version: 66.02
glider: 103
mission: 7
dive: 195
start: 12 19 107 1 53 49
data:
$ID,103
$MISSION,7
$DIVE,195
$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,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,-65931.383
$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,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
$GPS1,014402,6302.142,-1250.981,40,1.2,40,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-55.8
$GPS2,015245,6302.149,-1250.908,14,1.0,14,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.073,0.206
$KALMAN_X,-217341.8,-200.8,-694.3,-7949.8,2068.3
$KALMAN_Y,-107948.1,461.5,219.3,270521.7,-5957.0
$MHEAD_RNG_PITCHd_Wd,352.5,24977,-11.0,-6.000
$D_GRID,587
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-60.28,0.000,2,0.000,0.000,50,2901,3405
$GC,87,-1.10,-146.6,4.4,-10.8,3,109,11.88,2.60,-1.60,0.000,4,0.156,0.074,2163,1501,3503
$GC,361,-1.10,-146.6,36.8,-5.9,15,366,0.00,2.65,0.00,0.000,6,0.000,0.078,2163,2900,3504
$GC,682,-1.10,-146.6,62.0,-8.6,31,687,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1494,3503
$GC,722,-1.10,-146.6,65.2,-7.6,33,726,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2900,3504
$GC,1047,-1.10,-146.6,89.5,-7.6,49,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3504
$GC,1357,-1.10,-146.6,112.8,-7.5,64,1361,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1495,3504
$GC,1411,-1.10,-146.6,116.7,-6.7,66,1418,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2898,3504
$GC,1728,-1.10,-146.6,136.9,-6.9,82,1733,0.00,2.62,0.00,0.000,4,0.000,0.072,2163,1492,3504
$GC,1768,-1.10,-146.6,139.7,-7.1,84,1773,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2898,3504
$GC,2093,-1.10,-146.6,164.5,-8.0,100,2098,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1491,3504
$GC,2126,-1.10,-146.6,167.2,-8.3,101,2132,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2901,3504
$GC,2441,-1.10,-146.6,192.2,-8.0,117,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3504
$GC,2750,-1.10,-146.6,216.2,-7.5,132,2755,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1493,3504
$GC,2789,-1.10,-146.6,219.0,-7.2,134,2794,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2902,3504
$GC,3115,-1.10,-146.6,241.3,-6.7,150,3119,0.00,2.62,0.00,0.000,4,0.000,0.072,2163,1492,3504
$GC,3146,-1.10,-146.6,243.4,-6.5,151,3153,0.00,2.65,0.00,0.000,6,0.000,0.076,2163,2901,3504
$GC,3462,-1.10,-146.6,263.6,-6.6,167,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3504
$GC,3771,-1.10,-146.6,284.6,-7.0,182,3776,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1486,3504
$GC,3821,-1.10,-146.6,288.3,-7.0,184,3825,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2899,3504
$GC,4136,-1.10,-146.6,308.4,-6.1,199,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3504
$GC,4445,-1.10,-146.6,327.5,-6.5,214,4450,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1490,3504
$GC,4489,-1.10,-146.6,330.8,-7.5,216,4493,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2901,3504
$GC,4816,-1.10,-146.6,353.8,-7.1,232,4820,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1492,3504
$GC,4842,-1.10,-146.6,355.5,-7.1,233,4847,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2905,3504
$GC,5158,-1.10,-146.6,375.3,-6.1,248,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3504
$GC,5466,-1.10,-146.6,393.9,-6.1,263,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3504
$GC,5776,-1.10,-146.6,414.0,-6.7,278,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3504
$GC,6085,-1.10,-146.6,435.4,-7.0,293,6089,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1490,3504
$GC,6179,-1.10,-146.6,442.3,-7.6,297,6183,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2903,3504
$GC,6500,-1.10,-146.6,465.3,-6.6,313,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3504
$GC,6809,-1.10,-146.6,484.3,-6.1,328,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3504
