version: 66.02
glider: 103
mission: 7
dive: 203
start: 12 20 107 16 42 19
data:
$ID,103
$MISSION,7
$DIVE,203
$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,-66181.305
$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,22
$R_STBD_OVSHOOT,15
$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
$GPS1,163538,6303.075,-1300.515,39,1.1,39,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-52.8
$GPS2,164115,6303.058,-1300.461,14,1.2,14,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.036,0.215
$KALMAN_X,-236511.6,1204.2,149.5,552.8,-5001.5
$KALMAN_Y,-139351.5,1279.3,790.0,302202.4,-9880.6
$MHEAD_RNG_PITCHd_Wd,21.6,22120,-11.1,-6.000
$D_GRID,657
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,104,0.00,0.00,-76.18,0.000,6,0.000,0.000,45,2895,3499
$GC,107,-1.10,-146.6,5.9,-9.7,4,128,11.98,2.60,0.00,0.000,4,0.159,0.058,2165,1491,3500
$GC,380,-1.10,-146.6,36.2,-6.7,16,384,0.00,2.67,0.00,0.000,6,0.000,0.081,2165,2895,3501
$GC,708,-1.10,-146.6,60.9,-8.2,32,713,0.00,2.62,0.00,0.000,4,0.000,0.074,2165,1488,3501
$GC,831,-1.10,-146.6,70.9,-8.5,37,837,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2908,3501
$GC,1148,-1.10,-146.6,93.3,-6.7,53,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,1456,-1.10,-146.6,116.8,-7.9,68,1460,0.00,2.65,0.00,0.000,4,0.000,0.072,2165,1489,3501
$GC,1510,-1.10,-146.6,121.1,-8.1,70,1517,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2902,3501
$GC,1826,-1.10,-146.6,143.5,-7.0,86,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,2135,-1.10,-146.6,163.9,-6.6,101,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3501
$GC,2445,-1.10,-146.6,184.1,-6.4,116,2449,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1484,3501
$GC,2516,-1.10,-146.6,188.9,-6.6,119,2520,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2900,3501
$GC,2837,-1.10,-146.6,211.2,-7.3,135,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,3146,-1.10,-146.6,234.5,-7.6,150,3151,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1490,3501
$GC,3195,-1.10,-146.6,238.3,-7.8,152,3200,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2908,3501
$GC,3517,-1.10,-146.6,262.1,-7.2,168,3521,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1487,3501
$GC,3561,-1.10,-146.6,265.4,-7.3,170,3566,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2902,3501
$GC,3882,-1.10,-146.6,288.1,-6.9,186,3886,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1481,3501
$GC,3921,-1.10,-146.6,290.9,-7.5,188,3925,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2900,3501
$GC,4246,-1.10,-146.6,313.9,-7.2,204,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,4555,-1.10,-146.6,338.1,-7.9,219,4560,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1491,3501
$GC,4599,-1.10,-146.6,341.8,-8.4,221,4603,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2900,3501
$GC,4926,-1.10,-146.6,368.7,-8.2,237,4930,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1486,3501
$GC,4957,-1.10,-146.6,371.4,-8.6,238,4964,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2901,3501
$GC,5273,-1.10,-146.6,394.1,-7.1,254,5277,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1484,3501
$GC,5312,-1.10,-146.6,396.8,-7.3,256,5316,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2900,3501
