version: 66.02
glider: 103
mission: 7
dive: 188
start: 12 17 107 12 42 10
data:
$ID,103
$MISSION,7
$DIVE,188
$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,-2
$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,-65825
$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
$GPS1,123055,6257.520,-1258.567,24,1.1,42,-12.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-52.3
$GPS2,124103,6257.583,-1258.478,13,2.0,13,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.147,0.180
$KALMAN_X,-212752.2,-879.4,-713.7,-18482.8,3136.0
$KALMAN_Y,-83361.5,-764.8,-244.5,239209.8,588.0
$MHEAD_RNG_PITCHd_Wd,332.9,32282,-10.0,-6.000
$D_GRID,682
$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,18,begin dive
$GC,20,-1.02,-146.6,0.0,0.0,0,83,0.00,0.00,-61.33,0.000,3,0.000,0.000,43,2900,3501
$GC,85,-1.02,-146.6,4.3,-9.7,3,107,12.12,2.75,0.00,0.000,4,0.159,0.081,2182,1483,3503
$GC,302,-1.02,-146.6,27.2,-6.9,12,310,0.00,2.72,0.00,0.000,6,0.000,0.078,2182,2901,3503
$GC,620,-1.02,-146.6,45.8,-5.7,28,625,0.00,2.65,0.00,0.000,4,0.000,0.072,2182,1486,3503
$GC,660,-1.02,-146.6,48.4,-6.3,30,664,0.00,2.67,0.00,0.000,6,0.000,0.073,2182,2904,3503
$GC,985,-1.02,-146.6,68.5,-6.4,46,990,0.00,2.65,0.00,0.000,4,0.000,0.071,2182,1490,3503
$GC,1018,-1.02,-146.6,71.0,-7.7,47,1025,0.00,2.67,0.00,0.000,6,0.000,0.072,2182,2901,3503
$GC,1335,-1.02,-146.6,94.9,-7.5,63,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2901,3503
$GC,1643,-1.02,-146.6,122.4,-9.5,78,1648,0.00,2.62,0.00,0.000,4,0.000,0.069,2182,1486,3504
$GC,1720,-1.02,-146.6,129.7,-9.1,81,1728,0.00,2.67,0.00,0.000,6,0.000,0.074,2182,2896,3504
$GC,2036,-1.02,-146.6,153.4,-6.6,97,2040,0.00,2.62,0.00,0.000,4,0.000,0.070,2182,1486,3504
$GC,2068,-1.02,-146.6,155.4,-6.6,98,2074,0.00,2.65,0.00,0.000,6,0.000,0.074,2182,2900,3504
$GC,2383,-1.02,-146.6,180.3,-8.8,114,2387,0.00,2.62,0.00,0.000,4,0.000,0.071,2182,1490,3503
$GC,2437,-1.02,-146.6,185.5,-9.8,116,2444,0.00,2.62,0.00,0.000,6,0.000,0.073,2182,2899,3504
$GC,2753,-1.02,-146.6,213.4,-7.2,132,2757,0.00,2.62,0.00,0.000,4,0.000,0.071,2182,1490,3504
$GC,2785,-1.02,-146.6,215.6,-6.5,133,2791,0.00,2.62,0.00,0.000,6,0.000,0.074,2182,2900,3504
$GC,3100,-1.02,-146.6,238.2,-7.4,149,3104,0.00,2.62,0.00,0.000,4,0.000,0.069,2182,1486,3504
$GC,3139,-1.02,-146.6,241.2,-8.0,151,3144,0.00,2.65,0.00,0.000,6,0.000,0.071,2182,2903,3504
$GC,3464,-1.02,-146.6,263.4,-6.5,167,3469,0.00,2.62,0.00,0.000,4,0.000,0.070,2182,1489,3504
$GC,3503,-1.02,-146.6,265.9,-6.6,169,3508,0.00,2.62,0.00,0.000,6,0.000,0.071,2182,2900,3504
