version: 66.02
glider: 103
mission: 7
dive: 228
start: 12 25 107 22 42 1
data:
$ID,103
$MISSION,7
$DIVE,228
$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,-66656.875
$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,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
$GPS1,223508,6336.667,-1259.512,33,1.0,33,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.73
$_SM_ANGLEo,-43.7
$GPS2,224057,6336.719,-1259.358,13,1.2,13,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.137,0.170
$KALMAN_X,-274349.5,28.2,819.1,39882.0,-3853.7
$KALMAN_Y,-192260.5,-235.4,2297.1,417465.2,-7320.4
$MHEAD_RNG_PITCHd_Wd,51.2,15747,-11.1,-6.000
$D_GRID,643
$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,22,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-107.70,0.000,6,0.000,0.000,38,2890,3499
$GC,134,-1.10,-146.6,2.9,-4.3,5,155,12.18,1.77,0.00,0.000,4,0.164,0.087,2165,3791,3500
$GC,407,-1.10,-146.6,36.1,-8.2,17,411,0.00,1.62,0.00,0.000,6,0.000,0.058,2166,2904,3500
$GC,734,-1.10,-146.6,63.9,-8.6,33,737,0.00,1.75,0.00,0.000,4,0.000,0.097,2166,3792,3500
$GC,892,-1.10,-146.6,80.8,-8.8,40,895,0.00,1.60,0.00,0.000,6,0.000,0.055,2166,2897,3500
$GC,1223,-1.10,-146.6,98.9,-6.2,56,1228,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1486,3500
$GC,1286,-1.10,-146.6,102.5,-5.6,59,1290,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2908,3500
$GC,1612,-1.10,-146.6,118.2,-4.4,75,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3500
$GC,1921,-1.10,-146.6,138.2,-7.5,90,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3500
$GC,2230,-1.10,-146.6,160.9,-6.9,105,2233,0.00,1.67,0.00,0.000,4,0.000,0.094,2166,3785,3500
$GC,2279,-1.10,-146.6,165.4,-8.4,107,2284,0.00,1.58,0.00,0.000,6,0.000,0.050,2166,2903,3500
$GC,2606,-1.10,-146.6,190.6,-8.2,123,2610,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1479,3500
$GC,2660,-1.10,-146.6,195.7,-8.3,125,2667,0.00,2.72,0.00,0.000,6,0.000,0.079,2166,2899,3500
$GC,2976,-1.10,-146.6,218.6,-8.3,141,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3500
$GC,3285,-1.10,-146.6,240.7,-6.9,156,3290,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1482,3500
$GC,3330,-1.10,-146.6,243.7,-6.8,158,3334,0.00,2.72,0.00,0.000,6,0.000,0.080,2166,2908,3500
$GC,3650,-1.10,-146.6,266.1,-7.6,174,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3500
$GC,3959,-1.10,-146.6,289.6,-7.1,189,3963,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,1482,3500
$GC,4013,-1.10,-146.6,293.7,-7.8,191,4020,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2899,3500
$GC,4329,-1.10,-146.6,317.9,-7.7,207,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3500
$GC,4638,-1.10,-146.6,341.3,-7.3,222,4642,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1482,3500
$GC,4676,-1.10,-146.6,344.3,-7.5,224,4681,0.00,2.70,0.00,0.000,6,0.000,0.080,2166,2903,3500
$GC,5003,-1.10,-146.6,367.1,-6.6,240,5007,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1488,3500