$GC,5637,-1.10,-146.6,420.0,-7.4,272,5641,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1490,3501
$GC,5669,-1.10,-146.6,422.4,-8.1,273,5675,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2906,3501
$GC,5985,-1.10,-146.6,447.2,-8.1,289,5989,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1481,3501
$GC,6029,-1.10,-146.6,450.7,-8.0,291,6033,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2908,3501
$GC,6349,-1.10,-146.6,473.6,-6.9,307,6353,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1484,3501
$GC,6405,-1.10,-146.6,477.1,-6.4,309,6411,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2902,3501
$GC,6720,-1.10,-146.6,495.6,-5.8,325,6724,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1480,3501
$GC,6759,-1.10,-146.6,497.6,-5.7,327,6763,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2901,3501
$GC,7084,-1.10,-146.6,517.5,-6.6,343,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,7393,-1.10,-146.6,540.0,-7.4,358,7398,0.00,2.55,0.00,0.000,4,0.000,0.056,2165,1483,3501
$GC,7443,-1.10,-146.6,543.7,-7.4,360,7447,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2907,3501
$GC,7764,-1.10,-146.6,568.3,-7.1,376,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,8074,-1.10,-146.6,586.4,-5.2,391,8078,0.00,2.55,0.00,0.000,4,0.000,0.051,2165,1474,3501
$GC,8162,-1.10,-146.6,591.9,-6.4,395,8167,0.00,2.65,0.00,0.000,6,0.000,0.064,2165,2899,3501
$GC,8489,-1.10,-146.6,613.2,-7.3,411,8494,0.00,2.53,0.00,0.000,4,0.000,0.052,2165,1481,3501
$GC,8578,-1.10,-146.6,619.7,-6.7,415,8582,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3501
$STATE,8635,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8635,begin apogee
$GC,8642,-0.42,0.0,624.4,8.6,418,8770,0.75,0.00,125.15,1.193,6,0.083,0.000,2318,2093,2901
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8771,begin climb
$GC,8773,1.10,146.6,629.7,0.0,424,8904,1.52,2.70,121.45,1.171,4,0.051,0.061,2648,3509,2303
$GC,9159,1.19,218.4,616.9,4.0,441,9226,0.10,2.47,60.47,1.156,6,0.052,0.036,2679,2093,2010
$GC,9535,1.19,218.4,586.9,8.7,460,9540,0.00,2.53,0.00,0.000,4,0.000,0.056,2679,700,2008
$GC,9715,1.19,218.4,570.8,9.6,468,9719,0.00,2.47,0.00,0.000,6,0.000,0.037,2679,2112,2007
$GC,10035,1.19,218.4,546.7,7.0,484,10039,0.00,2.58,0.00,0.000,4,0.000,0.068,2679,3502,2006
$GC,10112,1.19,218.4,540.4,8.4,487,10119,0.00,2.45,0.00,0.000,6,0.000,0.038,2679,2095,2006
$GC,10427,1.19,218.4,513.6,8.8,503,10431,0.00,2.50,0.00,0.000,4,0.000,0.053,2679,698,2005
$GC,10533,1.19,218.4,504.4,8.3,508,10537,0.00,2.45,0.00,0.000,6,0.000,0.037,2679,2100,2005
$GC,10858,1.19,218.4,476.6,8.3,524,10859,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,2005
$GC,11167,1.19,218.4,452.7,7.6,539,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,2005
$GC,11477,1.19,218.4,430.8,7.1,554,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,2005
$GC,11786,1.19,218.4,408.9,7.1,569,11790,0.00,2.62,0.00,0.000,4,0.000,0.074,2679,3507,2005
$GC,11835,1.19,218.4,405.4,7.3,571,11839,0.00,2.50,0.00,0.000,6,0.000,0.043,2679,2105,2005
$GC,12156,1.19,218.4,383.7,6.7,587,12160,0.00,2.55,0.00,0.000,4,0.000,0.058,2679,689,2005
$GC,12188,1.19,218.4,381.4,7.0,588,12194,0.00,2.47,0.00,0.000,6,0.000,0.041,2679,2100,2005
