version: 66.02
glider: 103
mission: 7
dive: 217
start: 12 23 107 16 49 35
data:
$ID,103
$MISSION,7
$DIVE,217
$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,-66486.133
$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
$GPS1,164238,6315.306,-1302.142,40,0.9,40,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.50
$_SM_ANGLEo,-51.9
$GPS2,164832,6315.293,-1302.118,16,0.9,34,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.175,0.133
$KALMAN_X,-271023.6,830.3,-382.8,34496.9,-3174.5
$KALMAN_Y,-180234.9,-249.8,-470.5,368541.9,710.5
$MHEAD_RNG_PITCHd_Wd,64.8,27564,-11.0,-6.000
$D_GRID,648
$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,19,begin dive
$GC,21,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-66.90,0.000,6,0.000,0.000,43,2899,3500
$GC,92,-1.10,-146.6,2.7,-7.7,3,114,12.00,2.62,0.00,0.000,4,0.160,0.063,2166,1492,3501
$GC,366,-1.10,-146.6,37.3,-10.7,15,370,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2900,3501
$GC,686,-1.10,-146.6,64.6,-6.5,31,690,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,1489,3501
$GC,797,-1.10,-146.6,71.4,-7.7,36,802,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2904,3501
$GC,1118,-1.10,-146.6,93.8,-6.6,52,1122,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1492,3501
$GC,1167,-1.10,-146.6,96.7,-5.5,54,1171,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2906,3501
$GC,1484,-1.10,-146.6,116.2,-6.9,69,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,1792,-1.10,-146.6,137.5,-6.5,84,1796,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1490,3501
$GC,1824,-1.10,-146.6,139.5,-6.8,85,1831,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2900,3501
$GC,2140,-1.10,-146.6,162.4,-7.7,101,2144,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1489,3501
$GC,2172,-1.10,-146.6,164.9,-7.4,102,2178,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2902,3501
$GC,2487,-1.10,-146.6,185.1,-6.0,118,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$GC,2797,-1.10,-146.6,203.0,-5.9,133,2801,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1491,3501
$GC,2840,-1.10,-146.6,205.8,-6.8,135,2844,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2899,3501
$GC,3162,-1.10,-146.6,226.1,-6.7,151,3166,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1490,3501
$GC,3200,-1.10,-146.6,228.9,-7.1,153,3205,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2902,3501
$GC,3526,-1.10,-146.6,249.8,-6.3,169,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$GC,3835,-1.10,-146.6,268.9,-6.1,184,3839,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1490,3501
$GC,3874,-1.10,-146.6,271.1,-6.3,186,3878,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2901,3501
$GC,4200,-1.10,-146.6,291.2,-6.3,202,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,4509,-1.10,-146.6,311.8,-6.9,217,4513,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1482,3501
$GC,4569,-1.10,-146.6,316.2,-7.6,220,4574,0.00,2.67,0.00,0.000,6,0.000,0.080,2166,2901,3501
$GC,4896,-1.10,-146.6,340.9,-7.4,236,4900,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1490,3501
$GC,4927,-1.10,-146.6,343.6,-8.0,237,4934,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2907,3501
$GC,5243,-1.10,-146.6,365.7,-6.6,253,5247,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3501
$GC,5269,-1.10,-146.6,367.5,-6.2,254,5274,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2899,3501
$GC,5590,-1.10,-146.6,388.7,-6.5,270,5594,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1491,3501
$GC,5628,-1.10,-146.6,391.2,-6.2,272,5633,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2900,3501
$GC,5954,-1.10,-146.6,412.7,-6.8,288,5958,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3501
$GC,6003,-1.10,-146.6,416.2,-7.0,290,6007,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2905,3501
$GC,6324,-1.10,-146.6,441.3,-8.1,306,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3501
$GC,6634,-1.10,-146.6,468.4,-9.0,321,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3501
$GC,6943,-1.10,-146.6,495.4,-8.3,336,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3501
$GC,7252,-1.10,-146.6,520.0,-7.5,351,7256,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1484,3501
$GC,7363,-1.10,-146.6,527.6,-6.4,356,7368,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2901,3501
$GC,7685,-1.10,-146.6,545.5,-5.2,372,7689,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1479,3501
$GC,7751,-1.10,-146.6,549.1,-5.1,375,7755,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2901,3501
$GC,8071,-1.10,-146.6,565.7,-5.6,391,8076,0.00,2.53,0.00,0.000,4,0.000,0.049,2166,1473,3501
$GC,8110,-1.10,-146.6,568.2,-6.8,393,8115,0.00,2.62,0.00,0.000,6,0.000,0.063,2166,2909,3501
$GC,8437,-1.10,-146.6,587.7,-5.4,409,8441,0.00,2.53,0.00,0.000,4,0.000,0.048,2166,1481,3501
$GC,8476,-1.10,-146.6,590.4,-7.5,411,8480,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2901,3501
$GC,8802,-1.10,-146.6,610.3,-5.8,427,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$STATE,8903,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8903,begin apogee
