version: 66.02
glider: 103
mission: 7
dive: 187
start: 12 17 107 7 43 41
data:
$ID,103
$MISSION,7
$DIVE,187
$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,-65811.008
$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,23
$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
$GPS1,073328,6258.621,-1251.480,36,2.3,55,-11.9
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-53.3
$GPS2,074233,6258.610,-1251.510,14,1.4,14,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.009
$KALMAN_X,-211277.4,-837.9,-354.1,-14240.7,3508.6
$KALMAN_Y,-80499.1,-687.7,-1074.7,238983.9,4543.8
$MHEAD_RNG_PITCHd_Wd,279.5,31169,-11.1,-6.000
$D_GRID,630
$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,19,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,85,0.00,0.00,-61.88,0.000,2,0.000,0.000,28,2886,3419
$GC,88,-1.10,-146.6,3.5,-8.4,3,110,12.10,2.60,-1.48,0.000,4,0.159,0.078,2163,1496,3502
$GC,251,-1.10,-146.6,21.0,-4.8,10,255,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2901,3503
$GC,572,-1.10,-146.6,42.0,-7.9,26,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,880,-1.10,-146.6,64.0,-5.3,41,885,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1494,3504
$GC,924,-1.10,-146.6,66.8,-5.3,43,929,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2901,3504
$GC,1246,-1.10,-146.6,84.3,-6.0,59,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3504
$GC,1555,-1.10,-146.6,109.9,-8.4,74,1559,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1490,3504
$GC,1586,-1.10,-146.6,112.6,-7.9,75,1594,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2900,3504
$GC,1904,-1.10,-146.6,134.5,-6.8,91,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,2211,-1.10,-146.6,156.7,-7.4,106,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,2521,-1.10,-146.6,179.8,-7.3,121,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,2830,-1.10,-146.6,203.1,-7.9,136,2835,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1492,3504
$GC,2879,-1.10,-146.6,206.8,-7.1,138,2884,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2901,3504
$GC,3201,-1.10,-146.6,230.4,-7.6,154,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3504
$GC,3510,-1.10,-146.6,253.5,-7.4,169,3514,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1491,3504
$GC,3553,-1.10,-146.6,256.8,-7.5,171,3557,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2903,3503
$GC,3880,-1.10,-146.6,280.2,-6.9,187,3884,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1488,3504
$GC,3906,-1.10,-146.6,282.1,-6.5,188,3911,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2903,3503
$GC,4222,-1.10,-146.6,300.6,-5.6,203,4227,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1487,3504
$GC,4254,-1.10,-146.6,302.4,-5.4,204,4261,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2903,3504
$GC,4570,-1.10,-146.6,320.0,-5.9,220,4575,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1487,3504
$GC,4619,-1.10,-146.6,323.3,-6.4,222,4624,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2899,3504
$GC,4940,-1.10,-146.6,346.4,-7.9,238,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,5250,-1.10,-146.6,374.5,-9.3,253,5254,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1484,3504
$GC,5282,-1.10,-146.6,377.4,-8.6,254,5288,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2900,3504
