version: 66.02
glider: 103
mission: 7
dive: 202
start: 12 20 107 11 22 24
data:
$ID,103
$MISSION,7
$DIVE,202
$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,-66166.031
$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,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
$GPS1,111128,6302.126,-1300.514,26,2.1,45,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-53.1
$GPS2,112120,6302.021,-1300.535,32,2.0,32,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.081,0.249
$KALMAN_X,-232566.7,-609.3,-265.9,-1233.0,-1832.8
$KALMAN_Y,-135328.0,1617.0,-141.0,296847.8,-7669.8
$MHEAD_RNG_PITCHd_Wd,30.0,24042,-8.1,-6.000
$D_GRID,664
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.86,-146.6,0.0,0.0,0,86,0.00,0.00,-62.12,0.000,6,0.000,0.000,47,2893,3500
$GC,88,-0.86,-146.6,2.4,-4.8,3,110,12.25,2.70,0.00,0.000,4,0.158,0.078,2216,1490,3502
$GC,363,-0.86,-146.6,27.4,-4.5,15,367,0.00,2.70,0.00,0.000,6,0.000,0.083,2216,2900,3503
$GC,683,-0.86,-146.6,50.8,-8.2,31,687,0.00,2.62,0.00,0.000,4,0.000,0.068,2217,1491,3503
$GC,749,-0.86,-146.6,54.6,-5.8,34,753,0.00,2.67,0.00,0.000,6,0.000,0.077,2216,2902,3503
$GC,1069,-0.86,-146.6,76.2,-6.7,50,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2902,3503
$GC,1378,-0.86,-146.6,100.6,-8.0,65,1383,0.00,2.62,0.00,0.000,4,0.000,0.071,2216,1492,3503
$GC,1464,-0.86,-146.6,106.7,-7.1,69,1469,0.00,2.65,0.00,0.000,6,0.000,0.075,2216,2900,3503
$GC,1792,-0.86,-146.6,127.3,-6.2,85,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2900,3503
$GC,2100,-0.86,-146.6,139.7,-3.2,100,2104,0.00,2.62,0.00,0.000,4,0.000,0.069,2216,1489,3503
$GC,2155,-0.86,-146.6,142.0,-4.4,102,2162,0.00,2.67,0.00,0.000,6,0.000,0.075,2217,2895,3503
$GC,2470,-0.86,-146.6,161.9,-7.3,118,2474,0.00,2.60,0.00,0.000,4,0.000,0.069,2217,1486,3503
$GC,2508,-0.86,-146.6,164.7,-7.5,120,2513,0.00,2.67,0.00,0.000,6,0.000,0.076,2216,2901,3503
$GC,2834,-0.86,-146.6,187.8,-6.7,136,2838,0.00,2.62,0.00,0.000,4,0.000,0.070,2216,1487,3503
$GC,2866,-0.86,-146.6,190.0,-6.7,137,2872,0.00,2.65,0.00,0.000,6,0.000,0.075,2217,2901,3503
$GC,3182,-0.86,-146.6,209.2,-5.7,153,3186,0.00,2.62,0.00,0.000,4,0.000,0.069,2216,1484,3503
$GC,3215,-0.86,-146.6,210.9,-5.4,154,3221,0.00,2.67,0.00,0.000,6,0.000,0.075,2217,2900,3503
$GC,3531,-0.86,-146.6,226.1,-4.8,170,3535,0.00,2.60,0.00,0.000,4,0.000,0.069,2216,1492,3503
$GC,3563,-0.86,-146.6,227.9,-5.6,171,3569,0.00,2.65,0.00,0.000,6,0.000,0.074,2217,2903,3503
$GC,3878,-0.86,-146.6,245.4,-5.9,187,3883,0.00,2.60,0.00,0.000,4,0.000,0.071,2216,1491,3503
$GC,3911,-0.86,-146.6,247.6,-6.4,188,3917,0.00,2.65,0.00,0.000,6,0.000,0.076,2216,2900,3503
$GC,4226,-0.86,-146.6,268.0,-6.6,204,4230,0.00,2.60,0.00,0.000,4,0.000,0.070,2216,1489,3503
$GC,4269,-0.86,-146.6,271.1,-6.8,206,4273,0.00,2.65,0.00,0.000,6,0.000,0.075,2216,2900,3503
$GC,4596,-0.86,-146.6,290.9,-5.7,222,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2900,3503
$GC,4905,-0.86,-146.6,307.7,-5.3,237,4910,0.00,2.60,0.00,0.000,4,0.000,0.067,2216,1490,3503
$GC,4960,-0.86,-146.6,311.1,-6.2,239,4967,0.00,2.65,0.00,0.000,6,0.000,0.075,2216,2900,3503
$GC,5276,-0.86,-146.6,328.8,-5.4,255,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2901,3503
$GC,5585,-0.86,-146.6,345.7,-5.1,270,5590,0.00,2.58,0.00,0.000,4,0.000,0.067,2216,1491,3503
$GC,5618,-0.86,-146.6,347.4,-4.8,271,5624,0.00,2.65,0.00,0.000,6,0.000,0.074,2216,2909,3503
$GC,5934,-0.86,-146.6,362.6,-4.9,287,5938,0.00,2.62,0.00,0.000,4,0.000,0.067,2217,1485,3503
