version: 66.02
glider: 103
mission: 7
dive: 190
start: 12 17 107 23 51 53
data:
$ID,103
$MISSION,7
$DIVE,190
$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,-65854.633
$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,21
$R_STBD_OVSHOOT,4
$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
$GPS1,234307,6259.784,-1306.549,49,1.3,49,-12.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-53.7
$GPS2,235045,6259.797,-1306.599,13,2.0,13,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.032,0.216
$KALMAN_X,-217801.6,-307.0,-886.0,-21000.2,-10.0
$KALMAN_Y,-89112.0,-195.5,-490.3,248722.0,-1477.1
$MHEAD_RNG_PITCHd_Wd,20.6,28688,-11.1,-6.000
$D_GRID,727
$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,-146.2,0.0,0.0,0,84,0.00,0.00,-61.95,0.000,2,0.000,0.000,46,2898,3448
$GC,87,-1.10,-146.2,3.8,-9.4,3,109,11.95,1.77,-0.93,0.000,4,0.158,0.113,2162,3790,3500
$GC,361,-1.10,-146.2,32.7,-6.8,15,365,0.00,1.55,0.00,0.000,6,0.000,0.037,2162,2899,3501
$GC,688,-1.10,-146.2,54.5,-6.1,31,691,0.00,1.70,0.00,0.000,4,0.000,0.081,2162,3793,3500
$GC,883,-1.10,-146.2,70.6,-8.2,39,890,0.00,1.55,0.00,0.000,6,0.000,0.035,2162,2898,3501
$GC,1201,-1.10,-146.2,92.5,-7.3,55,1205,0.00,2.58,0.00,0.000,4,0.000,0.070,2162,1494,3501
$GC,1244,-1.10,-146.2,96.3,-8.2,57,1248,0.00,2.65,0.00,0.000,6,0.000,0.074,2162,2909,3501
$GC,1571,-1.10,-146.6,116.5,-5.6,73,1576,0.00,2.62,0.00,0.000,4,0.000,0.066,2162,1488,3501
$GC,1615,-1.10,-146.6,119.6,-7.3,75,1620,0.00,2.67,0.00,0.000,6,0.000,0.071,2162,2900,3501
$GC,1942,-1.10,-146.6,148.3,-9.9,91,1947,0.00,2.60,0.00,0.000,4,0.000,0.067,2162,1492,3501
$GC,2008,-1.10,-146.6,155.1,-9.8,94,2013,0.00,2.62,0.00,0.000,6,0.000,0.071,2162,2900,3501
$GC,2335,-1.10,-146.6,183.7,-8.3,110,2340,0.00,2.60,0.00,0.000,4,0.000,0.067,2162,1491,3501
$GC,2367,-1.10,-146.6,186.3,-7.5,111,2374,0.00,2.62,0.00,0.000,6,0.000,0.073,2162,2900,3501
$GC,2683,-1.10,-146.6,207.7,-6.6,127,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2901,3501
$GC,2992,-1.10,-146.6,228.9,-6.7,142,2997,0.00,2.60,0.00,0.000,4,0.000,0.067,2162,1493,3501
$GC,3036,-1.10,-146.6,232.1,-7.0,144,3040,0.00,2.65,0.00,0.000,6,0.000,0.073,2162,2908,3501
$GC,3363,-1.10,-146.6,252.9,-6.2,160,3367,0.00,2.60,0.00,0.000,4,0.000,0.067,2162,1492,3501
$GC,3406,-1.10,-146.6,255.5,-6.3,162,3410,0.00,2.62,0.00,0.000,6,0.000,0.073,2162,2900,3502
$GC,3734,-1.10,-146.6,276.0,-6.4,178,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2900,3501
$GC,4042,-1.10,-146.6,296.1,-6.5,193,4046,0.00,2.58,0.00,0.000,4,0.000,0.066,2162,1490,3501
$GC,4084,-1.10,-146.6,299.0,-6.4,195,4089,0.00,2.65,0.00,0.000,6,0.000,0.072,2162,2892,3501
$GC,4412,-1.10,-146.6,320.2,-6.5,211,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2892,3501
$GC,4721,-1.10,-146.6,342.3,-7.3,226,4726,0.00,2.55,0.00,0.000,4,0.000,0.067,2162,1495,3501
$GC,4771,-1.10,-146.6,346.2,-7.5,228,4775,0.00,2.62,0.00,0.000,6,0.000,0.073,2162,2904,3501
$GC,5092,-1.10,-146.6,370.2,-7.6,244,5096,0.00,2.58,0.00,0.000,4,0.000,0.064,2162,1492,3501
$GC,5118,-1.10,-146.6,372.2,-7.7,245,5122,0.00,2.62,0.00,0.000,6,0.000,0.073,2162,2903,3501
$GC,5439,-1.10,-146.6,396.4,-7.5,261,5444,0.00,2.58,0.00,0.000,4,0.000,0.064,2162,1491,3501
$GC,5466,-1.10,-146.6,398.5,-7.6,262,5471,0.00,2.62,0.00,0.000,6,0.000,0.071,2162,2900,3501
$GC,5781,-1.10,-146.6,422.6,-7.9,277,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2900,3501
$GC,6091,-1.10,-146.6,445.9,-7.3,292,6095,0.00,2.55,0.00,0.000,4,0.000,0.059,2162,1490,3501
