version: 66.02
glider: 103
mission: 7
dive: 223
start: 12 24 107 22 32 49
data:
$ID,103
$MISSION,7
$DIVE,223
$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,571.30371
$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,-66588.32
$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,5
$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
$GPS1,222608,6328.319,-1258.175,31,1.6,31,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.56
$_SM_ANGLEo,-49.1
$GPS2,223144,6328.350,-1258.060,10,1.4,15,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6345.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.145,0.168
$KALMAN_X,-269432.7,535.4,979.6,35448.1,-2896.9
$KALMAN_Y,-181579.3,234.9,1179.5,391948.4,-2877.8
$MHEAD_RNG_PITCHd_Wd,53.0,30938,-10.8,-6.000
$D_GRID,607
$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,-1.08,-146.6,0.0,0.0,0,129,0.00,0.00,-106.88,0.000,6,0.000,0.000,46,2895,3500
$GC,132,-1.08,-146.6,2.9,-4.2,5,153,12.02,1.77,0.00,0.000,4,0.160,0.089,2168,3791,3502
$GC,405,-1.08,-146.6,34.4,-8.7,17,409,0.00,1.60,0.00,0.000,6,0.000,0.054,2168,2912,3502
$GC,732,-1.08,-146.6,59.7,-6.7,33,735,0.00,1.73,0.00,0.000,4,0.000,0.092,2168,3794,3502
$GC,787,-1.08,-146.6,64.3,-7.8,35,791,0.00,1.60,0.00,0.000,6,0.000,0.048,2168,2903,3502
$GC,1108,-1.08,-146.6,85.7,-7.5,51,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2903,3502
$GC,1419,-1.08,-146.6,107.2,-6.8,66,1423,0.00,2.62,0.00,0.000,4,0.000,0.074,2168,1484,3502
$GC,1503,-1.08,-146.6,112.4,-6.1,70,1507,0.00,2.72,0.00,0.000,6,0.000,0.082,2168,2905,3502
$GC,1829,-1.08,-146.6,136.0,-7.1,86,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2905,3502
$GC,2138,-1.08,-146.6,156.8,-6.6,101,2143,0.00,2.65,0.00,0.000,4,0.000,0.071,2168,1476,3502
$GC,2182,-1.08,-146.6,160.0,-7.0,103,2187,0.00,2.72,0.00,0.000,6,0.000,0.081,2168,2907,3502
$GC,2503,-1.08,-146.6,183.3,-7.0,119,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2907,3502
$GC,2812,-1.08,-146.6,204.8,-6.8,134,2817,0.00,2.65,0.00,0.000,4,0.000,0.070,2168,1482,3502
$GC,2867,-1.08,-146.6,208.4,-6.3,136,2874,0.00,2.70,0.00,0.000,6,0.000,0.081,2168,2900,3502
$GC,3183,-1.08,-146.6,228.6,-6.4,152,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2900,3502
$GC,3492,-1.08,-146.6,246.5,-6.2,167,3496,0.00,2.62,0.00,0.000,4,0.000,0.069,2168,1483,3502
$GC,3547,-1.08,-146.6,250.0,-6.3,169,3553,0.00,2.70,0.00,0.000,6,0.000,0.078,2168,2901,3502
$GC,3862,-1.08,-146.6,271.0,-7.3,185,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2902,3502
$GC,4171,-1.08,-146.6,292.0,-6.4,200,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2902,3502
$GC,4481,-1.08,-146.6,311.8,-6.5,215,4485,0.00,2.62,0.00,0.000,4,0.000,0.069,2168,1481,3502
$GC,4546,-1.08,-146.6,316.2,-6.6,218,4551,0.00,2.70,0.00,0.000,6,0.000,0.078,2168,2906,3502
$GC,4873,-1.08,-146.6,338.3,-6.8,234,4877,0.00,2.62,0.00,0.000,4,0.000,0.069,2168,1483,3502
$GC,4922,-1.08,-146.6,341.8,-7.0,236,4926,0.00,2.67,0.00,0.000,6,0.000,0.078,2168,2900,3502
$GC,5238,-1.08,-146.6,362.9,-6.3,251,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2900,3502