$GC,5597,-1.10,-146.6,404.6,-8.1,270,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,5907,-1.10,-146.6,427.6,-6.9,285,5911,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1482,3503
$GC,5955,-1.10,-146.6,431.0,-6.9,287,5960,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2899,3504
$GC,6276,-1.10,-146.6,451.5,-6.5,303,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,6586,-1.10,-146.6,473.1,-6.9,318,6590,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1484,3503
$GC,6640,-1.10,-146.6,477.1,-7.2,320,6647,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2901,3503
$GC,6956,-1.10,-146.6,499.4,-7.3,336,6960,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1482,3504
$GC,6994,-1.10,-146.6,502.1,-6.7,337,7000,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2900,3503
$GC,7309,-1.10,-146.6,522.7,-6.7,353,7313,0.00,2.53,0.00,0.000,4,0.000,0.054,2163,1486,3503
$GC,7348,-1.10,-146.6,525.5,-6.8,355,7353,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2900,3503
$GC,7675,-1.10,-146.6,548.2,-7.2,371,7679,0.00,2.53,0.00,0.000,4,0.000,0.052,2163,1484,3503
$GC,7713,-1.10,-146.6,550.9,-6.8,373,7718,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2903,3503
$GC,8039,-1.10,-146.6,572.8,-7.2,389,8042,0.00,1.65,0.00,0.000,4,0.000,0.084,2163,3784,3503
$GC,8122,-1.10,-146.6,579.5,-8.8,392,8129,0.00,1.52,0.00,0.000,6,0.000,0.035,2163,2889,3503
$GC,8438,-1.10,-146.6,598.1,-3.9,408,8442,0.00,2.45,0.00,0.000,4,0.000,0.049,2163,1491,3503
$GC,8470,-1.10,-146.6,599.5,-3.5,409,8476,0.00,2.58,0.00,0.000,6,0.000,0.061,2163,2907,3503
$GC,8786,-1.10,-146.6,613.2,-4.5,425,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3503
$STATE,9051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9051,begin apogee
$GC,9058,-0.42,0.0,630.0,7.0,438,9186,0.75,0.00,125.38,1.197,6,0.077,0.000,2319,2095,2901
$STATE,9187,end apogee,CONTROL_FINISHED_OK
$STATE,9187,begin climb
$GC,9189,1.10,146.6,635.3,0.0,444,9320,1.52,2.60,121.45,1.175,4,0.051,0.055,2650,707,2303
$GC,9506,1.10,146.6,625.3,6.1,458,9513,0.00,2.47,0.00,0.000,6,0.000,0.036,2650,2131,2302
$GC,9821,1.10,146.6,604.2,6.8,474,9826,0.00,2.53,0.00,0.000,4,0.000,0.062,2650,3505,2302
$GC,9893,1.10,146.6,599.2,6.3,477,9898,0.00,2.45,0.00,0.000,6,0.000,0.036,2650,2096,2301
$GC,10215,1.22,243.3,585.5,3.3,493,10301,0.12,2.65,80.28,1.175,4,0.044,0.065,2689,3496,1908
$GC,10346,1.22,243.3,577.8,7.1,499,10350,0.00,2.47,0.00,0.000,6,0.000,0.037,2688,2098,1908
$GC,10666,1.22,243.3,549.6,8.7,515,10670,0.00,2.62,0.00,0.000,4,0.000,0.067,2688,3504,1907
$GC,10765,1.22,243.3,540.1,10.0,519,10771,0.00,2.45,0.00,0.000,6,0.000,0.037,2688,2101,1907
$GC,11080,1.22,243.3,509.9,9.2,535,11085,0.00,2.53,0.00,0.000,4,0.000,0.055,2688,700,1905
$GC,11130,1.22,243.3,504.8,10.0,537,11134,0.00,2.42,0.00,0.000,6,0.000,0.038,2688,2091,1905
$GC,11451,1.22,243.3,476.4,8.4,553,11455,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3514,1905
$GC,11482,1.22,243.3,473.6,9.3,554,11489,0.00,2.47,0.00,0.000,6,0.000,0.041,2688,2105,1905
$GC,11798,1.22,243.3,446.2,8.6,570,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2105,1905
$GC,12107,1.22,243.3,419.2,8.4,585,12111,0.00,2.65,0.00,0.000,4,0.000,0.073,2689,3513,1905