$GC,6129,-1.10,-146.6,448.9,-7.8,294,6134,0.00,2.60,0.00,0.000,6,0.000,0.068,2162,2900,3501
$GC,6455,-1.10,-146.6,472.7,-7.1,310,6459,0.00,2.53,0.00,0.000,4,0.000,0.056,2162,1490,3501
$GC,6489,-1.10,-146.6,475.0,-7.1,311,6494,0.00,2.60,0.00,0.000,6,0.000,0.066,2162,2900,3501
$GC,6804,-1.10,-146.6,496.2,-6.6,326,6809,0.00,2.53,0.00,0.000,4,0.000,0.055,2162,1487,3501
$GC,6854,-1.10,-146.6,499.6,-6.8,328,6858,0.00,2.58,0.00,0.000,6,0.000,0.064,2162,2900,3501
$GC,7175,-1.10,-146.6,521.3,-7.0,344,7179,0.00,2.53,0.00,0.000,4,0.000,0.052,2162,1484,3501
$GC,7224,-1.10,-146.6,525.0,-8.1,346,7229,0.00,2.60,0.00,0.000,6,0.000,0.064,2162,2900,3501
$GC,7539,-1.10,-146.6,548.1,-7.2,361,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2901,3501
$GC,7849,-1.10,-146.6,570.4,-7.0,376,7853,0.00,2.50,0.00,0.000,4,0.000,0.048,2162,1484,3501
$GC,7903,-1.10,-146.6,574.5,-7.6,378,7910,0.00,2.58,0.00,0.000,6,0.000,0.061,2162,2901,3501
$GC,8218,-1.10,-146.6,597.8,-6.7,394,8222,0.00,2.50,0.00,0.000,4,0.000,0.046,2162,1476,3501
$GC,8290,-1.10,-146.6,602.9,-7.4,397,8294,0.00,2.58,0.00,0.000,6,0.000,0.059,2162,2900,3501
$GC,8617,-1.10,-146.6,623.7,-6.0,413,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2901,3501
$GC,8926,-1.10,-146.6,640.8,-5.2,428,8931,0.00,2.47,0.00,0.000,4,0.000,0.043,2162,1483,3501
$GC,8998,-1.10,-146.6,645.2,-5.5,431,9002,0.00,2.55,0.00,0.000,6,0.000,0.057,2162,2901,3501
$GC,9320,-1.10,-146.6,665.6,-5.7,447,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2902,3501
$GC,9629,-1.10,-146.6,683.0,-4.8,462,9633,0.00,2.47,0.00,0.000,4,0.000,0.041,2162,1482,3501
$GC,9740,-1.10,-146.6,688.0,-4.8,467,9744,0.00,2.55,0.00,0.000,6,0.000,0.055,2162,2902,3501
$GC,10060,-1.10,-146.6,708.1,-7.1,483,10064,0.00,2.47,0.00,0.000,4,0.000,0.043,2162,1485,3501
$GC,10114,-1.10,-146.6,711.6,-6.1,485,10121,0.00,2.58,0.00,0.000,6,0.000,0.058,2162,2895,3501
$STATE,10180,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10180,begin apogee
$GC,10187,-0.42,0.0,717.0,8.1,489,10317,0.75,0.00,126.28,1.256,6,0.077,0.000,2317,2086,2901
$STATE,10318,end apogee,CONTROL_FINISHED_OK
$STATE,10318,begin climb
$GC,10320,1.10,146.6,720.7,0.0,495,10451,1.52,2.70,123.30,1.221,4,0.049,0.061,2651,3515,2303
$GC,10648,1.10,146.6,710.9,6.3,510,10653,0.00,2.47,0.00,0.000,6,0.000,0.036,2651,2098,2302
$GC,10976,1.19,220.0,696.5,4.0,526,11044,0.00,2.62,62.45,1.228,4,0.000,0.058,2651,708,2004
$GC,11089,1.19,220.0,689.4,6.5,531,11093,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2102,2004
$GC,11409,1.19,220.0,666.1,6.9,547,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2102,2002
$GC,11719,1.19,220.0,645.3,6.5,562,11723,0.00,2.58,0.00,0.000,4,0.000,0.062,2651,3502,2002
$GC,11780,1.19,220.0,640.9,7.3,565,11784,0.00,2.45,0.00,0.000,6,0.000,0.036,2651,2099,2001
$GC,12106,1.19,220.0,618.5,6.5,581,12107,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,2000
$GC,12415,1.19,220.0,599.4,6.4,596,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,1999
$GC,12725,1.22,236.5,581.7,5.5,611,12747,0.10,2.65,14.62,1.134,4,0.048,0.061,2685,3508,1936
$GC,12814,1.22,236.5,575.1,7.7,615,12818,0.00,2.45,0.00,0.000,6,0.000,0.034,2685,2099,1936
$GC,13140,1.22,236.5,549.1,8.4,631,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1936
$GC,13449,1.22,236.5,524.1,7.9,646,13453,0.00,2.50,0.00,0.000,4,0.000,0.052,2685,700,1936
$GC,13481,1.22,236.5,521.3,8.2,647,13488,0.00,2.42,0.00,0.000,6,0.000,0.034,2685,2103,1936
