version: 66.02
glider: 103
mission: 7
dive: 220
start: 12 24 107 8 0 10
data:
$ID,103
$MISSION,7
$DIVE,220
$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,-66546.664
$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,20
$R_STBD_OVSHOOT,9
$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
$GPS1,073208,6321.609,-1254.812,30,1.3,30,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.59
$_SM_ANGLEo,-44.3
$GPS2,075907,6321.479,-1254.674,16,2.0,32,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.055,0.210
$KALMAN_X,-267131.7,-422.7,-512.2,38569.6,569.1
$KALMAN_Y,-180582.2,-246.2,35.0,379870.1,-188.7
$MHEAD_RNG_PITCHd_Wd,357.3,15898,-11.2,-6.000
$D_GRID,586
$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,-1.11,-143.9,0.0,0.0,0,133,0.00,0.00,-108.95,0.000,6,0.000,0.000,36,2902,3488
$GC,136,-1.11,-146.6,2.0,-3.0,5,157,12.18,1.75,0.00,0.000,4,0.164,0.091,2163,3786,3491
$GC,308,-1.11,-146.6,28.8,-8.9,12,315,0.00,1.60,0.00,0.000,6,0.000,0.051,2163,2899,3491
$GC,625,-1.11,-146.6,58.8,-9.7,28,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3491
$GC,933,-1.11,-146.6,87.4,-9.3,43,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3491
$GC,1243,-1.11,-146.6,107.7,-6.6,58,1247,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1485,3491
$GC,1297,-1.11,-146.6,111.8,-7.0,60,1304,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2894,3491
$GC,1613,-1.11,-146.6,134.1,-8.0,76,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2895,3491
$GC,1922,-1.11,-146.6,158.6,-7.6,91,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2894,3491
$GC,2231,-1.11,-146.6,183.5,-8.0,106,2236,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1482,3491
$GC,2265,-1.11,-146.6,186.1,-7.6,107,2271,0.00,2.70,0.00,0.000,6,0.000,0.075,2163,2910,3491
$GC,2580,-1.11,-146.6,210.4,-8.3,123,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2910,3491
$GC,2889,-1.11,-146.6,233.4,-7.4,138,2893,0.00,2.65,0.00,0.000,4,0.000,0.070,2163,1486,3491
$GC,2955,-1.11,-146.6,237.8,-6.6,141,2959,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2906,3491
$GC,3282,-1.11,-146.6,261.6,-7.4,157,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3491
$GC,3591,-1.11,-146.6,285.2,-7.6,172,3595,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1484,3491
$GC,3639,-1.11,-146.6,289.1,-7.9,174,3643,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2902,3491
$GC,3961,-1.11,-146.6,312.0,-6.8,190,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3491
$GC,4270,-1.11,-146.6,333.2,-7.6,205,4274,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1489,3491
$GC,4318,-1.11,-146.6,337.2,-7.9,207,4323,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2914,3490
$GC,4639,-1.11,-146.6,359.1,-6.0,223,4644,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,1484,3491
$GC,4678,-1.11,-146.6,361.5,-6.5,225,4683,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2902,3491
$GC,5004,-1.11,-146.6,387.8,-9.4,241,5008,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1487,3491
$GC,5047,-1.11,-146.6,392.2,-10.1,243,5052,0.00,2.65,0.00,0.000,6,0.000,0.076,2163,2899,3491
$GC,5368,-1.11,-146.6,417.4,-7.2,259,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3491
$GC,5677,-1.11,-146.6,438.9,-6.2,274,5682,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1486,3491
$GC,5740,-1.11,-146.6,442.2,-5.5,277,5744,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2899,3491
$GC,6065,-1.11,-146.6,466.5,-8.5,293,6069,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1483,3491
$GC,6097,-1.11,-146.6,469.2,-8.3,294,6103,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2900,3490
$GC,6413,-1.11,-146.6,486.0,-4.3,310,6417,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1482,3490
$GC,6462,-1.11,-146.6,488.2,-4.9,312,6466,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2900,3491
$GC,6777,-1.11,-146.6,507.9,-7.3,327,6781,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1483,3491
$GC,6815,-1.11,-146.6,510.6,-6.8,329,6820,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2904,3491
$GC,7141,-1.11,-146.6,530.9,-5.5,345,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3491
$GC,7450,-1.11,-146.6,545.9,-5.4,360,7455,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1483,3491
$GC,7500,-1.11,-146.6,549.1,-6.4,362,7504,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2908,3491
$GC,7821,-1.11,-146.6,570.5,-6.0,378,7825,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1480,3491
$GC,7854,-1.11,-146.6,572.8,-6.7,379,7860,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2899,3491