$GC,12155,1.22,243.3,414.9,8.2,587,12160,0.00,2.53,0.00,0.000,6,0.000,0.044,2689,2100,1905
$GC,12477,1.22,243.3,388.1,8.1,603,12481,0.00,2.65,0.00,0.000,4,0.000,0.073,2689,3508,1905
$GC,12497,1.22,243.3,386.2,8.2,604,12502,0.00,2.47,0.00,0.000,6,0.000,0.044,2688,2103,1905
$GC,12824,1.22,243.3,355.8,9.5,620,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2103,1906
$GC,13133,1.22,243.3,324.7,10.2,635,13137,0.00,2.62,0.00,0.000,4,0.000,0.074,2688,3507,1906
$GC,13172,1.22,243.3,320.7,9.7,637,13176,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2096,1906
$GC,13497,1.22,243.3,291.0,8.6,653,13501,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3508,1906
$GC,13523,1.22,243.3,288.7,9.3,654,13528,0.00,2.53,0.00,0.000,6,0.000,0.045,2689,2096,1906
$GC,13844,1.22,243.3,261.5,8.6,670,13846,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2096,1907
$GC,14153,1.22,243.3,235.0,8.6,685,14158,0.00,2.67,0.00,0.000,4,0.000,0.075,2688,3512,1907
$GC,14192,1.22,243.3,231.4,8.6,687,14197,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2099,1907
$GC,14518,1.22,243.3,204.8,8.1,703,14520,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1908
$GC,14827,1.22,243.3,181.5,7.3,718,14828,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1908
$GC,15137,1.22,243.3,158.7,7.0,733,15141,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3511,1908
$GC,15175,1.22,243.3,155.8,7.9,735,15180,0.00,2.50,0.00,0.000,6,0.000,0.048,2689,2102,1908
$GC,15502,1.22,243.3,128.9,8.7,751,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2102,1909
$GC,15812,1.22,243.3,102.1,8.3,766,15817,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3510,1909
$GC,15844,1.22,243.3,99.0,8.9,767,15851,0.00,2.50,0.00,0.000,6,0.000,0.049,2689,2095,1909
$GC,16161,1.22,243.7,76.1,6.0,783,16165,0.00,2.55,0.00,0.000,4,0.000,0.064,2689,692,1909
$GC,16200,1.24,258.4,73.9,5.6,785,16222,0.00,2.50,13.77,0.777,6,0.000,0.048,2689,2097,1847
$GC,16532,1.24,258.4,49.5,8.9,801,16536,0.00,2.65,0.00,0.000,4,0.000,0.075,2689,3513,1847
$GC,16642,1.24,258.4,38.7,9.0,806,16647,0.00,2.53,0.00,0.000,6,0.000,0.051,2689,2102,1847
$GC,16971,1.24,258.4,11.8,8.8,822,16976,0.00,2.55,0.00,0.000,4,0.000,0.061,2689,689,1847
$GC,17048,1.24,258.4,3.4,9.8,825,17055,0.00,2.55,0.00,0.000,6,0.000,0.049,2689,2092,1847
$STATE,17074,end climb,SURFACE_DEPTH_REACHED
$STATE,17074,begin surface coast
$FINISH,-0.7,1.027287
$STATE,17096,end surface coast,CONTROL_FINISHED_OK
$STATE,17096,begin surface
$SM_CCo,17117,33.97,0.735,1,0,1677,300.00
$SM_GC,0.11,0.00,0.00,33.97,0.000,0.000,0.735,43,2897,1677,-10.89,-0.08,300.00
$IRIDIUM_FIX,6235.17,-1253.29,171207,111124
$TT8_MAMPS,0.029913
$HUMID,2076
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.3,79.5
$24V_AH,23.4,33.500
$10V_AH,10.1,16.410
$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,26.125,165.850,340.875,33.975,0.000,79.149,77.755,222.314,5.250,0.000,0.000,14.108,1525.441,13226.337,524.169,1829.444,615.650,33.362,1462.024,0.000,1807.059,0.000,33.105
$DEVICE_MAMPS,158.769,96.642,1197.287,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.208,574.335,542.215,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41181,828
$CFSIZE,260165632,247627776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,171207,123055,6257.520,-1258.567,24,1.1,42,-12.0