version: 66.02
glider: 103
mission: 7
dive: 208
start: 12 21 107 16 59 49
data:
$ID,103
$MISSION,7
$DIVE,208
$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,-66293.18
$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,30
$R_STBD_OVSHOOT,8
$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
$GPS1,165007,6303.734,-1300.683,38,1.1,38,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-49.3
$GPS2,165845,6303.687,-1300.578,11,1.8,11,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.044,0.214
$KALMAN_X,-246910.4,1140.6,389.4,10675.8,-6821.8
$KALMAN_Y,-169406.9,-2651.3,-3399.9,341683.8,-14554.7
$MHEAD_RNG_PITCHd_Wd,23.7,20957,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-108.30,0.000,6,0.000,0.000,32,2897,3500
$GC,134,-1.10,-146.6,2.4,-3.5,5,156,12.10,2.62,0.00,0.000,4,0.160,0.063,2166,1496,3503
$GC,408,-1.10,-146.6,35.6,-7.3,17,412,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2901,3503
$GC,729,-1.10,-146.6,60.3,-7.9,33,734,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1493,3503
$GC,814,-1.10,-146.6,67.7,-9.1,37,818,0.00,2.70,0.00,0.000,6,0.000,0.080,2166,2905,3503
$GC,1141,-1.10,-146.6,92.9,-7.3,53,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3503
$GC,1449,-1.10,-146.6,114.0,-6.6,68,1454,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1500,3504
$GC,1489,-1.10,-146.6,116.6,-6.9,70,1493,0.00,2.67,0.00,0.000,6,0.000,0.080,2166,2901,3503
$GC,1815,-1.10,-146.6,139.6,-7.2,86,1819,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1498,3504
$GC,1863,-1.10,-146.6,143.3,-7.4,88,1868,0.00,2.67,0.00,0.000,6,0.000,0.081,2167,2902,3504
$GC,2178,-1.10,-146.6,165.0,-7.0,103,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3504
$GC,2488,-1.10,-146.6,185.3,-6.6,118,2492,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1493,3504
$GC,2537,-1.10,-146.6,188.7,-6.8,120,2541,0.00,2.67,0.00,0.000,6,0.000,0.081,2167,2900,3504
$GC,2852,-1.10,-146.6,208.7,-6.4,135,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3504
$GC,3161,-1.10,-146.6,228.4,-6.2,150,3165,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1492,3504
$GC,3223,-1.10,-146.6,232.4,-6.5,153,3228,0.00,2.70,0.00,0.000,6,0.000,0.081,2166,2906,3504
$GC,3548,-1.10,-146.6,254.5,-7.1,169,3553,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1496,3504
$GC,3581,-1.10,-146.6,256.9,-7.4,170,3588,0.00,2.70,0.00,0.000,6,0.000,0.080,2167,2901,3504
$GC,3897,-1.10,-146.6,279.6,-7.2,186,3901,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1489,3504
$GC,3935,-1.10,-146.6,282.5,-7.8,188,3940,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2902,3504
$GC,4261,-1.10,-146.6,306.2,-7.3,204,4265,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1491,3504
$GC,4287,-1.10,-146.6,308.2,-7.8,205,4292,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2904,3504
$GC,4603,-1.10,-146.6,332.9,-8.1,220,4607,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1490,3504
$GC,4641,-1.10,-146.6,336.0,-8.3,222,4646,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2900,3504
$GC,4967,-1.10,-146.6,362.1,-7.7,238,4971,0.00,2.58,0.00,0.000,4,0.000,0.069,2167,1498,3504
$GC,4998,-1.10,-146.6,364.7,-8.1,239,5005,0.00,2.65,0.00,0.000,6,0.000,0.078,2166,2900,3504
$GC,5314,-1.10,-146.6,386.9,-6.8,255,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3504
$GC,5623,-1.10,-146.6,407.6,-6.8,270,5628,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1495,3504
$GC,5701,-1.10,-146.6,413.0,-7.5,273,5707,0.00,2.65,0.00,0.000,6,0.000,0.076,2167,2903,3504
