version: 66.02
glider: 103
mission: 7
dive: 192
start: 12 18 107 10 55 26
data:
$ID,103
$MISSION,7
$DIVE,192
$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,-65882.125
$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,23
$R_STBD_OVSHOOT,18
$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
$GPS1,104426,6302.480,-1303.922,40,1.5,40,-12.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-49.1
$GPS2,105420,6302.475,-1303.879,11,1.7,11,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.097,0.195
$KALMAN_X,-221380.7,523.7,-116.6,-16664.9,-2931.3
$KALMAN_Y,-93550.4,289.2,-492.7,257616.8,-4644.4
$MHEAD_RNG_PITCHd_Wd,38.5,23420,-11.1,-6.000
$D_GRID,1001
$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,-1.11,-145.2,0.0,0.0,0,86,0.00,0.00,-60.97,0.000,6,0.000,0.000,52,2896,3496
$GC,88,-1.11,-145.2,5.6,-13.8,3,109,11.93,2.62,0.00,0.000,4,0.158,0.061,2166,1492,3498
$GC,361,-1.11,-145.2,38.7,-9.2,15,366,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2893,3498
$GC,688,-1.11,-145.2,63.7,-8.0,31,693,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1494,3498
$GC,743,-1.11,-145.2,70.0,-12.2,33,750,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2898,3498
$GC,1060,-1.11,-145.2,100.3,-9.9,49,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3498
$GC,1369,-1.11,-145.2,127.1,-8.8,64,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3498
$GC,1677,-1.11,-145.2,152.1,-8.8,79,1681,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1486,3498
$GC,1754,-1.11,-145.2,160.2,-10.4,82,1760,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3498
$GC,2069,-1.11,-145.2,191.5,-9.1,98,2074,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1492,3498
$GC,2096,-1.11,-145.2,194.0,-8.8,99,2100,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2906,3498
$GC,2417,-1.11,-145.2,219.2,-7.2,115,2421,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1489,3499
$GC,2444,-1.11,-145.2,220.9,-6.8,116,2448,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2901,3499
$GC,2759,-1.11,-145.2,243.8,-7.4,131,2763,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1492,3499
$GC,2791,-1.11,-145.2,246.2,-7.4,132,2797,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2908,3499
$GC,3107,-1.11,-146.3,267.4,-6.0,148,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3499
$GC,3416,-1.11,-146.6,284.4,-5.5,163,3420,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1490,3499
$GC,3479,-1.11,-146.6,287.9,-5.8,166,3483,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2899,3499
$GC,3804,-1.11,-146.6,306.5,-6.1,182,3809,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1485,3499
$GC,3837,-1.11,-146.6,308.7,-6.9,183,3844,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3499
$GC,4152,-1.11,-146.6,329.5,-6.9,199,4156,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1492,3499
$GC,4185,-1.11,-146.6,331.9,-7.3,200,4192,0.00,2.62,0.00,0.000,6,0.000,0.074,2166,2900,3499
$GC,4500,-1.11,-146.6,352.5,-6.1,216,4505,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1492,3499
$GC,4533,-1.11,-146.6,354.7,-6.4,217,4539,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2907,3499
$GC,4848,-1.11,-146.6,374.5,-6.4,233,4853,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3499
$GC,4888,-1.11,-146.6,376.9,-7.0,235,4892,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3499
$GC,5213,-1.11,-146.6,397.0,-6.5,251,5217,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1484,3498
