version: 66.02
glider: 103
mission: 7
dive: 205
start: 12 21 107 3 2 32
data:
$ID,103
$MISSION,7
$DIVE,205
$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,-66250.945
$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,21
$R_STBD_OVSHOOT,12
$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
$GPS1,024457,6303.553,-1303.911,28,2.1,47,-12.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-55.5
$GPS2,030129,6303.502,-1304.098,16,2.1,35,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.159,0.150
$KALMAN_X,-239651.4,51.4,-465.5,2238.4,-3813.2
$KALMAN_Y,-144806.1,-234.8,-332.1,311129.5,-4385.0
$MHEAD_RNG_PITCHd_Wd,58.7,21566,-11.0,-6.000
$D_GRID,690
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-65.25,0.000,6,0.000,0.000,48,2892,3500
$GC,93,-1.10,-146.6,2.8,-6.7,3,109,11.93,1.75,0.00,0.000,4,0.158,0.089,2164,3783,3503
$GC,361,-1.10,-146.6,35.6,-7.9,14,365,0.00,1.55,0.00,0.000,6,0.000,0.046,2164,2909,3503
$GC,688,-1.10,-146.6,60.1,-7.2,30,691,0.00,1.67,0.00,0.000,4,0.000,0.085,2164,3785,3503
$GC,855,-1.10,-146.6,73.9,-8.3,37,859,0.00,1.55,0.00,0.000,6,0.000,0.044,2164,2907,3503
$GC,1177,-1.10,-146.6,101.8,-8.2,53,1181,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1490,3503
$GC,1231,-1.10,-146.6,106.3,-8.0,55,1238,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2889,3503
$GC,1547,-1.10,-146.6,128.6,-7.2,71,1551,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1482,3503
$GC,1586,-1.10,-146.6,131.5,-7.6,73,1590,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2899,3503
$GC,1911,-1.10,-146.6,157.2,-8.0,89,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2220,-1.10,-146.6,183.1,-8.6,104,2225,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1488,3503
$GC,2277,-1.10,-146.6,187.9,-8.8,106,2283,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2899,3503
$GC,2592,-1.10,-146.6,214.0,-8.4,122,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2901,-1.10,-146.6,239.2,-8.2,137,2905,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1484,3503
$GC,2950,-1.10,-146.6,243.3,-8.4,139,2954,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2900,3503
$GC,3271,-1.10,-146.6,270.9,-8.6,155,3275,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1487,3503
$GC,3309,-1.10,-146.6,274.1,-9.0,157,3313,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2901,3503
$GC,3637,-1.10,-146.6,300.2,-7.8,173,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,3944,-1.10,-146.6,322.7,-6.8,188,3948,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1487,3503
$GC,3993,-1.10,-146.6,326.6,-8.3,190,3997,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2908,3503
$GC,4315,-1.10,-146.6,349.8,-7.4,206,4319,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1476,3503
$GC,4346,-1.10,-146.6,352.3,-7.6,207,4351,0.00,2.67,0.00,0.000,6,0.000,0.076,2164,2900,3503
$GC,4668,-1.10,-146.6,375.3,-7.1,223,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4977,-1.10,-146.6,398.5,-7.8,238,4981,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1479,3503
$GC,5026,-1.10,-146.6,402.6,-8.5,240,5031,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3503
$GC,5348,-1.10,-146.6,426.9,-7.3,256,5353,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1487,3503
$GC,5381,-1.10,-146.6,429.5,-7.5,257,5387,0.00,2.62,0.00,0.000,6,0.000,0.073,2164,2900,3503
$GC,5696,-1.10,-146.6,452.4,-7.3,273,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,6006,-1.10,-146.6,475.7,-7.5,288,6010,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1480,3503
$GC,6045,-1.10,-146.6,478.6,-7.2,290,6049,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2906,3503
$GC,6371,-1.10,-146.6,501.8,-7.3,306,6375,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1482,3503
$GC,6454,-1.10,-146.6,508.5,-8.5,310,6458,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,6780,-1.10,-146.6,535.4,-8.2,326,6785,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1477,3503
$GC,6858,-1.10,-146.6,542.6,-9.5,329,6864,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2901,3503
$GC,7173,-1.10,-146.6,572.1,-9.5,345,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,7483,-1.10,-146.6,596.2,-6.0,360,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,7792,-1.10,-146.6,617.7,-11.1,375,7796,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1478,3502
$GC,7831,-1.10,-146.6,622.2,-9.7,377,7835,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2903,3503
$GC,8156,-1.10,-146.6,644.8,-8.7,393,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,8466,-1.10,-146.6,663.6,-5.2,408,8470,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1482,3502
$STATE,8541,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8541,begin apogee