$GC,8910,-0.42,0.0,617.0,6.1,432,9038,0.75,0.00,125.15,1.196,6,0.077,0.000,2321,2091,2901
$STATE,9039,end apogee,CONTROL_FINISHED_OK
$STATE,9039,begin climb
$GC,9041,1.10,146.6,620.4,0.0,438,9172,1.50,2.75,121.38,1.177,4,0.045,0.061,2649,3526,2303
$GC,9324,1.10,146.6,608.1,6.5,451,9328,0.00,2.53,0.00,0.000,6,0.000,0.036,2649,2093,2302
$GC,9645,1.10,152.2,589.0,5.8,467,9653,0.00,0.00,6.28,0.948,6,0.000,0.000,2650,2093,2280
$GC,9954,1.10,152.2,571.6,6.0,482,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,2280
$GC,10263,1.13,174.1,554.8,5.4,497,10288,0.00,2.70,19.67,1.145,4,0.000,0.065,2650,3514,2191
$GC,10394,1.13,174.1,545.4,7.7,503,10399,0.00,2.50,0.00,0.000,6,0.000,0.037,2650,2101,2190
$GC,10721,1.13,174.1,523.4,6.3,519,10725,0.00,2.55,0.00,0.000,4,0.000,0.058,2650,697,2189
$GC,10760,1.13,174.1,520.6,7.3,521,10764,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2115,2189
$GC,11086,1.19,220.7,503.8,4.7,537,11130,0.00,2.62,39.10,1.164,4,0.000,0.056,2650,701,2001
$GC,11215,1.19,220.7,496.3,6.3,543,11219,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2098,2000
$GC,11541,1.21,239.2,479.0,5.5,559,11563,0.10,2.72,16.88,1.094,4,0.048,0.071,2684,3502,1925
$GC,11647,1.21,239.2,470.9,7.3,563,11653,0.00,2.45,0.00,0.000,6,0.000,0.040,2684,2103,1924
$GC,11962,1.21,239.2,447.1,7.9,579,11966,0.00,2.62,0.00,0.000,4,0.000,0.072,2684,3508,1924
$GC,12016,1.21,239.2,442.5,8.1,581,12023,0.00,2.47,0.00,0.000,6,0.000,0.042,2684,2096,1924
$GC,12332,1.21,239.2,415.1,8.8,597,12336,0.00,2.53,0.00,0.000,4,0.000,0.058,2684,692,1924
$GC,12370,1.21,239.2,411.4,9.3,599,12375,0.00,2.45,0.00,0.000,6,0.000,0.039,2684,2094,1924
$GC,12696,1.21,239.2,381.5,8.8,615,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2094,1925
$GC,13005,1.21,239.2,354.1,8.4,630,13009,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3509,1925
$GC,13053,1.21,239.2,349.8,9.2,632,13058,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2096,1925
$GC,13375,1.21,239.2,324.5,7.5,648,13376,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1925
$GC,13684,1.21,239.2,302.0,7.2,663,13688,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3511,1925
$GC,13722,1.21,239.2,298.9,8.0,665,13727,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2097,1926
$GC,14049,1.21,239.2,274.8,7.7,681,14050,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2098,1926
$GC,14358,1.21,239.2,250.9,7.5,696,14362,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3510,1926
$GC,14391,1.21,239.2,248.4,7.2,697,14397,0.00,2.53,0.00,0.000,6,0.000,0.048,2684,2096,1926
$GC,14706,1.21,239.2,225.7,7.3,713,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1926
$GC,15015,1.21,239.2,202.2,8.0,728,15020,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3511,1927
$GC,15054,1.21,239.2,198.7,8.9,730,15059,0.00,2.50,0.00,0.000,6,0.000,0.050,2684,2102,1927
$GC,15381,1.21,239.2,171.8,8.1,746,15385,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3515,1927
$GC,15413,1.21,239.2,169.1,8.3,747,15419,0.00,2.53,0.00,0.000,6,0.000,0.049,2684,2096,1927
$GC,15730,1.21,239.2,144.6,8.1,763,15731,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1928
$GC,16039,1.21,239.2,121.2,8.3,778,16043,0.00,2.67,0.00,0.000,4,0.000,0.078,2684,3509,1928
$GC,16078,1.21,239.2,117.9,8.2,780,16082,0.00,2.53,0.00,0.000,6,0.000,0.052,2684,2096,1928
$GC,16404,1.21,239.2,91.4,8.8,796,16405,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2096,1928
$GC,16713,1.21,239.2,66.3,9.7,811,16717,0.00,2.70,0.00,0.000,4,0.000,0.079,2684,3515,1929
$GC,16756,1.21,239.2,62.3,9.5,813,16761,0.00,2.55,0.00,0.000,6,0.000,0.056,2684,2095,1929
$GC,17083,1.21,239.2,35.3,9.5,829,17087,0.00,2.55,0.00,0.000,4,0.000,0.064,2684,691,1929
$GC,17127,1.21,239.2,30.9,10.0,831,17132,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2100,1929
$GC,17448,1.21,239.2,2.1,9.1,847,17452,0.00,2.10,0.00,0.000,3,0.000,0.086,2684,3212,1929
$STATE,17452,end climb,SURFACE_DEPTH_REACHED
$STATE,17452,begin surface coast
$FINISH,-1.1,1.027346
$STATE,17490,end surface coast,CONTROL_FINISHED_OK
$STATE,17490,begin surface
$SM_CCo,17510,50.83,0.736,1,0,1678,300.00
$SM_GC,-0.51,0.00,0.00,50.83,0.000,0.000,0.736,51,2901,1678,-10.86,0.03,300.00
$IRIDIUM_FIX,6249.28,-1304.32,231207,161650
$TT8_MAMPS,0.028379
$HUMID,2072
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.6,50.8
$24V_AH,23.4,37.951
$10V_AH,10.1,18.956
$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,25.950,170.675,328.450,50.825,0.000,38.748,47.461,143.812,5.250,0.000,0.000,34.033,1570.309,13448.584,538.436,1926.835,449.940,33.368,1494.703,0.000,1873.418,0.000,33.027
$DEVICE_MAMPS,159.536,89.739,1195.753,736.320,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,617.440,588.804,537.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44259,849
$CFSIZE,260165632,245780480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,231207,214337,6318.418,-1253.669,40,0.8,40,-12.1