version: 66.02
glider: 103
mission: 7
dive: 221
start: 12 24 107 13 3 37
data:
$ID,103
$MISSION,7
$DIVE,221
$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,-66557.992
$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,7
$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
$GPS1,123607,6324.251,-1253.745,30,1.0,30,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.57
$_SM_ANGLEo,-55.5
$GPS2,130233,6324.101,-1253.588,10,1.5,10,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.004,0.218
$KALMAN_X,-266023.7,-1282.0,1308.8,37443.3,-826.2
$KALMAN_Y,-180438.1,-192.8,607.3,383933.7,-1471.7
$MHEAD_RNG_PITCHd_Wd,13.1,11283,-11.1,-6.000
$D_GRID,578
$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,-146.4,0.0,0.0,0,132,0.00,0.00,-107.82,0.000,6,0.000,0.000,48,2898,3498
$GC,135,-1.10,-146.6,2.3,-3.2,5,151,12.00,1.75,0.00,0.000,4,0.161,0.082,2163,3794,3500
$GC,156,-1.10,-146.6,14.1,-34.5,5,160,0.00,1.60,0.00,0.000,6,0.000,0.046,2163,2893,3500
$GC,483,-1.10,-146.6,40.1,-7.0,21,488,0.00,2.58,0.00,0.000,4,0.000,0.074,2163,1498,3500
$GC,740,-1.10,-146.6,58.1,-6.0,32,747,0.00,2.70,0.00,0.000,6,0.000,0.080,2163,2900,3500
$GC,1057,-1.10,-146.6,79.0,-6.9,48,1061,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1496,3500
$GC,1122,-1.10,-146.6,85.0,-8.9,51,1126,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2908,3500
$GC,1449,-1.10,-146.6,106.9,-7.0,67,1454,0.00,2.65,0.00,0.000,4,0.000,0.072,2164,1492,3500
$GC,1489,-1.10,-146.6,109.5,-5.9,69,1493,0.00,2.65,0.00,0.000,6,0.000,0.077,2163,2899,3500
$GC,1815,-1.10,-146.6,132.7,-7.0,85,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3500
$GC,2123,-1.10,-146.6,153.5,-6.7,100,2128,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1491,3500
$GC,2173,-1.10,-146.6,157.0,-6.9,102,2177,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2903,3500
$GC,2494,-1.10,-146.6,179.3,-7.1,118,2498,0.00,2.62,0.00,0.000,4,0.000,0.072,2163,1493,3500
$GC,2520,-1.10,-146.6,181.3,-7.4,119,2524,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2907,3500
$GC,2841,-1.10,-146.6,205.9,-7.7,135,2846,0.00,2.62,0.00,0.000,4,0.000,0.072,2163,1496,3500
$GC,2873,-1.10,-146.6,208.5,-8.3,136,2879,0.00,2.65,0.00,0.000,6,0.000,0.077,2164,2900,3500
$GC,3188,-1.10,-146.6,233.5,-8.0,152,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,3498,-1.10,-146.6,259.1,-8.1,167,3502,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1493,3500
$GC,3547,-1.10,-146.6,263.2,-7.7,169,3551,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2904,3500
$GC,3868,-1.10,-146.6,286.3,-7.0,185,3872,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1489,3500
$GC,3900,-1.10,-146.6,288.6,-6.7,186,3906,0.00,2.67,0.00,0.000,6,0.000,0.080,2163,2900,3500
$GC,4215,-1.10,-146.6,310.6,-6.9,202,4219,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1488,3500
$GC,4241,-1.10,-146.6,312.5,-7.4,203,4245,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2900,3500
$GC,4563,-1.10,-146.6,335.0,-7.2,219,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3500
$GC,4872,-1.10,-146.6,358.3,-7.8,234,4876,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1493,3500