$GC,7119,-1.10,-146.6,504.3,-6.1,343,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3504
$GC,7427,-1.10,-146.6,522.9,-6.4,358,7432,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1489,3504
$GC,7477,-1.10,-146.6,526.4,-7.0,360,7481,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2909,3504
$GC,7798,-1.10,-146.6,546.9,-6.4,376,7802,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1482,3504
$GC,7864,-1.10,-146.6,551.5,-7.1,379,7868,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2907,3504
$STATE,8121,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8121,begin apogee
$GC,8128,-0.42,0.0,569.0,6.5,392,8255,0.75,0.00,124.38,1.183,6,0.087,0.000,2315,2096,2901
$STATE,8256,end apogee,CONTROL_FINISHED_OK
$STATE,8256,begin climb
$GC,8258,1.10,146.6,572.6,0.0,398,8385,1.60,0.00,121.88,1.134,6,0.068,0.000,2647,2092,2303
$GC,8691,1.36,354.8,572.6,0.3,419,8868,0.22,0.00,173.48,1.141,6,0.032,0.000,2714,2092,1454
$GC,9165,1.36,354.8,527.9,11.3,442,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2092,1453
$GC,9471,1.36,354.8,494.8,9.9,457,9476,0.00,2.70,0.00,0.000,4,0.000,0.074,2714,3513,1452
$GC,9525,1.36,354.8,488.6,12.2,459,9532,0.00,2.53,0.00,0.000,6,0.000,0.043,2714,2094,1451
$GC,9841,1.36,354.8,452.1,12.0,475,9846,0.00,2.70,0.00,0.000,4,0.000,0.077,2714,3513,1450
$GC,9879,1.36,354.8,447.1,13.0,477,9884,0.00,2.53,0.00,0.000,6,0.000,0.046,2714,2102,1450
$GC,10205,1.36,354.8,408.0,11.5,493,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2102,1450
$GC,10515,1.36,354.8,372.5,12.3,508,10519,0.00,2.67,0.00,0.000,4,0.000,0.075,2714,3512,1450
$GC,10563,1.36,354.8,366.1,13.1,510,10568,0.00,2.53,0.00,0.000,6,0.000,0.047,2714,2092,1450
$GC,10885,1.36,354.8,325.2,13.3,526,10890,0.00,2.70,0.00,0.000,4,0.000,0.074,2714,3516,1450
$GC,10919,1.36,354.8,320.6,12.9,527,10926,0.00,2.55,0.00,0.000,6,0.000,0.048,2714,2099,1450
$GC,11234,1.36,354.8,280.7,12.0,543,11239,0.00,2.67,0.00,0.000,4,0.000,0.076,2713,3513,1450
$GC,11260,1.36,354.8,277.2,13.1,544,11265,0.00,2.53,0.00,0.000,6,0.000,0.048,2714,2099,1450
$GC,11582,1.36,354.8,238.6,12.4,560,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2099,1450
$GC,11890,1.36,354.8,200.9,11.4,575,11895,0.00,2.70,0.00,0.000,4,0.000,0.077,2714,3520,1451
$GC,11929,1.36,354.8,196.3,11.4,577,11933,0.00,2.55,0.00,0.000,6,0.000,0.049,2714,2092,1451
$GC,12255,1.36,354.8,157.9,12.0,593,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2092,1452
$GC,12564,1.36,354.8,119.5,12.5,608,12568,0.00,2.70,0.00,0.000,4,0.000,0.077,2714,3512,1452
$GC,12607,1.36,354.8,113.4,13.2,610,12612,0.00,2.53,0.00,0.000,6,0.000,0.051,2714,2100,1452
$GC,12929,1.36,354.8,75.9,11.6,626,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2100,1452
$GC,13239,1.36,354.8,36.3,12.8,641,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2100,1453
$STATE,13545,end climb,SURFACE_DEPTH_REACHED
$STATE,13546,begin surface coast
$FINISH,-0.8,1.016749
$STATE,13567,end surface coast,CONTROL_FINISHED_OK
$STATE,13567,begin surface
$SM_CCo,13649,0.00,0.000,0,0,1452,355.44
$SM_GC,-0.05,11.73,0.00,0.00,0.030,0.000,0.000,46,2899,1452,-10.80,-0.03,355.44
$IRIDIUM_FIX,6239.86,-1250.78,191207,050555
$TT8_MAMPS,0.028379
$HUMID,2102
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.3,103.0
$24V_AH,23.4,34.646
$10V_AH,10.1,17.085
$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,26.175,107.900,419.725,0.000,0.000,81.950,68.588,206.754,4.250,0.000,0.000,14.212,1194.038,10529.822,533.463,1381.609,545.535,33.356,1227.034,0.000,1365.457,0.000,26.693
$DEVICE_MAMPS,156.468,88.972,1182.714,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.249,452.832,429.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31679,657
$CFSIZE,260165632,247164928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,191207,054252,6303.899,-1252.857,42,2.7,61,-12.0