version: 66.02
glider: 103
mission: 7
dive: 180
start: 12 16 107 1 34 8
data:
$ID,103
$MISSION,7
$DIVE,180
$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,-2
$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,-65673.797
$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,27
$R_STBD_OVSHOOT,15
$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
$GPS1,012656,6252.804,-1228.752,41,1.6,41,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-59.5
$GPS2,013302,6252.808,-1228.736,14,1.4,31,-11.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,0.217
$KALMAN_X,-215195.4,-520.9,-77.7,9187.7,-1223.4
$KALMAN_Y,-87715.4,-42.9,925.2,232777.4,-3549.1
$MHEAD_RNG_PITCHd_Wd,5.1,25789,-11.1,-6.000
$D_GRID,630
$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,21,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-60.25,0.000,2,0.000,0.000,48,2898,3427
$GC,85,-1.10,-146.6,4.1,-10.1,3,108,11.88,1.77,-1.27,0.000,4,0.156,0.121,2164,3778,3501
$GC,360,-1.10,-146.6,33.4,-7.0,15,364,0.00,1.52,0.00,0.000,6,0.000,0.034,2164,2896,3501
$GC,686,-1.10,-146.6,57.4,-7.7,31,690,0.00,1.70,0.00,0.000,4,0.000,0.085,2164,3783,3501
$GC,741,-1.10,-146.6,61.5,-7.4,33,746,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2894,3501
$GC,1063,-1.10,-146.6,85.1,-7.7,49,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3501
$GC,1372,-1.10,-146.6,109.1,-7.7,64,1376,0.00,2.58,0.00,0.000,4,0.000,0.071,2164,1499,3502
$GC,1416,-1.10,-146.6,112.2,-7.2,66,1421,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2896,3502
$GC,1736,-1.10,-146.6,136.4,-7.8,82,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3502
$GC,2045,-1.10,-146.6,160.3,-7.9,97,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3502
$GC,2355,-1.10,-146.6,183.6,-7.4,112,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3502
$GC,2664,-1.10,-146.6,205.8,-7.1,127,2668,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1500,3502
$GC,2724,-1.10,-146.6,210.2,-7.3,130,2729,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2900,3502
$GC,3051,-1.10,-146.6,235.6,-8.0,146,3055,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1492,3502
$GC,3134,-1.10,-146.6,242.4,-8.4,150,3138,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3502
$GC,3460,-1.10,-146.6,269.7,-8.3,166,3464,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1498,3502
$GC,3498,-1.10,-146.6,272.7,-7.6,168,3503,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2902,3502
$GC,3824,-1.10,-146.6,298.6,-7.7,184,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,4133,-1.10,-146.6,321.6,-7.7,199,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,4443,-1.10,-146.6,347.9,-8.7,214,4447,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1495,3502
$GC,4492,-1.10,-146.6,352.2,-8.6,216,4496,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2905,3502
$GC,4808,-1.10,-146.6,376.3,-6.9,231,4812,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1498,3502
$GC,4851,-1.10,-146.6,379.4,-7.0,233,4855,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2906,3502
$GC,5179,-1.10,-146.6,401.4,-7.8,249,5183,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1498,3502
