version: 66.02
glider: 103
mission: 7
dive: 189
start: 12 17 107 18 6 34
data:
$ID,103
$MISSION,7
$DIVE,189
$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,-65840.766
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,175907,6258.921,-1302.725,31,1.5,31,-12.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-54.9
$GPS2,180526,6258.848,-1302.705,10,1.5,15,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.016,0.217
$KALMAN_X,-214556.5,-534.8,116.2,-21588.9,20.1
$KALMAN_Y,-85412.2,-703.0,-186.4,243462.1,-61.4
$MHEAD_RNG_PITCHd_Wd,16.2,29998,-11.1,-6.000
$D_GRID,701
$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,20,-1.10,-145.9,0.0,0.0,0,84,0.00,0.00,-62.25,0.000,2,0.000,0.000,49,2908,3488
$GC,87,-1.10,-145.9,4.5,-10.5,3,103,11.90,1.70,0.00,0.000,4,0.157,0.086,2164,3775,3490
$GC,354,-1.10,-145.9,36.1,-7.7,14,359,0.00,1.52,0.00,0.000,6,0.000,0.041,2164,2907,3490
$GC,681,-1.10,-145.9,57.5,-7.4,30,685,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3774,3491
$GC,889,-1.10,-145.9,75.7,-7.1,39,892,0.00,1.52,0.00,0.000,6,0.000,0.038,2164,2906,3491
$GC,1215,-1.10,-145.9,97.6,-6.4,55,1219,0.00,2.62,0.00,0.000,4,0.000,0.073,2164,1490,3491
$GC,1254,-1.10,-145.9,100.2,-7.0,57,1259,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2891,3491
$GC,1580,-1.10,-145.9,124.2,-7.4,73,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2890,3491
$GC,1889,-1.10,-145.9,146.5,-7.0,88,1893,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1492,3491
$GC,1928,-1.10,-145.9,149.2,-7.0,90,1932,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2905,3491
$GC,2253,-1.10,-145.9,172.7,-7.6,106,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3491
$GC,2563,-1.10,-145.9,195.0,-7.1,121,2568,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1493,3491
$GC,2618,-1.10,-145.9,198.8,-6.9,123,2625,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2904,3491
$GC,2934,-1.11,-146.6,218.6,-5.9,139,2938,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1490,3491
$GC,2967,-1.11,-146.6,220.7,-6.4,140,2973,0.00,2.65,0.00,0.000,6,0.000,0.077,2164,2899,3491
$GC,3282,-1.11,-146.6,239.7,-6.2,156,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3491
$GC,3592,-1.11,-146.6,259.3,-6.2,171,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3491
$GC,3900,-1.11,-146.6,279.3,-6.6,186,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3491
$GC,4211,-1.11,-146.6,300.3,-7.0,201,4215,0.00,2.58,0.00,0.000,4,0.000,0.068,2164,1492,3491
$GC,4265,-1.11,-146.6,304.2,-6.8,203,4272,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2902,3491
$GC,4580,-1.11,-146.6,326.7,-7.4,219,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3491
$GC,4890,-1.11,-146.6,349.3,-7.2,234,4894,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1491,3491
$GC,4939,-1.11,-146.6,352.9,-7.1,236,4943,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2906,3491
$GC,5254,-1.11,-146.6,374.6,-7.0,251,5259,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1492,3491
$GC,5292,-1.11,-146.6,377.4,-7.3,252,5298,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2909,3491
$GC,5607,-1.11,-146.6,399.1,-6.9,268,5612,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1491,3491
$GC,5651,-1.11,-146.6,402.0,-6.5,270,5655,0.00,2.62,0.00,0.000,6,0.000,0.073,2164,2899,3491
$GC,5978,-1.11,-146.6,424.0,-6.7,286,5982,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1487,3491
$GC,6033,-1.11,-146.6,427.9,-6.9,288,6037,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2905,3491
$GC,6348,-1.11,-146.6,449.7,-6.8,303,6355,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1486,3491