$GC,5029,-1.10,-146.6,369.0,-6.6,241,5033,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2900,3500
$GC,5350,-1.10,-146.6,388.8,-6.3,257,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3500
$GC,5660,-1.10,-146.6,409.2,-6.4,272,5664,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1479,3500
$GC,5708,-1.10,-146.6,412.6,-6.4,274,5713,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2900,3500
$GC,6029,-1.10,-146.6,436.0,-7.6,290,6034,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1480,3500
$GC,6079,-1.10,-146.6,440.0,-8.0,292,6084,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2908,3500
$GC,6394,-1.10,-146.6,467.2,-9.0,307,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3500
$GC,6703,-1.10,-146.6,493.1,-8.4,322,6708,0.00,2.58,0.00,0.000,4,0.000,0.055,2166,1476,3500
$GC,6810,-1.10,-146.6,501.8,-8.1,327,6814,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3500
$GC,7135,-1.10,-146.6,526.3,-6.7,343,7139,0.00,2.53,0.00,0.000,4,0.000,0.052,2166,1479,3500
$GC,7246,-1.10,-146.6,533.8,-6.8,348,7250,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2900,3500
$GC,7566,-1.10,-146.6,555.1,-6.9,364,7570,0.00,2.53,0.00,0.000,4,0.000,0.050,2166,1476,3500
$GC,7609,-1.10,-146.6,558.4,-7.9,366,7613,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2900,3500
$GC,7936,-1.10,-146.6,580.6,-6.8,382,7940,0.00,2.50,0.00,0.000,4,0.000,0.048,2166,1477,3500
$GC,8020,-1.10,-146.6,586.4,-7.7,386,8025,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2904,3500
$GC,8347,-1.10,-146.6,608.4,-5.4,402,8351,0.00,2.53,0.00,0.000,4,0.000,0.046,2166,1471,3500
$GC,8431,-1.10,-146.6,614.2,-7.0,406,8435,0.00,2.60,0.00,0.000,6,0.000,0.062,2166,2900,3500
$STATE,8610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8610,begin apogee
$GC,8617,-0.42,0.0,626.8,7.2,415,8745,0.73,0.00,124.55,1.226,6,0.069,0.000,2320,2086,2901
$STATE,8745,end apogee,CONTROL_FINISHED_OK
$STATE,8746,begin climb
$GC,8748,1.10,146.6,631.8,0.0,421,8879,1.52,2.62,121.45,1.190,4,0.053,0.058,2650,697,2303
$GC,9134,1.10,146.6,614.1,7.4,438,9140,0.00,2.50,0.00,0.000,6,0.000,0.037,2649,2122,2302
$GC,9449,1.10,146.6,594.6,6.3,454,9453,0.00,2.58,0.00,0.000,4,0.000,0.056,2649,697,2301
$GC,9520,1.10,146.6,589.8,6.7,457,9524,0.00,2.45,0.00,0.000,6,0.000,0.036,2650,2105,2301
$GC,9842,1.11,150.7,571.2,5.9,473,9851,0.00,2.58,4.62,0.884,4,0.000,0.056,2650,700,2286
$GC,9906,1.11,150.7,566.9,7.1,476,9911,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2109,2286
$GC,10233,1.11,150.7,543.7,7.2,492,10238,0.00,2.55,0.00,0.000,4,0.000,0.056,2649,699,2285
$GC,10277,1.11,150.7,540.6,7.3,494,10281,0.00,2.42,0.00,0.000,6,0.000,0.036,2649,2096,2285
$GC,10604,1.30,308.8,528.5,1.6,510,10740,0.20,2.60,129.62,1.199,4,0.033,0.054,2709,697,1642
$GC,10809,1.30,308.8,516.7,8.2,519,10814,0.00,2.45,0.00,0.000,6,0.000,0.038,2709,2093,1641
$GC,11135,1.30,308.8,490.0,9.6,535,11139,0.00,2.62,0.00,0.000,4,0.000,0.070,2709,3507,1640
$GC,11174,1.30,308.8,486.3,9.6,537,11178,0.00,2.45,0.00,0.000,6,0.000,0.038,2709,2102,1639
