version: 66.02
glider: 103
mission: 7
dive: 197
start: 12 19 107 10 37 35
data:
$ID,103
$MISSION,7
$DIVE,197
$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,-65997.172
$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,13
$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
$GPS1,102726,6304.203,-1253.172,40,1.5,40,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-56.4
$GPS2,103631,6304.115,-1253.202,16,1.3,32,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.002,0.219
$KALMAN_X,-219335.1,-874.6,-290.0,-7692.3,796.1
$KALMAN_Y,-112930.9,1547.4,157.4,278093.8,-7162.8
$MHEAD_RNG_PITCHd_Wd,12.6,20941,-11.0,-6.000
$D_GRID,595
$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,21,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-61.38,0.000,2,0.000,0.000,48,2904,3408
$GC,87,-1.10,-146.6,3.4,-8.5,3,109,11.85,2.62,-1.67,0.000,4,0.155,0.074,2165,1492,3502
$GC,361,-1.10,-146.6,32.8,-7.5,15,365,0.00,2.67,0.00,0.000,6,0.000,0.080,2165,2897,3503
$GC,688,-1.10,-146.6,56.4,-6.9,31,693,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1495,3503
$GC,715,-1.10,-146.6,58.4,-7.3,32,719,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2904,3503
$GC,1036,-1.10,-146.6,83.0,-7.2,48,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,1346,-1.10,-146.6,108.6,-8.5,63,1350,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1487,3503
$GC,1389,-1.10,-146.6,112.3,-7.8,65,1393,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2903,3503
$GC,1716,-1.10,-146.6,136.5,-7.2,81,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2025,-1.10,-146.6,160.5,-7.8,96,2029,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1493,3503
$GC,2068,-1.10,-146.6,163.9,-7.1,98,2072,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2903,3503
$GC,2394,-1.10,-146.6,188.3,-7.5,114,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2704,-1.10,-146.6,211.8,-7.9,129,2708,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1493,3503
$GC,2758,-1.10,-146.6,216.1,-8.3,131,2765,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2901,3503
$GC,3073,-1.10,-146.6,240.1,-7.4,147,3078,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1490,3503
$GC,3100,-1.10,-146.6,242.1,-7.2,148,3104,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2900,3503
$GC,3421,-1.10,-146.6,263.0,-6.5,164,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,3730,-1.10,-146.6,283.7,-6.9,179,3735,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1486,3503
$GC,3770,-1.10,-146.6,286.4,-7.1,181,3774,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2903,3503
$GC,4095,-1.10,-146.6,311.0,-7.9,197,4100,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1484,3503
$GC,4134,-1.10,-146.6,314.1,-7.8,199,4139,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2906,3503
$GC,4459,-1.10,-146.6,340.6,-8.5,215,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,4769,-1.10,-146.6,366.9,-8.3,230,4773,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1490,3503
$GC,4817,-1.10,-146.6,371.2,-8.5,232,4822,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2895,3503
$GC,5138,-1.10,-146.6,396.9,-7.6,248,5143,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3503
$GC,5171,-1.10,-146.6,399.6,-8.3,249,5177,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2901,3503
$GC,5486,-1.10,-146.6,423.8,-7.0,265,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5796,-1.10,-146.6,443.5,-6.0,280,5800,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1487,3503
$GC,5845,-1.10,-146.6,446.6,-5.3,282,5849,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2908,3503
$GC,6165,-1.10,-146.6,469.5,-7.9,298,6170,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1484,3503
$GC,6204,-1.10,-146.6,472.5,-7.9,300,6209,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2904,3503
$GC,6531,-1.10,-146.6,492.9,-5.2,316,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,6840,-1.10,-146.6,512.8,-7.5,331,6844,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1486,3503
$GC,6883,-1.10,-146.6,516.5,-8.5,333,6887,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2901,3503
$GC,7210,-1.10,-146.6,541.4,-6.0,349,7214,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1487,3503
$GC,7281,-1.10,-146.6,545.7,-6.0,352,7285,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2904,3503
$GC,7603,-1.10,-146.6,564.9,-5.8,368,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,7912,-1.10,-146.6,582.7,-5.2,383,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$STATE,8136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8136,begin apogee