$GC,3829,-1.02,-146.6,287.0,-6.8,185,3833,0.00,2.62,0.00,0.000,4,0.000,0.068,2182,1481,3504
$GC,3867,-1.02,-146.6,289.8,-7.6,187,3872,0.00,2.65,0.00,0.000,6,0.000,0.072,2182,2899,3504
$GC,4193,-1.02,-146.6,314.2,-7.5,203,4197,0.00,2.60,0.00,0.000,4,0.000,0.069,2182,1487,3504
$GC,4236,-1.02,-146.6,317.6,-7.7,205,4240,0.00,2.65,0.00,0.000,6,0.000,0.073,2182,2903,3504
$GC,4563,-1.02,-146.6,340.8,-7.2,221,4568,0.00,2.62,0.00,0.000,4,0.000,0.067,2181,1482,3504
$GC,4597,-1.02,-146.6,343.2,-7.2,222,4603,0.00,2.65,0.00,0.000,6,0.000,0.072,2182,2900,3503
$GC,4912,-1.02,-146.6,365.0,-6.6,238,4916,0.00,2.60,0.00,0.000,4,0.000,0.067,2182,1484,3504
$GC,4944,-1.02,-146.6,367.2,-6.6,239,4950,0.00,2.65,0.00,0.000,6,0.000,0.072,2182,2906,3503
$GC,5259,-1.02,-146.6,387.3,-6.3,255,5263,0.00,2.60,0.00,0.000,4,0.000,0.064,2182,1484,3504
$GC,5320,-1.02,-146.6,391.4,-7.2,258,5325,0.00,2.65,0.00,0.000,6,0.000,0.072,2182,2905,3504
$GC,5645,-1.02,-146.6,412.0,-6.7,274,5650,0.00,2.60,0.00,0.000,4,0.000,0.064,2182,1483,3503
$GC,5672,-1.02,-146.6,413.8,-6.8,275,5676,0.00,2.62,0.00,0.000,6,0.000,0.070,2182,2900,3503
$GC,5994,-1.02,-146.6,436.3,-7.3,291,5998,0.00,2.58,0.00,0.000,4,0.000,0.062,2182,1482,3503
$GC,6077,-1.02,-146.6,442.8,-7.8,295,6081,0.00,2.62,0.00,0.000,6,0.000,0.068,2182,2900,3503
$GC,6403,-1.02,-146.6,466.2,-6.8,311,6407,0.00,2.55,0.00,0.000,4,0.000,0.058,2182,1484,3503
$GC,6491,-1.02,-146.6,472.2,-7.2,315,6495,0.00,2.60,0.00,0.000,6,0.000,0.067,2182,2900,3504
$GC,6818,-1.02,-146.6,491.9,-6.3,331,6822,0.00,2.53,0.00,0.000,4,0.000,0.055,2182,1482,3503
$GC,6879,-1.02,-146.6,496.0,-7.0,334,6883,0.00,2.60,0.00,0.000,6,0.000,0.064,2182,2900,3503
$GC,7204,-1.02,-146.6,518.2,-6.7,350,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2901,3503
$GC,7513,-1.02,-146.6,539.0,-6.8,365,7515,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2901,3503
$GC,7823,-1.02,-146.6,559.2,-6.3,380,7827,0.00,2.50,0.00,0.000,4,0.000,0.048,2182,1475,3503
$GC,7890,-1.02,-146.6,563.8,-7.0,383,7894,0.00,2.60,0.00,0.000,6,0.000,0.060,2182,2909,3503
$GC,8215,-1.02,-146.6,584.9,-6.4,399,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2909,3503
$GC,8525,-1.02,-146.6,603.8,-6.0,414,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2909,3503
$GC,8834,-1.02,-146.6,622.8,-6.3,429,8839,0.00,2.53,0.00,0.000,4,0.000,0.044,2182,1469,3503
$GC,8918,-1.02,-146.6,628.5,-6.9,433,8923,0.00,2.58,0.00,0.000,6,0.000,0.057,2182,2899,3503
$GC,9245,-1.02,-146.6,649.6,-5.9,449,9249,0.00,2.50,0.00,0.000,4,0.000,0.043,2182,1472,3502
$GC,9306,-1.02,-146.6,653.2,-6.0,452,9310,0.00,2.58,0.00,0.000,6,0.000,0.056,2182,2899,3502
