version: 66.02
glider: 103
mission: 7
dive: 212
start: 12 22 107 14 22 45
data:
$ID,103
$MISSION,7
$DIVE,212
$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,-66370.562
$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,22
$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
$GPS1,141451,6309.702,-1310.628,38,2.6,57,-12.2
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-56.3
$GPS2,142141,6309.610,-1310.718,14,2.3,33,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.100,0.194
$KALMAN_X,-257781.9,-262.2,-781.6,15179.4,-2585.6
$KALMAN_Y,-182304.7,652.9,1999.7,356582.3,-13106.4
$MHEAD_RNG_PITCHd_Wd,39.6,13396,-11.1,-6.000
$D_GRID,733
$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,-146.6,0.0,0.0,0,89,0.00,0.00,-66.30,0.000,6,0.000,0.000,46,2902,3500
$GC,92,-1.10,-146.6,3.4,-5.8,4,113,11.93,2.60,0.00,0.000,4,0.157,0.054,2163,1491,3501
$GC,348,-1.10,-146.6,33.5,-7.1,15,352,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2903,3502
$GC,669,-1.10,-146.6,59.7,-8.3,31,674,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1489,3501
$GC,713,-1.10,-146.6,63.1,-8.1,33,718,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2904,3502
$GC,1034,-1.10,-146.6,89.9,-7.9,49,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,1344,-1.10,-146.6,112.4,-7.2,64,1348,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1489,3502
$GC,1409,-1.10,-146.6,117.3,-7.1,67,1414,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2903,3502
$GC,1730,-1.10,-146.6,141.5,-7.9,83,1734,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1490,3502
$GC,1762,-1.10,-146.6,144.3,-9.0,84,1769,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2900,3502
$GC,2078,-1.10,-146.6,169.2,-7.9,100,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,2387,-1.10,-146.6,193.6,-7.6,115,2391,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1488,3502
$GC,2452,-1.10,-146.6,198.7,-7.9,118,2456,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2904,3502
$GC,2779,-1.10,-146.6,222.5,-7.0,134,2783,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1491,3502
$GC,2805,-1.10,-146.6,224.4,-6.8,135,2810,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2901,3502
$GC,3121,-1.10,-146.6,245.2,-6.4,150,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,3430,-1.10,-146.6,266.2,-6.9,165,3435,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1489,3502
$GC,3485,-1.10,-146.6,270.3,-7.4,167,3492,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2902,3502
$GC,3801,-1.10,-146.6,293.5,-7.6,183,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,4110,-1.10,-146.6,316.8,-7.5,198,4114,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1489,3502
$GC,4159,-1.10,-146.6,320.6,-7.5,200,4163,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2900,3502
$GC,4481,-1.10,-146.6,345.8,-7.9,216,4485,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1482,3502
$GC,4552,-1.10,-146.6,352.0,-8.5,219,4556,0.00,2.62,0.00,0.000,6,0.000,0.074,2163,2899,3502
$GC,4873,-1.10,-146.6,379.1,-8.7,235,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,5182,-1.10,-146.6,406.2,-8.6,250,5187,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1480,3502
$GC,5249,-1.10,-146.6,411.9,-8.3,253,5253,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2899,3502
$GC,5570,-1.10,-146.6,436.7,-7.3,269,5574,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1480,3502
$GC,5596,-1.10,-146.6,438.7,-7.4,270,5601,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2908,3502
$GC,5912,-1.10,-146.6,461.4,-7.2,285,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3502
