version: 66.02
glider: 103
mission: 7
dive: 191
start: 12 18 107 5 27 27
data:
$ID,103
$MISSION,7
$DIVE,191
$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,-65870.492
$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,12
$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
$GPS1,051955,6302.516,-1307.173,64,1.3,64,-12.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-51.2
$GPS2,052621,6302.518,-1307.123,15,1.4,15,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.152,0.157
$KALMAN_X,-220689.1,-150.9,519.7,-20151.0,-3747.6
$KALMAN_Y,-90962.7,499.9,515.0,253883.2,-4133.5
$MHEAD_RNG_PITCHd_Wd,56.3,23868,-11.0,-6.000
$D_GRID,717
$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,22,-1.10,-146.6,0.0,0.0,0,71,0.00,0.00,-47.20,0.000,2,0.000,0.000,51,2892,3060
$GC,74,-1.10,-146.6,3.3,-7.2,3,98,11.77,1.70,-8.50,0.000,4,0.152,0.097,2165,3790,3501
$GC,351,-1.10,-146.6,25.0,-4.9,15,355,0.00,1.52,0.00,0.000,6,0.000,0.033,2165,2899,3502
$GC,672,-1.10,-146.6,48.2,-12.3,31,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3502
$GC,982,-1.10,-146.6,70.8,-4.6,46,985,0.00,1.67,0.00,0.000,4,0.000,0.081,2165,3784,3502
$GC,1094,-1.10,-146.6,76.4,-5.3,51,1098,0.00,1.52,0.00,0.000,6,0.000,0.034,2165,2899,3501
$GC,1426,-1.10,-146.6,97.1,-6.4,67,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,1736,-1.10,-146.6,115.7,-6.0,82,1740,0.00,2.58,0.00,0.000,4,0.000,0.069,2166,1500,3502
$GC,1785,-1.10,-146.6,118.5,-5.4,84,1790,0.00,2.62,0.00,0.000,6,0.000,0.074,2166,2900,3502
$GC,2101,-1.10,-146.6,139.6,-7.4,99,2105,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1494,3502
$GC,2140,-1.10,-146.6,142.5,-7.5,101,2145,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2907,3502
$GC,2465,-1.10,-146.6,166.7,-7.7,117,2470,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1499,3502
$GC,2504,-1.10,-146.6,169.7,-8.0,119,2509,0.00,2.62,0.00,0.000,6,0.000,0.073,2165,2900,3502
$GC,2830,-1.10,-146.6,194.2,-7.3,135,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,3139,-1.10,-146.6,215.1,-6.3,150,3144,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1496,3502
$GC,3183,-1.10,-146.6,217.9,-6.6,152,3187,0.00,2.62,0.00,0.000,6,0.000,0.073,2165,2900,3502
$GC,3510,-1.10,-146.6,237.7,-5.8,168,3514,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1491,3502
$GC,3549,-1.10,-146.6,239.9,-5.7,170,3553,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2905,3502
$GC,3875,-1.10,-146.6,260.6,-6.4,186,3880,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1497,3502
$GC,3914,-1.10,-146.6,263.4,-7.1,188,3919,0.00,2.62,0.00,0.000,6,0.000,0.072,2165,2901,3502
$GC,4240,-1.10,-146.6,285.5,-7.1,204,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,4550,-1.10,-146.6,306.6,-6.2,219,4554,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1498,3502
$GC,4626,-1.10,-146.6,311.7,-7.2,222,4633,0.00,2.62,0.00,0.000,6,0.000,0.072,2166,2907,3502
$GC,4942,-1.10,-146.6,331.4,-6.3,238,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,5251,-1.10,-146.6,349.7,-6.1,253,5256,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1495,3502
$GC,5319,-1.10,-146.6,354.1,-6.9,256,5323,0.00,2.62,0.00,0.000,6,0.000,0.073,2166,2900,3502
$GC,5645,-1.10,-146.6,376.5,-7.2,272,5649,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1492,3502
$GC,5693,-1.10,-146.6,380.1,-7.5,274,5698,0.00,2.62,0.00,0.000,6,0.000,0.072,2166,2901,3502