$GC,6016,-1.10,-146.6,435.6,-7.5,289,6021,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1496,3504
$GC,6066,-1.10,-146.6,439.4,-7.7,291,6070,0.00,2.62,0.00,0.000,6,0.000,0.073,2167,2900,3504
$GC,6386,-1.10,-146.6,461.6,-6.5,307,6391,0.00,2.58,0.00,0.000,4,0.000,0.062,2167,1488,3504
$GC,6426,-1.10,-146.6,464.2,-6.7,309,6430,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2903,3504
$GC,6752,-1.10,-146.6,484.8,-6.2,325,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3504
$GC,7061,-1.10,-146.6,503.9,-6.6,340,7065,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1486,3504
$GC,7154,-1.10,-146.6,510.1,-6.7,344,7158,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2902,3504
$GC,7475,-1.10,-146.6,531.7,-6.4,360,7480,0.00,2.55,0.00,0.000,4,0.000,0.056,2167,1488,3504
$GC,7547,-1.10,-146.6,536.1,-6.8,363,7551,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2908,3504
$GC,7868,-1.10,-146.6,556.0,-6.5,379,7873,0.00,2.53,0.00,0.000,4,0.000,0.054,2167,1490,3505
$GC,7918,-1.10,-146.6,559.5,-7.3,381,7922,0.00,2.60,0.00,0.000,6,0.000,0.066,2167,2901,3504
$GC,8239,-1.10,-146.6,582.8,-7.2,397,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3504
$GC,8548,-1.10,-146.6,603.3,-6.3,412,8552,0.00,2.53,0.00,0.000,4,0.000,0.052,2167,1489,3504
$GC,8642,-1.10,-146.6,609.1,-7.3,416,8646,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2908,3504
$STATE,8838,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8838,begin apogee
$GC,8845,-0.42,0.0,622.1,6.6,426,8973,0.75,0.00,125.28,1.202,6,0.081,0.000,2321,2094,2901
$STATE,8974,end apogee,CONTROL_FINISHED_OK
$STATE,8974,begin climb
$GC,8976,1.10,146.6,626.5,0.0,432,9107,1.52,2.60,121.60,1.163,4,0.050,0.056,2651,704,2303
$GC,9186,1.10,146.6,620.6,6.1,442,9190,0.00,2.47,0.00,0.000,6,0.000,0.037,2651,2114,2303
$GC,9512,1.13,170.9,602.1,5.3,458,9540,0.00,2.65,21.62,1.124,4,0.000,0.055,2652,697,2204
$GC,9614,1.13,170.9,595.8,6.7,462,9620,0.00,2.45,0.00,0.000,6,0.000,0.037,2651,2100,2203
$GC,9930,1.15,182.6,577.9,5.7,478,9950,0.00,2.65,11.30,1.081,4,0.000,0.065,2651,3504,2156
$GC,10006,1.15,182.6,573.0,6.4,481,10010,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2093,2156
$GC,10321,1.15,182.6,553.5,6.4,496,10325,0.00,2.62,0.00,0.000,4,0.000,0.069,2651,3500,2154
$GC,10392,1.15,182.6,548.5,6.6,499,10397,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2075,2154
$GC,10713,1.15,182.6,525.1,7.2,515,10717,0.00,2.47,0.00,0.000,4,0.000,0.057,2651,699,2153
$GC,10857,1.15,182.6,514.8,6.9,521,10864,0.00,2.42,0.00,0.000,6,0.000,0.038,2652,2094,2153
$GC,11173,1.15,182.6,492.7,6.8,537,11177,0.00,2.62,0.00,0.000,4,0.000,0.070,2651,3505,2152
$GC,11261,1.15,182.6,486.7,7.4,541,11265,0.00,2.45,0.00,0.000,6,0.000,0.039,2651,2103,2152
$GC,11588,1.16,193.7,467.6,5.7,557,11603,0.00,2.67,10.23,1.041,4,0.000,0.068,2651,3507,2111
$GC,11636,1.17,199.0,464.5,5.9,558,11649,0.00,2.47,6.22,0.927,6,0.000,0.038,2651,2100,2089
$GC,11957,1.19,218.0,446.5,5.5,574,11981,0.00,2.65,17.23,1.063,4,0.000,0.057,2651,697,2012
$GC,12033,1.19,218.0,441.8,6.3,577,12038,0.00,2.47,0.00,0.000,6,0.000,0.039,2651,2097,2012
$GC,12348,1.19,218.0,422.6,6.2,592,12352,0.00,2.65,0.00,0.000,4,0.000,0.074,2652,3513,2012
$GC,12425,1.19,218.0,417.5,6.4,595,12432,0.00,2.53,0.00,0.000,6,0.000,0.043,2651,2102,2012
$GC,12741,1.19,218.0,397.8,6.3,611,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2102,2012
$GC,13050,1.19,218.0,377.5,6.6,626,13054,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3515,2012
$GC,13121,1.19,218.0,372.3,6.9,629,13125,0.00,2.50,0.00,0.000,6,0.000,0.043,2651,2095,2012