$GC,13797,1.22,236.5,495.7,8.1,663,13798,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2103,1936
$GC,14106,1.22,236.5,470.1,8.5,678,14110,0.00,2.58,0.00,0.000,4,0.000,0.067,2685,3508,1936
$GC,14137,1.22,236.5,467.2,8.9,679,14144,0.00,2.45,0.00,0.000,6,0.000,0.038,2685,2099,1936
$GC,14453,1.22,236.5,439.4,8.9,695,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1937
$GC,14762,1.22,236.5,411.7,9.2,710,14766,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3512,1938
$GC,14794,1.22,236.5,408.6,9.4,711,14800,0.00,2.47,0.00,0.000,6,0.000,0.041,2685,2099,1937
$GC,15109,1.22,236.5,380.7,8.6,727,15110,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1938
$GC,15419,1.22,236.5,355.5,7.8,742,15423,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3510,1939
$GC,15461,1.22,236.5,351.9,8.2,744,15466,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2100,1938
$GC,15788,1.22,236.5,327.5,7.5,760,15789,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1938
$GC,16098,1.22,236.5,303.2,8.1,775,16102,0.00,2.62,0.00,0.000,4,0.000,0.074,2685,3502,1939
$GC,16146,1.22,236.5,299.1,8.6,777,16151,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2084,1939
$GC,16467,1.22,236.5,271.9,8.6,793,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2084,1939
$GC,16777,1.22,236.5,245.0,8.7,808,16781,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3504,1939
$GC,16842,1.22,236.5,239.0,8.6,811,16847,0.00,2.47,0.00,0.000,6,0.000,0.046,2685,2101,1939
$GC,17169,1.22,236.5,212.2,8.0,827,17170,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2101,1939
$GC,17479,1.22,236.5,186.4,8.9,842,17483,0.00,2.62,0.00,0.000,4,0.000,0.073,2685,3502,1939
$GC,17539,1.22,236.5,180.7,9.0,845,17544,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2092,1940
$GC,17865,1.22,236.5,153.7,7.9,861,17867,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2092,1940
$GC,18176,1.22,236.5,130.8,7.7,876,18180,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3505,1940
$GC,18215,1.22,236.5,127.6,8.8,878,18219,0.00,2.47,0.00,0.000,6,0.000,0.046,2685,2100,1940
$GC,18541,1.22,236.5,99.2,9.5,894,18542,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1941
$GC,18850,1.22,236.5,71.3,8.6,909,18851,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1941
$GC,19159,1.22,236.5,40.5,10.5,924,19160,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,1941
$GC,19468,1.22,236.5,4.9,11.2,939,19473,0.00,2.58,0.00,0.000,4,0.000,0.071,2685,700,1942
$STATE,19493,end climb,SURFACE_DEPTH_REACHED
$STATE,19493,begin surface coast
$FINISH,1.3,1.027282
$STATE,19500,end surface coast,CONTROL_FINISHED_OK
$STATE,19500,begin surface
$SM_CCo,19524,52.75,0.736,1,0,1678,300.00
$SM_GC,-0.10,0.00,0.00,52.75,0.000,0.000,0.736,51,2892,1678,-10.85,-0.23,300.00
$IRIDIUM_FIX,6230.49,-1302.51,171207,222216
$TT8_MAMPS,0.028379
$HUMID,2068
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,651.2,75.7
$24V_AH,23.4,33.934
$10V_AH,10.1,16.681
$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,26.175,173.700,326.650,52.750,0.000,39.352,34.167,278.770,5.750,0.000,0.000,13.238,1725.035,15112.224,537.430,2084.740,596.175,33.367,1585.575,0.000,2057.969,0.000,39.075
$DEVICE_MAMPS,158.002,112.749,1256.346,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.780,656.909,549.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47356,940
$CFSIZE,260165632,247422976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
$GPS,181207,051955,6302.516,-1307.173,64,1.3,64,-12.1