$GC,4943,-1.10,-146.6,364.1,-7.9,237,4947,0.00,2.65,0.00,0.000,6,0.000,0.077,2163,2900,3500
$GC,5264,-1.10,-146.6,390.0,-8.2,253,5268,0.00,2.58,0.00,0.000,4,0.000,0.068,2164,1492,3500
$GC,5330,-1.10,-146.6,395.6,-8.2,256,5334,0.00,2.65,0.00,0.000,6,0.000,0.077,2163,2900,3500
$GC,5656,-1.10,-146.6,420.4,-7.1,272,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3500
$GC,5966,-1.10,-146.6,442.6,-7.1,287,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3500
$GC,6275,-1.10,-146.6,461.4,-5.8,302,6276,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3500
$GC,6584,-1.10,-146.6,481.2,-6.7,317,6588,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1483,3500
$GC,6639,-1.10,-146.6,484.6,-6.4,319,6646,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2908,3500
$GC,6955,-1.10,-146.6,504.6,-6.8,335,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3500
$GC,7268,-1.10,-146.6,525.5,-6.9,350,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3500
$GC,7573,-1.10,-146.6,545.7,-6.3,365,7578,0.00,2.55,0.00,0.000,4,0.000,0.055,2163,1483,3500
$GC,7606,-1.10,-146.6,547.9,-6.7,366,7612,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2899,3500
$GC,7921,-1.10,-146.6,566.7,-6.1,382,7925,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1483,3500
$GC,7976,-1.10,-146.6,570.2,-6.3,384,7982,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2906,3500
$STATE,8104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8104,begin apogee
$GC,8111,-0.42,0.0,578.6,6.7,391,8239,0.75,0.00,124.70,1.178,6,0.085,0.000,2316,2099,2901
$STATE,8239,end apogee,CONTROL_FINISHED_OK
$STATE,8240,begin climb
$GC,8242,1.10,146.6,583.7,0.0,397,8372,1.55,2.65,122.00,1.144,4,0.058,0.058,2647,693,2303
$GC,8467,1.17,204.0,579.5,4.4,407,8522,0.00,2.47,49.20,1.119,6,0.000,0.038,2647,2115,2069
$GC,8846,1.17,204.0,555.9,6.6,426,8850,0.00,2.58,0.00,0.000,4,0.000,0.068,2647,3501,2067
$GC,8907,1.17,204.0,551.4,7.7,429,8911,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2095,2067
$GC,9232,1.17,204.0,529.5,7.0,445,9237,0.00,2.62,0.00,0.000,4,0.000,0.066,2647,3501,2066
$GC,9310,1.17,204.0,523.7,7.9,448,9316,0.00,2.45,0.00,0.000,6,0.000,0.038,2647,2103,2066
$GC,9625,1.17,204.0,501.5,6.8,464,9629,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3507,2064
$GC,9713,1.17,204.0,495.1,7.8,468,9717,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2097,2064
$GC,10040,1.17,204.0,472.1,7.2,484,10044,0.00,2.55,0.00,0.000,4,0.000,0.060,2647,693,2063
$GC,10089,1.17,204.0,468.2,7.6,486,10093,0.00,2.47,0.00,0.000,6,0.000,0.040,2647,2090,2063
$GC,10410,1.17,204.0,445.3,7.0,502,10414,0.00,2.65,0.00,0.000,4,0.000,0.073,2647,3507,2063
$GC,10516,1.17,204.0,437.7,6.9,507,10520,0.00,2.47,0.00,0.000,6,0.000,0.042,2647,2099,2063
$GC,10841,1.17,204.0,417.6,6.1,523,10846,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3509,2063
$GC,10896,1.17,204.0,414.0,6.4,525,10903,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2109,2063
$GC,11212,1.17,204.0,394.1,6.2,541,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2109,2063
$GC,11521,1.17,204.0,373.8,6.8,556,11526,0.00,2.62,0.00,0.000,4,0.000,0.072,2647,3506,2063