$GC,5972,-0.86,-146.6,364.4,-4.6,289,5977,0.00,2.65,0.00,0.000,6,0.000,0.074,2216,2901,3503
$GC,6298,-0.86,-146.6,378.2,-4.3,305,6303,0.00,2.58,0.00,0.000,4,0.000,0.067,2216,1491,3503
$GC,6348,-0.86,-146.6,380.6,-4.3,307,6352,0.00,2.62,0.00,0.000,6,0.000,0.074,2217,2907,3503
$GC,6669,-0.86,-146.6,395.2,-4.3,323,6673,0.00,2.60,0.00,0.000,4,0.000,0.065,2217,1487,3503
$GC,6708,-0.86,-146.6,397.0,-4.7,325,6713,0.00,2.65,0.00,0.000,6,0.000,0.074,2216,2903,3503
$GC,7035,-0.86,-146.6,412.8,-5.0,341,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2903,3503
$GC,7344,-0.86,-146.6,429.4,-5.5,356,7349,0.00,2.58,0.00,0.000,4,0.000,0.065,2216,1490,3503
$GC,7389,-0.86,-146.6,432.0,-6.0,358,7393,0.00,2.62,0.00,0.000,6,0.000,0.071,2216,2903,3503
$GC,7710,-0.86,-146.6,450.4,-5.6,374,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2903,3503
$GC,8018,-0.86,-146.6,467.6,-5.7,389,8022,0.00,2.58,0.00,0.000,4,0.000,0.061,2216,1487,3502
$GC,8061,-0.86,-146.6,470.3,-6.6,391,8066,0.00,2.62,0.00,0.000,6,0.000,0.068,2216,2908,3503
$GC,8382,-0.86,-146.6,490.5,-6.5,407,8386,0.00,2.58,0.00,0.000,4,0.000,0.060,2216,1484,3503
$GC,8443,-0.86,-146.6,494.7,-6.5,410,8447,0.00,2.60,0.00,0.000,6,0.000,0.067,2216,2900,3503
$GC,8769,-0.86,-146.6,517.2,-6.8,426,8772,0.00,1.65,0.00,0.000,4,0.000,0.087,2216,3784,3503
$GC,8814,-0.86,-146.6,520.1,-5.8,428,8817,0.00,1.52,0.00,0.000,6,0.000,0.039,2216,2900,3503
$GC,9146,-0.86,-146.6,537.6,-4.8,444,9150,0.00,2.50,0.00,0.000,4,0.000,0.055,2216,1491,3503
$GC,9222,-0.86,-146.6,542.6,-7.3,447,9229,0.00,2.58,0.00,0.000,6,0.000,0.063,2216,2900,3503
$GC,9538,-0.86,-146.6,561.7,-6.2,463,9542,0.00,2.53,0.00,0.000,4,0.000,0.055,2216,1490,3503
$GC,9755,-0.86,-146.6,577.9,-8.1,473,9760,0.00,2.58,0.00,0.000,6,0.000,0.062,2217,2902,3503
$GC,10081,-0.86,-146.6,596.1,-7.0,489,10086,0.00,2.53,0.00,0.000,4,0.000,0.053,2217,1484,3503
$GC,10159,-0.86,-146.6,596.9,-1.0,492,10165,0.00,2.60,0.00,0.000,6,0.000,0.064,2216,2908,3503
$GC,10474,-0.86,-146.6,624.8,-12.2,508,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2908,3502
$GC,10784,-0.86,-146.6,622.6,6.3,523,10788,0.00,2.53,0.00,0.000,4,0.000,0.051,2216,1487,3502
$GC,10805,-0.86,-146.6,621.2,6.7,524,10809,0.00,2.58,0.00,0.000,6,0.000,0.063,2216,2901,3502
$GC,11125,-0.86,-146.6,648.3,-9.6,540,11128,0.00,1.67,0.00,0.000,4,0.000,0.088,2216,3790,3501
$GC,11203,-0.86,-146.6,653.0,-4.5,543,11207,0.00,1.52,0.00,0.000,6,0.000,0.037,2216,2897,3501
$STATE,11480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11481,begin apogee
$GC,11487,-0.42,0.0,665.2,7.5,557,11616,0.47,0.00,125.78,1.253,6,0.070,0.000,2318,2104,2901
$STATE,11617,end apogee,CONTROL_FINISHED_OK
$STATE,11617,begin climb
$GC,11619,0.86,146.6,676.2,0.0,563,11750,1.27,2.62,122.07,1.223,4,0.051,0.057,2596,703,2303
$GC,12005,1.16,388.9,672.1,1.6,580,12217,0.30,2.47,202.43,1.200,6,0.028,0.038,2678,2113,1315
$GC,12522,1.16,388.9,630.1,8.2,606,12527,0.00,2.60,0.00,0.000,4,0.000,0.072,2678,3502,1315
$GC,12577,1.16,388.9,625.2,11.0,608,12584,0.00,2.45,0.00,0.000,6,0.000,0.037,2678,2099,1314
$GC,12893,1.16,388.9,597.7,7.5,624,12897,0.00,2.65,0.00,0.000,4,0.000,0.070,2678,3507,1314
$GC,12986,1.16,388.9,588.7,12.9,628,12991,0.00,2.47,0.00,0.000,6,0.000,0.038,2678,2093,1314
$GC,13307,1.16,388.9,554.9,9.9,644,13312,0.00,2.65,0.00,0.000,4,0.000,0.071,2678,3502,1313
$GC,13368,1.16,388.9,548.3,10.7,647,13373,0.00,2.47,0.00,0.000,6,0.000,0.041,2678,2101,1312
$GC,13694,1.16,388.9,513.7,11.3,663,13699,0.00,2.65,0.00,0.000,4,0.000,0.072,2678,3505,1311