$GC,5245,-1.11,-146.6,399.2,-6.8,252,5252,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2903,3498
$GC,5560,-1.11,-146.6,418.7,-6.1,268,5565,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1490,3499
$GC,5604,-1.11,-146.6,421.5,-6.5,270,5608,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2907,3499
$GC,5931,-1.11,-146.6,442.2,-6.4,286,5936,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1483,3499
$GC,5963,-1.11,-146.6,444.3,-6.4,287,5970,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2906,3499
$GC,6279,-1.11,-146.6,464.7,-6.5,303,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3499
$GC,6589,-1.11,-146.6,484.9,-6.5,318,6593,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1483,3499
$GC,6682,-1.11,-146.6,491.2,-6.8,322,6686,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2900,3499
$GC,7003,-1.11,-146.6,512.7,-6.9,338,7007,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1478,3498
$GC,7042,-1.11,-146.6,515.4,-6.9,340,7046,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2903,3498
$GC,7367,-1.11,-146.6,538.9,-7.3,356,7372,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1486,3499
$GC,7394,-1.11,-146.6,541.0,-7.8,357,7399,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2903,3499
$GC,7710,-1.11,-146.6,563.1,-7.1,372,7714,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1479,3498
$GC,7759,-1.11,-146.6,566.3,-5.8,374,7763,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2900,3498
$GC,8074,-1.11,-146.6,585.5,-5.8,389,8078,0.00,2.53,0.00,0.000,4,0.000,0.053,2166,1484,3498
$GC,8141,-1.11,-146.6,589.9,-6.5,392,8146,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2900,3498
$GC,8461,-1.11,-146.6,609.6,-6.1,408,8465,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1480,3498
$GC,8554,-1.11,-146.6,615.3,-6.9,412,8559,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2901,3498
$GC,8876,-1.11,-146.6,635.0,-6.0,428,8881,0.00,2.53,0.00,0.000,4,0.000,0.050,2166,1480,3498
$GC,8931,-1.11,-146.6,638.0,-5.7,430,8938,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2903,3497
$GC,9247,-1.11,-146.6,641.8,0.1,446,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3497
$STATE,9389,end dive,NO_VERTICAL_VELOCITY
$STATE,9389,begin apogee
$GC,9396,-0.42,0.0,641.6,0.0,453,9523,0.73,0.00,124.25,1.226,6,0.069,0.000,2321,2084,2901
$STATE,9524,end apogee,CONTROL_FINISHED_OK
$STATE,9524,begin climb
$GC,9526,1.11,146.6,641.3,0.0,459,9657,1.52,2.75,121.97,1.182,4,0.052,0.067,2649,3505,2303
$GC,9881,1.14,168.9,634.7,5.4,475,9906,0.00,2.45,20.02,1.128,6,0.000,0.035,2649,2101,2212
$GC,10222,1.14,168.9,615.4,6.1,492,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2100,2211
$GC,10531,1.14,168.9,593.4,7.0,507,10535,0.00,2.53,0.00,0.000,4,0.000,0.057,2649,703,2210
$GC,10630,1.14,168.9,586.4,7.3,511,10637,0.00,2.45,0.00,0.000,6,0.000,0.038,2649,2110,2210
$GC,10946,1.16,191.0,567.8,5.4,527,10971,0.00,2.62,19.40,1.176,4,0.000,0.065,2649,3504,2122
$GC,11044,1.20,222.8,562.8,5.1,531,11079,0.10,2.45,27.48,1.175,6,0.051,0.037,2681,2100,1992
$GC,11401,1.20,222.8,540.6,6.4,549,11405,0.00,2.53,0.00,0.000,4,0.000,0.054,2681,695,1991
$GC,11511,1.20,222.8,531.7,7.5,554,11516,0.00,2.45,0.00,0.000,6,0.000,0.036,2681,2104,1990
$GC,11838,1.20,222.8,505.6,8.0,570,11842,0.00,2.60,0.00,0.000,4,0.000,0.069,2681,3507,1990
$GC,11903,1.20,222.8,499.9,8.2,573,11908,0.00,2.45,0.00,0.000,6,0.000,0.039,2681,2099,1990