$GC,8143,-0.42,0.0,595.4,5.4,394,8271,0.75,0.00,125.40,1.196,6,0.085,0.000,2317,2096,2901
$STATE,8272,end apogee,CONTROL_FINISHED_OK
$STATE,8272,begin climb
$GC,8274,1.10,146.6,598.8,0.0,400,8405,1.55,2.72,122.12,1.160,4,0.053,0.065,2651,3510,2303
$GC,8445,1.19,218.0,593.5,4.0,408,8511,0.00,2.53,60.25,1.141,6,0.000,0.036,2651,2085,2012
$GC,8827,1.19,218.0,567.1,7.0,427,8832,0.00,2.67,0.00,0.000,4,0.000,0.066,2651,3513,2011
$GC,8871,1.19,218.0,563.8,7.1,429,8875,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2100,2011
$GC,9197,1.19,218.0,538.4,8.4,445,9202,0.00,2.65,0.00,0.000,4,0.000,0.070,2651,3513,2010
$GC,9310,1.19,218.0,529.0,7.4,450,9314,0.00,2.50,0.00,0.000,6,0.000,0.040,2651,2102,2009
$GC,9630,1.19,218.0,510.2,6.7,466,9634,0.00,2.55,0.00,0.000,4,0.000,0.061,2651,700,2008
$GC,9826,1.19,218.0,497.5,6.3,475,9830,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2114,2007
$GC,10151,1.19,218.0,477.1,6.9,491,10156,0.00,2.60,0.00,0.000,4,0.000,0.074,2651,3505,2007
$GC,10251,1.19,218.0,469.8,8.1,495,10258,0.00,2.50,0.00,0.000,6,0.000,0.043,2651,2106,2006
$GC,10567,1.19,218.0,447.4,6.6,511,10572,0.00,2.62,0.00,0.000,4,0.000,0.071,2651,3505,2006
$GC,10606,1.22,239.6,445.0,5.4,513,10631,0.10,2.47,18.02,1.095,6,0.048,0.043,2685,2097,1924
$GC,10959,1.22,239.6,417.1,8.3,530,10963,0.00,2.55,0.00,0.000,4,0.000,0.060,2685,695,1924
$GC,11013,1.22,239.6,411.9,8.6,532,11020,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2101,1924
$GC,11329,1.22,239.6,384.4,8.4,548,11333,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3511,1924
$GC,11394,1.22,239.6,378.3,9.2,551,11399,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2102,1924
$GC,11721,1.22,239.6,351.6,8.0,567,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2102,1924
$GC,12030,1.22,239.6,327.7,7.5,582,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1925
$GC,12340,1.22,239.6,304.3,7.8,597,12344,0.00,2.67,0.00,0.000,4,0.000,0.076,2684,3512,1925
$GC,12371,1.22,239.6,301.6,8.8,598,12378,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2100,1925
$GC,12687,1.22,239.6,278.7,6.9,614,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1926
$GC,12996,1.22,239.6,255.9,8.0,629,13001,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3514,1926
$GC,13040,1.22,239.6,252.3,8.2,631,13044,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2093,1926
$GC,13367,1.22,239.6,225.9,8.1,647,13371,0.00,2.70,0.00,0.000,4,0.000,0.078,2685,3513,1926
$GC,13405,1.22,239.6,222.7,8.8,649,13410,0.00,2.53,0.00,0.000,6,0.000,0.049,2684,2096,1926
$GC,13731,1.22,239.6,196.4,8.1,665,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1927
$GC,14040,1.22,239.6,172.3,7.7,680,14045,0.00,2.70,0.00,0.000,4,0.000,0.077,2684,3516,1927
$GC,14117,1.22,239.6,165.6,9.0,683,14124,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2099,1927
$GC,14433,1.22,239.6,140.0,8.4,699,14434,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1927
$GC,14742,1.22,239.6,112.6,9.5,714,14743,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1928
$GC,15052,1.22,239.6,83.5,9.2,729,15056,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3512,1928
$GC,15145,1.22,239.6,74.3,9.2,733,15150,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2103,1928
$GC,15468,1.22,239.6,45.2,8.2,749,15473,0.00,2.55,0.00,0.000,4,0.000,0.061,2685,693,1928
$GC,15568,1.22,239.6,36.1,9.6,753,15576,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2101,1928
$GC,15884,1.22,239.6,13.7,10.2,769,15888,0.00,2.60,0.00,0.000,4,0.000,0.068,2685,693,1928
$GC,15938,1.22,239.6,8.6,7.1,771,15946,0.00,2.53,0.00,0.000,6,0.000,0.050,2685,2093,1928
$STATE,16089,end climb,SURFACE_DEPTH_REACHED
$STATE,16089,begin surface coast
$FINISH,-0.8,1.027291
$STATE,16130,end surface coast,CONTROL_FINISHED_OK
$STATE,16130,begin surface
$SM_CCo,16152,51.60,0.743,2,0,1678,300.00
$SM_GC,-0.15,0.00,0.00,51.60,0.000,0.000,0.743,47,2899,1678,-10.87,-0.03,300.00
$IRIDIUM_FIX,6239.86,-1255.41,191207,141419
$TT8_MAMPS,0.029146
$HUMID,2061
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.8,79.5
$24V_AH,23.4,34.924
$10V_AH,10.1,17.243
$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,25.775,153.975,325.800,51.600,0.000,78.888,69.093,212.553,5.000,0.000,0.000,33.707,1445.032,12429.691,526.006,1798.887,574.888,33.375,1421.388,0.000,1749.086,0.000,32.811
$DEVICE_MAMPS,154.934,85.904,1195.753,743.223,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,569.739,541.622,508.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41057,781
$CFSIZE,260165632,247029760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,191207,150902,6304.714,-1254.799,39,1.2,39,-12.0