$GC,5210,-1.10,-146.6,404.2,-8.2,250,5217,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2895,3502
$GC,5527,-1.10,-146.6,426.5,-5.9,266,5531,0.00,2.53,0.00,0.000,4,0.000,0.062,2164,1498,3502
$GC,5581,-1.10,-146.6,430.4,-6.5,268,5585,0.00,2.60,0.00,0.000,6,0.000,0.068,2164,2904,3502
$GC,5902,-1.10,-146.6,457.3,-9.4,284,5906,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1492,3502
$GC,5934,-1.10,-146.6,460.1,-8.5,285,5941,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2901,3502
$GC,6250,-1.10,-146.6,483.1,-7.4,301,6253,0.00,1.65,0.00,0.000,4,0.000,0.082,2164,3787,3502
$GC,6317,-1.10,-146.6,488.1,-7.5,304,6321,0.00,1.52,0.00,0.000,6,0.000,0.032,2164,2892,3502
$GC,6649,-1.10,-146.6,505.8,-4.7,320,6653,0.00,2.47,0.00,0.000,4,0.000,0.055,2164,1496,3502
$GC,6748,-1.10,-146.6,511.2,-6.2,324,6755,0.00,2.58,0.00,0.000,6,0.000,0.063,2164,2906,3502
$GC,7064,-1.10,-146.6,533.9,-8.0,340,7068,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1494,3502
$GC,7175,-1.10,-146.6,543.2,-7.4,345,7179,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2908,3502
$GC,7502,-1.10,-146.6,568.3,-6.8,361,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,7812,-1.10,-146.6,589.7,-4.6,376,7816,0.00,2.47,0.00,0.000,4,0.000,0.047,2164,1492,3502
$GC,7873,-1.10,-146.6,592.9,-5.0,379,7878,0.00,2.55,0.00,0.000,6,0.000,0.062,2164,2898,3502
$GC,8200,-1.10,-146.6,609.7,-0.8,395,8203,0.00,1.65,0.00,0.000,4,0.000,0.082,2164,3785,3501
$GC,8305,-1.10,-146.6,609.4,1.1,399,8311,0.00,1.62,0.00,0.000,6,0.000,0.081,2164,2929,3501
$GC,8621,-1.10,-146.6,609.6,0.0,415,8624,0.00,1.62,0.00,0.000,4,0.000,0.078,2165,3783,3500
$STATE,8629,end dive,NO_VERTICAL_VELOCITY
$STATE,8629,begin apogee
$GC,8637,-0.42,0.0,609.4,0.0,415,8768,0.68,0.00,124.03,1.211,6,0.035,0.000,2325,2080,2901
$STATE,8769,end apogee,CONTROL_FINISHED_OK
$STATE,8769,begin climb
$GC,8771,1.10,146.6,609.3,0.0,422,8899,1.50,2.72,120.20,1.194,4,0.052,0.060,2648,3521,2302
$GC,9154,1.14,179.6,594.1,5.1,439,9189,0.00,2.53,28.30,1.156,6,0.000,0.037,2648,2092,2168
$GC,9512,1.20,227.3,574.5,4.7,457,9555,0.10,0.00,40.47,1.176,6,0.051,0.000,2680,2092,1974
$GC,9860,1.20,227.3,553.1,7.7,474,9864,0.00,2.53,0.00,0.000,4,0.000,0.059,2681,701,1972
$GC,9953,1.20,227.3,546.5,6.3,478,9958,0.00,2.50,0.00,0.000,6,0.000,0.037,2681,2112,1972
$GC,10275,1.20,227.3,524.0,7.6,494,10279,0.00,2.55,0.00,0.000,4,0.000,0.054,2681,698,1971
$GC,10442,1.20,227.3,508.9,9.5,501,10448,0.00,2.47,0.00,0.000,6,0.000,0.038,2681,2101,1970
$GC,10757,1.20,227.3,483.3,7.9,517,10761,0.00,2.60,0.00,0.000,4,0.000,0.069,2681,3509,1970
$GC,10840,1.20,227.3,476.9,7.3,521,10845,0.00,2.47,0.00,0.000,6,0.000,0.039,2681,2099,1970
$GC,11166,1.20,227.3,453.2,8.0,537,11170,0.00,2.53,0.00,0.000,4,0.000,0.055,2681,697,1970
$GC,11214,1.20,227.3,449.3,7.9,539,11219,0.00,2.45,0.00,0.000,6,0.000,0.039,2681,2097,1970
$GC,11535,1.20,227.3,425.9,7.2,555,11540,0.00,2.62,0.00,0.000,4,0.000,0.071,2681,3509,1970
$GC,11597,1.20,227.3,421.4,6.9,558,11601,0.00,2.47,0.00,0.000,6,0.000,0.043,2681,2103,1970
