version: 66.02
glider: 103
mission: 7
dive: 211
start: 12 22 107 9 13 25
data:
$ID,103
$MISSION,7
$DIVE,211
$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,-66335.789
$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
$GPS1,090637,6308.238,-1306.760,25,1.8,25,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-54.7
$GPS2,091221,6308.193,-1306.850,13,2.0,13,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,0.211
$KALMAN_X,-253196.9,-1504.5,627.0,13847.0,-4233.5
$KALMAN_Y,-188734.8,7791.3,2164.5,353194.7,-26174.2
$MHEAD_RNG_PITCHd_Wd,26.9,13839,-11.1,-6.000
$D_GRID,699
$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,22,-1.10,-146.6,0.0,0.0,0,89,0.00,0.00,-65.40,0.000,6,0.000,0.000,43,2896,3501
$GC,92,-1.10,-146.6,2.6,-6.8,3,113,11.98,2.60,0.00,0.000,4,0.158,0.055,2164,1492,3503
$GC,365,-1.10,-146.6,33.7,-6.9,15,369,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2901,3503
$GC,692,-1.10,-146.6,57.6,-7.4,31,696,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1489,3503
$GC,724,-1.10,-146.6,60.1,-7.6,32,731,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2905,3503
$GC,1041,-1.10,-146.6,83.6,-7.5,48,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$GC,1349,-1.10,-146.6,106.8,-7.5,63,1353,0.00,2.65,0.00,0.000,4,0.000,0.072,2164,1489,3503
$GC,1381,-1.10,-146.6,109.3,-7.5,64,1388,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2898,3503
$GC,1697,-1.10,-146.6,132.7,-7.8,80,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,2006,-1.10,-146.6,155.9,-7.4,95,2010,0.00,2.62,0.00,0.000,4,0.000,0.072,2165,1484,3503
$GC,2044,-1.10,-146.6,158.5,-7.2,97,2048,0.00,2.67,0.00,0.000,6,0.000,0.076,2164,2900,3503
$GC,2369,-1.10,-146.6,180.4,-6.8,113,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,2678,-1.10,-146.6,202.1,-7.4,128,2683,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1489,3503
$GC,2741,-1.10,-146.6,206.9,-8.0,131,2745,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2899,3503
$GC,3066,-1.10,-146.6,232.2,-8.0,147,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,3375,-1.10,-146.6,258.9,-8.8,162,3380,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1482,3503
$GC,3424,-1.10,-146.6,263.4,-9.4,164,3429,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2904,3503
$GC,3746,-1.10,-146.6,291.3,-8.5,180,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,4055,-1.10,-146.6,316.1,-8.1,195,4059,0.00,2.60,0.00,0.000,4,0.000,0.066,2164,1489,3503
$GC,4086,-1.10,-146.6,318.7,-8.3,196,4093,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2899,3503
$GC,4402,-1.10,-146.6,342.5,-7.1,212,4407,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1482,3503
$GC,4429,-1.10,-146.6,344.4,-7.1,213,4433,0.00,2.67,0.00,0.000,6,0.000,0.076,2164,2904,3503
$GC,4750,-1.10,-146.6,367.7,-7.4,229,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,5059,-1.10,-146.6,390.0,-7.2,244,5064,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1488,3503
$GC,5114,-1.10,-146.6,394.3,-8.0,246,5121,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2902,3503
$GC,5430,-1.10,-146.6,417.0,-7.1,262,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,5739,-1.10,-146.6,439.4,-7.3,277,5744,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1489,3502