$GC,6009,-1.10,-146.6,402.4,-7.3,289,6013,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1495,3502
$GC,6046,-1.10,-146.6,405.3,-7.3,290,6054,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2903,3502
$GC,6363,-1.10,-146.6,427.2,-6.7,306,6367,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1497,3502
$GC,6417,-1.10,-146.6,431.0,-6.9,308,6423,0.00,2.60,0.00,0.000,6,0.000,0.070,2165,2901,3502
$GC,6732,-1.10,-146.6,453.5,-7.1,324,6737,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1489,3502
$GC,6766,-1.10,-146.6,455.8,-7.0,325,6773,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2907,3502
$GC,7081,-1.10,-146.6,478.1,-7.3,341,7085,0.00,2.53,0.00,0.000,4,0.000,0.057,2165,1492,3502
$GC,7132,-1.10,-146.6,481.8,-7.1,343,7136,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2899,3502
$GC,7452,-1.10,-146.6,504.4,-6.8,359,7456,0.00,2.50,0.00,0.000,4,0.000,0.051,2165,1492,3502
$GC,7500,-1.10,-146.6,507.7,-6.5,361,7505,0.00,2.58,0.00,0.000,6,0.000,0.062,2166,2890,3502
$GC,7821,-1.10,-146.6,529.1,-6.5,377,7826,0.00,2.47,0.00,0.000,4,0.000,0.049,2166,1491,3502
$GC,7876,-1.10,-146.6,532.8,-7.1,379,7883,0.00,2.58,0.00,0.000,6,0.000,0.062,2166,2905,3502
$GC,8192,-1.10,-146.6,552.8,-6.5,395,8196,0.00,2.50,0.00,0.000,4,0.000,0.048,2166,1488,3502
$GC,8252,-1.10,-146.6,556.6,-6.8,398,8257,0.00,2.58,0.00,0.000,6,0.000,0.062,2166,2899,3501
$GC,8579,-1.10,-146.6,579.7,-7.3,414,8583,0.00,2.47,0.00,0.000,4,0.000,0.046,2165,1489,3501
$GC,8644,-1.10,-146.6,584.4,-6.8,417,8649,0.00,2.55,0.00,0.000,6,0.000,0.059,2166,2900,3501
$GC,8971,-1.10,-146.6,605.6,-6.6,433,8975,0.00,2.45,0.00,0.000,4,0.000,0.044,2166,1487,3501
$GC,9077,-1.10,-146.6,612.7,-7.1,437,9083,0.00,2.55,0.00,0.000,6,0.000,0.058,2165,2903,3501
$GC,9391,-1.10,-146.6,637.4,-7.9,453,9395,0.00,2.47,0.00,0.000,4,0.000,0.041,2166,1483,3501
$GC,9475,-1.10,-146.6,643.3,-7.3,457,9480,0.00,2.55,0.00,0.000,6,0.000,0.055,2165,2900,3501
$GC,9801,-1.10,-146.6,663.2,-6.8,473,9805,0.00,2.47,0.00,0.000,4,0.000,0.041,2165,1480,3501
$GC,9832,-1.10,-146.6,665.9,-8.2,474,9839,0.00,2.55,0.00,0.000,6,0.000,0.054,2166,2903,3501
$STATE,9940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9940,begin apogee
$GC,9947,-0.42,0.0,675.4,8.6,480,10076,0.73,0.00,126.25,1.228,6,0.071,0.000,2318,2087,2901
$STATE,10077,end apogee,CONTROL_FINISHED_OK
$STATE,10077,begin climb
$GC,10079,1.10,146.6,682.0,0.0,486,10211,1.52,2.58,122.95,1.195,4,0.052,0.054,2648,714,2303
$GC,10465,1.20,223.9,675.9,3.9,503,10537,0.10,2.45,65.50,1.191,6,0.048,0.035,2681,2122,1988
$GC,10858,1.20,223.9,648.6,7.5,523,10862,0.00,2.60,0.00,0.000,4,0.000,0.056,2681,702,1986
$GC,11069,1.20,223.9,626.5,7.8,532,11076,0.00,2.45,0.00,0.000,6,0.000,0.036,2681,2097,1985
$GC,11385,1.20,223.9,602.7,8.6,548,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1984
$GC,11694,1.21,236.3,581.0,5.7,563,11715,0.00,2.62,11.30,1.093,4,0.000,0.059,2682,3509,1937
$GC,11742,1.21,236.3,577.9,6.3,565,11746,0.00,2.45,0.00,0.000,6,0.000,0.034,2681,2102,1937
$GC,12070,1.21,236.3,552.4,7.8,581,12074,0.00,2.50,0.00,0.000,4,0.000,0.052,2682,701,1936
$GC,12180,1.21,236.3,543.0,7.7,586,12185,0.00,2.42,0.00,0.000,6,0.000,0.035,2682,2092,1935
$GC,12507,1.21,236.3,519.2,8.0,602,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2092,1935
$GC,12817,1.21,236.3,495.1,7.5,617,12821,0.00,2.60,0.00,0.000,4,0.000,0.064,2682,3508,1935
