version: 66.02
glider: 103
mission: 7
dive: 218
start: 12 23 107 22 11 13
data:
$ID,103
$MISSION,7
$DIVE,218
$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,571.30371
$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,-66499.242
$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,11
$R_STBD_OVSHOOT,14
$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
$GPS1,214337,6318.418,-1253.669,40,0.8,40,-12.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-60.7
$GPS2,221009,6318.508,-1253.026,12,1.1,12,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6330.000,-1257.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.023,0.217
$KALMAN_X,-269569.2,1674.2,1884.3,37919.2,-5642.4
$KALMAN_Y,-178297.4,-374.8,909.0,371307.1,372.7
$MHEAD_RNG_PITCHd_Wd,18.1,21535,-11.1,-6.000
$D_GRID,582
$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,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-65.72,0.000,6,0.000,0.000,50,2897,3500
$GC,93,-1.10,-146.6,2.7,-7.6,3,114,11.98,2.65,0.00,0.000,4,0.160,0.061,2164,1477,3502
$GC,304,-1.10,-146.6,31.5,-8.7,12,308,0.00,2.72,0.00,0.000,6,0.000,0.081,2165,2900,3503
$GC,625,-1.10,-146.6,54.2,-6.3,28,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,935,-1.10,-146.6,75.2,-6.8,43,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,1244,-1.10,-146.6,97.1,-7.7,58,1249,0.00,2.65,0.00,0.000,4,0.000,0.074,2165,1481,3502
$GC,1306,-1.10,-146.6,101.6,-7.4,61,1311,0.00,2.72,0.00,0.000,6,0.000,0.081,2165,2908,3502
$GC,1633,-1.10,-146.6,123.9,-7.3,77,1637,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1480,3502
$GC,1676,-1.10,-146.6,127.2,-7.2,79,1680,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2899,3502
$GC,2003,-1.10,-146.6,149.7,-6.6,95,2011,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1482,3503
$GC,2032,-1.10,-146.6,152.0,-7.7,96,2037,0.00,2.72,0.00,0.000,6,0.000,0.079,2165,2921,3503
$GC,2359,-1.10,-146.6,173.9,-6.5,112,2363,0.00,2.70,0.00,0.000,4,0.000,0.073,2165,1475,3502
$GC,2391,-1.10,-146.6,176.3,-7.4,113,2397,0.00,2.72,0.00,0.000,6,0.000,0.081,2165,2907,3503
$GC,2708,-1.10,-146.6,200.7,-7.8,129,2713,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1481,3503
$GC,2748,-1.10,-146.6,203.9,-7.9,131,2753,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2899,3503
$GC,3073,-1.10,-146.6,228.7,-7.8,147,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,3383,-1.10,-146.6,251.7,-7.6,162,3387,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1474,3503
$GC,3409,-1.10,-146.6,253.7,-7.5,163,3414,0.00,2.70,0.00,0.000,6,0.000,0.080,2165,2900,3503
$GC,3725,-1.10,-146.6,276.1,-6.7,178,3729,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1480,3503
$GC,3779,-1.10,-146.6,280.0,-7.1,180,3787,0.00,2.72,0.00,0.000,6,0.000,0.081,2165,2902,3503
$GC,4096,-1.10,-146.6,300.8,-6.4,196,4101,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1480,3503
$GC,4136,-1.10,-146.6,303.6,-6.5,198,4140,0.00,2.72,0.00,0.000,6,0.000,0.081,2165,2907,3503
$GC,4461,-1.10,-146.6,323.7,-6.1,214,4465,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1478,3503
$GC,4493,-1.10,-146.6,325.6,-5.5,215,4500,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2908,3503
$GC,4809,-1.10,-146.6,345.0,-6.6,231,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,5119,-1.10,-146.6,366.6,-7.1,246,5123,0.00,2.65,0.00,0.000,4,0.000,0.069,2165,1475,3503
$GC,5167,-1.10,-146.6,370.4,-7.8,248,5172,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2902,3503
$GC,5489,-1.10,-146.6,392.5,-6.8,264,5493,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1477,3503
$GC,5529,-1.10,-146.6,395.0,-6.5,266,5534,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2904,3503
$GC,5855,-1.10,-146.6,418.0,-7.0,282,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,6164,-1.10,-146.6,441.0,-7.4,297,6168,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1478,3503
$GC,6257,-1.10,-146.6,447.9,-7.4,301,6262,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2908,3502
$GC,6579,-1.10,-146.6,468.2,-6.0,317,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,6888,-1.10,-146.6,486.9,-5.9,332,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3503
$GC,7197,-1.10,-146.6,505.5,-5.9,347,7202,0.00,2.58,0.00,0.000,4,0.000,0.054,2165,1469,3502
$GC,7269,-1.10,-146.6,510.1,-6.8,350,7274,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2902,3503
$GC,7591,-1.10,-146.6,529.8,-6.4,366,7595,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1473,3502
$GC,7634,-1.10,-146.6,532.8,-7.2,368,7638,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2899,3502
