version: 66.02
glider: 103
mission: 7
dive: 198
start: 12 19 107 15 19 27
data:
$ID,103
$MISSION,7
$DIVE,198
$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,-66011.609
$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,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
$GPS1,150902,6304.714,-1254.799,39,1.2,39,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-53.6
$GPS2,151821,6304.602,-1254.697,13,1.5,13,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.031,0.216
$KALMAN_X,-221549.3,-42.8,-367.1,-7549.2,-103.7
$KALMAN_Y,-115302.9,358.0,465.0,282260.5,-6435.8
$MHEAD_RNG_PITCHd_Wd,20.1,19758,-11.1,-6.000
$D_GRID,602
$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,-1.10,-146.0,0.0,0.0,0,84,0.00,0.00,-62.22,0.000,2,0.000,0.000,47,2899,3473
$GC,87,-1.10,-146.0,4.1,-9.6,3,109,11.98,2.62,-0.45,0.000,4,0.159,0.077,2166,1500,3499
$GC,361,-1.10,-146.0,34.7,-8.0,15,365,0.00,2.67,0.00,0.000,6,0.000,0.081,2166,2901,3500
$GC,682,-1.10,-146.0,57.2,-6.6,31,686,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1487,3500
$GC,766,-1.10,-146.0,62.9,-7.4,35,771,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2904,3500
$GC,1094,-1.10,-146.0,87.9,-7.9,51,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3500
$GC,1402,-1.10,-146.0,109.9,-6.1,66,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3500
$GC,1711,-1.10,-146.0,128.6,-6.4,81,1715,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1490,3500
$GC,1750,-1.10,-146.0,131.2,-6.4,83,1755,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2909,3500
$GC,2075,-1.10,-146.0,153.4,-7.2,99,2080,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1491,3500
$GC,2119,-1.10,-146.0,156.7,-7.8,101,2123,0.00,2.65,0.00,0.000,6,0.000,0.076,2166,2900,3500
$GC,2446,-1.10,-146.0,181.1,-7.6,117,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3500
$GC,2755,-1.10,-146.0,205.5,-7.9,132,2759,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1489,3500
$GC,2798,-1.10,-146.0,208.9,-7.6,134,2802,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2908,3500
$GC,3125,-1.10,-146.0,233.1,-7.3,150,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3500
$GC,3434,-1.10,-146.0,254.8,-6.7,165,3438,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,1481,3500
$GC,3499,-1.10,-146.0,259.4,-6.9,168,3504,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2904,3500
$GC,3827,-1.10,-146.0,281.7,-6.9,184,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3500
$GC,4135,-1.10,-146.0,304.4,-7.6,199,4140,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1490,3500
$GC,4178,-1.10,-146.0,307.9,-8.2,201,4182,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2900,3500
$GC,4505,-1.10,-146.0,332.8,-7.6,217,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3500
$GC,4814,-1.10,-146.0,357.3,-8.2,232,4818,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1481,3500
$GC,4875,-1.10,-146.0,362.0,-7.9,235,4879,0.00,2.65,0.00,0.000,6,0.000,0.075,2166,2900,3500
$GC,5201,-1.10,-146.0,386.2,-7.1,251,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3500
$GC,5510,-1.10,-146.0,406.2,-6.2,266,5515,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1482,3500
$GC,5565,-1.10,-146.0,410.0,-6.6,268,5572,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3500
$GC,5881,-1.10,-146.0,432.1,-7.2,284,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3500
$GC,6190,-1.10,-146.0,453.6,-6.8,299,6194,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1482,3500
$GC,6238,-1.10,-146.0,456.9,-6.6,301,6243,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2904,3500
$GC,6560,-1.10,-146.0,476.5,-6.5,317,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3500
$GC,6869,-1.10,-146.0,496.9,-6.3,332,6873,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1477,3500
$GC,6956,-1.10,-146.0,502.9,-6.8,336,6960,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2901,3500
$GC,7283,-1.10,-146.0,527.1,-6.4,352,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3500
$GC,7593,-1.10,-146.0,545.9,-6.1,367,7597,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1481,3500
$GC,7636,-1.10,-146.0,548.7,-6.5,369,7640,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2904,3500
$GC,7963,-1.11,-146.6,569.4,-5.6,385,7967,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1481,3500
$GC,8045,-1.11,-146.6,574.6,-6.8,388,8052,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2900,3500
$STATE,8256,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8256,begin apogee
$GC,8263,-0.42,0.0,588.3,6.2,399,8390,0.75,0.00,124.10,1.202,6,0.084,0.000,2319,2085,2901
$STATE,8391,end apogee,CONTROL_FINISHED_OK
