version: 66.02
glider: 103
mission: 7
dive: 196
start: 12 19 107 5 53 32
data:
$ID,103
$MISSION,7
$DIVE,196
$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,-65962.844
$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,20
$R_STBD_OVSHOOT,7
$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
$GPS1,054252,6303.899,-1252.857,42,2.7,61,-12.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-50.5
$GPS2,055228,6303.815,-1252.735,10,2.2,29,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.074,0.206
$KALMAN_X,-218088.2,-830.8,409.6,-9268.7,-21.0
$KALMAN_Y,-110598.5,1516.6,1069.4,274328.9,-8743.3
$MHEAD_RNG_PITCHd_Wd,31.7,21582,-11.1,-6.000
$D_GRID,595
$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,21,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-71.18,0.000,6,0.000,0.000,46,2899,3499
$GC,96,-1.10,-146.6,2.6,-6.6,3,117,11.82,2.62,0.00,0.000,4,0.154,0.061,2166,1491,3501
$GC,369,-1.10,-146.6,34.8,-6.8,15,374,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2906,3502
$GC,691,-1.10,-146.6,59.5,-7.8,31,695,0.00,2.65,0.00,0.000,4,0.000,0.069,2166,1482,3502
$GC,762,-1.10,-146.6,64.7,-7.1,34,766,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2899,3502
$GC,1083,-1.10,-146.6,88.5,-7.6,50,1088,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1491,3502
$GC,1123,-1.10,-146.6,91.6,-7.9,52,1127,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2903,3502
$GC,1448,-1.10,-146.6,116.7,-7.9,68,1453,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1487,3502
$GC,1487,-1.10,-146.6,120.1,-8.4,70,1492,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2904,3502
$GC,1813,-1.10,-146.6,145.1,-7.4,86,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,2122,-1.10,-146.6,167.9,-7.4,101,2127,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1486,3502
$GC,2177,-1.10,-146.6,172.6,-8.7,103,2184,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2898,3502
$GC,2492,-1.10,-146.6,195.7,-7.4,119,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,2802,-1.10,-146.6,218.8,-7.3,134,2806,0.00,2.62,0.00,0.000,4,0.000,0.073,2166,1486,3502
$GC,2828,-1.10,-146.6,220.8,-7.3,135,2832,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2908,3502
$GC,3149,-1.10,-146.6,244.7,-7.7,151,3154,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1489,3502
$GC,3193,-1.10,-146.6,248.3,-8.7,153,3198,0.00,2.65,0.00,0.000,6,0.000,0.076,2166,2900,3502
$GC,3514,-1.10,-146.6,273.8,-7.9,169,3518,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1489,3502
$GC,3546,-1.10,-146.6,276.4,-7.9,170,3553,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2900,3502
$GC,3862,-1.10,-146.6,302.9,-8.6,186,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,4171,-1.10,-146.6,327.4,-7.2,201,4175,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1490,3502
$GC,4209,-1.10,-146.6,330.1,-6.7,203,4214,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2900,3502
$GC,4535,-1.10,-146.6,353.7,-7.0,219,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,4845,-1.10,-146.6,373.2,-5.9,234,4849,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3502
$GC,4884,-1.10,-146.6,375.6,-6.1,236,4888,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2900,3502
$GC,5209,-1.10,-146.6,395.9,-6.8,252,5214,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1481,3502
$GC,5242,-1.10,-146.6,398.0,-6.5,253,5248,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2901,3502
$GC,5557,-1.10,-146.6,420.4,-6.3,269,5561,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1481,3502
$GC,5584,-1.10,-146.6,421.9,-5.4,270,5588,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2900,3502
$GC,5899,-1.10,-146.6,440.4,-5.6,285,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,6208,-1.10,-146.6,462.0,-7.3,300,6212,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1482,3502
$GC,6302,-1.10,-146.6,469.2,-7.4,304,6306,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2908,3502
$GC,6623,-1.10,-146.6,492.3,-6.9,320,6627,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1488,3502
$GC,6665,-1.10,-146.6,495.3,-6.8,322,6670,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2906,3502
$GC,6993,-1.10,-146.6,515.3,-5.7,338,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,7301,-1.10,-146.6,534.7,-6.4,353,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,7611,-1.10,-146.6,552.7,-5.5,368,7615,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1479,3502
$GC,7699,-1.10,-146.6,557.6,-5.6,372,7704,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2899,3502
$STATE,7962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7962,begin apogee
