMPS,161.070,92.807,1169.675,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.512,525.466,508.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38039,761
$CFSIZE,260165632,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,241207,073208,6321.609,-1254.812,30,1.3,30,-12.1