$STATE,8391,begin climb
$GC,8393,1.11,146.6,589.3,0.0,405,8524,1.58,2.80,120.60,1.163,4,0.068,0.071,2648,3514,2303
$GC,8710,1.16,191.3,583.6,4.8,419,8757,0.00,2.50,38.10,1.155,6,0.000,0.037,2648,2086,2121
$GC,9066,1.16,191.3,558.9,6.8,437,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2086,2120
$GC,9375,1.16,191.3,538.9,6.5,452,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2086,2118
$GC,9684,1.18,204.6,520.7,5.6,467,9706,0.00,2.78,11.95,1.093,4,0.000,0.067,2648,3516,2067
$GC,9783,1.18,204.6,514.8,6.8,471,9788,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2105,2067
$GC,10105,1.20,225.4,497.1,5.4,487,10130,0.12,2.65,18.45,1.128,4,0.045,0.058,2688,699,1982
$GC,10219,1.20,225.4,489.2,7.0,492,10223,0.00,2.50,0.00,0.000,6,0.000,0.040,2687,2114,1981
$GC,10546,1.20,225.4,464.9,7.8,508,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2114,1981
$GC,10855,1.20,225.4,441.3,7.6,523,10859,0.00,2.58,0.00,0.000,4,0.000,0.058,2687,698,1980
$GC,10898,1.20,225.4,437.6,8.7,525,10902,0.00,2.47,0.00,0.000,6,0.000,0.042,2687,2100,1980
$GC,11226,1.20,225.4,410.8,8.3,541,11230,0.00,2.65,0.00,0.000,4,0.000,0.076,2687,3511,1980
$GC,11268,1.20,225.4,406.8,9.1,543,11273,0.00,2.50,0.00,0.000,6,0.000,0.046,2687,2103,1980
$GC,11595,1.20,225.4,380.1,7.9,559,11600,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3512,1980
$GC,11638,1.20,225.4,376.6,8.1,561,11643,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2095,1981
$GC,11965,1.20,225.4,352.8,7.1,577,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2095,1980
$GC,12274,1.20,225.4,330.6,7.1,592,12279,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3509,1981
$GC,12329,1.20,225.4,326.4,8.0,594,12335,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2100,1981
$GC,12644,1.20,225.4,303.8,7.0,610,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1981
$GC,12953,1.20,225.4,281.6,7.2,625,12957,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3509,1982
$GC,12996,1.20,225.4,278.3,7.9,627,13000,0.00,2.50,0.00,0.000,6,0.000,0.048,2688,2096,1982
$GC,13323,1.20,225.4,255.0,7.2,643,13324,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2096,1982
$GC,13633,1.20,225.4,231.8,7.4,658,13637,0.00,2.70,0.00,0.000,4,0.000,0.079,2688,3514,1982
$GC,13687,1.20,225.4,227.4,7.7,660,13694,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2109,1983
$GC,14003,1.20,225.4,202.5,7.9,676,14007,0.00,2.55,0.00,0.000,4,0.000,0.064,2687,694,1983
$GC,14091,1.20,225.4,195.2,8.3,680,14095,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2103,1983
$GC,14418,1.20,225.4,170.3,7.6,696,14423,0.00,2.65,0.00,0.000,4,0.000,0.077,2687,3516,1984
$GC,14462,1.20,225.4,166.6,8.5,698,14466,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2099,1984
$GC,14789,1.20,225.4,141.5,7.7,714,14793,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3512,1984
$GC,14821,1.20,225.4,138.5,8.7,715,14829,0.00,2.50,0.00,0.000,6,0.000,0.051,2687,2098,1984
$GC,15138,1.20,225.4,111.6,9.1,731,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1984
$GC,15446,1.20,225.4,84.5,8.5,746,15451,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3512,1984
$GC,15486,1.20,225.4,81.1,8.3,748,15490,0.00,2.53,0.00,0.000,6,0.000,0.049,2687,2098,1984
$GC,15812,1.20,225.4,59.1,7.0,764,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1984
$GC,16121,1.26,272.2,39.0,4.7,779,16166,0.00,2.70,38.50,0.810,4,0.000,0.068,2687,695,1790
$GC,16212,1.26,272.2,30.3,8.2,783,16216,0.00,2.55,0.00,0.000,6,0.000,0.054,2687,2101,1790
$GC,16532,1.26,272.2,2.7,11.1,799,16533,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1790
$STATE,16551,end climb,SURFACE_DEPTH_REACHED
$STATE,16551,begin surface coast
$FINISH,-0.6,1.027283
$STATE,16573,end surface coast,CONTROL_FINISHED_OK
$STATE,16573,begin surface
$SM_CCo,16594,23.75,0.723,1,0,1678,300.00
$SM_GC,0.19,0.00,0.00,23.75,0.000,0.000,0.723,46,2899,1678,-10.87,-0.03,300.00
$IRIDIUM_FIX,6239.86,-1250.78,191207,191955
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.9,71.3
$24V_AH,23.4,35.064
$10V_AH,10.1,17.323
$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,26.100,143.850,351.700,23.750,0.000,82.372,72.722,236.059,5.000,0.000,0.000,13.806,1474.270,12786.924,500.678,1814.941,623.993,33.376,1419.299,0.000,1796.800,0.000,32.789
$DEVICE_MAMPS,158.769,81.302,1201.889,723.281,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,593.050,555.492,530.204,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41155,801
$CFSIZE,260165632,246968320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,191207,195758,6304.535,-1253.231,32,2.8,51,-12.0