$GC,7961,-1.10,-146.6,554.0,-6.0,384,7965,0.00,2.55,0.00,0.000,4,0.000,0.053,2165,1467,3502
$GC,8022,-1.10,-146.6,558.1,-6.2,387,8026,0.00,2.65,0.00,0.000,6,0.000,0.066,2165,2905,3502
$STATE,8078,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8078,begin apogee
$GC,8084,-0.42,0.0,561.9,6.8,390,8212,0.75,0.00,124.70,1.159,6,0.082,0.000,2319,2082,2901
$STATE,8213,end apogee,CONTROL_FINISHED_OK
$STATE,8213,begin climb
$GC,8215,1.10,146.6,567.8,0.0,396,8346,1.52,2.62,121.25,1.141,4,0.055,0.056,2647,695,2303
$GC,8600,1.18,209.8,552.6,4.3,413,8660,0.00,2.47,53.75,1.119,6,0.000,0.036,2647,2116,2045
$GC,8977,1.18,209.8,530.5,6.0,432,8981,0.00,2.58,0.00,0.000,4,0.000,0.069,2647,3499,2043
$GC,9020,1.18,209.8,527.7,6.2,434,9024,0.00,2.47,0.00,0.000,6,0.000,0.039,2647,2088,2043
$GC,9346,1.18,209.8,506.4,7.4,450,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2088,2042
$GC,9656,1.18,209.8,484.7,6.2,465,9660,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3501,2040
$GC,9744,1.19,215.8,479.4,5.8,469,9755,0.00,2.45,5.72,0.927,6,0.000,0.039,2647,2102,2021
$GC,10064,1.22,240.5,462.8,5.3,484,10094,0.12,2.72,21.62,1.104,4,0.048,0.074,2685,3499,1920
$GC,10184,1.22,240.5,453.1,8.9,489,10189,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2101,1919
$GC,10499,1.22,240.5,423.5,9.7,504,10503,0.00,2.53,0.00,0.000,4,0.000,0.059,2685,697,1918
$GC,10582,1.22,240.5,415.0,10.6,508,10587,0.00,2.45,0.00,0.000,6,0.000,0.039,2686,2093,1918
$GC,10908,1.22,240.5,386.1,7.8,524,10913,0.00,2.67,0.00,0.000,4,0.000,0.081,2686,3508,1918
$GC,10980,1.22,240.5,380.5,7.6,527,10984,0.00,2.53,0.00,0.000,6,0.000,0.046,2686,2105,1918
$GC,11301,1.22,246.0,360.4,5.8,543,11312,0.00,2.70,6.10,0.881,4,0.000,0.077,2685,3508,1898
$GC,11351,1.22,246.0,357.2,7.2,545,11355,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2097,1898
$GC,11666,1.22,246.0,330.4,9.5,560,11670,0.00,2.70,0.00,0.000,4,0.000,0.077,2685,3515,1898
$GC,11704,1.22,246.0,326.6,9.7,562,11709,0.00,2.53,0.00,0.000,6,0.000,0.049,2685,2099,1898
$GC,12030,1.22,246.0,297.7,8.0,578,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1898
$GC,12339,1.22,246.0,274.0,7.4,593,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1898
$GC,12649,1.22,246.0,250.8,7.4,608,12653,0.00,2.67,0.00,0.000,4,0.000,0.079,2685,3510,1899
$GC,12698,1.22,246.0,246.9,7.9,610,12702,0.00,2.53,0.00,0.000,6,0.000,0.051,2685,2094,1899
$GC,13013,1.22,246.0,220.2,8.5,625,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2094,1900
$GC,13322,1.22,246.0,192.6,8.4,640,13326,0.00,2.70,0.00,0.000,4,0.000,0.078,2685,3513,1900
$GC,13365,1.22,246.0,188.5,8.8,642,13369,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2096,1900
$GC,13692,1.22,246.0,160.2,9.1,658,13693,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2096,1900
$GC,14001,1.22,246.0,135.3,7.4,673,14006,0.00,2.67,0.00,0.000,4,0.000,0.077,2686,3509,1900
$GC,14045,1.22,246.0,131.2,9.3,675,14049,0.00,2.50,0.00,0.000,6,0.000,0.052,2686,2100,1900
$GC,14372,1.22,246.0,104.2,8.4,691,14376,0.00,2.58,0.00,0.000,4,0.000,0.066,2686,691,1901
$GC,14404,1.22,246.0,101.0,9.0,692,14411,0.00,2.50,0.00,0.000,6,0.000,0.046,2686,2093,1901
$GC,14721,1.22,246.0,76.5,6.9,708,14723,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2093,1901
$GC,15030,1.29,294.9,58.9,4.6,723,15076,0.00,2.75,40.85,0.802,4,0.000,0.081,2685,3509,1697
$GC,15120,1.29,294.9,50.8,10.4,727,15125,0.00,2.58,0.00,0.000,6,0.000,0.058,2685,2103,1697
$GC,15436,1.29,294.9,18.5,9.3,742,15437,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2102,1696
$STATE,15599,end climb,SURFACE_DEPTH_REACHED
$STATE,15599,begin surface coast
$FINISH,0.2,1.027350
$STATE,15621,end surface coast,CONTROL_FINISHED_OK
$STATE,15621,begin surface
$SM_CCo,15642,218.95,0.738,2,0,572,571.30
$SM_GC,-0.79,0.00,0.00,218.95,0.000,0.000,0.738,46,2901,572,-10.87,0.03,571.30
$IRIDIUM_FIX,6254.00,-1256.09,241207,020244
$TT8_MAMPS,0.029146
$HUMID,2016
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.9,95.8
$24V_AH,23.4,38.179
$10V_AH,10.1,19.046
$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,26.125,155.250,374.000,218.950,0.000,192.550,188.289,829.649,4.250,0.000,0.000,12.476,1403.059,12155.490,716.134,1744.656,1458.752,33.371,1614.193,0.000,1714.973,0.000,26.685
$DEVICE_MAMPS,159.536,81.302,1158.937,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.686,520.442,504.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38031,751
$CFSIZE,260165632,245694464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,2,0
$GPS,241207,023702,6319.723,-1252.104,42,1.4,42,-12.1