version: 66.02
glider: 103
mission: 7
dive: 215
start: 12 23 107 7 11 39
data:
$ID,103
$MISSION,7
$DIVE,215
$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,-66434.469
$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,32
$R_STBD_OVSHOOT,6
$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
$GPS1,070020,6311.858,-1307.589,27,1.6,39,-12.2
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.55
$_SM_ANGLEo,-50.4
$GPS2,071035,6311.925,-1307.352,12,5.0,31,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.141,0.167
$KALMAN_X,-268152.9,-52.8,269.0,27234.5,-6163.9
$KALMAN_Y,-184056.1,1738.7,520.5,363184.2,-6411.7
$MHEAD_RNG_PITCHd_Wd,52.4,8366,-11.1,-6.000
$D_GRID,705
$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,21,-1.10,-146.6,0.0,0.0,0,91,0.00,0.00,-68.20,0.000,6,0.000,0.000,42,2896,3500
$GC,94,-1.10,-146.6,2.9,-8.3,3,115,12.05,2.62,0.00,0.000,4,0.160,0.063,2164,1497,3501
$GC,367,-1.10,-146.6,45.8,-6.5,15,372,0.00,2.70,0.00,0.000,6,0.000,0.084,2163,2908,3501
$GC,688,-1.10,-146.6,72.7,-7.6,31,692,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1502,3502
$GC,849,-1.10,-146.6,85.2,-10.9,38,853,0.00,2.67,0.00,0.000,6,0.000,0.081,2164,2905,3502
$GC,1171,-1.10,-146.6,111.5,-7.2,54,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,1480,-1.10,-146.6,136.1,-8.0,69,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,1788,-1.10,-146.6,154.8,-7.2,84,1793,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1496,3502
$GC,1850,-1.10,-146.6,158.9,-7.2,87,1854,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2901,3502
$GC,2175,-1.10,-146.6,185.1,-8.5,103,2179,0.00,2.60,0.00,0.000,4,0.000,0.072,2164,1502,3502
$GC,2241,-1.10,-146.6,190.5,-8.2,106,2245,0.00,2.65,0.00,0.000,6,0.000,0.080,2164,2908,3502
$GC,2567,-1.10,-146.6,218.4,-7.7,122,2572,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1500,3502
$GC,2644,-1.10,-146.6,224.4,-7.8,125,2651,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2902,3502
$GC,2961,-1.10,-146.6,244.6,-6.3,141,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,3270,-1.10,-146.6,264.7,-6.8,156,3274,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1502,3502
$GC,3324,-1.10,-146.6,268.7,-7.1,158,3330,0.00,2.62,0.00,0.000,6,0.000,0.080,2164,2900,3502
$GC,3640,-1.10,-146.6,289.6,-6.9,174,3644,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1494,3502
$GC,3694,-1.10,-146.6,293.7,-7.0,176,3700,0.00,2.65,0.00,0.000,6,0.000,0.079,2164,2900,3502
$GC,4009,-1.10,-146.6,316.0,-7.1,192,4014,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1494,3502
$GC,4043,-1.10,-146.6,318.6,-7.5,193,4049,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2900,3502
$GC,4358,-1.10,-146.6,343.4,-8.3,209,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4667,-1.10,-146.6,368.1,-7.5,224,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4976,-1.10,-146.6,389.8,-6.6,239,4981,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1499,3502
$GC,5043,-1.10,-146.6,394.6,-7.6,242,5047,0.00,2.65,0.00,0.000,6,0.000,0.078,2163,2906,3502
$GC,5363,-1.10,-146.6,415.5,-6.3,258,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,5673,-1.10,-146.6,435.6,-6.3,273,5677,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1495,3502
$GC,5711,-1.10,-146.6,438.2,-6.5,275,5716,0.00,2.62,0.00,0.000,6,0.000,0.076,2164,2900,3502
$GC,6038,-1.10,-146.6,462.6,-8.0,291,6042,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1498,3502
$GC,6092,-1.10,-146.6,467.3,-8.6,293,6099,0.00,2.62,0.00,0.000,6,0.000,0.075,2164,2902,3502
$GC,6408,-1.10,-146.6,493.9,-8.8,309,6413,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1496,3502
$GC,6463,-1.10,-146.6,498.5,-8.0,311,6470,0.00,2.62,0.00,0.000,6,0.000,0.073,2164,2906,3502
$GC,6779,-1.10,-146.6,524.5,-8.6,327,6783,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1493,3502
$GC,6827,-1.10,-146.6,529.0,-9.0,329,6832,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2904,3502
$GC,7149,-1.10,-146.6,556.9,-9.6,345,7153,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1494,3502
$GC,7282,-1.10,-146.6,570.1,-10.2,351,7286,0.00,2.60,0.00,0.000,6,0.000,0.070,2164,2899,3502
$GC,7603,-1.10,-146.6,599.1,-8.4,367,7607,0.00,2.53,0.00,0.000,4,0.000,0.055,2164,1490,3502
$GC,7651,-1.10,-146.6,603.3,-8.8,369,7655,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,7973,-1.10,-146.6,628.5,-7.5,385,7977,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1485,3502
$GC,8038,-1.10,-146.6,633.3,-7.3,388,8042,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2899,3502
