version: 66.02
glider: 103
mission: 7
dive: 214
start: 12 23 107 1 33 43
data:
$ID,103
$MISSION,7
$DIVE,214
$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,-66401.609
$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,19
$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
$GPS1,012632,6311.547,-1307.348,66,1.1,66,-12.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-57.9
$GPS2,013239,6311.533,-1307.545,13,1.5,13,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.212,0.053
$KALMAN_X,-265212.3,1422.0,402.6,22491.4,-7858.6
$KALMAN_Y,-180128.5,-27.8,-971.5,361790.4,2745.7
$MHEAD_RNG_PITCHd_Wd,88.1,8989,-11.1,-6.000
$D_GRID,694
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,93,0.00,0.00,-68.53,0.000,6,0.000,0.000,45,2900,3500
$GC,95,-1.10,-146.6,1.9,-4.4,3,117,12.00,2.60,0.00,0.000,4,0.160,0.054,2164,1488,3502
$GC,122,-1.10,-146.6,13.4,-35.2,4,126,0.00,2.72,0.00,0.000,6,0.000,0.085,2164,2897,3502
$GC,443,-1.10,-146.6,33.0,-4.9,20,446,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3787,3503
$GC,503,-1.10,-146.6,37.4,-8.3,22,510,0.00,1.60,0.00,0.000,6,0.000,0.051,2164,2899,3503
$GC,819,-1.10,-146.6,63.7,-6.6,38,823,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1487,3503
$GC,851,-1.10,-146.6,66.0,-7.0,39,858,0.00,2.72,0.00,0.000,6,0.000,0.081,2164,2901,3502
$GC,1168,-1.10,-146.6,87.5,-7.9,55,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,1476,-1.10,-146.6,116.9,-8.6,70,1481,0.00,2.65,0.00,0.000,4,0.000,0.070,2164,1477,3503
$GC,1516,-1.10,-146.6,120.0,-7.4,72,1521,0.00,2.72,0.00,0.000,6,0.000,0.083,2164,2901,3502
$GC,1842,-1.10,-146.6,147.8,-8.1,88,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,2151,-1.10,-146.6,169.5,-7.1,103,2155,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1484,3503
$GC,2200,-1.10,-146.6,173.3,-7.5,105,2204,0.00,2.70,0.00,0.000,6,0.000,0.081,2164,2908,3503
$GC,2515,-1.10,-146.6,198.3,-7.8,120,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,2824,-1.10,-146.6,222.2,-7.7,135,2828,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1485,3502
$GC,2858,-1.10,-146.6,225.0,-8.8,136,2864,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2901,3503
$GC,3174,-1.10,-146.6,251.3,-8.4,152,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,3482,-1.10,-146.6,272.8,-6.5,167,3487,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1480,3503
$GC,3516,-1.10,-146.6,275.0,-6.7,168,3522,0.00,2.70,0.00,0.000,6,0.000,0.078,2164,2902,3502
$GC,3830,-1.10,-146.6,297.3,-7.3,184,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,4140,-1.10,-146.6,320.4,-7.3,199,4144,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1484,3503
$GC,4250,-1.10,-146.6,328.8,-8.0,204,4255,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2904,3503
$GC,4571,-1.10,-146.6,353.4,-8.3,220,4575,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1483,3502
$GC,4609,-1.10,-146.6,356.8,-8.9,222,4614,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2899,3503
$GC,4935,-1.10,-146.6,386.5,-9.3,238,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,5244,-1.10,-146.6,414.2,-8.6,253,5248,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1476,3502
$GC,5270,-1.10,-146.6,416.7,-8.4,254,5275,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2896,3503
$GC,5592,-1.10,-146.6,441.8,-7.7,270,5596,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1480,3502
$GC,5634,-1.10,-146.6,445.1,-7.9,272,5639,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2899,3503
$GC,5962,-1.10,-146.6,471.0,-7.7,288,5966,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1479,3502