$STATE,8023,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8023,begin apogee
$GC,8029,-0.42,0.0,583.2,6.5,388,8155,0.77,0.00,122.12,1.193,6,0.091,0.000,2318,2097,2901
$STATE,8156,end apogee,CONTROL_FINISHED_OK
$STATE,8156,begin climb
$GC,8158,1.11,146.6,587.8,0.0,394,8284,1.55,0.00,121.10,1.151,6,0.055,0.000,2650,2096,2303
$GC,8589,1.12,153.4,570.5,5.8,415,8598,0.00,0.00,7.38,0.972,6,0.000,0.000,2650,2096,2275
$GC,8898,1.14,167.1,553.5,5.6,430,8913,0.00,0.00,13.15,1.086,6,0.000,0.000,2650,2096,2219
$GC,9208,1.14,167.1,535.5,6.5,445,9212,0.00,2.65,0.00,0.000,4,0.000,0.069,2650,3518,2218
$GC,9292,1.17,189.0,530.6,5.4,449,9316,0.00,2.53,19.27,1.129,6,0.000,0.039,2650,2086,2130
$GC,9643,1.17,189.0,508.6,7.1,466,9648,0.00,2.67,0.00,0.000,4,0.000,0.071,2650,3512,2130
$GC,9743,1.17,189.0,501.4,7.5,470,9750,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2086,2129
$GC,10059,1.17,189.0,480.4,6.0,486,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2086,2129
$GC,10368,1.18,199.0,462.7,5.7,501,10383,0.00,2.72,9.75,1.045,4,0.000,0.073,2650,3512,2089
$GC,10439,1.18,199.0,458.0,6.3,503,10443,0.00,2.53,0.00,0.000,6,0.000,0.044,2650,2094,2089
$GC,10760,1.19,208.9,439.9,5.7,519,10775,0.00,2.62,9.90,1.028,4,0.000,0.063,2650,688,2049
$GC,10847,1.19,208.9,434.6,6.3,522,10852,0.00,2.50,0.00,0.000,6,0.000,0.040,2650,2109,2049
$GC,11167,1.19,208.9,413.7,6.6,538,11172,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3512,2049
$GC,11230,1.19,208.9,409.5,6.6,541,11234,0.00,2.50,0.00,0.000,6,0.000,0.045,2650,2102,2049
$GC,11556,1.22,235.3,390.0,5.3,557,11585,0.12,2.75,22.90,1.045,4,0.049,0.075,2686,3505,1941
$GC,11619,1.22,235.3,385.8,7.1,560,11624,0.00,2.55,0.00,0.000,6,0.000,0.050,2686,2093,1941
$GC,11946,1.22,235.3,361.4,7.9,576,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1941
$GC,12255,1.22,235.3,336.0,8.7,591,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1941
$GC,12564,1.22,235.3,308.0,9.1,606,12569,0.00,2.67,0.00,0.000,4,0.000,0.074,2686,3510,1941
$GC,12604,1.22,235.3,304.2,9.4,608,12608,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2099,1941
$GC,12929,1.22,235.3,275.2,8.8,624,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1942
$GC,13238,1.22,235.3,248.1,8.8,639,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1942
$GC,13548,1.22,235.3,222.3,8.6,654,13552,0.00,2.67,0.00,0.000,4,0.000,0.075,2686,3514,1942
$GC,13602,1.22,235.3,217.4,8.5,656,13610,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2101,1943
$GC,13917,1.22,235.3,191.6,8.4,672,13922,0.00,2.58,0.00,0.000,4,0.000,0.064,2686,685,1943
$GC,13961,1.22,235.3,187.6,9.1,674,13965,0.00,2.47,0.00,0.000,6,0.000,0.042,2686,2097,1942
$GC,14288,1.22,235.3,158.6,8.9,690,14292,0.00,2.65,0.00,0.000,4,0.000,0.078,2686,3514,1943
$GC,14342,1.22,235.3,153.5,9.5,692,14349,0.00,2.53,0.00,0.000,6,0.000,0.052,2686,2098,1943
$GC,14659,1.22,235.3,127.6,8.1,708,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1943
$GC,14968,1.22,235.3,101.3,8.6,723,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2098,1943
$GC,15277,1.22,235.3,78.6,6.9,738,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1943
$GC,15588,1.22,235.3,48.9,9.1,753,15592,0.00,2.70,0.00,0.000,4,0.000,0.078,2686,3518,1943
$GC,15627,1.22,235.3,45.4,9.1,755,15631,0.00,2.55,0.00,0.000,6,0.000,0.054,2686,2099,1943
$GC,15953,1.22,235.3,19.8,7.6,771,15957,0.00,2.58,0.00,0.000,4,0.000,0.067,2686,692,1943
$GC,16018,1.22,235.3,13.6,8.8,774,16023,0.00,2.50,0.00,0.000,6,0.000,0.048,2686,2101,1943
$STATE,16178,end climb,SURFACE_DEPTH_REACHED
$STATE,16178,begin surface coast
$FINISH,-1.0,1.027353
$STATE,16200,end surface coast,CONTROL_FINISHED_OK
$STATE,16200,begin surface
$SM_CCo,16222,263.85,0.730,1,0,572,571.30
$SM_GC,-0.67,0.00,0.00,263.85,0.000,0.000,0.730,48,2898,572,-10.87,-0.06,571.30
$IRIDIUM_FIX,6258.74,-1254.64,241207,111130
$TT8_MAMPS,0.029146
$HUMID,2001
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.2,66.9
$24V_AH,23.4,38.635
$10V_AH,10.1,19.226
$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,26.275,137.050,325.575,263.850,0.000,198.507,186.177,837.530,4.750,0.000,0.000,32.762,1436.298,12745.235,764.751,1701.940,1477.210,33.374,1622.393,0.000,1666.284,0.000,29.837
$DEVICE_MAMPS,164.138,102.011,1193.452,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.939,542.660,503.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41159,783
$CFSIZE,260165632,245563392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,241207,123607,6324.251,-1253.745,30,1.0,30,-12.1