$GC,12871,1.21,236.3,490.5,8.3,619,12878,0.00,2.45,0.00,0.000,6,0.000,0.037,2682,2096,1935
$GC,13186,1.21,236.3,466.3,7.5,635,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2095,1935
$GC,13496,1.21,236.3,443.5,7.9,650,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2095,1935
$GC,13805,1.21,236.3,420.2,6.7,665,13809,0.00,2.62,0.00,0.000,4,0.000,0.069,2682,3501,1935
$GC,13843,1.21,236.3,417.4,7.2,667,13848,0.00,2.45,0.00,0.000,6,0.000,0.041,2682,2102,1935
$GC,14169,1.21,236.3,391.9,8.3,683,14170,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2101,1936
$GC,14478,1.21,236.3,366.5,7.9,698,14483,0.00,2.60,0.00,0.000,4,0.000,0.071,2682,3501,1936
$GC,14522,1.21,236.3,362.8,8.1,700,14526,0.00,2.47,0.00,0.000,6,0.000,0.043,2682,2093,1936
$GC,14849,1.21,236.3,338.0,7.5,716,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2093,1936
$GC,15158,1.21,236.3,314.3,7.5,731,15162,0.00,2.62,0.00,0.000,4,0.000,0.068,2682,3504,1937
$GC,15201,1.21,236.3,310.6,8.5,733,15205,0.00,2.47,0.00,0.000,6,0.000,0.044,2682,2099,1937
$GC,15528,1.21,236.3,283.4,8.1,749,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2099,1937
$GC,15837,1.21,236.3,259.6,7.8,764,15841,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3505,1937
$GC,15880,1.21,236.3,255.8,8.5,766,15884,0.00,2.50,0.00,0.000,6,0.000,0.045,2682,2093,1937
$GC,16207,1.21,236.3,228.8,8.3,782,16208,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2093,1937
$GC,16516,1.21,236.3,205.1,7.4,797,16520,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3501,1937
$GC,16559,1.21,236.3,201.5,7.1,799,16563,0.00,2.47,0.00,0.000,6,0.000,0.047,2682,2100,1937
$GC,16886,1.21,236.3,176.1,7.9,815,16887,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1937
$GC,17194,1.21,236.3,149.3,9.3,830,17196,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1937
$GC,17506,1.21,236.3,119.7,9.1,845,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1937
$GC,17814,1.21,236.3,88.0,10.5,860,17815,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1937
$GC,18123,1.21,236.3,57.9,9.1,875,18124,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1937
$GC,18432,1.21,236.3,37.1,6.0,890,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1938
$GC,18742,1.21,236.3,14.4,7.7,905,18743,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2098,1938
$STATE,18842,end climb,SURFACE_DEPTH_REACHED
$STATE,18843,begin surface coast
$FINISH,-0.7,1.027287
$STATE,18864,end surface coast,CONTROL_FINISHED_OK
$STATE,18865,begin surface
$SM_CCo,18886,52.50,0.758,1,0,1678,300.00
$SM_GC,-0.01,0.00,0.00,52.50,0.000,0.000,0.758,52,2895,1678,-10.85,-0.14,300.00
$IRIDIUM_FIX,6235.17,-1304.65,181207,030305
$TT8_MAMPS,0.027612
$HUMID,2073
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.1,84.3
$24V_AH,23.4,34.073
$10V_AH,10.1,16.769
$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,25.600,162.825,326.000,52.500,0.000,40.074,39.296,198.073,5.750,0.000,0.000,15.234,1677.648,14544.692,511.423,2087.728,522.238,33.368,1553.378,0.000,2055.719,0.000,37.703
$DEVICE_MAMPS,151.866,97.409,1227.967,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.508,630.970,566.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47409,911
$CFSIZE,260165632,247361536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,181207,104426,6302.480,-1303.922,40,1.5,40,-12.1