version: 66.02
glider: 103
mission: 7
dive: 207
start: 12 21 107 13 39 57
data:
$ID,103
$MISSION,7
$DIVE,207
$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,-66280.555
$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,9
$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
$GPS1,132455,6304.069,-1259.887,39,1.4,39,-12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-56.5
$GPS2,133851,6304.004,-1259.949,14,1.4,14,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.044,1.088
$KALMAN_X,-243548.6,171.8,-490.8,9703.0,-982.1
$KALMAN_Y,-151490.6,1111.4,-117.4,317170.4,-5531.3
$MHEAD_RNG_PITCHd_Wd,14.3,20364,-5.7,-6.000
$D_GRID,655
$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,-0.66,-146.6,0.0,0.0,0,84,0.00,0.00,-62.20,0.000,2,0.000,0.000,51,2891,3388
$GC,87,-0.66,-146.6,3.2,-8.3,3,109,12.45,2.67,-2.05,0.000,4,0.157,0.097,2261,1491,3502
$GC,316,-0.66,-146.6,23.4,-5.5,13,320,0.00,2.70,0.00,0.000,6,0.000,0.084,2261,2900,3503
$GC,643,-0.66,-146.6,47.7,-7.7,29,646,0.00,1.70,0.00,0.000,4,0.000,0.095,2261,3787,3503
$GC,771,-0.66,-146.6,56.9,-6.4,34,778,0.00,1.58,0.00,0.000,6,0.000,0.053,2261,2910,3503
$GC,1087,-0.66,-146.6,75.8,-5.7,50,1090,0.00,1.70,0.00,0.000,4,0.000,0.091,2261,3789,3503
$GC,1125,-0.66,-146.6,78.3,-6.0,51,1132,0.00,1.58,0.00,0.000,6,0.000,0.049,2261,2904,3503
$GC,1443,-0.66,-146.6,96.1,-5.9,67,1446,0.00,1.73,0.00,0.000,4,0.000,0.092,2261,3793,3503
$GC,1481,-0.66,-146.6,98.4,-4.9,68,1488,0.00,1.60,0.00,0.000,6,0.000,0.049,2261,2899,3503
$GC,1797,-0.66,-146.6,115.7,-5.7,84,1800,0.00,1.73,0.00,0.000,4,0.000,0.091,2261,3790,3503
$GC,1824,-0.66,-146.6,117.3,-5.5,85,1828,0.00,1.58,0.00,0.000,6,0.000,0.049,2261,2903,3503
$GC,2151,-0.66,-146.6,135.9,-6.0,101,2155,0.00,1.70,0.00,0.000,4,0.000,0.094,2261,3787,3503
$GC,2184,-0.66,-146.6,137.9,-5.7,102,2188,0.00,1.58,0.00,0.000,6,0.000,0.049,2261,2903,3503
$GC,2505,-0.66,-146.6,155.9,-5.8,118,2509,0.00,1.70,0.00,0.000,4,0.000,0.092,2261,3787,3503
$GC,2543,-0.66,-146.6,158.4,-6.2,119,2550,0.00,1.58,0.00,0.000,6,0.000,0.048,2261,2902,3503
$GC,2859,-0.66,-146.6,178.4,-6.6,135,2862,0.00,1.73,0.00,0.000,4,0.000,0.092,2261,3780,3503
$GC,2919,-0.66,-146.6,182.5,-6.8,137,2925,0.00,1.55,0.00,0.000,6,0.000,0.048,2261,2907,3503
$GC,3234,-0.66,-146.6,204.5,-7.2,153,3238,0.00,1.73,0.00,0.000,4,0.000,0.092,2261,3786,3503
$GC,3302,-0.66,-146.6,209.2,-7.3,156,3305,0.00,1.58,0.00,0.000,6,0.000,0.048,2262,2884,3503
$GC,3634,-0.66,-146.6,233.9,-7.5,172,3637,0.00,1.75,0.00,0.000,4,0.000,0.092,2261,3790,3503
$GC,3688,-0.66,-146.6,238.1,-7.9,174,3693,0.00,1.58,0.00,0.000,6,0.000,0.046,2261,2901,3503
$GC,4009,-0.66,-146.6,262.1,-7.5,190,4013,0.00,1.70,0.00,0.000,4,0.000,0.092,2261,3789,3503
$GC,4070,-0.66,-146.6,266.5,-7.4,192,4076,0.00,1.58,0.00,0.000,6,0.000,0.046,2261,2897,3503
$GC,4385,-0.66,-146.6,289.6,-7.4,208,4389,0.00,1.73,0.00,0.000,4,0.000,0.092,2261,3790,3503
$GC,4457,-0.66,-146.6,294.9,-7.2,211,4461,0.00,1.58,0.00,0.000,6,0.000,0.045,2261,2900,3503
$GC,4784,-0.66,-146.6,318.3,-7.1,227,4787,0.00,1.73,0.00,0.000,4,0.000,0.092,2261,3791,3503
$GC,4833,-0.66,-146.6,321.9,-6.9,229,4837,0.00,1.58,0.00,0.000,6,0.000,0.044,2261,2898,3503
$GC,5160,-0.66,-146.6,344.7,-6.7,245,5164,0.00,1.73,0.00,0.000,4,0.000,0.091,2261,3779,3503
$GC,5215,-0.66,-146.6,348.3,-6.3,247,5219,0.00,1.55,0.00,0.000,6,0.000,0.044,2261,2900,3503
$GC,5536,-0.66,-146.6,366.9,-5.5,263,5540,0.00,1.73,0.00,0.000,4,0.000,0.093,2261,3782,3503
