version: 66.02
glider: 103
mission: 7
dive: 200
start: 12 20 107 1 15 3
data:
$ID,103
$MISSION,7
$DIVE,200
$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,-66080.609
$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,22
$R_STBD_OVSHOOT,11
$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
$GPS1,010107,6300.980,-1254.629,28,1.1,28,-12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-51.4
$GPS2,011359,6300.810,-1254.845,13,2.0,32,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.061,0.210
$KALMAN_X,-225714.8,4.0,-1168.6,-2757.4,-1347.3
$KALMAN_Y,-125636.7,-839.9,-793.4,288068.0,-3861.0
$MHEAD_RNG_PITCHd_Wd,28.1,26630,-11.1,-6.000
$D_GRID,624
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-62.83,0.000,6,0.000,0.000,48,2899,3500
$GC,88,-1.10,-146.6,2.3,-5.0,3,110,11.98,2.62,0.00,0.000,4,0.160,0.060,2165,1491,3502
$GC,359,-1.10,-146.6,34.1,-7.2,15,363,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2899,3502
$GC,686,-1.10,-146.6,63.6,-7.6,31,690,0.00,2.65,0.00,0.000,4,0.000,0.072,2165,1487,3502
$GC,729,-1.10,-146.6,67.5,-7.9,33,733,0.00,2.70,0.00,0.000,6,0.000,0.081,2165,2899,3503
$GC,1056,-1.10,-146.6,91.2,-6.8,49,1060,0.00,2.62,0.00,0.000,4,0.000,0.072,2165,1492,3503
$GC,1088,-1.10,-146.6,93.6,-7.8,50,1095,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2901,3503
$GC,1405,-1.10,-146.6,116.6,-7.7,66,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,1713,-1.10,-146.6,140.2,-7.3,81,1718,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1482,3503
$GC,1768,-1.10,-146.6,144.5,-7.6,83,1775,0.00,2.72,0.00,0.000,6,0.000,0.080,2165,2899,3503
$GC,2084,-1.10,-146.6,166.8,-6.7,99,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,2393,-1.10,-146.6,187.1,-6.8,114,2397,0.00,2.62,0.00,0.000,4,0.000,0.073,2165,1489,3503
$GC,2436,-1.10,-146.6,190.4,-7.9,116,2440,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2904,3503
$GC,2763,-1.10,-146.6,214.3,-7.5,132,2767,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1490,3503
$GC,2801,-1.10,-146.6,217.4,-8.5,134,2806,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2899,3503
$GC,3127,-1.10,-146.6,242.9,-7.6,150,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,3437,-1.10,-146.6,267.0,-7.9,165,3441,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1489,3503
$GC,3480,-1.10,-146.6,270.5,-7.7,167,3484,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2901,3503
$GC,3800,-1.10,-146.6,294.4,-7.4,183,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,4110,-1.10,-146.6,317.3,-7.3,198,4114,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1490,3503
$GC,4164,-1.10,-146.6,321.4,-7.5,200,4171,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2898,3503
$GC,4480,-1.10,-146.6,343.7,-6.8,216,4484,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1483,3503
$GC,4506,-1.10,-146.6,345.7,-7.0,217,4510,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2905,3503
$GC,4827,-1.10,-146.6,367.8,-6.9,233,4832,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1484,3503
$GC,4866,-1.10,-146.6,370.4,-6.3,235,4871,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2900,3503
$GC,5193,-1.10,-146.6,391.3,-6.4,251,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5502,-1.10,-146.6,409.8,-5.7,266,5507,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3503
$GC,5586,-1.10,-146.6,414.7,-6.0,270,5591,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2900,3503
$GC,5913,-1.10,-146.6,433.4,-6.3,286,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,6222,-1.10,-146.6,456.6,-8.2,301,6226,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1481,3503
$GC,6287,-1.10,-146.6,462.2,-7.9,304,6292,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2901,3503
$GC,6614,-1.10,-146.6,485.0,-6.6,320,6619,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1484,3503
$GC,6670,-1.10,-146.6,488.4,-5.8,322,6676,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2901,3503
$GC,6985,-1.10,-146.6,507.2,-6.0,338,6989,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1482,3503
$GC,7033,-1.10,-146.6,510.1,-6.4,340,7038,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2900,3503
$GC,7355,-1.10,-146.6,530.5,-6.5,356,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,7665,-1.10,-146.6,551.5,-6.7,371,7669,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1484,3503
$GC,7753,-1.10,-146.6,557.4,-6.0,375,7757,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2901,3503
$GC,8075,-1.10,-146.6,576.3,-5.1,391,8079,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1476,3503