$GC,6010,-1.10,-146.6,474.8,-7.6,290,6015,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2903,3503
$GC,6331,-1.10,-146.6,499.3,-7.2,306,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,6641,-1.10,-146.6,518.7,-5.8,321,6645,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1476,3502
$GC,6748,-1.10,-146.6,524.8,-5.6,326,6753,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2903,3502
$GC,7079,-1.10,-146.6,545.3,-6.7,342,7083,0.00,2.55,0.00,0.000,4,0.000,0.056,2164,1479,3502
$GC,7146,-1.10,-146.6,550.1,-7.4,345,7150,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2900,3503
$GC,7466,-1.10,-146.6,571.1,-6.0,361,7470,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1473,3502
$GC,7533,-1.10,-146.6,575.4,-6.2,364,7537,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2900,3502
$GC,7858,-1.10,-146.6,597.2,-6.3,380,7859,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,8167,-1.10,-146.6,616.6,-6.9,395,8171,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1467,3502
$GC,8206,-1.10,-146.6,619.0,-6.4,397,8211,0.00,2.65,0.00,0.000,6,0.000,0.066,2164,2908,3502
$GC,8533,-1.10,-146.6,640.7,-6.8,413,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,8842,-1.10,-146.6,655.4,-4.3,428,8846,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1471,3502
$GC,8919,-1.10,-146.6,659.2,-5.1,431,8925,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2905,3502
$GC,9235,-1.10,-146.6,672.8,-4.7,447,9239,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1469,3502
$GC,9296,-1.10,-146.6,675.9,-5.4,450,9301,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2909,3501
$STATE,9578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9578,begin apogee
$GC,9585,-0.42,0.0,694.8,6.6,464,9714,0.75,0.00,125.90,1.266,6,0.076,0.000,2320,2089,2901
$STATE,9715,end apogee,CONTROL_FINISHED_OK
$STATE,9715,begin climb
$GC,9717,1.10,146.6,698.1,0.0,470,9848,1.52,2.60,123.25,1.220,4,0.054,0.058,2649,698,2303
$GC,9861,1.12,164.4,693.5,5.5,477,9883,0.00,2.50,16.85,1.112,6,0.000,0.036,2649,2117,2230
$GC,10191,1.14,175.9,674.6,5.7,493,10212,0.00,2.67,11.45,1.102,4,0.000,0.064,2649,3505,2183
$GC,10295,1.14,175.9,667.9,7.2,497,10302,0.00,2.47,0.00,0.000,6,0.000,0.036,2649,2095,2183
$GC,10611,1.16,191.0,649.1,5.6,513,10632,0.00,2.60,14.12,1.150,4,0.000,0.057,2649,696,2122
$GC,10684,1.16,191.0,644.8,6.9,516,10688,0.00,2.47,0.00,0.000,6,0.000,0.037,2649,2104,2122
$GC,11004,1.17,203.9,626.8,5.6,532,11025,0.00,2.67,12.35,1.146,4,0.000,0.066,2649,3495,2069
$GC,11053,1.19,215.4,623.9,5.7,534,11070,0.00,2.45,11.35,1.119,6,0.000,0.037,2649,2099,2022
$GC,11378,1.19,215.4,606.8,6.1,550,11382,0.00,2.53,0.00,0.000,4,0.000,0.057,2649,699,2021
$GC,11427,1.19,215.4,603.7,6.5,552,11431,0.00,2.45,0.00,0.000,6,0.000,0.036,2649,2103,2021
$GC,11748,1.19,215.4,584.9,6.4,568,11752,0.00,2.60,0.00,0.000,4,0.000,0.069,2649,3502,2020
$GC,11786,1.19,215.4,582.3,6.4,570,11790,0.00,2.47,0.00,0.000,6,0.000,0.039,2649,2093,2020
$GC,12112,1.19,215.4,562.1,6.1,586,12117,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3502,2019
$GC,12155,1.19,215.4,559.2,6.8,588,12159,0.00,2.47,0.00,0.000,6,0.000,0.040,2649,2093,2019
$GC,12482,1.20,223.7,539.5,5.8,604,12496,0.00,2.70,8.02,1.035,4,0.000,0.070,2649,3499,1989
$GC,12552,1.20,223.7,534.8,7.6,607,12556,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2099,1989
$GC,12879,1.20,223.7,514.1,7.0,623,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2099,1989
$GC,13188,1.20,223.7,493.0,6.5,638,13193,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3508,1989
$GC,13277,1.20,223.7,486.9,7.1,642,13282,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2105,1989