$STATE,8343,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8343,begin apogee
$GC,8350,-0.42,0.0,644.2,3.3,403,8479,0.75,0.00,126.03,1.193,6,0.080,0.000,2318,2101,2901
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8482,1.10,146.6,644.2,0.0,409,8614,1.52,2.62,122.60,1.166,4,0.054,0.056,2646,701,2303
$GC,8631,1.16,196.5,640.1,4.6,417,8680,0.00,2.50,43.65,1.124,6,0.000,0.035,2646,2122,2099
$GC,9004,1.19,217.7,617.0,5.4,435,9025,0.10,0.00,18.83,1.106,6,0.048,0.000,2684,2122,2013
$GC,9332,1.19,217.7,585.2,10.3,451,9336,0.00,2.60,0.00,0.000,4,0.000,0.057,2684,697,2012
$GC,9364,1.19,217.7,582.1,9.3,452,9370,0.00,2.45,0.00,0.000,6,0.000,0.038,2684,2095,2012
$GC,9679,1.19,217.7,558.7,7.7,468,9683,0.00,2.62,0.00,0.000,4,0.000,0.072,2684,3502,2011
$GC,9724,1.19,217.7,554.9,9.2,470,9728,0.00,2.47,0.00,0.000,6,0.000,0.040,2684,2098,2010
$GC,10044,1.19,217.7,529.0,8.8,486,10048,0.00,2.53,0.00,0.000,4,0.000,0.056,2684,698,2009
$GC,10240,1.19,217.7,506.5,11.2,495,10244,0.00,2.45,0.00,0.000,6,0.000,0.038,2684,2096,2008
$GC,10566,1.19,217.7,474.8,7.8,511,10570,0.00,2.55,0.00,0.000,4,0.000,0.057,2684,694,2008
$GC,10620,1.19,217.7,470.5,7.8,513,10627,0.00,2.47,0.00,0.000,6,0.000,0.040,2684,2103,2008
$GC,10935,1.19,217.7,446.3,8.8,529,10940,0.00,2.55,0.00,0.000,4,0.000,0.057,2684,698,2008
$GC,10985,1.19,217.7,441.5,9.5,531,10989,0.00,2.47,0.00,0.000,6,0.000,0.041,2684,2092,2008
$GC,11306,1.19,217.7,411.2,9.1,547,11310,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3515,2007
$GC,11337,1.19,217.7,408.1,9.2,548,11344,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2103,2008
$GC,11653,1.19,217.7,382.7,7.3,564,11657,0.00,2.55,0.00,0.000,4,0.000,0.058,2684,689,2008
$GC,11692,1.19,217.7,379.6,8.1,566,11696,0.00,2.47,0.00,0.000,6,0.000,0.042,2684,2098,2008
$GC,12017,1.19,217.7,357.3,6.9,582,12022,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3509,2008
$GC,12095,1.19,217.7,351.6,7.2,585,12102,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2102,2008
$GC,12410,1.19,217.7,327.9,7.8,601,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,2009
$GC,12720,1.19,217.7,301.5,9.0,616,12721,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,2009
$GC,13029,1.19,217.7,274.6,8.9,631,13034,0.00,2.67,0.00,0.000,4,0.000,0.080,2684,3514,2010
$GC,13072,1.19,217.7,270.4,9.5,633,13077,0.00,2.53,0.00,0.000,6,0.000,0.049,2684,2096,2009
$GC,13399,1.19,217.7,242.7,8.6,649,13400,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,2010
$GC,13708,1.19,217.7,216.4,8.8,664,13713,0.00,2.70,0.00,0.000,4,0.000,0.078,2684,3516,2010
$GC,13752,1.19,217.7,212.5,9.1,666,13756,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,2099,2010
$GC,14079,1.19,217.7,185.0,7.9,682,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,2010
$GC,14388,1.19,217.7,159.9,8.5,697,14393,0.00,2.67,0.00,0.000,4,0.000,0.080,2684,3511,2011
$GC,14431,1.19,217.7,156.1,8.4,699,14435,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,2098,2011
$GC,14758,1.19,217.7,133.9,6.3,715,14762,0.00,2.55,0.00,0.000,4,0.000,0.064,2684,691,2011
$GC,14814,1.19,221.3,130.2,5.9,717,14823,0.00,2.47,4.65,0.665,6,0.000,0.045,2684,2102,1998
$GC,15151,1.19,221.3,108.0,6.9,734,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1998
$GC,15461,1.19,221.3,82.3,8.7,749,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1997
$GC,15770,1.22,243.3,51.4,5.4,764,15791,0.00,0.00,18.70,0.779,6,0.000,0.000,2684,2103,1909
$GC,16101,1.32,321.9,35.7,3.8,780,16166,0.00,0.00,63.20,0.786,6,0.000,0.000,2684,2105,1587
$STATE,16471,end climb,SURFACE_DEPTH_REACHED
$STATE,16471,begin surface coast
$FINISH,0.2,1.027326
$STATE,16493,end surface coast,CONTROL_FINISHED_OK
$STATE,16493,begin surface
$SM_CCo,16575,0.00,0.000,0,0,1584,323.06
$SM_GC,-0.41,11.85,0.00,0.00,0.040,0.000,0.000,51,2898,1584,-10.79,-0.06,323.06
$IRIDIUM_FIX,6249.28,-1310.06,231207,111123
$TT8_MAMPS,0.028379
$HUMID,2059
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.9,103.0
$24V_AH,23.4,37.645
$10V_AH,10.1,18.788
$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,26.275,152.900,397.650,0.000,0.000,78.976,69.175,273.192,5.000,0.000,0.000,32.227,1465.319,12709.647,529.238,1848.542,645.348,33.367,1454.625,0.000,1801.972,0.000,31.548
$DEVICE_MAMPS,160.303,92.040,1193.452,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,582.734,552.837,511.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41025,799
$CFSIZE,260165632,245907456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,231207,114938,6314.891,-1304.088,72,1.2,72,-12.2