$GC,11593,1.17,204.0,368.2,8.2,559,11597,0.00,2.50,0.00,0.000,6,0.000,0.045,2647,2094,2064
$GC,11914,1.17,204.0,346.0,6.8,575,11919,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3507,2064
$GC,11953,1.17,204.0,343.3,7.0,577,11958,0.00,2.50,0.00,0.000,6,0.000,0.046,2647,2095,2064
$GC,12280,1.18,208.0,323.1,5.9,593,12286,0.00,0.00,4.15,0.726,6,0.000,0.000,2647,2095,2053
$GC,12589,1.19,216.6,305.2,5.8,608,12603,0.00,2.70,8.88,0.908,4,0.000,0.071,2647,3512,2017
$GC,12655,1.19,217.2,301.4,6.0,611,12660,0.10,2.53,0.00,0.000,6,0.051,0.047,2678,2100,2017
$GC,12981,1.20,223.1,281.9,5.8,627,12990,0.00,0.00,7.07,0.837,6,0.000,0.000,2678,2101,1991
$GC,13290,1.20,223.1,262.7,6.0,642,13295,0.00,2.67,0.00,0.000,4,0.000,0.077,2678,3512,1991
$GC,13335,1.20,223.1,259.6,7.0,644,13340,0.00,2.55,0.00,0.000,6,0.000,0.051,2678,2099,1991
$GC,13656,1.20,223.1,237.2,7.2,660,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,1991
$GC,13965,1.20,223.1,214.2,7.2,675,13969,0.00,2.70,0.00,0.000,4,0.000,0.080,2678,3512,1991
$GC,14036,1.20,223.1,208.4,8.7,678,14040,0.00,2.53,0.00,0.000,6,0.000,0.051,2678,2097,1991
$GC,14357,1.20,223.1,185.4,7.2,694,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2097,1991
$GC,14666,1.20,223.1,162.3,7.8,709,14671,0.00,2.65,0.00,0.000,4,0.000,0.078,2678,3505,1992
$GC,14706,1.20,223.1,159.0,8.6,711,14711,0.00,2.53,0.00,0.000,6,0.000,0.051,2678,2091,1992
$GC,15035,1.20,223.1,132.2,8.1,727,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2091,1992
$GC,15342,1.20,223.1,107.9,7.4,742,15344,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2091,1992
$GC,15652,1.25,269.5,86.8,4.7,757,15695,0.00,2.72,38.40,0.821,4,0.000,0.076,2679,3505,1802
$GC,15723,1.25,269.5,82.4,6.9,760,15727,0.00,2.55,0.00,0.000,6,0.000,0.051,2678,2093,1802
$GC,16040,1.33,334.6,63.1,4.2,775,16099,0.00,0.00,53.08,0.796,6,0.000,0.000,2678,2092,1537
$GC,16410,1.33,334.6,31.5,9.8,793,16415,0.10,2.70,0.00,0.000,4,0.049,0.078,2715,3507,1536
$GC,16453,1.33,334.6,26.2,14.3,795,16458,0.00,2.55,0.00,0.000,6,0.000,0.055,2715,2099,1536
$STATE,16675,end climb,SURFACE_DEPTH_REACHED
$STATE,16675,begin surface coast
$FINISH,-1.1,1.004266
$STATE,16698,end surface coast,CONTROL_FINISHED_OK
$STATE,16698,begin surface
$SM_CCo,16719,186.02,0.744,1,0,572,571.30
$SM_GC,-0.71,0.00,0.00,186.02,0.000,0.000,0.744,40,2900,572,-10.90,-0.03,571.30
$IRIDIUM_FIX,6258.74,-1259.32,241207,161622
$TT8_MAMPS,0.029146
$HUMID,2022
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,15.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.6,53.5
$24V_AH,23.4,38.863
$10V_AH,10.1,19.320
$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,26.225,157.375,407.475,186.025,0.000,192.688,184.186,837.739,5.250,0.000,0.000,10.705,1483.769,12981.062,768.661,1804.475,1473.618,33.364,1687.727,0.000,1779.138,0.000,34.335
$DEVICE_MAMPS,161.070,82.836,1178.112,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,592.430,556.887,532.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41095,807
$CFSIZE,260165632,245497856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,39,1,0
$GPS,241207,174637,6325.136,-1257.572,34,1.7,34,-12.2