version: 66.02
glider: 103
mission: 7
dive: 193
start: 12 18 107 16 8 14
data:
$ID,103
$MISSION,7
$DIVE,193
$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,-65900.328
$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,26
$R_STBD_OVSHOOT,10
$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
$GPS1,155638,6303.557,-1259.445,28,1.2,28,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-53.6
$GPS2,160633,6303.507,-1259.220,17,1.7,17,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.163,0.144
$KALMAN_X,-221314.4,734.1,812.9,-13766.0,-3446.9
$KALMAN_Y,-97987.5,-486.3,213.4,264035.5,-5495.3
$MHEAD_RNG_PITCHd_Wd,60.6,21295,-11.1,-6.000
$D_GRID,647
$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,-1.11,-145.5,0.0,0.0,0,84,0.00,0.00,-62.03,0.000,3,0.000,0.000,34,2899,3495
$GC,86,-1.11,-145.5,4.5,-11.1,3,107,12.02,1.77,0.00,0.000,4,0.157,0.097,2164,3786,3497
$GC,359,-1.11,-145.5,37.9,-7.1,15,363,0.00,1.52,0.00,0.000,6,0.000,0.039,2164,2909,3497
$GC,686,-1.11,-145.5,62.6,-6.6,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3497
$GC,995,-1.11,-145.5,86.8,-8.2,46,999,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1491,3498
$GC,1049,-1.11,-145.5,90.9,-8.6,48,1056,0.00,2.65,0.00,0.000,6,0.000,0.076,2164,2900,3498
$GC,1365,-1.11,-145.5,110.9,-6.7,64,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3498
$GC,1676,-1.11,-145.5,133.6,-8.2,79,1680,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1492,3498
$GC,1730,-1.11,-145.5,138.4,-8.5,81,1738,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2899,3498
$GC,2046,-1.11,-145.5,163.2,-7.5,97,2050,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1490,3498
$GC,2077,-1.11,-145.5,165.5,-7.1,98,2084,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2903,3498
$GC,2393,-1.11,-145.5,187.5,-6.9,114,2398,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1487,3498
$GC,2442,-1.11,-145.5,190.9,-6.3,116,2446,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2900,3498
$GC,2763,-1.11,-145.5,212.6,-6.8,132,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3498
$GC,3072,-1.11,-145.5,234.6,-7.4,147,3077,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1494,3498
$GC,3116,-1.11,-145.5,238.0,-7.5,149,3120,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2903,3498
$GC,3443,-1.11,-145.5,260.8,-6.8,165,3447,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1486,3498
$GC,3481,-1.11,-145.5,263.5,-7.2,167,3486,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2903,3498
$GC,3807,-1.11,-145.5,284.9,-6.6,183,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3498
$GC,4116,-1.11,-145.5,305.4,-6.7,198,4121,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1493,3498
$GC,4188,-1.11,-145.5,310.3,-6.8,201,4192,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2909,3498
$GC,4509,-1.11,-145.5,332.3,-7.0,217,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3498
$GC,4818,-1.11,-145.5,354.9,-7.3,232,4823,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1492,3498
$GC,4862,-1.11,-145.5,358.1,-7.0,234,4867,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2902,3498
$GC,5183,-1.11,-145.5,381.1,-6.8,250,5188,0.00,2.58,0.00,0.000,4,0.000,0.068,2164,1492,3498
$GC,5215,-1.11,-145.5,383.3,-7.5,251,5222,0.00,2.62,0.00,0.000,6,0.000,0.074,2164,2899,3498
