version: 66.02
glider: 103
mission: 7
dive: 216
start: 12 23 107 12 11 26
data:
$ID,103
$MISSION,7
$DIVE,216
$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,-66451.469
$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,19
$R_STBD_OVSHOOT,8
$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
$GPS1,114938,6314.891,-1304.088,72,1.2,72,-12.2
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-47.6
$GPS2,121021,6314.889,-1303.955,16,1.6,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,0.091
$KALMAN_X,-268782.1,-67.1,896.8,30228.1,-4771.6
$KALMAN_Y,-181399.8,778.5,749.0,366676.5,-3833.5
$MHEAD_RNG_PITCHd_Wd,77.7,28569,-11.1,-6.000
$D_GRID,659
$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,22,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-62.05,0.000,2,0.000,0.000,50,2899,3268
$GC,89,-1.10,-146.6,3.7,-10.7,3,111,11.90,1.73,-4.12,0.000,4,0.157,0.114,2164,3787,3500
$GC,364,-1.10,-146.6,23.6,-0.6,15,367,0.00,1.60,0.00,0.000,6,0.000,0.053,2164,2904,3501
$GC,690,-1.10,-146.6,56.4,-7.7,31,694,0.00,1.73,0.00,0.000,4,0.000,0.091,2164,3793,3501
$GC,947,-1.10,-146.6,84.1,-11.7,42,951,0.00,1.60,0.00,0.000,6,0.000,0.051,2164,2900,3501
$GC,1269,-1.10,-146.6,111.9,-8.2,58,1273,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1481,3501
$GC,1301,-1.10,-146.6,114.9,-9.0,59,1308,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2908,3501
$GC,1618,-1.10,-146.6,138.8,-8.5,75,1622,0.00,2.65,0.00,0.000,4,0.000,0.070,2164,1482,3501
$GC,1649,-1.10,-146.6,141.6,-8.5,76,1656,0.00,2.72,0.00,0.000,6,0.000,0.081,2164,2900,3501
$GC,1965,-1.10,-146.6,168.7,-8.7,92,1969,0.00,2.65,0.00,0.000,4,0.000,0.071,2164,1479,3501
$GC,2008,-1.10,-146.6,172.8,-9.6,94,2012,0.00,2.70,0.00,0.000,6,0.000,0.078,2164,2904,3501
$GC,2335,-1.10,-146.6,203.3,-8.8,110,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3501
$GC,2644,-1.10,-146.6,227.6,-7.5,125,2649,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1480,3501
$GC,2710,-1.10,-146.6,232.9,-8.2,128,2714,0.00,2.70,0.00,0.000,6,0.000,0.081,2164,2900,3501
$GC,3036,-1.10,-146.6,259.8,-8.3,144,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,3346,-1.10,-146.6,285.7,-8.6,159,3350,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1486,3501
$GC,3400,-1.10,-146.6,290.8,-9.1,161,3407,0.00,2.70,0.00,0.000,6,0.000,0.081,2164,2908,3501
$GC,3716,-1.10,-146.6,319.4,-9.1,177,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3501
$GC,4025,-1.10,-146.6,347.9,-9.1,192,4029,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1486,3501
$GC,4086,-1.10,-146.6,353.5,-9.3,195,4090,0.00,2.67,0.00,0.000,6,0.000,0.079,2164,2900,3501
$GC,4412,-1.10,-146.6,379.6,-7.8,211,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,4721,-1.10,-146.6,402.8,-7.3,226,4726,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1480,3501
$GC,4787,-1.10,-146.6,407.5,-6.7,229,4792,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2901,3501
$GC,5114,-1.10,-146.6,428.5,-6.4,245,5118,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1476,3501
$GC,5146,-1.10,-146.6,430.6,-6.4,246,5152,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2900,3501
$GC,5462,-1.10,-146.6,450.0,-6.2,262,5466,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1483,3501
$GC,5501,-1.10,-146.6,452.1,-5.7,264,5505,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2906,3501
$GC,5827,-1.10,-146.6,469.7,-5.3,280,5831,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1481,3501
$GC,5870,-1.10,-146.6,472.1,-5.8,282,5874,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2900,3501
$GC,6191,-1.10,-146.6,491.7,-7.5,298,6195,0.00,2.53,0.00,0.000,4,0.000,0.055,2164,1481,3501
$GC,6245,-1.10,-146.6,496.6,-9.0,300,6252,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2901,3501
$GC,6561,-1.10,-146.6,524.0,-8.4,316,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3501
$GC,6870,-1.10,-146.6,546.7,-7.6,331,6874,0.00,2.50,0.00,0.000,4,0.000,0.048,2164,1476,3501
$GC,6987,-1.10,-146.6,555.3,-6.9,336,6991,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2901,3500
$GC,7308,-1.10,-146.6,578.8,-8.0,352,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,7617,-1.10,-146.6,602.5,-7.2,367,7621,0.00,2.50,0.00,0.000,4,0.000,0.045,2164,1470,3500
$GC,7724,-1.10,-146.6,611.0,-8.2,372,7728,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2900,3500
$GC,8049,-1.10,-146.6,638.4,-9.2,388,8053,0.00,2.50,0.00,0.000,4,0.000,0.044,2164,1475,3500
$GC,8111,-1.10,-146.6,643.4,-7.3,391,8115,0.00,2.58,0.00,0.000,6,0.000,0.056,2164,2901,3500