$GC,8114,-1.10,-146.6,578.3,-5.3,393,8118,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2901,3502
$GC,8440,-1.10,-146.6,594.0,-4.9,409,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,8749,-1.10,-146.6,612.9,-5.8,424,8752,0.00,1.70,0.00,0.000,4,0.000,0.091,2165,3783,3502
$STATE,8757,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8757,begin apogee
$GC,8765,-0.42,0.0,613.7,6.5,424,8897,0.73,0.00,124.38,1.216,6,0.087,0.000,2315,2098,2900
$STATE,8898,end apogee,CONTROL_FINISHED_OK
$STATE,8898,begin climb
$GC,8900,1.10,146.6,617.9,0.0,431,9031,1.55,2.62,121.82,1.168,4,0.053,0.055,2650,695,2303
$GC,9171,1.10,146.6,609.0,7.8,443,9177,0.00,2.47,0.00,0.000,6,0.000,0.036,2650,2120,2302
$GC,9487,1.11,148.7,593.7,5.9,459,9491,0.00,2.55,0.00,0.000,4,0.000,0.064,2650,3504,2302
$GC,9570,1.27,280.3,591.2,2.4,463,9688,0.17,2.47,110.93,1.186,6,0.038,0.037,2698,2092,1758
$GC,9996,1.27,280.3,559.8,8.5,483,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2092,1756
$GC,10306,1.27,280.3,530.0,10.1,498,10310,0.00,2.53,0.00,0.000,4,0.000,0.057,2698,695,1755
$GC,10371,1.27,280.3,522.7,11.6,501,10375,0.00,2.45,0.00,0.000,6,0.000,0.040,2698,2089,1755
$GC,10698,1.27,280.3,489.1,10.0,517,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2089,1754
$GC,11007,1.27,280.3,461.5,8.3,532,11011,0.00,2.67,0.00,0.000,4,0.000,0.076,2698,3515,1754
$GC,11051,1.27,280.3,457.7,9.2,534,11056,0.00,2.53,0.00,0.000,6,0.000,0.045,2698,2103,1754
$GC,11372,1.27,280.3,427.7,9.8,550,11376,0.00,2.55,0.00,0.000,4,0.000,0.058,2698,692,1753
$GC,11443,1.27,280.3,420.6,9.8,553,11447,0.00,2.50,0.00,0.000,6,0.000,0.045,2698,2102,1753
$GC,11764,1.27,280.3,391.9,8.6,569,11768,0.00,2.65,0.00,0.000,4,0.000,0.077,2698,3512,1753
$GC,11812,1.27,280.3,387.6,7.9,571,11817,0.00,2.53,0.00,0.000,6,0.000,0.046,2698,2103,1753
$GC,12134,1.27,280.3,361.6,7.8,587,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2103,1754
$GC,12443,1.27,280.3,334.3,8.9,602,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2103,1754
$GC,12752,1.27,280.3,305.9,9.5,617,12756,0.00,2.67,0.00,0.000,4,0.000,0.078,2698,3511,1754
$GC,12790,1.27,280.3,302.1,9.9,619,12795,0.00,2.50,0.00,0.000,6,0.000,0.048,2698,2098,1754
$GC,13116,1.27,280.3,271.2,9.5,635,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2098,1755
$GC,13425,1.27,280.3,242.8,8.9,650,13430,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3511,1755
$GC,13457,1.27,280.3,239.7,9.3,651,13464,0.00,2.50,0.00,0.000,6,0.000,0.048,2698,2099,1756
$GC,13773,1.27,280.3,212.0,8.6,667,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2099,1756
$GC,14082,1.27,280.3,185.7,8.3,682,14087,0.00,2.67,0.00,0.000,4,0.000,0.078,2698,3516,1756
$GC,14114,1.27,280.3,182.8,8.3,683,14121,0.00,2.50,0.00,0.000,6,0.000,0.048,2698,2102,1756
$GC,14429,1.27,280.3,155.6,8.7,699,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,1756
$GC,14739,1.27,280.3,127.0,9.7,714,14744,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3511,1756
$GC,14779,1.27,280.3,123.1,10.0,716,14783,0.00,2.53,0.00,0.000,6,0.000,0.051,2698,2092,1756
$GC,15104,1.27,280.3,95.5,8.0,732,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1757
$GC,15414,1.27,280.3,67.3,9.4,747,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2093,1757
$GC,15724,1.27,280.3,38.9,8.8,762,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2092,1757
$GC,16032,1.27,280.3,14.7,6.1,777,16033,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2092,1758
$STATE,16257,end climb,SURFACE_DEPTH_REACHED
$STATE,16257,begin surface coast
$FINISH,-0.8,1.027289
$STATE,16279,end surface coast,CONTROL_FINISHED_OK
$STATE,16279,begin surface
$SM_CCo,16301,17.98,0.697,1,0,1677,300.00
$SM_GC,-0.38,0.00,0.00,17.98,0.000,0.000,0.697,41,2899,1677,-10.90,-0.03,300.00
$IRIDIUM_FIX,6235.17,-1257.90,201207,050529
$TT8_MAMPS,0.027612
$HUMID,2088
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.1,98.5
$24V_AH,23.4,35.368
$10V_AH,10.1,17.492
$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,26.000,141.950,357.125,17.975,0.000,115.066,181.567,223.835,4.750,0.000,0.000,32.897,1440.156,12681.941,494.285,1766.514,726.917,33.369,1384.947,0.000,1719.981,0.000,29.913
$DEVICE_MAMPS,159.536,91.273,1216.462,697.203,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.850,544.829,506.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41257,789
$CFSIZE,260165632,246849536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,201207,054828,6301.894,-1256.989,26,2.5,45,-12.0