$GC,8547,-0.42,0.0,670.7,9.7,411,8676,0.73,0.00,125.30,1.242,6,0.093,0.000,2312,2109,2901
$STATE,8677,end apogee,CONTROL_FINISHED_OK
$STATE,8677,begin climb
$GC,8679,1.10,146.6,674.1,0.0,418,8810,1.58,2.67,121.70,1.208,4,0.054,0.057,2649,690,2303
$GC,8844,1.10,146.6,666.8,10.8,426,8849,0.00,2.50,0.00,0.000,6,0.000,0.036,2649,2112,2303
$GC,9171,1.10,146.6,645.6,7.1,442,9175,0.00,2.60,0.00,0.000,4,0.000,0.054,2649,687,2302
$GC,9236,1.10,146.6,640.7,6.5,445,9240,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2100,2302
$GC,9564,1.13,167.6,622.9,5.4,461,9588,0.00,2.62,18.85,1.162,4,0.000,0.055,2649,688,2217
$GC,9840,1.13,167.6,602.8,7.7,473,9845,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2102,2215
$GC,10162,1.13,167.6,575.5,9.3,489,10166,0.00,2.58,0.00,0.000,4,0.000,0.065,2649,3501,2215
$GC,10272,1.13,167.6,565.3,9.0,494,10277,0.00,2.45,0.00,0.000,6,0.000,0.037,2649,2093,2215
$GC,10599,1.22,246.3,545.0,3.8,510,10667,0.12,0.00,65.40,1.183,6,0.048,0.000,2688,2092,1897
$GC,10969,1.22,246.3,520.1,7.1,528,10974,0.00,2.67,0.00,0.000,4,0.000,0.072,2689,3504,1895
$GC,11001,1.22,246.3,517.9,7.0,529,11008,0.00,2.47,0.00,0.000,6,0.000,0.041,2689,2103,1895
$GC,11317,1.23,248.9,498.5,5.9,545,11323,0.00,0.00,3.90,0.755,6,0.000,0.000,2688,2103,1886
$GC,11626,1.23,248.9,480.4,6.2,560,11627,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2103,1886
$GC,11935,1.23,248.9,460.5,6.5,575,11939,0.00,2.60,0.00,0.000,4,0.000,0.071,2688,3499,1886
$GC,11967,1.23,248.9,458.2,6.8,576,11973,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2094,1886
$GC,12282,1.23,248.9,436.4,7.2,592,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2094,1886
$GC,12591,1.23,248.9,413.5,7.9,607,12596,0.00,2.62,0.00,0.000,4,0.000,0.071,2689,3502,1886
$GC,12646,1.23,248.9,408.9,8.0,609,12652,0.00,2.47,0.00,0.000,6,0.000,0.044,2688,2099,1886
$GC,12961,1.23,248.9,384.7,7.8,625,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1886
$GC,13270,1.23,248.9,360.0,7.9,640,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1886
$GC,13580,1.23,248.9,333.5,8.5,655,13584,0.00,2.62,0.00,0.000,4,0.000,0.074,2688,3501,1887
$GC,13623,1.23,248.9,329.6,8.7,657,13627,0.00,2.47,0.00,0.000,6,0.000,0.046,2688,2099,1887
$GC,13950,1.23,248.9,302.9,7.9,673,13951,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1887
$GC,14259,1.23,248.9,277.9,7.9,688,14264,0.00,2.62,0.00,0.000,4,0.000,0.073,2689,3501,1888
$GC,14292,1.23,248.9,274.9,8.5,689,14298,0.00,2.47,0.00,0.000,6,0.000,0.046,2689,2099,1888
$GC,14607,1.23,248.9,249.5,7.9,705,14611,0.00,2.62,0.00,0.000,4,0.000,0.073,2689,3501,1888
$GC,14646,1.23,248.9,246.3,8.4,707,14650,0.00,2.47,0.00,0.000,6,0.000,0.047,2689,2099,1888
$GC,14971,1.23,248.9,220.7,7.8,723,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1888
$GC,15280,1.23,248.9,196.6,7.8,738,15285,0.00,2.62,0.00,0.000,4,0.000,0.075,2689,3500,1888
$GC,15342,1.23,248.9,191.6,8.4,741,15346,0.00,2.50,0.00,0.000,6,0.000,0.049,2689,2091,1888
$GC,15668,1.23,248.9,165.8,8.0,757,15669,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2091,1888
$GC,15977,1.23,248.9,141.7,7.6,772,15981,0.00,2.65,0.00,0.000,4,0.000,0.075,2688,3500,1889
$GC,16038,1.23,248.9,136.8,8.5,775,16043,0.00,2.47,0.00,0.000,6,0.000,0.048,2688,2097,1889
$GC,16365,1.23,248.9,109.4,9.1,791,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2098,1889
$GC,16674,1.23,248.9,84.8,7.5,806,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2098,1889
$GC,16983,1.23,248.9,59.7,8.6,821,16987,0.00,2.62,0.00,0.000,4,0.000,0.074,2689,3500,1890
$GC,17022,1.23,248.9,55.9,10.0,823,17027,0.00,2.50,0.00,0.000,6,0.000,0.051,2688,2094,1890
$GC,17349,1.23,248.9,27.1,8.4,839,17350,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2094,1890
$STATE,17656,end climb,SURFACE_DEPTH_REACHED
$STATE,17656,begin surface coast
$FINISH,0.2,1.027301
$STATE,17678,end surface coast,CONTROL_FINISHED_OK
$STATE,17678,begin surface
$SM_CCo,17700,43.90,0.722,2,0,1678,300.00
$SM_GC,-0.19,0.00,0.00,43.90,0.000,0.000,0.722,44,2892,1678,-10.88,-0.23,300.00
$IRIDIUM_FIX,6239.86,-1304.65,211207,060624
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.10
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,626.1,54.2
$24V_AH,23.4,36.144
$10V_AH,10.1,17.934
$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,25.825,146.175,335.150,43.900,0.000,156.683,150.614,346.677,6.250,0.000,0.000,36.102,1561.567,13826.448,527.628,1924.025,919.622,33.370,1472.709,0.000,1876.184,0.000,39.208
$DEVICE_MAMPS,158.002,88.972,1241.773,721.747,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.217,613.808,528.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44312,855
$CFSIZE,260165632,246530048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,2,0
$GPS,211207,075938,6304.415,-1301.590,37,1.3,37,-12.1