$STATE,8187,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8187,begin apogee
$GC,8193,-0.42,0.0,649.5,7.8,395,8323,0.75,0.00,125.85,1.229,6,0.075,0.000,2320,2077,2901
$STATE,8323,end apogee,CONTROL_FINISHED_OK
$STATE,8323,begin climb
$GC,8325,1.10,146.6,656.8,0.0,401,8456,1.52,2.75,122.45,1.195,4,0.053,0.061,2650,3516,2303
$GC,8708,1.15,184.5,644.3,4.9,418,8748,0.00,2.47,33.30,1.155,6,0.000,0.037,2649,2098,2148
$GC,9066,1.17,198.5,625.8,5.6,436,9088,0.00,2.70,13.25,1.145,4,0.000,0.061,2649,3512,2090
$GC,9115,1.17,204.5,622.6,5.8,438,9127,0.00,2.47,6.82,0.992,6,0.000,0.037,2649,2100,2067
$GC,9435,1.17,204.5,601.4,7.2,453,9440,0.00,2.53,0.00,0.000,4,0.000,0.057,2649,701,2067
$GC,9513,1.17,204.5,595.8,6.9,456,9519,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2117,2066
$GC,9828,1.17,204.5,570.9,8.7,472,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2117,2065
$GC,10138,1.20,222.6,548.0,5.5,487,10160,0.00,2.60,16.08,1.135,4,0.000,0.064,2649,3501,1993
$GC,10232,1.27,280.2,543.7,4.4,491,10290,0.17,2.45,49.33,1.168,6,0.038,0.035,2698,2093,1758
$GC,10599,1.27,280.2,513.9,9.7,509,10604,0.00,2.62,0.00,0.000,4,0.000,0.067,2698,3501,1756
$GC,10632,1.27,280.2,510.4,10.0,510,10638,0.00,2.47,0.00,0.000,6,0.000,0.036,2698,2098,1756
$GC,10948,1.27,280.2,480.0,9.5,526,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,1756
$GC,11257,1.27,280.2,451.4,9.1,541,11261,0.00,2.62,0.00,0.000,4,0.000,0.069,2698,3500,1756
$GC,11306,1.27,280.2,446.8,9.0,543,11310,0.00,2.45,0.00,0.000,6,0.000,0.039,2698,2103,1755
$GC,11627,1.27,280.2,418.3,9.3,559,11631,0.00,2.53,0.00,0.000,4,0.000,0.057,2698,697,1755
$GC,11721,1.27,280.2,408.8,9.6,563,11725,0.00,2.42,0.00,0.000,6,0.000,0.039,2698,2090,1755
$GC,12041,1.27,280.2,378.8,9.2,579,12046,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3515,1755
$GC,12090,1.27,280.2,373.8,10.2,581,12095,0.00,2.53,0.00,0.000,6,0.000,0.045,2698,2101,1755
$GC,12412,1.27,280.2,341.6,10.2,597,12416,0.00,2.65,0.00,0.000,4,0.000,0.076,2698,3510,1756
$GC,12444,1.27,280.2,338.1,10.4,598,12450,0.00,2.50,0.00,0.000,6,0.000,0.045,2698,2093,1755
$GC,12759,1.27,280.2,307.3,9.9,614,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2092,1756
$GC,13069,1.27,280.2,278.0,9.3,629,13073,0.00,2.70,0.00,0.000,4,0.000,0.077,2698,3514,1756
$GC,13095,1.27,280.2,275.3,10.1,630,13099,0.00,2.53,0.00,0.000,6,0.000,0.048,2698,2093,1756
$GC,13416,1.27,280.2,246.9,8.4,646,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1757
$GC,13726,1.27,280.2,216.3,10.5,661,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1758
$GC,14035,1.27,280.2,182.2,10.4,676,14039,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3513,1758
$GC,14079,1.27,280.2,177.7,9.4,678,14084,0.00,2.53,0.00,0.000,6,0.000,0.049,2698,2093,1758
$GC,14400,1.27,280.2,149.0,8.4,694,14401,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1758
$GC,14709,1.27,280.2,121.0,7.0,709,14711,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1758
$GC,15019,1.27,280.2,94.9,7.3,724,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1759
$GC,15330,1.27,280.2,70.3,6.3,739,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1759
$GC,15638,1.27,280.2,46.3,7.5,754,15639,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1759
$GC,15946,1.27,280.2,18.8,8.4,769,15951,0.00,2.58,0.00,0.000,4,0.000,0.071,2698,697,1760
$GC,15990,1.27,280.2,13.1,12.8,771,15994,0.00,2.45,0.00,0.000,6,0.000,0.042,2698,2099,1760
$STATE,16130,end climb,SURFACE_DEPTH_REACHED
$STATE,16130,begin surface coast
$FINISH,-1.2,1.027337
$STATE,16152,end surface coast,CONTROL_FINISHED_OK
$STATE,16152,begin surface
$SM_CCo,16174,18.33,0.690,1,0,1678,300.00
$SM_GC,-0.66,0.00,0.00,18.33,0.000,0.000,0.690,43,2899,1678,-10.89,-0.03,300.00
$IRIDIUM_FIX,6249.28,-1305.41,231207,161644
$TT8_MAMPS,0.029146
$HUMID,2080
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.5,82.5
$24V_AH,23.4,37.817
$10V_AH,10.1,18.874
$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,26.000,144.275,367.075,18.325,0.000,192.805,280.904,406.339,5.250,0.000,0.000,16.374,1450.808,12550.383,514.952,1829.135,1110.869,33.366,1435.669,0.000,1793.637,0.000,33.114
$DEVICE_MAMPS,157.235,113.516,1228.734,690.300,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.652,540.030,492.918,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41095,779
$CFSIZE,260165632,245841920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
$GPS,231207,164238,6315.306,-1302.142,40,0.9,40,-12.1