version: 66.02
glider: 103
mission: 7
dive: 213
start: 12 22 107 19 56 25
data:
$ID,103
$MISSION,7
$DIVE,213
$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,-66387.234
$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,12
$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
$GPS1,194937,6312.254,-1310.875,31,1.2,31,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-56.1
$GPS2,195521,6312.215,-1310.791,16,1.3,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,0.041
$KALMAN_X,-263506.8,1398.5,763.2,17630.5,-9598.4
$KALMAN_Y,-177269.0,-2360.1,854.4,360597.8,1548.3
$MHEAD_RNG_PITCHd_Wd,91.3,10369,-11.1,-6.000
$D_GRID,730
$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,19,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-64.32,0.000,6,0.000,0.000,48,2900,3501
$GC,92,-1.10,-146.6,4.4,-7.3,4,108,12.02,1.75,0.00,0.000,4,0.160,0.090,2165,3787,3502
$GC,360,-1.10,-146.6,36.6,-6.4,15,364,0.00,1.60,0.00,0.000,6,0.000,0.052,2165,2900,3503
$GC,687,-1.10,-146.6,61.2,-8.7,31,690,0.00,1.70,0.00,0.000,4,0.000,0.088,2165,3783,3503
$GC,845,-1.10,-146.6,74.9,-7.8,38,848,0.00,1.58,0.00,0.000,6,0.000,0.051,2165,2891,3503
$GC,1177,-1.10,-146.6,99.6,-7.6,54,1181,0.00,2.60,0.00,0.000,4,0.000,0.073,2165,1485,3502
$GC,1253,-1.10,-146.6,104.7,-7.2,57,1261,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2895,3503
$GC,1569,-1.10,-146.6,126.3,-6.7,73,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3503
$GC,1878,-1.10,-146.6,146.8,-6.8,88,1883,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1481,3503
$GC,1944,-1.10,-146.6,151.7,-7.5,91,1949,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2906,3503
$GC,2271,-1.10,-146.6,176.9,-7.7,107,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3502
$GC,2580,-1.10,-146.6,199.7,-7.3,122,2585,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1487,3503
$GC,2647,-1.10,-146.6,204.7,-7.4,125,2651,0.00,2.70,0.00,0.000,6,0.000,0.079,2165,2907,3502
$GC,2973,-1.10,-146.6,226.8,-6.9,141,2977,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1489,3503
$GC,3005,-1.10,-146.6,229.2,-7.1,142,3011,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2905,3503
$GC,3320,-1.10,-146.6,251.3,-7.2,158,3325,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1489,3503
$GC,3354,-1.10,-146.6,253.7,-6.8,159,3360,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2900,3503
$GC,3670,-1.10,-146.6,276.1,-7.2,175,3674,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1489,3503
$GC,3702,-1.10,-146.6,278.5,-7.5,176,3708,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2909,3503
$GC,4020,-1.10,-146.6,301.3,-7.5,192,4024,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1487,3503
$GC,4091,-1.10,-146.6,306.9,-7.8,195,4095,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2900,3503
$GC,4413,-1.10,-146.6,330.0,-7.5,211,4417,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1486,3503
$GC,4452,-1.10,-146.6,333.0,-7.8,213,4456,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2901,3503
$GC,4777,-1.10,-146.6,357.7,-7.4,229,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,5086,-1.10,-146.6,380.8,-7.5,244,5091,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1487,3503
$GC,5171,-1.10,-146.6,387.1,-7.5,248,5176,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2908,3502
$GC,5496,-1.10,-146.6,409.4,-6.6,264,5501,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1486,3502
$GC,5558,-1.10,-146.6,413.4,-6.3,267,5562,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2900,3503
$GC,5884,-1.10,-146.6,435.1,-6.7,283,5888,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1480,3503
$GC,5961,-1.10,-146.6,440.4,-6.3,286,5967,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2909,3503
$GC,6277,-1.10,-146.6,459.8,-6.4,302,6281,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1480,3502