$GC,13442,1.19,218.0,350.8,6.6,645,13447,0.00,2.65,0.00,0.000,4,0.000,0.074,2652,3512,2012
$GC,13474,1.19,218.0,348.8,6.4,646,13481,0.00,2.50,0.00,0.000,6,0.000,0.044,2652,2091,2012
$GC,13789,1.19,218.0,327.9,6.7,662,13794,0.00,2.67,0.00,0.000,4,0.000,0.072,2651,3515,2013
$GC,13833,1.19,218.0,324.6,7.7,664,13837,0.00,2.50,0.00,0.000,6,0.000,0.043,2652,2095,2013
$GC,14159,1.19,218.0,301.8,6.8,680,14164,0.00,2.62,0.00,0.000,4,0.000,0.073,2652,3508,2013
$GC,14208,1.19,218.0,298.2,7.2,682,14213,0.00,2.47,0.00,0.000,6,0.000,0.044,2652,2102,2013
$GC,14529,1.19,218.0,276.6,6.9,698,14534,0.00,2.65,0.00,0.000,4,0.000,0.074,2652,3508,2013
$GC,14568,1.19,218.0,273.9,6.3,700,14572,0.00,2.47,0.00,0.000,6,0.000,0.041,2652,2097,2014
$GC,14894,1.19,218.0,251.4,7.2,716,14898,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3509,2014
$GC,14948,1.19,218.0,247.4,7.2,718,14954,0.00,2.45,0.00,0.000,6,0.000,0.041,2651,2100,2014
$GC,15263,1.19,218.0,225.9,7.0,734,15268,0.00,2.62,0.00,0.000,4,0.000,0.072,2652,3507,2014
$GC,15325,1.19,218.0,221.5,7.4,737,15329,0.00,2.47,0.00,0.000,6,0.000,0.043,2652,2099,2014
$GC,15650,1.19,218.0,199.8,6.8,753,15655,0.00,2.62,0.00,0.000,4,0.000,0.071,2652,3509,2014
$GC,15695,1.19,218.0,196.5,7.4,755,15700,0.00,2.47,0.00,0.000,6,0.000,0.041,2651,2102,2014
$GC,16016,1.19,218.0,175.5,6.3,771,16021,0.00,2.65,0.00,0.000,4,0.000,0.072,2651,3512,2015
$GC,16071,1.19,218.0,171.7,6.7,773,16078,0.00,2.53,0.00,0.000,6,0.000,0.044,2652,2096,2015
$GC,16386,1.19,218.0,151.4,6.9,789,16391,0.00,2.65,0.00,0.000,4,0.000,0.074,2652,3508,2015
$GC,16441,1.19,218.0,147.2,8.1,791,16448,0.00,2.50,0.00,0.000,6,0.000,0.044,2652,2100,2015
$GC,16757,1.19,218.0,124.3,7.4,807,16758,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2100,2016
$GC,17066,1.19,218.0,101.5,6.9,822,17070,0.00,2.65,0.00,0.000,4,0.000,0.074,2652,3508,2016
$GC,17172,1.19,218.0,93.6,7.3,827,17177,0.00,2.50,0.00,0.000,6,0.000,0.047,2651,2100,2016
$GC,17499,1.19,218.0,70.9,7.2,843,17503,0.00,2.65,0.00,0.000,4,0.000,0.075,2652,3507,2016
$GC,17547,1.19,218.0,66.8,7.8,845,17551,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,2093,2016
$GC,17869,1.19,218.0,45.3,6.2,861,17873,0.00,2.65,0.00,0.000,4,0.000,0.073,2652,3508,2016
$GC,17912,1.19,218.0,41.5,8.6,863,17916,0.00,2.50,0.00,0.000,6,0.000,0.046,2651,2094,2016
$GC,18239,1.19,218.0,17.7,6.4,879,18243,0.00,2.65,0.00,0.000,4,0.000,0.071,2652,3509,2016
$GC,18282,1.19,218.0,14.7,6.9,881,18287,0.00,2.47,0.00,0.000,6,0.000,0.045,2652,2099,2017
$STATE,18483,end climb,SURFACE_DEPTH_REACHED
$STATE,18484,begin surface coast
$FINISH,0.2,1.027321
$STATE,18507,end surface coast,CONTROL_FINISHED_OK
$STATE,18507,begin surface
$SM_CCo,18528,68.18,0.731,2,0,1678,300.00
$SM_GC,-0.29,0.00,0.00,68.18,0.000,0.000,0.731,45,2908,1678,-10.88,0.23,300.00
$IRIDIUM_FIX,6235.17,-1300.03,211207,202055
$TT8_MAMPS,0.029146
$HUMID,2044
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.4,105.0
$24V_AH,23.4,36.637
$10V_AH,10.1,18.178
$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,26.050,215.325,313.475,68.175,0.000,80.606,70.754,204.250,4.750,0.000,0.000,11.997,1676.916,14129.323,609.427,2118.585,610.249,33.360,1696.228,0.000,2091.582,0.000,29.933
$DEVICE_MAMPS,159.536,81.302,1201.889,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.616,626.111,569.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44366,892
$CFSIZE,260165632,246337536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,45,2,0
$GPS,211207,221108,6305.557,-1258.324,37,1.3,37,-12.0