$STATE,9486,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9486,begin apogee
$GC,9492,-0.42,0.0,665.1,6.7,461,9621,0.65,0.00,125.78,1.236,6,0.063,0.000,2322,2084,2901
$STATE,9622,end apogee,CONTROL_FINISHED_OK
$STATE,9622,begin climb
$GC,9624,1.02,146.6,669.7,0.0,467,9755,1.42,2.60,122.43,1.193,4,0.051,0.055,2630,704,2303
$GC,9895,1.09,205.3,662.4,4.6,479,9950,0.00,2.47,50.17,1.172,6,0.000,0.038,2630,2114,2064
$GC,10272,1.09,205.3,638.5,7.1,498,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2114,2063
$GC,10581,1.10,216.0,617.8,5.7,513,10596,0.00,2.67,10.23,1.095,4,0.000,0.076,2630,3502,2020
$GC,10635,1.10,216.0,614.5,6.9,514,10641,0.00,2.47,0.00,0.000,6,0.000,0.041,2630,2105,2019
$GC,10950,1.11,222.9,594.7,5.8,530,10964,0.00,2.72,7.15,1.028,4,0.000,0.074,2630,3501,1992
$GC,11095,1.11,222.9,584.7,6.8,536,11099,0.00,2.50,0.00,0.000,6,0.000,0.041,2630,2093,1992
$GC,11410,1.11,222.9,564.2,6.6,551,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2093,1991
$GC,11719,1.11,222.9,544.2,6.0,566,11723,0.00,2.65,0.00,0.000,4,0.000,0.073,2630,3505,1990
$GC,11813,1.11,222.9,537.9,6.4,570,11817,0.00,2.45,0.00,0.000,6,0.000,0.040,2630,2102,1990
$GC,12134,1.12,232.7,518.5,5.8,586,12146,0.10,0.00,9.57,1.061,6,0.051,0.000,2667,2100,1952
$GC,12444,1.12,232.7,497.0,6.8,601,12448,0.00,2.53,0.00,0.000,4,0.000,0.054,2667,691,1952
$GC,12509,1.12,232.7,492.1,6.7,604,12513,0.00,2.47,0.00,0.000,6,0.000,0.037,2668,2096,1952
$GC,12836,1.12,232.7,469.7,6.8,620,12840,0.00,2.60,0.00,0.000,4,0.000,0.067,2668,3505,1952
$GC,12901,1.12,232.7,464.8,7.2,623,12905,0.00,2.45,0.00,0.000,6,0.000,0.038,2668,2098,1952
$GC,13228,1.12,232.7,441.4,7.4,639,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2098,1952
$GC,13537,1.12,232.7,417.0,7.9,654,13541,0.00,2.62,0.00,0.000,4,0.000,0.069,2668,3514,1953
$GC,13580,1.12,232.7,413.2,8.5,656,13584,0.00,2.47,0.00,0.000,6,0.000,0.040,2668,2099,1953
$GC,13906,1.12,232.7,386.7,8.0,672,13911,0.00,2.62,0.00,0.000,4,0.000,0.071,2667,3505,1954
$GC,13950,1.12,232.7,383.0,8.6,674,13954,0.00,2.47,0.00,0.000,6,0.000,0.041,2667,2108,1954
$GC,14277,1.12,232.7,358.7,7.1,690,14281,0.00,2.55,0.00,0.000,4,0.000,0.058,2667,691,1954
$GC,14315,1.12,232.7,355.9,7.2,692,14319,0.00,2.47,0.00,0.000,6,0.000,0.041,2667,2103,1954
$GC,14640,1.12,232.7,332.4,7.1,708,14645,0.00,2.60,0.00,0.000,4,0.000,0.072,2667,3508,1955
$GC,14718,1.12,232.7,326.6,7.0,711,14724,0.00,2.47,0.00,0.000,6,0.000,0.042,2668,2093,1954
$GC,15033,1.12,232.7,304.6,6.7,727,15034,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2093,1955
