version: 66.02
glider: 103
mission: 7
dive: 209
start: 12 21 107 22 21 38
data:
$ID,103
$MISSION,7
$DIVE,209
$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,-66307.781
$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,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
$GPS1,221108,6305.557,-1258.324,37,1.3,37,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-61.4
$GPS2,222032,6305.451,-1258.415,13,1.4,13,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.029,0.217
$KALMAN_X,-246391.7,1250.4,1225.8,11073.7,-6141.9
$KALMAN_Y,-178033.1,-3140.1,5071.8,345408.1,-18372.0
$MHEAD_RNG_PITCHd_Wd,19.5,17735,-11.1,-6.000
$D_GRID,631
$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,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-62.22,0.000,2,0.000,0.000,45,2908,3417
$GC,87,-1.10,-146.6,3.6,-9.0,3,109,11.98,2.62,-1.50,0.000,4,0.159,0.074,2164,1496,3501
$GC,361,-1.10,-146.6,31.7,-8.2,15,365,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2894,3502
$GC,682,-1.10,-146.6,52.8,-6.5,31,686,0.00,2.62,0.00,0.000,4,0.000,0.073,2164,1496,3502
$GC,731,-1.10,-146.6,56.5,-7.2,33,736,0.00,2.67,0.00,0.000,6,0.000,0.081,2164,2901,3502
$GC,1047,-1.10,-146.6,78.6,-7.3,48,1051,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1493,3502
$GC,1078,-1.10,-146.6,81.4,-8.7,49,1085,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2898,3502
$GC,1396,-1.10,-146.6,102.7,-6.3,65,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,1704,-1.10,-146.6,121.7,-6.2,80,1708,0.00,2.62,0.00,0.000,4,0.000,0.072,2164,1492,3502
$GC,1743,-1.10,-146.6,124.1,-6.6,82,1747,0.00,2.67,0.00,0.000,6,0.000,0.081,2164,2898,3502
$GC,2069,-1.10,-146.6,146.0,-6.6,98,2073,0.00,2.62,0.00,0.000,4,0.000,0.074,2164,1493,3502
$GC,2100,-1.10,-146.6,148.3,-7.0,99,2107,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2899,3502
$GC,2416,-1.10,-146.6,166.9,-5.8,115,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,2725,-1.10,-146.6,184.4,-6.0,130,2730,0.00,2.62,0.00,0.000,4,0.000,0.072,2164,1492,3502
$GC,2764,-1.10,-146.6,186.7,-6.3,132,2769,0.00,2.70,0.00,0.000,6,0.000,0.082,2164,2906,3502
$GC,3090,-1.10,-146.6,208.5,-6.7,148,3095,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1492,3502
$GC,3130,-1.10,-146.6,211.5,-7.7,150,3134,0.00,2.67,0.00,0.000,6,0.000,0.081,2164,2900,3502
$GC,3455,-1.10,-146.6,233.8,-6.6,166,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,3765,-1.10,-146.6,254.2,-6.5,181,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4074,-1.10,-146.6,274.1,-6.5,196,4078,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1491,3502
$GC,4136,-1.10,-146.6,278.3,-7.0,199,4140,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2900,3502
$GC,4461,-1.10,-146.6,299.7,-6.7,215,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4771,-1.10,-146.6,319.8,-6.4,230,4775,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1492,3502
$GC,4819,-1.10,-146.6,323.1,-6.7,232,4823,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2902,3502
$GC,5141,-1.10,-146.6,344.7,-6.9,248,5145,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1490,3502
$GC,5179,-1.10,-146.6,347.5,-7.0,250,5184,0.00,2.67,0.00,0.000,6,0.000,0.081,2164,2900,3502
$GC,5505,-1.10,-146.6,371.1,-7.5,266,5510,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1487,3502
$GC,5538,-1.10,-146.6,373.7,-7.5,267,5544,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2900,3502
$GC,5853,-1.10,-146.6,399.6,-8.5,283,5858,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1491,3502
$GC,5913,-1.10,-146.6,405.0,-8.9,285,5920,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2896,3502
$GC,6229,-1.10,-146.6,430.3,-7.7,301,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3502
$GC,6539,-1.10,-146.6,452.6,-6.9,316,6543,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1483,3502
$GC,6638,-1.10,-146.6,460.0,-7.5,320,6645,0.00,2.67,0.00,0.000,6,0.000,0.076,2164,2899,3502
$GC,6954,-1.10,-146.6,482.4,-6.9,336,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,7263,-1.10,-146.6,503.3,-6.6,351,7268,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1478,3502
$GC,7312,-1.10,-146.6,506.7,-6.4,353,7317,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2907,3502
$GC,7635,-1.10,-146.6,526.4,-5.9,369,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,7943,-1.10,-146.6,546.2,-6.5,384,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,8252,-1.10,-146.6,566.7,-6.6,399,8256,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1473,3502
$GC,8374,-1.10,-146.6,574.4,-5.9,404,8380,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2903,3502
$GC,8689,-1.10,-146.6,593.0,-6.0,420,8693,0.00,2.53,0.00,0.000,4,0.000,0.052,2164,1482,3502
$GC,8746,-1.10,-146.6,596.3,-6.3,422,8752,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2901,3502
$GC,9060,-1.10,-146.6,615.9,-6.3,438,9065,0.00,2.53,0.00,0.000,4,0.000,0.050,2164,1481,3501
$GC,9110,-1.10,-146.6,618.9,-5.6,440,9114,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2900,3501