$GC,11922,1.20,227.3,397.7,7.8,574,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2103,1970
$GC,12231,1.20,227.3,373.9,7.7,589,12235,0.00,2.65,0.00,0.000,4,0.000,0.073,2681,3511,1970
$GC,12274,1.20,227.3,370.5,8.4,591,12278,0.00,2.50,0.00,0.000,6,0.000,0.044,2681,2094,1970
$GC,12601,1.20,227.3,346.4,7.1,607,12605,0.00,2.53,0.00,0.000,4,0.000,0.061,2681,694,1971
$GC,12672,1.20,227.3,340.7,7.9,610,12676,0.00,2.47,0.00,0.000,6,0.000,0.041,2681,2109,1971
$GC,12993,1.20,227.3,317.1,7.6,626,12998,0.00,2.60,0.00,0.000,4,0.000,0.073,2681,3508,1971
$GC,13032,1.20,227.3,313.8,8.0,628,13037,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2097,1971
$GC,13358,1.20,227.3,287.8,7.9,644,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2097,1972
$GC,13667,1.20,227.3,262.0,8.8,659,13669,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2097,1972
$GC,13977,1.20,227.3,234.8,8.8,674,13981,0.00,2.62,0.00,0.000,4,0.000,0.073,2681,3505,1972
$GC,14025,1.20,227.3,230.4,8.8,676,14030,0.00,2.50,0.00,0.000,6,0.000,0.047,2681,2093,1972
$GC,14346,1.20,227.3,205.2,7.8,692,14348,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2093,1972
$GC,14656,1.20,227.3,181.5,7.4,707,14660,0.00,2.65,0.00,0.000,4,0.000,0.071,2681,3514,1973
$GC,14700,1.20,227.3,177.9,8.2,709,14705,0.00,2.50,0.00,0.000,6,0.000,0.045,2681,2101,1973
$GC,15020,1.20,227.3,153.5,7.4,725,15021,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2100,1974
$GC,15330,1.20,227.3,131.0,7.6,740,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2100,1974
$GC,15639,1.20,227.3,107.0,7.9,755,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2101,1974
$GC,15948,1.20,227.3,85.4,7.0,770,15949,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2100,1974
$GC,16258,1.25,267.6,65.7,4.9,785,16300,0.00,2.72,32.78,0.816,4,0.000,0.070,2681,3505,1810
$GC,16327,1.28,287.7,62.1,5.4,788,16352,0.00,2.53,17.27,0.776,6,0.000,0.045,2681,2094,1728
$GC,16674,1.28,287.7,29.8,9.8,805,16675,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2094,1727
$GC,16983,1.28,287.7,2.4,7.9,820,16988,0.00,2.65,0.00,0.000,4,0.000,0.071,2681,3505,1727
$STATE,16991,end climb,SURFACE_DEPTH_REACHED
$STATE,16991,begin surface coast
$FINISH,-0.3,1.027318
$STATE,17015,end surface coast,CONTROL_FINISHED_OK
$STATE,17015,begin surface
$SM_CCo,17036,10.43,0.738,0,0,1678,300.00
$SM_GC,0.92,0.00,0.00,10.43,0.000,0.000,0.738,47,2896,1678,-10.87,-0.14,300.00
$IRIDIUM_FIX,6225.82,-1226.10,161207,000003
$TT8_MAMPS,0.028379
$HUMID,2063
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.5,69.7
$24V_AH,23.4,32.541
$10V_AH,10.1,15.907
$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,25.775,144.400,363.050,10.425,0.000,38.875,34.678,170.676,5.000,0.000,0.000,31.033,1526.913,13011.627,486.727,1953.217,447.648,33.368,1457.575,0.000,1899.039,0.000,31.459
$DEVICE_MAMPS,155.701,121.186,1211.093,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,590.682,566.448,530.366,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41162,821
$CFSIZE,260165632,248012800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,161207,061931,6254.771,-1230.707,36,1.5,42,-11.7