$GC,6220,-1.10,-146.6,483.1,-6.8,300,6224,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1483,3502
$GC,6265,-1.10,-146.6,486.1,-6.5,302,6269,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2903,3502
$GC,6591,-1.10,-146.6,506.5,-6.5,318,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,6902,-1.10,-146.6,525.8,-6.4,333,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,7209,-1.10,-146.6,546.0,-6.3,348,7213,0.00,2.53,0.00,0.000,4,0.000,0.052,2163,1483,3502
$GC,7286,-1.10,-146.6,551.5,-7.4,351,7292,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2904,3502
$GC,7602,-1.10,-146.6,576.3,-8.4,367,7606,0.00,2.53,0.00,0.000,4,0.000,0.051,2163,1481,3502
$GC,7668,-1.10,-146.6,581.9,-8.2,370,7672,0.00,2.58,0.00,0.000,6,0.000,0.061,2163,2901,3502
$GC,7989,-1.10,-146.6,611.1,-9.7,386,7994,0.00,2.50,0.00,0.000,4,0.000,0.047,2163,1471,3502
$GC,8078,-1.10,-146.6,618.8,-7.8,390,8082,0.00,2.60,0.00,0.000,6,0.000,0.059,2163,2903,3502
$GC,8406,-1.10,-146.6,642.1,-6.0,406,8410,0.00,2.50,0.00,0.000,4,0.000,0.045,2163,1480,3502
$GC,8444,-1.10,-146.6,644.3,-5.8,408,8449,0.00,2.58,0.00,0.000,6,0.000,0.059,2163,2900,3502
$GC,8771,-1.10,-146.6,665.4,-6.0,424,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,9080,-1.10,-146.6,682.5,-3.8,439,9085,0.00,2.50,0.00,0.000,4,0.000,0.044,2163,1474,3502
$GC,9169,-1.10,-146.6,687.4,-5.8,443,9174,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2909,3502
$GC,9490,-1.10,-146.6,705.7,-6.6,459,9491,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3502
$GC,9799,-1.10,-146.6,727.6,-7.7,474,9804,0.00,2.53,0.00,0.000,4,0.000,0.047,2163,1481,3501
$STATE,9871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9871,begin apogee
$GC,9877,-0.42,0.0,733.4,8.4,477,10008,0.70,0.00,126.20,1.284,6,0.069,0.000,2314,2124,2901
$STATE,10009,end apogee,CONTROL_FINISHED_OK
$STATE,10009,begin climb
$GC,10012,1.10,146.6,737.3,0.0,484,10143,1.52,2.67,122.97,1.243,4,0.044,0.056,2651,693,2303
$GC,10290,1.10,146.6,727.8,6.8,497,10295,0.00,2.45,0.00,0.000,6,0.000,0.036,2651,2106,2302
$GC,10616,1.11,153.6,710.1,5.8,513,10630,0.00,2.62,7.70,1.074,4,0.000,0.061,2651,3489,2274
$GC,10659,1.14,176.2,707.6,5.4,515,10685,0.00,2.45,20.50,1.200,6,0.000,0.036,2651,2093,2182
$GC,11007,1.17,198.3,688.5,5.4,532,11033,0.00,2.67,20.12,1.203,4,0.000,0.062,2651,3502,2092
$GC,11054,1.21,235.8,685.9,5.0,534,11095,0.10,2.47,32.85,1.224,6,0.050,0.036,2683,2092,1939
$GC,11418,1.21,235.8,658.3,7.6,552,11422,0.00,2.53,0.00,0.000,4,0.000,0.056,2683,695,1937
$GC,11511,1.21,235.8,650.9,7.7,556,11516,0.00,2.45,0.00,0.000,6,0.000,0.035,2683,2104,1937
$GC,11832,1.21,235.8,625.7,9.2,572,11837,0.00,2.58,0.00,0.000,4,0.000,0.063,2684,3504,1936
$GC,11859,1.21,235.8,622.9,11.3,573,11863,0.00,2.45,0.00,0.000,6,0.000,0.035,2683,2092,1936
$GC,12180,1.21,235.8,595.0,8.1,589,12184,0.00,2.50,0.00,0.000,4,0.000,0.053,2684,696,1935
$GC,12308,1.21,235.8,584.5,8.4,595,12313,0.00,2.42,0.00,0.000,6,0.000,0.034,2684,2099,1935
$GC,12635,1.21,235.8,556.9,8.9,611,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1935
$GC,12944,1.21,235.8,530.1,8.7,626,12948,0.00,2.58,0.00,0.000,4,0.000,0.067,2684,3499,1935
$GC,12987,1.21,235.8,526.1,9.0,628,12991,0.00,2.45,0.00,0.000,6,0.000,0.037,2684,2103,1935
$GC,13314,1.21,235.8,497.7,9.0,644,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2103,1935
$GC,13623,1.21,235.8,472.3,7.9,659,13627,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3505,1936
$GC,13678,1.21,235.8,467.6,8.0,661,13685,0.00,2.47,0.00,0.000,6,0.000,0.041,2684,2098,1936