$STATE,9299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9299,begin apogee
$GC,9306,-0.42,0.0,631.9,6.9,449,9435,0.75,0.00,125.53,1.207,6,0.082,0.000,2316,2092,2901
$STATE,9435,end apogee,CONTROL_FINISHED_OK
$STATE,9436,begin climb
$GC,9438,1.10,146.6,635.5,0.0,455,9569,1.55,2.72,121.78,1.176,4,0.058,0.063,2646,3509,2303
$GC,9693,1.12,158.0,626.9,5.7,467,9710,0.00,2.47,11.10,1.048,6,0.000,0.036,2647,2096,2256
$GC,10019,1.13,170.2,609.2,5.7,482,10032,0.00,0.00,11.90,1.086,6,0.000,0.000,2647,2096,2207
$GC,10327,1.18,211.6,592.7,4.9,497,10367,0.00,0.00,36.00,1.175,6,0.000,0.000,2647,2096,2038
$GC,10676,1.18,211.6,571.5,6.9,514,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2096,2037
$GC,10985,1.18,211.6,550.6,6.6,529,10990,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3514,2035
$GC,11062,1.18,211.6,545.3,6.4,532,11069,0.00,2.47,0.00,0.000,6,0.000,0.039,2647,2103,2035
$GC,11378,1.20,223.7,527.2,5.7,548,11399,0.12,2.72,11.32,1.094,4,0.044,0.071,2688,3518,1988
$GC,11517,1.20,223.7,517.2,7.9,554,11522,0.00,2.53,0.00,0.000,6,0.000,0.040,2688,2093,1988
$GC,11838,1.20,223.7,491.4,8.6,570,11842,0.00,2.53,0.00,0.000,4,0.000,0.055,2688,692,1987
$GC,11914,1.20,223.7,484.3,9.2,573,11921,0.00,2.47,0.00,0.000,6,0.000,0.038,2688,2110,1987
$GC,12230,1.20,223.7,461.1,6.6,589,12234,0.00,2.62,0.00,0.000,4,0.000,0.074,2687,3512,1987
$GC,12314,1.20,223.7,455.5,6.9,593,12318,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2093,1987
$GC,12639,1.20,223.7,432.4,7.0,609,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1987
$GC,12948,1.20,223.7,408.0,8.3,624,12953,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3508,1987
$GC,12987,1.20,223.7,404.6,9.0,626,12992,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2097,1987
$GC,13313,1.20,223.7,379.4,7.5,642,13314,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1987
$GC,13623,1.20,223.7,355.7,7.6,657,13627,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3507,1987
$GC,13684,1.20,223.7,350.7,8.5,660,13688,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2094,1987
$GC,14009,1.20,223.7,324.3,8.3,676,14014,0.00,2.62,0.00,0.000,4,0.000,0.074,2688,3505,1988
$GC,14041,1.20,223.7,321.6,7.9,677,14048,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2096,1988
$GC,14357,1.20,223.7,296.6,7.8,693,14361,0.00,2.65,0.00,0.000,4,0.000,0.077,2688,3507,1988
$GC,14389,1.20,223.7,294.0,7.6,694,14395,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2095,1989
$GC,14704,1.20,223.7,270.6,7.3,710,14705,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2095,1989
$GC,15014,1.20,223.7,248.3,7.1,725,15018,0.00,2.65,0.00,0.000,4,0.000,0.075,2688,3506,1989
$GC,15062,1.20,223.7,244.4,8.3,727,15067,0.00,2.50,0.00,0.000,6,0.000,0.049,2688,2098,1989
$GC,15383,1.20,223.7,220.6,7.4,743,15385,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1989
$GC,15693,1.20,223.7,197.7,7.3,758,15697,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3512,1989
$GC,15747,1.20,223.7,193.5,7.7,760,15754,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2102,1989
$GC,16063,1.20,223.7,170.3,7.5,776,16064,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1990
$GC,16373,1.20,223.7,147.2,7.4,791,16374,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1990
$GC,16683,1.20,223.7,124.0,7.4,806,16684,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1990
$GC,16991,1.20,223.7,100.7,7.9,821,16996,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3511,1990
$GC,17034,1.20,223.7,97.0,8.2,823,17038,0.00,2.50,0.00,0.000,6,0.000,0.049,2688,2099,1990
$GC,17361,1.20,223.7,71.0,7.9,839,17363,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1991
$GC,17671,1.20,223.7,47.4,7.8,854,17672,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1991
$GC,17980,1.20,223.7,24.0,7.9,869,17984,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3512,1991
$GC,18046,1.20,223.7,18.7,8.4,872,18050,0.00,2.53,0.00,0.000,6,0.000,0.052,2688,2095,1991
$STATE,18267,end climb,SURFACE_DEPTH_REACHED
$STATE,18267,begin surface coast
$FINISH,-0.4,1.027311
$STATE,18291,end surface coast,CONTROL_FINISHED_OK
$STATE,18291,begin surface
$SM_CCo,18313,62.65,0.742,1,0,1678,300.00
$SM_GC,-0.20,0.00,0.00,62.65,0.000,0.000,0.742,44,2889,1678,-10.88,-0.31,300.00
$IRIDIUM_FIX,6239.86,-1300.03,221207,020208
$TT8_MAMPS,0.029146
$HUMID,2060
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.4,93.2
$24V_AH,23.4,36.777
$10V_AH,10.1,18.265
$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,26.000,159.450,317.625,62.650,0.000,78.143,164.796,153.329,5.000,0.000,0.000,13.972,1613.627,14225.367,548.883,1937.684,632.427,33.365,1517.347,0.000,1913.314,0.000,31.529
$DEVICE_MAMPS,158.769,92.040,1207.258,742.456,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.501,614.379,567.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44241,884
$CFSIZE,260165632,246284288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
$GPS,221207,032907,6305.705,-1304.281,33,1.0,33,-12.1