$GC,5547,-1.08,-146.6,381.5,-6.1,266,5551,0.00,2.60,0.00,0.000,4,0.000,0.064,2168,1484,3502
$GC,5602,-1.08,-146.6,385.2,-7.0,268,5608,0.00,2.67,0.00,0.000,6,0.000,0.077,2168,2902,3502
$GC,5917,-1.08,-146.6,406.4,-6.8,284,5921,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,1476,3502
$GC,5950,-1.08,-146.6,408.6,-6.6,285,5957,0.00,2.70,0.00,0.000,6,0.000,0.079,2168,2902,3502
$GC,6266,-1.08,-146.6,429.6,-6.5,301,6270,0.00,2.60,0.00,0.000,4,0.000,0.067,2168,1483,3502
$GC,6315,-1.08,-146.6,432.9,-6.4,303,6319,0.00,2.67,0.00,0.000,6,0.000,0.077,2168,2900,3502
$GC,6630,-1.08,-146.6,452.2,-6.1,318,6634,0.00,2.62,0.00,0.000,4,0.000,0.067,2168,1477,3502
$GC,6679,-1.08,-146.6,455.0,-5.5,320,6684,0.00,2.67,0.00,0.000,6,0.000,0.076,2168,2901,3502
$GC,6995,-1.08,-146.6,473.3,-5.8,335,6999,0.00,2.60,0.00,0.000,4,0.000,0.066,2168,1475,3502
$GC,7071,-1.08,-146.6,478.9,-7.1,338,7078,0.00,2.67,0.00,0.000,6,0.000,0.074,2168,2904,3502
$GC,7388,-1.08,-146.6,499.3,-5.9,354,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2168,2904,3502
$GC,7697,-1.08,-146.6,515.2,-5.5,369,7701,0.00,2.60,0.00,0.000,4,0.000,0.062,2168,1482,3502
$GC,7796,-1.08,-146.6,522.4,-7.7,373,7803,0.00,2.67,0.00,0.000,6,0.000,0.072,2168,2902,3502
$GC,8112,-1.08,-146.6,542.3,-6.2,389,8116,0.00,2.58,0.00,0.000,4,0.000,0.061,2168,1480,3502
$GC,8188,-1.08,-146.6,547.4,-7.0,392,8195,0.00,2.65,0.00,0.000,6,0.000,0.071,2168,2903,3502
$GC,8504,-1.08,-146.6,568.6,-7.1,408,8509,0.00,2.58,0.00,0.000,4,0.000,0.060,2168,1473,3502
$GC,8576,-1.08,-146.6,572.3,-5.5,411,8581,0.00,2.67,0.00,0.000,6,0.000,0.072,2168,2908,3502
$STATE,8807,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8807,begin apogee
$GC,8814,-0.42,0.0,586.9,6.8,422,8942,0.70,0.00,124.45,1.179,6,0.045,0.000,2327,2087,2901
$STATE,8942,end apogee,CONTROL_FINISHED_OK
$STATE,8942,begin climb
$GC,8945,1.08,146.6,586.9,0.0,428,9076,1.48,2.83,121.25,1.145,4,0.055,0.073,2644,3521,2303
$GC,9331,1.10,164.8,579.9,5.5,445,9353,0.00,2.50,16.98,1.084,6,0.000,0.038,2644,2096,2228
$GC,9662,1.16,211.1,567.9,4.8,461,9707,0.00,2.75,39.47,1.149,4,0.000,0.071,2644,3519,2040
$GC,9741,1.16,211.1,561.8,8.8,465,9745,0.00,2.53,0.00,0.000,6,0.000,0.039,2644,2096,2040
$GC,10067,1.16,211.1,528.6,8.4,481,10071,0.00,2.55,0.00,0.000,4,0.000,0.061,2644,700,2038
$GC,10177,1.16,211.1,517.8,9.1,486,10182,0.00,2.47,0.00,0.000,6,0.000,0.040,2644,2109,2038
$GC,10504,1.16,211.1,497.0,6.0,502,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2110,2036
$GC,10813,1.16,211.1,476.2,6.4,517,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2110,2035
$GC,11123,1.16,211.1,455.2,6.3,532,11127,0.00,2.62,0.00,0.000,4,0.000,0.074,2644,3509,2035
$GC,11184,1.16,211.1,451.1,6.1,535,11188,0.00,2.47,0.00,0.000,6,0.000,0.041,2644,2102,2035
$GC,11510,1.16,211.1,431.2,6.2,551,11514,0.00,2.55,0.00,0.000,4,0.000,0.061,2644,696,2035
$GC,11643,1.16,211.1,422.8,6.0,557,11647,0.00,2.45,0.00,0.000,6,0.000,0.039,2644,2100,2035
$GC,11964,1.16,211.1,402.0,7.3,573,11968,0.00,2.62,0.00,0.000,4,0.000,0.071,2644,3509,2035