$GC,11499,1.30,308.8,449.4,12.1,553,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2102,1639
$GC,11808,1.30,308.8,410.5,12.3,568,11813,0.00,2.65,0.00,0.000,4,0.000,0.072,2709,3514,1640
$GC,11835,1.30,308.8,407.0,13.3,569,11839,0.00,2.47,0.00,0.000,6,0.000,0.043,2709,2102,1639
$GC,12150,1.30,308.8,371.7,11.0,584,12155,0.00,2.53,0.00,0.000,4,0.000,0.058,2709,695,1640
$GC,12190,1.30,308.8,367.5,10.8,586,12194,0.00,2.47,0.00,0.000,6,0.000,0.042,2709,2101,1640
$GC,12516,1.30,308.8,332.8,10.6,602,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2101,1640
$GC,12825,1.30,308.8,300.8,10.0,617,12829,0.00,2.65,0.00,0.000,4,0.000,0.076,2709,3517,1641
$GC,12863,1.30,308.8,296.8,11.1,619,12868,0.00,2.50,0.00,0.000,6,0.000,0.047,2709,2101,1641
$GC,13190,1.30,308.8,263.0,11.0,635,13194,0.00,2.53,0.00,0.000,4,0.000,0.060,2709,696,1641
$GC,13239,1.30,308.8,257.1,10.9,637,13243,0.00,2.50,0.00,0.000,6,0.000,0.045,2709,2096,1642
$GC,13560,1.30,308.8,218.8,12.0,653,13564,0.00,2.65,0.00,0.000,4,0.000,0.078,2709,3511,1642
$GC,13598,1.30,308.8,214.1,12.5,655,13603,0.00,2.50,0.00,0.000,6,0.000,0.049,2709,2101,1642
$GC,13925,1.30,308.8,177.2,10.7,671,13927,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2101,1642
$GC,14234,1.30,308.8,144.0,10.3,686,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2101,1642
$GC,14544,1.30,308.8,111.2,8.5,701,14548,0.00,2.67,0.00,0.000,4,0.000,0.078,2709,3511,1643
$GC,14564,1.30,308.8,109.4,8.5,702,14569,0.00,2.50,0.00,0.000,6,0.000,0.049,2709,2101,1643
$GC,14892,1.30,308.8,77.1,11.9,718,14896,0.00,2.55,0.00,0.000,4,0.000,0.061,2709,691,1643
$GC,14931,1.30,308.8,72.1,12.7,720,14935,0.00,2.50,0.00,0.000,6,0.000,0.047,2709,2104,1643
$GC,15258,1.36,359.0,44.9,4.6,736,15301,0.00,0.00,40.95,0.804,6,0.000,0.000,2709,2104,1437
$GC,15610,1.36,359.0,5.4,11.6,753,15614,0.00,2.62,0.00,0.000,4,0.000,0.070,2709,696,1437
$GC,15632,1.36,359.0,3.4,8.8,754,15636,0.00,2.53,0.00,0.000,6,0.000,0.051,2709,2102,1437
$STATE,15661,end climb,SURFACE_DEPTH_REACHED
$STATE,15661,begin surface coast
$FINISH,-1.4,1.015996
$STATE,15683,end surface coast,CONTROL_FINISHED_OK
$STATE,15683,begin surface
$SM_CCo,15705,165.95,0.754,0,0,572,571.30
$SM_GC,-0.70,0.00,0.00,165.95,0.000,0.000,0.754,46,2900,572,-10.87,0.00,571.30
$IRIDIUM_FIX,6308.26,-1253.17,251207,212137
$TT8_MAMPS,0.029146
$HUMID,2025
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,550.9,84.6
$24V_AH,23.4,40.150
$10V_AH,10.1,19.882
$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,26.325,152.125,421.200,165.950,0.000,41.230,34.945,164.733,4.750,0.000,0.000,13.393,1424.985,11805.060,724.134,1814.653,464.255,33.370,1654.544,0.000,1783.122,0.000,31.501
$DEVICE_MAMPS,164.138,96.642,1226.433,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,545.381,526.315,491.065,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37989,757
$CFSIZE,260165632,245153792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$GPS,261207,030740,6339.067,-1255.473,30,1.7,32,-12.2