$GC,13604,1.20,223.7,466.1,6.1,658,13608,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3504,1989
$GC,13643,1.22,243.8,463.9,5.4,660,13668,0.12,2.47,18.02,1.061,6,0.044,0.044,2689,2099,1907
$GC,13996,1.22,243.8,439.2,6.7,677,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1907
$GC,14304,1.22,243.8,415.8,7.4,692,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1907
$GC,14613,1.22,243.8,391.6,7.7,707,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1907
$GC,14922,1.22,243.8,365.5,8.7,722,14927,0.00,2.67,0.00,0.000,4,0.000,0.078,2689,3502,1908
$GC,14948,1.22,243.8,363.0,8.9,723,14953,0.00,2.50,0.00,0.000,6,0.000,0.046,2689,2093,1908
$GC,15270,1.22,243.8,335.7,8.4,739,15274,0.00,2.67,0.00,0.000,4,0.000,0.077,2689,3502,1908
$GC,15301,1.22,243.8,332.7,9.4,740,15308,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2096,1908
$GC,15617,1.22,243.8,306.4,8.0,756,15618,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2096,1909
$GC,15927,1.22,243.8,282.7,7.7,771,15931,0.00,2.67,0.00,0.000,4,0.000,0.079,2689,3506,1909
$GC,15953,1.22,243.8,280.4,8.6,772,15957,0.00,2.50,0.00,0.000,6,0.000,0.049,2689,2102,1909
$GC,16274,1.22,243.8,257.0,6.8,788,16275,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2102,1909
$GC,16584,1.22,243.8,236.9,6.7,803,16588,0.00,2.65,0.00,0.000,4,0.000,0.077,2689,3502,1910
$GC,16638,1.22,243.8,232.6,8.1,805,16645,0.00,2.53,0.00,0.000,6,0.000,0.050,2689,2102,1910
$GC,16954,1.22,243.8,206.1,8.9,821,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2101,1910
$GC,17263,1.22,243.8,179.0,8.3,836,17264,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2101,1910
$GC,17573,1.23,249.9,153.6,5.8,851,17587,0.00,2.62,7.62,0.778,4,0.000,0.062,2689,691,1882
$GC,17643,1.23,249.9,147.1,6.7,854,17647,0.00,2.47,0.00,0.000,6,0.000,0.043,2689,2091,1882
$GC,17972,1.23,249.9,132.3,6.1,870,17973,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2091,1882
$GC,18280,1.23,249.9,105.9,8.3,885,18284,0.00,2.67,0.00,0.000,4,0.000,0.077,2689,3518,1882
$GC,18319,1.23,249.9,102.0,9.0,887,18323,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2093,1882
$GC,18645,1.23,249.9,74.5,6.9,903,18649,0.00,2.55,0.00,0.000,4,0.000,0.065,2689,693,1883
$GC,18688,1.23,249.9,70.3,7.8,905,18692,0.00,2.47,0.00,0.000,6,0.000,0.045,2689,2099,1883
$GC,19015,1.23,249.9,32.1,10.2,921,19016,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1883
$GC,19324,1.23,249.9,4.6,6.8,936,19329,0.00,2.67,0.00,0.000,4,0.000,0.083,2689,3514,1883
$GC,19335,1.32,324.1,4.9,3.9,936,19403,0.00,2.47,59.50,0.761,6,0.000,0.044,2689,2088,1579
$STATE,19421,end climb,SURFACE_DEPTH_REACHED
$STATE,19421,begin surface coast
$FINISH,-1.3,1.026309
$STATE,19443,end surface coast,CONTROL_FINISHED_OK
$STATE,19443,begin surface
$SM_CCo,19525,0.00,0.000,0,0,1577,324.53
$SM_GC,-0.54,11.55,0.00,0.00,0.021,0.000,0.000,42,2892,1577,-10.80,-0.23,324.53
$IRIDIUM_FIX,6244.56,-1308.97,221207,232336
$TT8_MAMPS,0.029146
$HUMID,2041
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,650.0,57.3
$24V_AH,23.4,37.499
$10V_AH,10.1,18.707
$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,25.950,188.075,408.450,0.000,0.000,40.466,36.298,180.097,6.250,0.000,0.000,13.743,1716.978,15081.694,551.173,2041.877,508.628,33.368,1612.528,0.000,2008.196,0.000,40.834
$DEVICE_MAMPS,160.303,128.856,1265.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.301,657.288,566.148,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47382,942
$CFSIZE,260165632,245944320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,0,0
$GPS,231207,070020,6311.858,-1307.589,27,1.6,39,-12.2