$GC,13728,1.16,388.9,509.8,11.3,664,13734,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,2100,1311
$GC,14043,1.16,388.9,474.5,11.2,680,14047,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3502,1311
$GC,14081,1.16,388.9,469.8,12.5,682,14085,0.00,2.47,0.00,0.000,6,0.000,0.044,2678,2100,1311
$GC,14407,1.16,388.9,433.4,10.6,698,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2100,1311
$GC,14716,1.16,388.9,402.3,10.1,713,14721,0.00,2.65,0.00,0.000,4,0.000,0.075,2678,3503,1311
$GC,14805,1.16,388.9,392.3,11.6,717,14809,0.00,2.47,0.00,0.000,6,0.000,0.045,2678,2102,1311
$GC,15132,1.16,388.9,355.9,11.4,733,15136,0.00,2.65,0.00,0.000,4,0.000,0.075,2678,3508,1311
$GC,15193,1.16,388.9,348.8,11.3,736,15197,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2100,1311
$GC,15518,1.16,388.9,313.5,10.6,752,15523,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3509,1311
$GC,15573,1.16,388.9,307.5,10.8,754,15580,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2100,1312
$GC,15889,1.16,388.9,275.2,10.0,770,15893,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3505,1312
$GC,15944,1.16,388.9,269.4,9.7,772,15950,0.00,2.53,0.00,0.000,6,0.000,0.049,2678,2098,1312
$GC,16259,1.16,388.9,238.0,9.4,788,16260,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2098,1312
$GC,16568,1.16,388.9,208.8,9.6,803,16572,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3506,1313
$GC,16639,1.16,388.9,201.3,10.2,806,16643,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2095,1313
$GC,16960,1.16,388.9,169.9,10.0,822,16965,0.00,2.65,0.00,0.000,4,0.000,0.072,2678,3506,1313
$GC,17003,1.16,388.9,165.2,10.1,824,17008,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2094,1313
$GC,17331,1.16,388.9,132.0,10.0,840,17335,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3502,1313
$GC,17374,1.16,388.9,127.2,11.2,842,17378,0.00,2.50,0.00,0.000,6,0.000,0.050,2678,2098,1314
$GC,17701,1.16,388.9,95.0,9.7,858,17705,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3505,1314
$GC,17739,1.16,388.9,91.2,9.4,860,17744,0.00,2.47,0.00,0.000,6,0.000,0.049,2678,2100,1314
$GC,18066,1.16,388.9,55.8,11.0,876,18070,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3502,1314
$GC,18098,1.16,388.9,52.1,11.6,877,18105,0.00,2.53,0.00,0.000,6,0.000,0.050,2678,2100,1315
$GC,18415,1.16,388.9,19.7,9.2,893,18419,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3502,1315
$GC,18458,1.16,388.9,15.8,9.2,895,18463,0.00,2.50,0.00,0.000,6,0.000,0.052,2678,2098,1315
$STATE,18618,end climb,SURFACE_DEPTH_REACHED
$STATE,18618,begin surface coast
$FINISH,-0.8,1.027320
$STATE,18642,end surface coast,CONTROL_FINISHED_OK
$STATE,18642,begin surface
$SM_CCo,18723,0.00,0.000,0,0,1313,389.29
$SM_GC,-0.09,11.60,0.00,0.00,0.031,0.000,0.000,45,2892,1313,-10.80,-0.23,389.29
$IRIDIUM_FIX,6235.17,-1258.97,201207,151526
$TT8_MAMPS,0.029146
$HUMID,2085
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,650.0,52.5
$24V_AH,23.4,35.703
$10V_AH,10.1,17.675
$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,25.900,206.450,450.275,0.000,0.000,78.889,69.113,252.181,6.250,0.000,0.000,32.932,1699.069,14203.867,577.388,2192.345,652.190,33.369,1701.080,0.000,2127.719,0.000,41.157
$DEVICE_MAMPS,158.002,88.205,1253.278,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,648.245,636.938,557.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47433,904
$CFSIZE,260165632,246693888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,201207,163538,6303.075,-1300.515,39,1.1,39,-12.0