$GC,12063,1.16,211.1,394.4,7.3,577,12069,0.00,2.47,0.00,0.000,6,0.000,0.040,2644,2095,2035
$GC,12379,1.16,211.1,373.1,6.5,593,12380,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2095,2035
$GC,12688,1.16,211.1,353.2,6.5,608,12692,0.00,2.65,0.00,0.000,4,0.000,0.073,2644,3512,2035
$GC,12749,1.16,211.1,349.2,6.5,611,12753,0.00,2.47,0.00,0.000,6,0.000,0.040,2644,2096,2035
$GC,13075,1.16,211.1,328.8,6.1,627,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2096,2035
$GC,13384,1.17,220.0,310.8,5.8,642,13398,0.00,2.70,8.50,0.895,4,0.000,0.073,2644,3501,2003
$GC,13456,1.17,224.7,306.6,5.9,645,13466,0.00,2.47,5.43,0.785,6,0.000,0.040,2644,2100,1984
$GC,13776,1.19,239.6,288.7,5.6,660,13798,0.12,2.75,13.70,0.920,4,0.045,0.077,2684,3507,1924
$GC,13837,1.19,239.6,284.2,7.6,662,13843,0.00,2.53,0.00,0.000,6,0.000,0.049,2684,2102,1923
$GC,14152,1.19,239.6,260.4,8.0,678,14153,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1923
$GC,14461,1.19,239.6,236.6,7.9,693,14466,0.00,2.65,0.00,0.000,4,0.000,0.076,2684,3506,1923
$GC,14500,1.19,239.6,233.4,8.6,695,14505,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,2099,1923
$GC,14827,1.19,239.6,206.2,8.7,711,14828,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1924
$GC,15136,1.19,239.6,179.9,8.8,726,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1924
$GC,15445,1.19,239.6,154.4,8.2,741,15450,0.00,2.65,0.00,0.000,4,0.000,0.076,2684,3506,1924
$GC,15491,1.19,239.6,150.5,8.4,743,15495,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,2099,1924
$GC,15811,1.19,239.6,122.8,8.9,759,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1924
$GC,16120,1.19,239.6,93.8,10.3,774,16125,0.00,2.67,0.00,0.000,4,0.000,0.076,2684,3512,1924
$GC,16159,1.19,239.6,89.8,9.9,776,16164,0.00,2.50,0.00,0.000,6,0.000,0.052,2684,2101,1924
$GC,16486,1.19,239.6,59.0,8.5,792,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2101,1924
$GC,16795,1.22,263.1,37.7,5.4,807,16818,0.00,0.00,20.55,0.781,6,0.000,0.000,2684,2100,1828
$GC,17126,1.22,263.1,14.3,6.8,823,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1828
$STATE,17267,end climb,SURFACE_DEPTH_REACHED
$STATE,17267,begin surface coast
$FINISH,-0.5,1.027343
$STATE,17289,end surface coast,CONTROL_FINISHED_OK
$STATE,17289,begin surface
$SM_CCo,17310,242.62,0.739,1,0,571,571.30
$SM_GC,-0.50,0.00,0.00,242.62,0.000,0.000,0.739,44,2906,571,-10.88,0.17,571.30
$IRIDIUM_FIX,6258.74,-1259.32,241207,212135
$TT8_MAMPS,0.029146
$HUMID,2015
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.6,69.9
$24V_AH,23.4,39.224
$10V_AH,10.1,19.480
$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,25.950,145.800,350.325,242.625,0.000,37.821,34.071,161.645,4.750,0.000,0.000,15.427,1536.766,13243.187,770.791,1906.113,454.494,33.368,1722.695,0.000,1871.905,0.000,29.840
$DEVICE_MAMPS,159.536,92.040,1178.879,738.621,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.031,571.763,532.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41121,831
$CFSIZE,260165632,245444608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
$GPS,251207,032637,6328.466,-1255.155,34,1.6,34,-12.2