$GC,13993,1.21,235.8,440.6,9.1,677,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1936
$GC,14302,1.21,235.8,412.8,8.9,692,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1937
$GC,14612,1.21,235.8,387.4,7.8,707,14616,0.00,2.65,0.00,0.000,4,0.000,0.075,2684,3504,1937
$GC,14655,1.21,235.8,383.9,7.5,709,14659,0.00,2.47,0.00,0.000,6,0.000,0.044,2684,2096,1937
$GC,14981,1.21,235.8,359.4,7.6,725,14982,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1937
$GC,15290,1.21,235.8,333.7,8.5,740,15295,0.00,2.65,0.00,0.000,4,0.000,0.074,2684,3504,1938
$GC,15329,1.21,235.8,330.3,8.3,742,15333,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2093,1938
$GC,15654,1.21,235.8,301.2,9.1,758,15656,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2093,1938
$GC,15964,1.21,235.8,274.4,8.3,773,15968,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3499,1939
$GC,16036,1.21,235.8,268.3,8.8,776,16041,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2100,1939
$GC,16351,1.21,235.8,243.1,8.3,791,16353,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1939
$GC,16661,1.21,235.8,216.5,8.5,806,16665,0.00,2.65,0.00,0.000,4,0.000,0.076,2684,3502,1939
$GC,16704,1.21,235.8,212.6,8.8,808,16709,0.00,2.47,0.00,0.000,6,0.000,0.047,2684,2104,1939
$GC,17025,1.21,235.8,186.8,7.8,824,17026,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2104,1939
$GC,17334,1.21,235.8,162.8,7.8,839,17338,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3506,1940
$GC,17373,1.21,235.8,159.7,8.0,841,17378,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2097,1940
$GC,17700,1.21,235.8,136.3,7.3,857,17701,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1940
$GC,18009,1.21,235.8,111.4,8.5,872,18010,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1940
$GC,18318,1.21,235.8,89.4,7.1,887,18323,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3501,1940
$GC,18344,1.21,235.8,87.0,8.9,888,18349,0.00,2.47,0.00,0.000,6,0.000,0.050,2684,2099,1940
$GC,18667,1.21,235.8,63.0,7.2,904,18671,0.00,2.55,0.00,0.000,4,0.000,0.063,2684,691,1941
$GC,18706,1.21,235.8,59.6,8.4,906,18711,0.00,2.47,0.00,0.000,6,0.000,0.048,2684,2090,1941
$GC,19033,1.21,235.8,32.5,8.1,922,19038,0.00,2.67,0.00,0.000,4,0.000,0.079,2684,3515,1941
$GC,19082,1.21,235.8,27.3,11.1,924,19086,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,2092,1941
$GC,19404,1.21,235.8,5.2,7.3,940,19408,0.00,2.58,0.00,0.000,4,0.000,0.072,2684,694,1941
$STATE,19441,end climb,SURFACE_DEPTH_REACHED
$STATE,19441,begin surface coast
$FINISH,0.2,1.027287
$STATE,19457,end surface coast,CONTROL_FINISHED_OK
$STATE,19457,begin surface
$SM_CCo,19481,53.83,0.732,2,0,1678,300.00
$SM_GC,-0.31,0.00,0.00,53.83,0.000,0.000,0.732,48,2897,1678,-10.87,-0.08,300.00
$IRIDIUM_FIX,6239.86,-1311.44,221207,131336
$TT8_MAMPS,0.028379
$HUMID,2044
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,19.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,676.1,71.0
$24V_AH,23.4,37.214
$10V_AH,10.1,18.528
$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,25.900,180.175,330.350,53.825,0.000,38.251,37.668,204.322,6.500,0.000,0.000,34.146,1732.767,15040.435,532.894,2127.642,534.431,33.387,1593.843,0.000,2071.495,0.000,42.490
$DEVICE_MAMPS,157.235,79.001,1283.958,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,678.676,668.417,571.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47417,942
$CFSIZE,260165632,246083584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,35,2,0
$GPS,221207,194937,6312.254,-1310.875,31,1.2,31,-12.2