$GC,12230,1.20,222.8,471.1,8.8,589,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2099,1990
$GC,12539,1.20,222.8,443.2,9.0,604,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2099,1990
$GC,12849,1.20,222.8,413.9,9.7,619,12853,0.00,2.62,0.00,0.000,4,0.000,0.073,2681,3507,1990
$GC,12903,1.20,222.8,408.4,10.2,621,12909,0.00,2.45,0.00,0.000,6,0.000,0.041,2681,2101,1990
$GC,13218,1.20,222.8,378.4,9.5,637,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2100,1990
$GC,13528,1.20,222.8,350.6,8.7,652,13532,0.00,2.65,0.00,0.000,4,0.000,0.076,2681,3511,1991
$GC,13593,1.20,222.8,344.7,8.8,655,13598,0.00,2.47,0.00,0.000,6,0.000,0.044,2681,2106,1991
$GC,13920,1.20,222.8,317.0,8.7,671,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2106,1992
$GC,14230,1.20,222.8,289.0,9.2,686,14234,0.00,2.65,0.00,0.000,4,0.000,0.075,2681,3509,1992
$GC,14273,1.20,222.8,284.9,9.0,688,14277,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2096,1992
$GC,14599,1.20,222.8,257.9,7.8,704,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2096,1992
$GC,14909,1.20,222.8,235.6,7.0,719,14913,0.00,2.65,0.00,0.000,4,0.000,0.074,2681,3507,1992
$GC,14963,1.20,222.8,231.5,7.7,721,14970,0.00,2.50,0.00,0.000,6,0.000,0.047,2681,2095,1992
$GC,15278,1.20,222.8,210.1,6.9,737,15283,0.00,2.65,0.00,0.000,4,0.000,0.075,2681,3507,1993
$GC,15318,1.20,222.8,207.2,7.2,739,15322,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2093,1993
$GC,15643,1.20,222.8,184.9,6.6,755,15647,0.00,2.67,0.00,0.000,4,0.000,0.074,2681,3512,1993
$GC,15674,1.20,222.8,182.5,7.5,756,15681,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2092,1993
$GC,15990,1.20,222.8,158.0,8.6,772,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2092,1994
$GC,16299,1.20,222.8,126.9,10.0,787,16304,0.00,2.67,0.00,0.000,4,0.000,0.076,2681,3507,1994
$GC,16338,1.20,222.8,123.2,9.3,789,16343,0.00,2.47,0.00,0.000,6,0.000,0.046,2681,2098,1994
$GC,16665,1.24,250.6,98.2,5.2,805,16691,0.00,0.00,23.95,0.815,6,0.000,0.000,2681,2098,1879
$GC,16995,1.24,250.6,76.5,8.3,821,17000,0.00,2.67,0.00,0.000,4,0.000,0.077,2681,3505,1878
$GC,17027,1.24,250.6,73.9,8.2,822,17034,0.00,2.53,0.00,0.000,6,0.000,0.047,2681,2094,1878
$GC,17344,1.24,250.6,47.4,9.4,838,17348,0.00,2.53,0.00,0.000,4,0.000,0.061,2681,699,1878
$GC,17370,1.24,250.6,45.5,6.7,839,17374,0.00,2.47,0.00,0.000,6,0.000,0.041,2681,2093,1878
$GC,17692,1.29,291.5,26.3,4.9,855,17732,0.00,0.00,33.62,0.785,6,0.000,0.000,2681,2093,1711
$STATE,17956,end climb,SURFACE_DEPTH_REACHED
$STATE,17956,begin surface coast
$FINISH,-0.8,1.027158
$STATE,17980,end surface coast,CONTROL_FINISHED_OK
$STATE,17980,begin surface
$SM_CCo,18002,7.12,0.687,0,0,1678,300.00
$SM_GC,0.39,0.00,0.00,7.12,0.000,0.000,0.687,34,2896,1678,-10.93,-0.11,300.00
$IRIDIUM_FIX,6239.86,-1309.27,181207,141436
$TT8_MAMPS,0.028379
$HUMID,2068
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,576.0,79.5
$24V_AH,23.4,34.217
$10V_AH,10.1,16.855
$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,25.825,183.975,370.700,7.125,0.000,80.993,89.189,255.017,5.250,0.000,0.000,11.010,1607.888,13834.221,547.255,1968.861,659.017,33.362,1548.161,0.000,1941.692,0.000,33.104
$DEVICE_MAMPS,158.002,79.768,1225.666,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.623,599.561,528.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44229,869
$CFSIZE,260165632,247300096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
$GPS,181207,155638,6303.557,-1259.445,28,1.2,28,-12.0