version: 66.02
glider: 103
mission: 7
dive: 210
start: 12 22 107 3 42 55
data:
$ID,103
$MISSION,7
$DIVE,210
$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,-66321.539
$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,7
$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
$GPS1,032907,6305.705,-1304.281,33,1.0,33,-12.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-62.8
$GPS2,034151,6305.604,-1304.551,13,1.0,13,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.092,0.197
$KALMAN_X,-248909.0,-53.4,-915.8,11665.7,-2398.9
$KALMAN_Y,-181582.0,3383.4,-1232.2,349009.0,-5809.3
$MHEAD_RNG_PITCHd_Wd,37.1,17810,-11.1,-6.000
$D_GRID,683
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.11,-145.5,0.0,0.0,0,85,0.00,0.00,-60.67,0.000,2,0.000,0.000,44,2889,3355
$GC,88,-1.11,-145.5,3.3,-8.3,3,110,12.00,2.58,-2.62,0.000,4,0.159,0.080,2166,1492,3496
$GC,272,-1.11,-145.5,24.0,-7.3,11,276,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2903,3497
$GC,599,-1.11,-145.5,49.0,-7.6,27,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3497
$GC,908,-1.11,-145.5,72.7,-8.2,42,912,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1486,3497
$GC,940,-1.11,-145.5,75.4,-7.7,43,947,0.00,2.70,0.00,0.000,6,0.000,0.080,2165,2893,3497
$GC,1257,-1.11,-145.5,98.2,-7.2,59,1262,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1491,3497
$GC,1297,-1.11,-145.5,101.2,-7.5,61,1301,0.00,2.70,0.00,0.000,6,0.000,0.080,2166,2907,3497
$GC,1623,-1.11,-145.5,125.4,-7.3,77,1627,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1487,3497
$GC,1654,-1.11,-145.5,128.0,-7.8,78,1661,0.00,2.70,0.00,0.000,6,0.000,0.079,2165,2899,3497
$GC,1970,-1.11,-145.5,152.1,-7.6,94,1974,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1490,3498
$GC,2013,-1.11,-145.5,155.4,-7.8,96,2017,0.00,2.67,0.00,0.000,6,0.000,0.080,2165,2900,3497
$GC,2340,-1.11,-145.5,179.6,-7.2,112,2344,0.00,2.60,0.00,0.000,4,0.000,0.071,2165,1491,3497
$GC,2401,-1.11,-145.5,184.0,-7.0,115,2405,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2906,3497
$GC,2727,-1.11,-145.5,207.2,-7.4,131,2731,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1490,3497
$GC,2769,-1.11,-145.5,210.7,-7.5,133,2774,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2907,3497
$GC,3097,-1.11,-145.5,234.5,-7.3,149,3101,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1491,3497
$GC,3139,-1.11,-145.5,237.9,-7.6,151,3144,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2902,3498
$GC,3466,-1.11,-145.5,261.4,-7.1,167,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3498
$GC,3776,-1.11,-145.5,283.2,-7.2,182,3780,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3497
$GC,3847,-1.11,-145.5,288.5,-7.5,185,3852,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2908,3497
$GC,4163,-1.11,-145.5,311.1,-7.2,200,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3497
$GC,4472,-1.11,-145.5,331.8,-6.6,215,4476,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1484,3497
$GC,4548,-1.11,-145.5,337.2,-6.9,218,4555,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2905,3497
$GC,4864,-1.11,-145.5,358.2,-6.5,234,4868,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1489,3497
$GC,4903,-1.11,-145.5,360.9,-7.0,236,4907,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3498
$GC,5228,-1.11,-145.5,383.5,-7.0,252,5233,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1489,3497
$GC,5283,-1.11,-145.5,387.5,-7.4,254,5290,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2903,3497
$GC,5599,-1.11,-145.5,410.3,-7.5,270,5603,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1483,3497