$GC,5531,-1.11,-145.5,405.4,-7.2,267,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3498
$GC,5840,-1.11,-145.5,428.2,-7.2,282,5844,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1491,3498
$GC,5883,-1.11,-145.5,431.4,-6.8,284,5887,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2901,3498
$GC,6210,-1.11,-145.5,453.0,-6.7,300,6214,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1487,3498
$GC,6253,-1.11,-145.5,456.1,-6.8,302,6257,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3498
$GC,6580,-1.11,-145.5,478.5,-6.8,318,6584,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1484,3498
$GC,6657,-1.11,-146.6,481.9,-4.4,321,6663,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2904,3498
$GC,6972,-1.11,-146.6,504.6,-7.0,337,6976,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1489,3498
$GC,7038,-1.11,-146.6,509.8,-7.7,340,7042,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2900,3498
$GC,7358,-1.11,-146.6,531.4,-6.6,356,7363,0.00,2.55,0.00,0.000,4,0.000,0.056,2164,1481,3498
$GC,7475,-1.11,-146.6,539.6,-7.1,361,7480,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2907,3498
$GC,7792,-1.11,-146.6,559.5,-6.0,376,7796,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1488,3498
$GC,7834,-1.11,-146.6,562.3,-6.1,378,7839,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2905,3498
$GC,8161,-1.11,-146.6,582.9,-6.5,394,8165,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1481,3498
$GC,8246,-1.11,-146.6,588.6,-6.8,398,8250,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2901,3498
$STATE,8405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8405,begin apogee
$GC,8411,-0.42,0.0,599.3,6.4,406,8538,0.75,0.00,123.18,1.206,6,0.082,0.000,2318,2089,2901
$STATE,8538,end apogee,CONTROL_FINISHED_OK
$STATE,8539,begin climb
$GC,8541,1.11,146.6,600.9,0.0,412,8669,1.55,2.72,120.25,1.174,4,0.053,0.064,2652,3521,2303
$GC,8921,1.11,146.6,588.4,6.7,430,8925,0.00,2.50,0.00,0.000,6,0.000,0.036,2652,2088,2301
$GC,9248,1.13,166.1,570.3,5.5,446,9268,0.00,0.00,17.38,1.142,6,0.000,0.000,2652,2088,2223
$GC,9577,1.15,180.8,550.0,5.6,462,9598,0.00,2.75,13.52,1.106,4,0.000,0.065,2652,3516,2163
$GC,9643,1.15,180.8,545.9,6.7,465,9648,0.00,2.50,0.00,0.000,6,0.000,0.038,2652,2099,2162
$GC,9969,1.15,180.8,526.0,6.1,481,9971,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2099,2161
$GC,10278,1.15,180.8,508.2,6.3,496,10283,0.00,2.55,0.00,0.000,4,0.000,0.060,2652,697,2160
$GC,10436,1.15,184.9,498.2,5.9,503,10446,0.00,2.50,4.60,0.878,6,0.000,0.040,2652,2116,2147
$GC,10761,1.16,187.5,479.6,5.9,519,10767,0.00,0.00,4.18,0.835,6,0.000,0.000,2652,2116,2136
$GC,11070,1.16,187.5,459.3,6.7,534,11074,0.00,2.58,0.00,0.000,4,0.000,0.059,2652,700,2136
$GC,11181,1.17,195.7,451.9,5.8,539,11198,0.00,2.45,8.07,1.023,6,0.000,0.040,2652,2098,2104
$GC,11506,1.21,228.2,433.8,5.1,555,11536,0.00,0.00,28.23,1.124,6,0.000,0.000,2652,2098,1970
$GC,11836,1.21,228.2,413.9,6.3,571,11840,0.00,2.62,0.00,0.000,4,0.000,0.071,2652,3509,1970
$GC,11885,1.21,228.2,410.6,6.3,573,11889,0.00,2.47,0.00,0.000,6,0.000,0.042,2652,2107,1970
$GC,12200,1.21,228.2,389.9,6.8,588,12204,0.00,2.65,0.00,0.000,4,0.000,0.071,2652,3516,1970
$GC,12239,1.21,228.2,387.1,7.1,590,12243,0.00,2.50,0.00,0.000,6,0.000,0.043,2652,2100,1970
$GC,12565,1.21,228.2,363.2,7.5,606,12569,0.00,2.65,0.00,0.000,4,0.000,0.071,2652,3512,1970