$GC,5783,-1.10,-146.6,442.4,-7.2,279,5787,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2898,3503
$GC,6110,-1.10,-146.6,465.6,-7.2,295,6114,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1481,3503
$GC,6158,-1.10,-146.6,469.3,-7.6,297,6163,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,6479,-1.10,-146.6,492.2,-7.2,313,6483,0.00,2.55,0.00,0.000,4,0.000,0.059,2164,1486,3503
$GC,6556,-1.10,-146.6,498.1,-7.4,316,6562,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2903,3503
$GC,6871,-1.10,-146.6,521.2,-7.2,332,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,7180,-1.10,-146.6,542.5,-7.0,347,7185,0.00,2.53,0.00,0.000,4,0.000,0.055,2164,1483,3503
$GC,7246,-1.10,-146.6,547.3,-6.9,350,7251,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,7574,-1.10,-146.6,570.4,-7.1,366,7578,0.00,2.50,0.00,0.000,4,0.000,0.053,2164,1480,3503
$GC,7622,-1.10,-146.6,574.1,-7.1,368,7627,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2901,3503
$GC,7943,-1.10,-146.6,597.2,-7.5,384,7948,0.00,2.53,0.00,0.000,4,0.000,0.051,2164,1472,3503
$GC,7990,-1.10,-146.6,600.7,-8.0,386,7994,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2900,3503
$GC,8309,-1.10,-146.6,623.9,-7.5,402,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,8619,-1.10,-146.6,644.6,-6.4,417,8623,0.00,2.53,0.00,0.000,4,0.000,0.049,2164,1473,3503
$GC,8707,-1.10,-146.6,650.2,-6.8,421,8711,0.00,2.60,0.00,0.000,6,0.000,0.062,2164,2900,3503
$GC,9028,-1.10,-146.6,674.1,-8.1,437,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$STATE,9212,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9212,begin apogee
$GC,9219,-0.42,0.0,688.0,7.5,446,9348,0.75,0.00,125.68,1.257,6,0.075,0.000,2321,2091,2901
$STATE,9349,end apogee,CONTROL_FINISHED_OK
$STATE,9349,begin climb
$GC,9351,1.10,146.6,690.6,0.0,452,9482,1.52,2.60,121.72,1.225,4,0.054,0.056,2649,700,2303
$GC,9696,1.10,146.6,669.7,8.9,468,9700,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2118,2302
$GC,10021,1.10,146.6,649.0,6.1,484,10026,0.00,2.58,0.00,0.000,4,0.000,0.054,2649,699,2302
$GC,10110,1.16,194.3,644.5,4.7,488,10156,0.00,2.45,40.70,1.211,6,0.000,0.036,2649,2108,2109
$GC,10473,1.16,194.3,621.4,6.0,506,10477,0.00,2.58,0.00,0.000,4,0.000,0.064,2649,3500,2107
$GC,10505,1.19,220.7,619.3,5.3,507,10535,0.00,2.45,23.10,1.188,6,0.000,0.036,2649,2094,2001
$GC,10863,1.19,220.7,598.3,6.2,525,10868,0.00,2.62,0.00,0.000,4,0.000,0.064,2649,3502,2000
$GC,11014,1.19,220.7,588.8,7.8,532,11019,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2101,2000
$GC,11340,1.19,220.7,563.2,8.1,548,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,1998
$GC,11649,1.19,220.7,538.3,9.9,563,11654,0.00,2.60,0.00,0.000,4,0.000,0.064,2649,3501,1998
$GC,11715,1.19,220.7,531.3,9.3,566,11720,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2094,1998
$GC,12042,1.19,220.7,512.5,6.2,582,12047,0.00,2.62,0.00,0.000,4,0.000,0.066,2649,3502,1998
$GC,12092,1.19,220.7,509.1,6.4,584,12096,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2093,1998
$GC,12413,1.26,276.2,494.6,4.5,600,12467,0.15,2.70,46.42,1.123,4,0.042,0.067,2699,3498,1774
$GC,12506,1.26,276.2,486.3,9.8,604,12510,0.00,2.47,0.00,0.000,6,0.000,0.038,2700,2093,1774