$GC,5630,-1.11,-145.5,412.8,-8.0,271,5637,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2907,3497
$GC,5946,-1.11,-145.5,438.2,-8.1,287,5950,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1479,3497
$GC,5985,-1.11,-145.5,441.3,-8.0,289,5989,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2902,3497
$GC,6310,-1.11,-145.5,466.0,-7.1,305,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3497
$GC,6620,-1.11,-145.5,487.4,-6.8,320,6624,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1481,3497
$GC,6681,-1.11,-145.5,491.9,-7.7,323,6685,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2906,3497
$GC,7006,-1.11,-145.5,516.0,-7.6,339,7010,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1476,3497
$GC,7056,-1.11,-145.5,519.9,-7.9,341,7060,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2901,3497
$GC,7377,-1.11,-146.6,540.0,-5.2,357,7381,0.00,2.53,0.00,0.000,4,0.000,0.052,2165,1475,3497
$GC,7448,-1.11,-146.6,544.4,-6.5,360,7453,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2902,3497
$GC,7776,-1.11,-146.6,565.2,-6.9,376,7780,0.00,2.53,0.00,0.000,4,0.000,0.051,2165,1478,3497
$GC,7864,-1.11,-146.6,572.1,-7.2,380,7868,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2906,3497
$GC,8191,-1.11,-146.6,593.8,-6.3,396,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3497
$GC,8501,-1.11,-146.6,613.8,-6.5,411,8505,0.00,2.50,0.00,0.000,4,0.000,0.046,2165,1478,3497
$GC,8584,-1.11,-146.6,619.3,-6.9,415,8589,0.00,2.60,0.00,0.000,6,0.000,0.060,2166,2908,3497
$GC,8910,-1.11,-146.6,641.5,-6.9,431,8914,0.00,2.50,0.00,0.000,4,0.000,0.046,2165,1475,3496
$GC,8982,-1.11,-146.6,646.6,-7.1,434,8986,0.00,2.58,0.00,0.000,6,0.000,0.058,2166,2901,3496
$GC,9303,-1.11,-146.6,667.4,-6.6,450,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3495
$STATE,9445,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9445,begin apogee
$GC,9452,-0.42,0.0,675.9,4.8,457,9580,0.75,0.00,125.00,1.233,6,0.082,0.000,2319,2087,2901
$STATE,9581,end apogee,CONTROL_FINISHED_OK
$STATE,9581,begin climb
$GC,9583,1.11,146.6,679.5,0.0,463,9714,1.55,2.60,122.30,1.204,4,0.057,0.056,2649,706,2303
$GC,9742,1.14,176.7,676.6,5.2,471,9774,0.00,2.47,26.92,1.139,6,0.000,0.035,2649,2120,2180
$GC,10083,1.14,176.7,656.2,6.3,488,10087,0.00,2.53,0.00,0.000,4,0.000,0.062,2649,3501,2179
$GC,10144,1.14,176.7,651.8,7.0,491,10148,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2098,2178
$GC,10470,1.15,180.6,632.3,5.9,507,10476,0.00,0.00,4.50,0.854,6,0.000,0.000,2649,2097,2164
$GC,10779,1.16,190.3,613.3,5.7,522,10790,0.00,0.00,9.98,1.088,6,0.000,0.000,2649,2097,2125
$GC,11088,1.16,192.6,593.6,5.9,537,11093,0.00,0.00,3.67,0.768,6,0.000,0.000,2649,2097,2115
$GC,11397,1.20,219.2,578.0,5.3,552,11423,0.00,0.00,23.52,1.169,6,0.000,0.000,2649,2097,2007
$GC,11726,1.20,219.2,557.9,6.2,568,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2097,2006
$GC,12036,1.20,219.2,538.5,6.4,583,12040,0.00,2.60,0.00,0.000,4,0.000,0.066,2649,3499,2005
$GC,12097,1.20,219.2,534.4,6.6,586,12102,0.00,2.42,0.00,0.000,6,0.000,0.036,2649,2102,2005
$GC,12422,1.20,219.2,514.1,6.1,602,12424,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2102,2005
$GC,12732,1.20,219.2,494.2,6.5,617,12736,0.00,2.58,0.00,0.000,4,0.000,0.067,2649,3498,2005
$GC,12803,1.20,219.2,489.0,7.4,620,12807,0.00,2.42,0.00,0.000,6,0.000,0.038,2649,2100,2006
$GC,13125,1.20,219.2,467.0,6.7,636,13129,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3505,2006
$GC,13174,1.20,219.2,463.6,6.6,638,13178,0.00,2.45,0.00,0.000,6,0.000,0.039,2649,2099,2006