$GC,6342,-1.10,-146.6,464.3,-7.6,305,6347,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2908,3503
$GC,6663,-1.10,-146.6,485.8,-6.7,321,6668,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1483,3503
$GC,6707,-1.10,-146.6,488.9,-7.2,323,6712,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2902,3503
$GC,7034,-1.10,-146.6,510.1,-7.0,339,7038,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1481,3503
$GC,7110,-1.10,-146.6,515.7,-7.7,342,7117,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2899,3503
$GC,7426,-1.10,-146.6,538.8,-8.0,358,7431,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1477,3503
$GC,7520,-1.10,-146.6,547.0,-9.1,362,7525,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2896,3503
$GC,7841,-1.10,-146.6,572.5,-8.1,378,7846,0.00,2.50,0.00,0.000,4,0.000,0.050,2165,1477,3503
$GC,7904,-1.10,-146.6,577.6,-8.5,381,7908,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2901,3503
$GC,8229,-1.10,-146.6,603.1,-7.6,397,8234,0.00,2.53,0.00,0.000,4,0.000,0.049,2165,1475,3503
$GC,8314,-1.10,-146.6,609.3,-7.9,401,8318,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2900,3503
$GC,8639,-1.10,-146.6,630.2,-6.4,417,8643,0.00,2.53,0.00,0.000,4,0.000,0.048,2165,1472,3503
$GC,8689,-1.10,-146.6,633.1,-5.0,419,8693,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2900,3503
$GC,9004,-1.10,-146.6,652.2,-6.3,434,9008,0.00,1.67,0.00,0.000,4,0.000,0.089,2165,3777,3502
$GC,9041,-1.10,-146.6,655.3,-7.6,435,9049,0.00,1.52,0.00,0.000,6,0.000,0.038,2165,2897,3502
$GC,9358,-1.10,-146.6,675.7,-6.8,451,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2891,3502
$STATE,9438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9438,begin apogee
$GC,9444,-0.42,0.0,680.6,5.8,455,9573,0.75,0.00,125.65,1.254,6,0.080,0.000,2319,2092,2901
$STATE,9574,end apogee,CONTROL_FINISHED_OK
$STATE,9574,begin climb
$GC,9576,1.10,146.6,684.7,0.0,461,9707,1.50,2.70,122.90,1.223,4,0.047,0.061,2649,3521,2303
$GC,9774,1.14,173.4,682.1,5.3,470,9804,0.00,2.50,24.35,1.152,6,0.000,0.037,2649,2095,2194
$GC,10131,1.14,173.4,661.8,6.4,488,10135,0.00,2.62,0.00,0.000,4,0.000,0.061,2649,3519,2192
$GC,10252,1.14,173.4,652.2,7.8,493,10259,0.00,2.50,0.00,0.000,6,0.000,0.038,2649,2107,2191
$GC,10568,1.17,202.6,634.7,5.2,509,10596,0.00,0.00,25.77,1.186,6,0.000,0.000,2649,2107,2074
$GC,10897,1.17,202.6,614.0,6.3,525,10902,0.00,2.62,0.00,0.000,4,0.000,0.064,2649,3521,2073
$GC,10930,1.17,202.6,611.7,6.8,526,10936,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2097,2072
$GC,11245,1.17,202.6,590.9,6.6,542,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2097,2072
$GC,11555,1.17,204.4,571.7,6.0,557,11559,0.00,2.53,0.00,0.000,4,0.000,0.058,2649,701,2071
$GC,11598,1.17,204.4,568.8,7.1,559,11602,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2111,2071
$GC,11924,1.17,204.4,548.1,6.2,575,11929,0.00,2.55,0.00,0.000,4,0.000,0.055,2649,701,2070
$GC,12037,1.17,204.4,541.2,6.2,580,12041,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2103,2070
$GC,12358,1.17,204.4,523.0,6.1,596,12362,0.00,2.53,0.00,0.000,4,0.000,0.054,2649,698,2070
$GC,12406,1.17,204.4,519.7,6.9,598,12411,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2105,2070
$GC,12727,1.17,204.4,497.9,7.1,614,12732,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3512,2070
$GC,12767,1.17,204.4,495.2,7.1,616,12771,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2102,2070
$GC,13092,1.18,213.1,475.3,5.8,632,13107,0.00,2.67,9.55,1.029,4,0.000,0.069,2649,3512,2032
$GC,13152,1.18,213.1,471.5,6.6,634,13157,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2100,2032
$GC,13478,1.18,213.1,449.3,7.4,650,13483,0.00,2.53,0.00,0.000,4,0.000,0.056,2649,695,2032
$GC,13550,1.18,213.1,444.1,7.7,653,13554,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2102,2032