$GC,5604,-0.66,-146.6,370.2,-4.9,266,5607,0.00,1.55,0.00,0.000,6,0.000,0.045,2261,2900,3503
$GC,5936,-0.66,-146.6,387.8,-5.7,282,5939,0.00,1.73,0.00,0.000,4,0.000,0.092,2261,3793,3503
$GC,6003,-0.66,-146.6,391.7,-5.8,285,6007,0.00,1.58,0.00,0.000,6,0.000,0.045,2261,2886,3503
$GC,6336,-0.66,-146.6,411.4,-5.9,301,6340,0.00,1.75,0.00,0.000,4,0.000,0.093,2261,3792,3503
$GC,6414,-0.66,-146.6,415.7,-5.6,304,6417,0.00,1.58,0.00,0.000,6,0.000,0.043,2261,2898,3503
$GC,6734,-0.66,-146.6,435.1,-6.3,320,6738,0.00,1.73,0.00,0.000,4,0.000,0.092,2261,3792,3503
$GC,6802,-0.66,-146.6,439.2,-6.1,323,6805,0.00,1.58,0.00,0.000,6,0.000,0.044,2261,2880,3503
$GC,7133,-0.66,-146.6,461.0,-6.3,339,7137,0.00,1.77,0.00,0.000,4,0.000,0.092,2261,3786,3503
$GC,7341,-0.66,-146.6,471.8,-6.0,348,7344,0.00,1.58,0.00,0.000,6,0.000,0.042,2261,2878,3503
$GC,7667,-0.66,-146.6,492.9,-7.0,364,7670,0.00,1.75,0.00,0.000,4,0.000,0.092,2261,3787,3503
$GC,7811,-0.66,-146.6,502.8,-7.0,370,7816,0.00,1.55,0.00,0.000,6,0.000,0.041,2261,2896,3503
$GC,8134,-0.66,-146.6,525.2,-7.2,386,8137,0.00,1.70,0.00,0.000,4,0.000,0.090,2261,3787,3503
$GC,8391,-0.66,-146.6,541.9,-6.3,397,8395,0.00,1.52,0.00,0.000,6,0.000,0.040,2261,2907,3503
$GC,8712,-0.66,-146.6,558.0,-4.9,413,8717,0.00,2.50,0.00,0.000,4,0.000,0.049,2261,1476,3503
$GC,8829,-0.66,-146.6,563.8,-4.5,418,8834,0.00,2.60,0.00,0.000,6,0.000,0.062,2261,2902,3503
$GC,9145,-0.66,-146.6,584.2,-6.6,433,9148,0.00,1.67,0.00,0.000,4,0.000,0.094,2261,3786,3502
$GC,9177,-0.66,-146.6,586.4,-6.4,434,9181,0.00,1.52,0.00,0.000,6,0.000,0.039,2261,2907,3502
$GC,9498,-0.66,-146.6,606.0,-6.5,450,9501,0.00,1.70,0.00,0.000,4,0.000,0.091,2261,3790,3502
$GC,9738,-0.66,-146.6,620.7,-6.4,460,9745,0.00,1.55,0.00,0.000,6,0.000,0.039,2261,2898,3502
$STATE,9763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9763,begin apogee
$GC,9770,-0.42,0.0,622.3,6.3,462,9898,0.28,0.00,125.65,1.196,6,0.060,0.000,2322,2093,2901
$STATE,9899,end apogee,CONTROL_FINISHED_OK
$STATE,9899,begin climb
$GC,9901,0.66,146.6,626.7,0.0,468,10033,1.05,2.62,122.18,1.154,4,0.051,0.056,2552,700,2303
$GC,10159,3.97,2843.1,621.9,1.4,480,10518,3.15,2.47,346.52,1.110,6,0.024,0.035,3281,2114,572
$GC,10834,3.97,2843.1,259.1,67.6,513,10839,0.00,2.55,0.00,0.000,4,0.000,0.048,3281,702,570
$GC,10990,3.97,2843.1,154.0,65.6,520,10995,0.00,2.45,0.00,0.000,6,0.000,0.041,3281,2098,570
$STATE,11233,end climb,SURFACE_DEPTH_REACHED
$STATE,11233,begin surface coast
$FINISH,-0.9,1.011223
$STATE,11255,end surface coast,CONTROL_FINISHED_OK
$STATE,11255,begin surface
$SM_CCo,11340,0.00,0.000,0,0,569,572.04
$SM_GC,-0.19,14.27,0.00,0.00,0.027,0.000,0.000,32,2892,569,-10.79,-0.23,572.04
$IRIDIUM_FIX,6239.86,-1306.81,211207,171758
$TT8_MAMPS,0.028379
$HUMID,2129
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,15.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.6,31.2
$24V_AH,23.4,36.499
$10V_AH,10.1,18.089
$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,31.200,95.875,594.350,0.000,0.000,112.272,135.953,347.692,6.000,0.000,0.000,14.186,1063.405,8156.380,599.541,1581.000,787.438,33.396,1450.378,0.000,1540.156,0.000,37.487
$DEVICE_MAMPS,157.235,99.710,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.543,381.043,354.710,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28642,533
$CFSIZE,260165632,246448128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
$GPS,211207,165007,6303.734,-1300.683,38,1.1,38,-12.0