$GC,7969,-0.42,0.0,573.9,6.0,385,8097,0.75,0.00,124.93,1.165,6,0.082,0.000,2318,2094,2901
$STATE,8097,end apogee,CONTROL_FINISHED_OK
$STATE,8098,begin climb
$GC,8100,1.10,146.6,578.2,0.0,391,8231,1.52,2.65,121.50,1.137,4,0.054,0.058,2647,690,2303
$GC,8338,1.10,146.6,572.6,6.4,402,8343,0.00,2.53,0.00,0.000,6,0.000,0.038,2647,2116,2303
$GC,8658,1.15,182.0,557.5,5.0,418,8691,0.00,0.00,30.58,1.122,6,0.000,0.000,2647,2116,2159
$GC,8987,1.15,182.0,537.8,6.2,434,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2116,2157
$GC,9297,1.15,185.7,519.5,5.9,449,9303,0.00,0.00,4.78,0.873,6,0.000,0.000,2647,2116,2144
$GC,9606,1.16,190.0,501.8,5.9,464,9613,0.00,0.00,5.28,0.911,6,0.000,0.000,2647,2116,2126
$GC,9915,1.16,193.5,483.5,5.9,479,9921,0.00,0.00,4.47,0.847,6,0.000,0.000,2647,2116,2112
$GC,10224,1.16,193.5,464.2,6.6,494,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2116,2112
$GC,10533,1.16,193.5,443.5,6.9,509,10538,0.00,2.58,0.00,0.000,4,0.000,0.069,2647,3509,2111
$GC,10640,1.17,199.9,436.8,5.8,514,10654,0.00,2.47,7.30,0.971,6,0.000,0.039,2647,2098,2085
$GC,10970,1.19,215.2,417.7,5.6,530,10990,0.00,0.00,14.23,1.042,6,0.000,0.000,2647,2097,2023
$GC,11300,1.22,238.4,400.5,5.4,546,11326,0.12,2.72,20.55,1.045,4,0.049,0.074,2680,3502,1928
$GC,11393,1.22,238.4,393.8,8.0,550,11397,0.00,2.50,0.00,0.000,6,0.000,0.046,2680,2097,1928
$GC,11714,1.22,238.4,370.3,7.3,566,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,1927
$GC,12024,1.22,238.4,344.3,8.9,581,12028,0.00,2.65,0.00,0.000,4,0.000,0.074,2679,3507,1928
$GC,12062,1.22,238.4,340.7,9.3,583,12067,0.00,2.50,0.00,0.000,6,0.000,0.047,2679,2096,1928
$GC,12388,1.22,238.4,311.4,9.0,599,12393,0.00,2.65,0.00,0.000,4,0.000,0.071,2679,3508,1928
$GC,12427,1.22,238.4,307.8,9.1,601,12431,0.00,2.50,0.00,0.000,6,0.000,0.047,2680,2101,1928
$GC,12752,1.22,238.4,279.6,8.4,617,12757,0.00,2.65,0.00,0.000,4,0.000,0.073,2679,3507,1928
$GC,12796,1.22,238.4,275.6,8.8,619,12800,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2101,1929
$GC,13123,1.22,238.4,248.6,7.7,635,13127,0.00,2.65,0.00,0.000,4,0.000,0.073,2679,3506,1929
$GC,13154,1.22,238.4,246.0,8.4,636,13161,0.00,2.50,0.00,0.000,6,0.000,0.047,2680,2096,1929
$GC,13470,1.22,238.4,221.4,7.9,652,13471,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2096,1929
$GC,13779,1.22,238.4,195.8,8.8,667,13783,0.00,2.62,0.00,0.000,4,0.000,0.073,2679,3502,1930
$GC,13828,1.22,238.4,191.3,9.0,669,13833,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2099,1930
$GC,14143,1.22,238.4,164.9,8.3,684,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2099,1930
$GC,14453,1.22,238.4,140.0,7.8,699,14457,0.00,2.62,0.00,0.000,4,0.000,0.071,2679,3502,1930
$GC,14502,1.22,238.4,136.0,8.0,701,14506,0.00,2.47,0.00,0.000,6,0.000,0.046,2680,2099,1930
$GC,14817,1.22,238.4,111.7,7.5,716,14822,0.00,2.62,0.00,0.000,4,0.000,0.070,2679,3502,1931
$GC,14857,1.22,238.4,108.7,7.0,718,14861,0.00,2.50,0.00,0.000,6,0.000,0.051,2679,2098,1931
$GC,15183,1.22,238.4,85.1,7.4,734,15184,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,1931
$GC,15492,1.22,238.4,62.1,7.3,749,15496,0.00,2.62,0.00,0.000,4,0.000,0.071,2680,3503,1931
$GC,15563,1.22,238.4,56.4,7.8,752,15567,0.00,2.50,0.00,0.000,6,0.000,0.051,2680,2097,1931
$GC,15885,1.22,238.4,31.8,7.2,768,15886,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,1931
$GC,16194,1.22,238.4,7.8,8.8,783,16198,0.00,2.53,0.00,0.000,4,0.000,0.058,2680,692,1931
$GC,16237,1.22,238.4,3.4,11.7,785,16241,0.00,2.47,0.00,0.000,6,0.000,0.045,2680,2092,1932
$STATE,16253,end climb,SURFACE_DEPTH_REACHED
$STATE,16253,begin surface coast
$FINISH,-0.2,1.027327
$STATE,16275,end surface coast,CONTROL_FINISHED_OK
$STATE,16275,begin surface
$SM_CCo,16296,52.25,0.748,2,0,1678,300.00
$SM_GC,0.01,0.00,0.00,52.25,0.000,0.000,0.748,48,2903,1678,-10.87,0.08,300.00
$IRIDIUM_FIX,6239.86,-1250.78,191207,090942
$TT8_MAMPS,0.029146
$HUMID,2060
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.3,57.8
$24V_AH,23.4,34.786
$10V_AH,10.1,17.164
$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,26.000,143.675,333.600,52.250,0.000,72.294,82.514,243.100,5.000,0.000,0.000,30.832,1447.901,12614.359,539.954,1746.692,604.335,33.363,1406.087,0.000,1700.686,0.000,32.723
$DEVICE_MAMPS,154.167,80.535,1165.073,747.825,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.767,547.095,520.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41210,787
$CFSIZE,260165632,247087104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,2,0
$GPS,191207,102726,6304.203,-1253.172,40,1.5,40,-12.0