$GC,6396,-1.11,-146.6,453.1,-7.2,305,6401,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2903,3491
$GC,6723,-1.11,-146.6,475.4,-6.8,321,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3491
$GC,7031,-1.11,-146.6,496.4,-7.0,336,7035,0.00,2.55,0.00,0.000,4,0.000,0.057,2164,1486,3491
$GC,7086,-1.11,-146.6,500.5,-7.9,338,7091,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2901,3491
$GC,7401,-1.11,-146.6,523.8,-7.5,353,7406,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1480,3491
$GC,7458,-1.11,-146.6,528.0,-7.6,355,7464,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2900,3491
$GC,7772,-1.11,-146.6,549.7,-6.6,371,7780,0.00,2.53,0.00,0.000,4,0.000,0.052,2164,1484,3491
$GC,7835,-1.11,-146.6,554.0,-6.5,373,7842,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2909,3491
$GC,8151,-1.11,-146.6,574.2,-6.7,389,8155,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1476,3491
$GC,8216,-1.11,-146.6,578.7,-6.7,392,8220,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2905,3491
$GC,8547,-1.11,-146.6,601.3,-7.4,408,8552,0.00,2.53,0.00,0.000,4,0.000,0.049,2164,1480,3491
$GC,8631,-1.11,-146.6,607.7,-7.3,412,8636,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2908,3491
$GC,8957,-1.11,-146.6,630.5,-6.5,428,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3491
$GC,9267,-1.11,-146.6,649.4,-5.7,443,9271,0.00,2.50,0.00,0.000,4,0.000,0.046,2164,1482,3490
$GC,9338,-1.11,-146.6,653.5,-5.7,446,9342,0.00,2.58,0.00,0.000,6,0.000,0.059,2164,2903,3490
$GC,9654,-1.11,-146.6,673.3,-7.7,461,9658,0.00,2.50,0.00,0.000,4,0.000,0.044,2164,1480,3490
$GC,9702,-1.11,-146.6,677.4,-8.3,463,9707,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2900,3490
$STATE,9939,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9940,begin apogee
$GC,9946,-0.42,0.0,692.9,6.4,475,10073,0.75,0.00,123.60,1.237,6,0.080,0.000,2319,2085,2901
$STATE,10073,end apogee,CONTROL_FINISHED_OK
$STATE,10074,begin climb
$GC,10076,1.11,146.6,698.8,0.0,481,10206,1.50,2.60,122.82,1.208,4,0.041,0.059,2653,701,2303
$GC,10289,1.11,146.6,692.5,8.5,491,10294,0.00,2.50,0.00,0.000,6,0.000,0.037,2653,2115,2302
$GC,10617,1.11,150.7,678.6,5.9,507,10626,0.00,2.58,4.90,0.888,4,0.000,0.062,2653,3498,2286
$GC,10678,1.19,216.3,676.0,4.2,510,10740,0.00,2.45,56.22,1.203,6,0.000,0.038,2653,2092,2019
$GC,11051,1.19,216.3,652.3,6.8,528,11052,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2092,2018
$GC,11357,1.19,216.3,631.3,6.4,543,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2092,2016
$GC,11666,1.19,216.3,610.8,7.1,558,11671,0.00,2.50,0.00,0.000,4,0.000,0.055,2653,701,2015
$GC,11729,1.19,216.3,606.5,6.8,561,11733,0.00,2.42,0.00,0.000,6,0.000,0.036,2653,2097,2015
$GC,12054,1.19,216.3,585.4,6.2,577,12058,0.00,2.58,0.00,0.000,4,0.000,0.063,2653,3504,2014
$GC,12138,1.19,216.3,580.4,6.6,581,12142,0.00,2.45,0.00,0.000,6,0.000,0.036,2653,2094,2014
$GC,12463,1.19,216.3,558.4,7.8,597,12468,0.00,2.50,0.00,0.000,4,0.000,0.054,2653,700,2014
$GC,12530,1.19,216.3,552.8,8.5,600,12534,0.00,2.42,0.00,0.000,6,0.000,0.036,2653,2101,2014
$GC,12857,1.19,216.3,526.6,7.2,616,12861,0.00,2.58,0.00,0.000,4,0.000,0.063,2653,3511,2014
$GC,12933,1.19,216.3,521.1,6.6,619,12940,0.00,2.45,0.00,0.000,6,0.000,0.036,2653,2099,2014
$GC,13249,1.19,216.3,499.2,7.2,635,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2099,2013
$GC,13558,1.19,216.3,475.8,7.6,650,13563,0.00,2.60,0.00,0.000,4,0.000,0.066,2653,3506,2014
$GC,13620,1.19,216.3,470.9,8.1,653,13624,0.00,2.45,0.00,0.000,6,0.000,0.038,2653,2099,2014