$GC,12598,1.21,228.2,360.5,7.9,607,12604,0.00,2.53,0.00,0.000,6,0.000,0.043,2652,2093,1970
$GC,12913,1.21,228.2,338.3,6.9,623,12918,0.00,2.65,0.00,0.000,4,0.000,0.072,2652,3509,1970
$GC,12957,1.21,228.2,335.0,7.2,625,12961,0.00,2.47,0.00,0.000,6,0.000,0.042,2652,2100,1970
$GC,13284,1.21,228.2,313.4,6.5,641,13288,0.00,2.65,0.00,0.000,4,0.000,0.071,2652,3510,1971
$GC,13339,1.21,228.2,309.5,7.2,643,13345,0.00,2.47,0.00,0.000,6,0.000,0.041,2652,2098,1971
$GC,13654,1.21,231.1,290.3,5.9,659,13664,0.00,2.67,4.57,0.761,4,0.000,0.073,2652,3512,1958
$GC,13753,1.22,236.5,284.3,5.8,663,13764,0.10,2.50,5.72,0.819,6,0.051,0.044,2687,2095,1937
$GC,14087,1.22,236.5,261.9,6.9,680,14091,0.00,2.67,0.00,0.000,4,0.000,0.073,2687,3514,1937
$GC,14216,1.22,236.5,252.0,7.4,686,14220,0.00,2.53,0.00,0.000,6,0.000,0.049,2687,2099,1937
$GC,14541,1.22,236.5,228.7,7.1,702,14546,0.00,2.65,0.00,0.000,4,0.000,0.073,2687,3513,1937
$GC,14635,1.22,236.5,221.3,8.6,706,14639,0.00,2.53,0.00,0.000,6,0.000,0.049,2687,2092,1937
$GC,14956,1.22,236.5,197.1,7.6,722,14957,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2092,1937
$GC,15265,1.22,236.5,174.3,7.3,737,15269,0.00,2.67,0.00,0.000,4,0.000,0.072,2687,3515,1937
$GC,15330,1.22,236.5,169.1,8.1,740,15335,0.00,2.50,0.00,0.000,6,0.000,0.046,2687,2100,1937
$GC,15658,1.22,236.5,143.4,7.9,756,15659,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1938
$GC,15968,1.22,236.5,116.9,8.9,771,15973,0.00,2.65,0.00,0.000,4,0.000,0.072,2687,3512,1938
$GC,16008,1.22,236.5,113.1,9.5,773,16012,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2101,1938
$GC,16334,1.22,236.5,83.8,9.1,789,16338,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3509,1939
$GC,16360,1.22,236.5,81.4,9.0,790,16364,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2097,1939
$GC,16682,1.22,236.5,54.8,7.9,806,16686,0.00,2.58,0.00,0.000,4,0.000,0.067,2687,692,1939
$GC,16713,1.22,236.5,52.2,8.2,807,16720,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,2094,1939
$GC,17031,1.22,236.5,28.4,7.9,823,17036,0.00,2.65,0.00,0.000,4,0.000,0.077,2687,3510,1939
$GC,17063,1.22,236.5,25.9,8.5,824,17070,0.00,2.55,0.00,0.000,6,0.000,0.054,2687,2105,1939
$GC,17379,1.22,236.5,4.0,8.5,840,17383,0.00,2.65,0.00,0.000,4,0.000,0.080,2687,691,1940
$STATE,17403,end climb,SURFACE_DEPTH_REACHED
$STATE,17403,begin surface coast
$FINISH,0.4,1.027306
$STATE,17427,end surface coast,CONTROL_FINISHED_OK
$STATE,17427,begin surface
$SM_CCo,17451,53.60,0.765,2,0,1678,300.00
$SM_GC,0.01,0.00,0.00,53.60,0.000,0.000,0.765,39,2901,1678,-10.91,0.03,300.00
$IRIDIUM_FIX,6235.17,-1258.97,181207,191934
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,19.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,500.2,108.9
$24V_AH,23.4,34.361
$10V_AH,10.1,16.940
$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,26.000,182.625,329.700,53.600,0.000,78.042,71.989,265.965,4.750,0.000,0.000,17.568,1590.388,13317.814,562.859,1992.644,696.405,33.369,1560.048,0.000,1964.822,0.000,28.328
$DEVICE_MAMPS,157.235,96.642,1205.724,765.466,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,621.651,582.693,532.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44402,842
$CFSIZE,260165632,247238656
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