$GC,15342,1.12,232.7,282.3,7.4,742,15346,0.00,2.65,0.00,0.000,4,0.000,0.071,2667,3513,1955
$GC,15403,1.12,232.7,277.6,8.0,745,15407,0.00,2.47,0.00,0.000,6,0.000,0.042,2667,2100,1955
$GC,15729,1.12,232.7,251.4,8.4,761,15733,0.00,2.62,0.00,0.000,4,0.000,0.071,2668,3509,1955
$GC,15773,1.12,232.7,247.4,9.2,763,15777,0.00,2.50,0.00,0.000,6,0.000,0.042,2668,2093,1955
$GC,16093,1.12,232.7,221.6,7.9,779,16097,0.00,2.65,0.00,0.000,4,0.000,0.071,2668,3509,1956
$GC,16158,1.12,232.7,216.4,7.8,782,16162,0.00,2.47,0.00,0.000,6,0.000,0.043,2668,2097,1955
$GC,16485,1.12,232.7,191.7,7.7,798,16486,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2098,1956
$GC,16794,1.12,232.7,168.1,7.9,813,16798,0.00,2.62,0.00,0.000,4,0.000,0.073,2667,3508,1956
$GC,16848,1.12,232.7,163.5,8.0,815,16855,0.00,2.50,0.00,0.000,6,0.000,0.044,2668,2103,1957
$GC,17164,1.12,232.7,137.5,7.8,831,17169,0.00,2.62,0.00,0.000,4,0.000,0.071,2667,3508,1957
$GC,17203,1.12,232.7,134.3,8.0,833,17208,0.00,2.47,0.00,0.000,6,0.000,0.044,2667,2094,1957
$GC,17529,1.12,232.7,110.5,7.4,849,17530,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2094,1957
$GC,17839,1.12,232.7,84.3,9.2,864,17843,0.00,2.65,0.00,0.000,4,0.000,0.073,2668,3508,1957
$GC,17954,1.12,232.7,73.7,9.0,869,17959,0.00,2.47,0.00,0.000,6,0.000,0.044,2668,2098,1957
$GC,18276,1.14,245.1,50.3,5.7,885,18291,0.00,0.00,12.50,0.780,6,0.000,0.000,2668,2098,1901
$GC,18587,1.14,245.1,23.6,10.6,900,18588,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2097,1901
$STATE,18851,end climb,SURFACE_DEPTH_REACHED
$STATE,18851,begin surface coast
$FINISH,1.2,1.027277
$STATE,18873,end surface coast,CONTROL_FINISHED_OK
$STATE,18873,begin surface
$SM_CCo,18895,46.00,0.720,2,0,1678,300.00
$SM_GC,-0.14,0.00,0.00,46.00,0.000,0.000,0.720,49,2909,1678,-10.86,0.25,300.00
$IRIDIUM_FIX,6230.49,-1256.84,171207,161651
$TT8_MAMPS,0.029146
$HUMID,2054
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.1,74.4
$24V_AH,23.4,33.647
$10V_AH,10.1,16.500
$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,26.025,194.550,337.825,46.000,0.000,77.658,70.711,288.522,5.500,0.000,0.000,13.357,1709.512,14538.914,556.361,2105.089,665.837,33.363,1617.906,0.000,2063.811,0.000,34.707
$DEVICE_MAMPS,158.769,80.535,1235.637,720.213,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.258,633.026,564.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47349,914
$CFSIZE,260165632,247545856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,2,0
$GPS,171207,175907,6258.921,-1302.725,31,1.5,31,-12.0