$GC,12503,1.19,218.4,357.6,8.1,604,12507,0.00,2.65,0.00,0.000,4,0.000,0.076,2679,3513,2006
$GC,12535,1.19,218.4,354.8,8.0,605,12542,0.00,2.53,0.00,0.000,6,0.000,0.045,2679,2101,2006
$GC,12851,1.19,218.4,328.3,8.7,621,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,2006
$GC,13160,1.19,218.4,301.4,8.8,636,13164,0.00,2.65,0.00,0.000,4,0.000,0.074,2679,3513,2006
$GC,13214,1.19,218.4,296.3,8.9,638,13221,0.00,2.50,0.00,0.000,6,0.000,0.046,2678,2100,2006
$GC,13530,1.19,218.4,268.8,8.1,654,13534,0.00,2.53,0.00,0.000,4,0.000,0.058,2679,693,2007
$GC,13586,1.19,218.4,264.2,8.4,656,13592,0.00,2.50,0.00,0.000,6,0.000,0.043,2679,2104,2007
$GC,13900,1.19,218.4,241.1,7.3,672,13905,0.00,2.65,0.00,0.000,4,0.000,0.077,2679,3518,2007
$GC,13939,1.19,218.4,238.2,7.2,674,13943,0.00,2.50,0.00,0.000,6,0.000,0.045,2679,2099,2007
$GC,14264,1.19,218.4,214.2,7.7,690,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,2008
$GC,14573,1.19,218.4,191.7,6.9,705,14578,0.00,2.67,0.00,0.000,4,0.000,0.075,2679,3518,2008
$GC,14628,1.19,218.4,187.7,7.3,707,14634,0.00,2.50,0.00,0.000,6,0.000,0.047,2679,2098,2008
$GC,14943,1.19,218.4,167.1,6.8,723,14944,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2098,2008
$GC,15253,1.19,218.4,145.6,7.1,738,15257,0.00,2.67,0.00,0.000,4,0.000,0.077,2679,3512,2008
$GC,15296,1.19,218.4,142.1,7.5,740,15300,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2099,2008
$GC,15623,1.19,218.4,120.1,6.6,756,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,2008
$GC,15932,1.19,218.4,98.2,7.5,771,15937,0.00,2.67,0.00,0.000,4,0.000,0.076,2679,3518,2009
$GC,16003,1.19,218.4,92.4,8.6,774,16007,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2099,2009
$GC,16325,1.19,218.4,66.7,8.0,790,16326,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,2009
$GC,16634,1.19,218.4,44.3,7.6,805,16638,0.00,2.67,0.00,0.000,4,0.000,0.076,2679,3514,2009
$GC,16677,1.19,218.4,40.4,8.8,807,16681,0.00,2.50,0.00,0.000,6,0.000,0.045,2679,2093,2009
$GC,17004,1.19,218.4,21.6,6.8,823,17008,0.00,2.53,0.00,0.000,4,0.000,0.061,2679,694,2009
$GC,17058,1.24,256.6,18.4,4.9,825,17094,0.00,2.47,30.67,0.779,6,0.000,0.044,2679,2111,1855
$STATE,17305,end climb,SURFACE_DEPTH_REACHED
$STATE,17305,begin surface coast
$FINISH,-0.4,1.027299
$STATE,17330,end surface coast,CONTROL_FINISHED_OK
$STATE,17330,begin surface
$SM_CCo,17351,35.75,0.730,1,0,1678,300.00
$SM_GC,0.12,0.00,0.00,35.75,0.000,0.000,0.730,48,2896,1678,-10.87,-0.11,300.00
$IRIDIUM_FIX,6235.17,-1303.58,201207,151548
$TT8_MAMPS,0.028379
$HUMID,2050
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.2,58.8
$24V_AH,23.4,35.834
$10V_AH,10.1,17.758
$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,26.050,168.750,337.750,35.750,0.000,39.448,35.129,154.019,5.500,0.000,0.000,14.645,1559.255,13222.278,535.657,1965.182,458.590,33.364,1523.451,0.000,1930.207,0.000,35.972
$DEVICE_MAMPS,158.769,85.904,1193.452,730.184,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,597.972,592.454,550.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41207,839
$CFSIZE,260165632,246648832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,201207,213325,6304.081,-1259.639,38,2.0,38,-12.0