$GC,13945,1.19,216.3,446.0,7.8,669,13949,0.00,2.62,0.00,0.000,4,0.000,0.067,2653,3510,2015
$GC,13994,1.19,216.3,442.1,7.4,671,13998,0.00,2.47,0.00,0.000,6,0.000,0.038,2653,2080,2015
$GC,14315,1.19,216.3,419.5,6.9,687,14319,0.00,2.65,0.00,0.000,4,0.000,0.068,2653,3505,2015
$GC,14357,1.19,216.3,416.5,6.9,689,14362,0.00,2.45,0.00,0.000,6,0.000,0.039,2653,2100,2015
$GC,14685,1.21,227.3,396.3,5.7,705,14697,0.00,0.00,10.23,0.945,6,0.000,0.000,2653,2100,1974
$GC,14993,1.21,227.3,378.0,6.1,720,14998,0.00,2.65,0.00,0.000,4,0.000,0.071,2653,3511,1974
$GC,15084,1.21,233.8,372.3,5.8,724,15100,0.00,2.50,7.20,0.867,6,0.000,0.041,2653,2096,1947
$GC,15408,1.21,233.8,351.5,6.5,740,15413,0.00,2.65,0.00,0.000,4,0.000,0.071,2653,3512,1947
$GC,15452,1.21,233.8,348.4,6.8,742,15456,0.00,2.50,0.00,0.000,6,0.000,0.042,2653,2093,1947
$GC,15779,1.22,241.6,329.0,5.8,758,15793,0.10,2.72,8.12,0.872,4,0.048,0.074,2689,3505,1916
$GC,15845,1.22,241.6,324.4,7.0,761,15850,0.00,2.50,0.00,0.000,6,0.000,0.048,2689,2102,1915
$GC,16170,1.22,241.6,302.1,7.2,777,16171,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2102,1915
$GC,16480,1.22,241.6,280.6,7.1,792,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2102,1916
$GC,16789,1.22,241.6,258.6,6.9,807,16793,0.00,2.62,0.00,0.000,4,0.000,0.074,2689,3505,1916
$GC,16850,1.22,241.6,254.2,7.4,810,16854,0.00,2.50,0.00,0.000,6,0.000,0.046,2689,2093,1916
$GC,17176,1.22,241.6,230.5,7.6,826,17177,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2093,1916
$GC,17485,1.22,241.6,202.5,9.7,841,17486,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2093,1916
$GC,17794,1.22,241.6,171.7,9.8,856,17798,0.00,2.65,0.00,0.000,4,0.000,0.075,2689,3505,1916
$GC,17833,1.22,241.6,168.0,10.3,858,17837,0.00,2.50,0.00,0.000,6,0.000,0.046,2689,2095,1916
$GC,18159,1.22,241.6,140.5,7.7,874,18163,0.00,2.55,0.00,0.000,4,0.000,0.064,2689,691,1916
$GC,18221,1.22,241.6,135.6,7.2,877,18226,0.00,2.47,0.00,0.000,6,0.000,0.046,2689,2095,1917
$GC,18547,1.22,241.6,110.1,7.4,893,18552,0.00,2.65,0.00,0.000,4,0.000,0.076,2689,3513,1917
$GC,18573,1.22,241.6,108.0,7.9,894,18578,0.00,2.50,0.00,0.000,6,0.000,0.045,2689,2099,1917
$GC,18895,1.22,241.6,81.1,8.2,910,18896,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1917
$GC,19205,1.22,241.6,55.9,8.0,925,19206,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1917
$GC,19513,1.22,241.6,26.3,7.4,940,19518,0.00,2.55,0.00,0.000,4,0.000,0.065,2689,694,1917
$GC,19546,1.22,241.6,23.6,7.7,941,19553,0.00,2.53,0.00,0.000,6,0.000,0.049,2690,2098,1917
$GC,19864,1.28,286.2,9.0,4.8,957,19905,0.00,0.00,36.80,0.772,6,0.000,0.000,2689,2099,1733
$STATE,20047,end climb,SURFACE_DEPTH_REACHED
$STATE,20047,begin surface coast
$FINISH,-0.8,1.027281
$STATE,20069,end surface coast,CONTROL_FINISHED_OK
$STATE,20069,begin surface
$SM_CCo,20090,13.05,0.647,1,0,1678,300.00
$SM_GC,0.83,0.00,0.00,13.05,0.000,0.000,0.647,46,2894,1678,-10.87,-0.17,300.00
$IRIDIUM_FIX,6235.17,-1302.51,171207,161605
$TT8_MAMPS,0.029146
$HUMID,2066
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,601.3,100.9
$24V_AH,23.4,33.787
$10V_AH,10.1,16.591
$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,25.975,184.075,369.900,13.050,0.000,40.579,43.342,190.498,5.250,0.000,0.000,15.139,1780.060,15477.146,541.173,2175.971,529.331,33.359,1639.684,0.000,2146.471,0.000,34.808
$DEVICE_MAMPS,157.235,104.312,1237.171,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,705.628,678.182,586.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50632,967
$CFSIZE,260165632,247480320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,171207,234307,6259.784,-1306.549,49,1.3,49,-12.1