$GC,13495,1.21,229.6,444.4,5.7,654,13507,0.10,0.00,10.23,1.002,6,0.049,0.000,2684,2098,1965
$GC,13804,1.21,229.6,423.0,7.0,669,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2098,1965
$GC,14113,1.21,229.6,402.6,6.3,684,14118,0.00,2.65,0.00,0.000,4,0.000,0.076,2683,3502,1966
$GC,14162,1.21,229.6,399.4,6.5,686,14167,0.00,2.45,0.00,0.000,6,0.000,0.044,2683,2106,1966
$GC,14483,1.21,229.6,379.3,6.6,702,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2106,1966
$GC,14793,1.21,229.6,358.8,6.6,717,14797,0.00,2.62,0.00,0.000,4,0.000,0.075,2684,3507,1966
$GC,14837,1.21,229.6,355.6,7.6,719,14842,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2094,1966
$GC,15158,1.21,229.6,333.6,7.0,735,15159,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2094,1967
$GC,15467,1.21,229.6,310.0,8.0,750,15471,0.00,2.65,0.00,0.000,4,0.000,0.073,2683,3505,1967
$GC,15523,1.21,229.6,305.2,8.7,752,15529,0.00,2.47,0.00,0.000,6,0.000,0.044,2684,2103,1967
$GC,15837,1.21,229.6,279.1,8.6,768,15842,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,688,1967
$GC,15909,1.21,229.6,272.6,9.3,771,15914,0.00,2.45,0.00,0.000,6,0.000,0.043,2684,2086,1967
$GC,16225,1.21,229.6,247.6,7.9,786,16229,0.00,2.67,0.00,0.000,4,0.000,0.076,2684,3516,1968
$GC,16313,1.21,229.6,240.0,8.5,790,16317,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2097,1968
$GC,16640,1.21,229.6,213.9,8.1,806,16645,0.00,2.65,0.00,0.000,4,0.000,0.074,2684,3512,1968
$GC,16674,1.21,229.6,211.0,7.8,807,16680,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2101,1968
$GC,16989,1.21,229.6,186.6,7.5,823,16993,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,687,1969
$GC,17066,1.21,229.6,180.3,7.8,826,17072,0.00,2.50,0.00,0.000,6,0.000,0.046,2684,2107,1969
$GC,17381,1.21,229.6,156.9,7.3,842,17385,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3516,1969
$GC,17452,1.21,229.6,151.0,8.2,845,17456,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2100,1969
$GC,17774,1.21,229.6,125.0,8.2,861,17775,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1969
$GC,18083,1.21,229.6,99.1,8.8,876,18084,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1969
$GC,18394,1.21,229.6,73.0,8.8,891,18395,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1969
$GC,18702,1.21,229.6,47.2,7.9,906,18706,0.00,2.67,0.00,0.000,4,0.000,0.074,2684,3519,1969
$GC,18763,1.21,229.6,42.0,8.8,909,18768,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,2097,1969
$GC,19090,1.21,229.6,15.1,8.0,925,19091,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1970
$STATE,19253,end climb,SURFACE_DEPTH_REACHED
$STATE,19253,begin surface coast
$FINISH,0.1,1.027301
$STATE,19276,end surface coast,CONTROL_FINISHED_OK
$STATE,19276,begin surface
$SM_CCo,19298,58.35,0.748,1,0,1678,300.00
$SM_GC,-0.26,0.00,0.00,58.35,0.000,0.000,0.748,43,2896,1678,-10.89,-0.11,300.00
$IRIDIUM_FIX,6239.86,-1310.35,221207,070754
$TT8_MAMPS,0.029146
$HUMID,2045
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.2,109.5
$24V_AH,23.4,36.926
$10V_AH,10.1,18.356
$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,25.975,178.825,326.125,58.350,0.000,120.470,196.478,216.131,5.250,0.000,0.000,13.131,1713.869,15051.605,549.141,2044.227,779.817,33.368,1570.287,0.000,2014.136,0.000,33.187
$DEVICE_MAMPS,158.769,83.603,1232.569,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.232,653.717,564.355,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47484,934
$CFSIZE,260165632,246210560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,38,1,0
$GPS,221207,090637,6308.238,-1306.760,25,1.8,25,-12.1