$GC,13871,1.18,213.1,422.1,6.8,669,13873,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2102,2032
$GC,14180,1.18,213.1,399.2,7.2,684,14185,0.00,2.62,0.00,0.000,4,0.000,0.074,2649,3505,2032
$GC,14229,1.18,213.1,395.3,7.4,686,14234,0.00,2.45,0.00,0.000,6,0.000,0.043,2649,2105,2033
$GC,14551,1.18,213.1,374.4,6.6,702,14555,0.00,2.62,0.00,0.000,4,0.000,0.074,2649,3505,2033
$GC,14589,1.18,213.1,371.8,6.8,704,14593,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2100,2033
$GC,14914,1.18,213.1,350.6,6.2,720,14919,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3509,2034
$GC,14970,1.18,213.1,347.0,6.6,722,14976,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2098,2034
$GC,15285,1.18,213.1,326.4,6.8,738,15286,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2098,2035
$GC,15594,1.18,213.1,303.9,7.1,753,15599,0.00,2.65,0.00,0.000,4,0.000,0.076,2649,3505,2035
$GC,15671,1.18,213.1,298.6,6.3,756,15678,0.00,2.47,0.00,0.000,6,0.000,0.045,2649,2102,2035
$GC,15987,1.19,221.1,279.5,5.8,772,15997,0.00,0.00,9.05,0.871,6,0.000,0.000,2649,2102,1999
$GC,16296,1.19,221.1,259.3,6.8,787,16300,0.00,2.65,0.00,0.000,4,0.000,0.075,2649,3507,1999
$GC,16350,1.19,221.1,255.1,7.8,789,16356,0.00,2.50,0.00,0.000,6,0.000,0.047,2649,2099,1999
$GC,16665,1.19,221.1,232.3,7.1,805,16670,0.00,2.65,0.00,0.000,4,0.000,0.075,2649,3505,1999
$GC,16709,1.19,221.1,229.2,6.9,807,16713,0.00,2.50,0.00,0.000,6,0.000,0.047,2649,2095,1999
$GC,17036,1.21,233.9,209.7,5.6,823,17051,0.12,0.00,12.10,0.856,6,0.045,0.000,2683,2094,1947
$GC,17345,1.21,233.9,188.2,6.7,838,17349,0.00,2.65,0.00,0.000,4,0.000,0.076,2683,3507,1947
$GC,17410,1.21,233.9,183.1,8.3,841,17415,0.00,2.53,0.00,0.000,6,0.000,0.051,2683,2096,1947
$GC,17737,1.21,233.9,158.1,8.1,857,17742,0.00,2.67,0.00,0.000,4,0.000,0.077,2683,3507,1947
$GC,17781,1.21,233.9,154.7,7.6,859,17785,0.00,2.53,0.00,0.000,6,0.000,0.052,2683,2095,1947
$GC,18108,1.21,233.9,129.2,8.5,875,18109,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2095,1947
$GC,18418,1.21,233.9,101.7,8.5,890,18422,0.00,2.55,0.00,0.000,4,0.000,0.064,2683,692,1947
$GC,18449,1.21,233.9,98.7,8.9,891,18456,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,2093,1947
$GC,18767,1.21,233.9,73.3,8.0,907,18771,0.00,2.67,0.00,0.000,4,0.000,0.077,2683,3519,1947
$GC,18799,1.21,233.9,70.6,7.9,908,18805,0.00,2.55,0.00,0.000,6,0.000,0.050,2683,2078,1947
$GC,19114,1.21,233.9,45.1,8.5,924,19119,0.00,2.72,0.00,0.000,4,0.000,0.077,2683,3516,1947
$GC,19146,1.21,233.9,42.3,8.4,925,19153,0.00,2.55,0.00,0.000,6,0.000,0.052,2683,2102,1947
$GC,19464,1.21,233.9,18.8,7.7,941,19468,0.00,2.65,0.00,0.000,4,0.000,0.074,2683,3512,1948
$GC,19495,1.21,233.9,15.7,10.1,942,19503,0.00,2.55,0.00,0.000,6,0.000,0.054,2683,2102,1948
$STATE,19603,end climb,SURFACE_DEPTH_REACHED
$STATE,19603,begin surface coast
$FINISH,0.1,1.027326
$STATE,19625,end surface coast,CONTROL_FINISHED_OK
$STATE,19625,begin surface
$SM_CCo,19647,53.80,0.742,1,0,1678,300.00
$SM_GC,-0.50,0.00,0.00,53.80,0.000,0.000,0.742,45,2897,1678,-10.88,-0.08,300.00
$IRIDIUM_FIX,6244.56,-1307.89,221207,181852
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,626.2,63.2
$24V_AH,23.4,37.352
$10V_AH,10.1,18.618
$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,25.875,214.325,329.375,53.800,0.000,38.531,34.704,160.451,6.000,0.000,0.000,16.036,1783.726,14986.358,586.413,2224.071,481.282,33.365,1702.919,0.000,2179.450,0.000,36.311
$DEVICE_MAMPS,160.303,89.739,1254.045,741.689,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.343,666.781,564.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47326,949
$CFSIZE,260165632,246005760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,49,1,0
$GPS,231207,012632,6311.547,-1307.348,66,1.1,66,-12.2