$GC,12827,1.26,276.2,456.8,9.3,620,12831,0.00,2.50,0.00,0.000,4,0.000,0.054,2699,698,1774
$GC,12921,1.26,276.2,447.3,9.1,624,12925,0.00,2.42,0.00,0.000,6,0.000,0.038,2700,2089,1774
$GC,13242,1.26,276.2,416.2,9.1,640,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2089,1774
$GC,13551,1.26,276.2,385.3,10.4,655,13555,0.00,2.67,0.00,0.000,4,0.000,0.074,2700,3515,1774
$GC,13617,1.26,276.2,378.4,10.5,658,13621,0.00,2.50,0.00,0.000,6,0.000,0.044,2700,2100,1774
$GC,13937,1.26,276.2,348.5,8.8,674,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,1775
$GC,14247,1.26,276.2,326.7,6.5,689,14251,0.00,2.67,0.00,0.000,4,0.000,0.076,2700,3515,1776
$GC,14286,1.26,276.2,324.1,6.6,691,14290,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,2093,1776
$GC,14611,1.26,276.2,302.1,7.0,707,14612,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2093,1776
$GC,14920,1.26,276.2,277.1,8.6,722,14925,0.00,2.70,0.00,0.000,4,0.000,0.076,2700,3516,1776
$GC,14963,1.26,276.2,273.1,9.7,724,14968,0.00,2.50,0.00,0.000,6,0.000,0.047,2700,2099,1777
$GC,15290,1.26,276.2,244.5,8.8,740,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2099,1777
$GC,15599,1.26,276.2,217.6,8.8,755,15601,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2099,1777
$GC,15909,1.26,276.2,189.2,9.3,770,15913,0.00,2.65,0.00,0.000,4,0.000,0.077,2700,3508,1778
$GC,15957,1.26,276.2,184.3,9.8,772,15962,0.00,2.50,0.00,0.000,6,0.000,0.049,2700,2101,1777
$GC,16279,1.26,276.2,153.6,9.6,788,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,1778
$GC,16589,1.26,276.2,125.0,9.2,803,16593,0.00,2.67,0.00,0.000,4,0.000,0.077,2700,3511,1778
$GC,16632,1.26,276.2,120.6,10.7,805,16636,0.00,2.50,0.00,0.000,6,0.000,0.050,2700,2100,1778
$GC,16953,1.26,276.2,92.0,8.9,821,16954,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,1778
$GC,17264,1.26,276.2,64.5,8.7,836,17265,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,1778
$GC,17572,1.26,276.2,33.3,10.2,851,17573,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2100,1778
$GC,17881,1.26,276.2,6.3,7.3,866,17885,0.00,2.58,0.00,0.000,4,0.000,0.069,2700,698,1778
$STATE,17928,end climb,SURFACE_DEPTH_REACHED
$STATE,17928,begin surface coast
$FINISH,1.0,1.027292
$STATE,17934,end surface coast,CONTROL_FINISHED_OK
$STATE,17934,begin surface
$SM_CCo,17959,22.73,0.673,2,0,1678,300.00
$SM_GC,0.22,0.00,0.00,22.73,0.000,0.000,0.673,46,2901,1678,-10.87,0.03,300.00
$IRIDIUM_FIX,6244.56,-1302.17,221207,070714
$TT8_MAMPS,0.028379
$HUMID,2077
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,19.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.3,97.2
$24V_AH,23.4,37.068
$10V_AH,10.1,18.438
$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,26.350,158.000,357.625,22.725,0.000,39.451,33.619,163.616,5.250,0.000,0.000,13.627,1590.378,13820.613,516.623,1952.825,468.132,33.363,1500.833,0.000,1923.614,0.000,34.772
$DEVICE_MAMPS,158.002,78.234,1257.113,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.604,610.825,526.847,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44339,868
$CFSIZE,260165632,246165504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,2,0
$GPS,221207,141451,6309.702,-1310.628,38,2.6,57,-12.2