version: 66.02
glider: 103
mission: 7
dive: 181
start: 12 16 107 6 26 15
data:
$ID,103
$MISSION,7
$DIVE,181
$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,-65685.406
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,061931,6254.771,-1230.707,36,1.5,42,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-59.4
$GPS2,062508,6254.766,-1230.731,10,1.7,10,-11.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.176,0.129
$KALMAN_X,-216715.5,-492.5,159.4,8659.7,-1554.3
$KALMAN_Y,-87418.6,-113.8,-149.5,237252.5,-297.5
$MHEAD_RNG_PITCHd_Wd,318.0,22590,-11.1,-6.000
$D_GRID,608
$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,20,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-63.20,0.000,6,0.000,0.000,47,2894,3499
$GC,91,-1.10,-146.6,5.3,-8.7,4,107,11.93,1.73,0.00,0.000,4,0.157,0.086,2164,3774,3501
$GC,358,-1.10,-146.6,37.5,-8.6,15,363,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2892,3502
$GC,685,-1.10,-146.6,64.9,-8.1,31,689,0.00,1.67,0.00,0.000,4,0.000,0.080,2164,3777,3502
$GC,942,-1.10,-146.6,84.7,-7.5,42,947,0.00,1.50,0.00,0.000,6,0.000,0.032,2164,2900,3502
$GC,1264,-1.10,-146.6,106.4,-6.1,58,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,1573,-1.10,-146.6,127.0,-6.7,73,1578,0.00,2.60,0.00,0.000,4,0.000,0.071,2164,1489,3502
$GC,1617,-1.10,-146.6,130.0,-7.0,75,1621,0.00,2.60,0.00,0.000,6,0.000,0.070,2164,2890,3502
$GC,1944,-1.10,-146.6,153.2,-6.9,91,1948,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1493,3502
$GC,1975,-1.10,-146.6,155.4,-6.5,92,1982,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2905,3502
$GC,2291,-1.10,-146.6,176.7,-6.4,108,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3502
$GC,2600,-1.10,-146.6,197.3,-6.7,123,2604,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1491,3502
$GC,2640,-1.10,-146.6,199.7,-6.1,125,2644,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3502
$GC,2971,-1.10,-146.6,221.2,-6.6,141,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3280,-1.10,-146.6,242.7,-6.9,156,3284,0.00,2.58,0.00,0.000,4,0.000,0.068,2165,1498,3502
$GC,3334,-1.10,-146.6,246.5,-7.5,158,3341,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2903,3502
$GC,3650,-1.10,-146.6,268.8,-7.4,174,3654,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1498,3502
$GC,3704,-1.10,-146.6,272.9,-7.5,176,3711,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2904,3502
$GC,4020,-1.10,-146.6,295.8,-7.3,192,4024,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1496,3502
$GC,4051,-1.10,-146.6,298.2,-7.4,193,4058,0.00,2.60,0.00,0.000,6,0.000,0.071,2164,2901,3502
$GC,4367,-1.10,-146.6,320.0,-6.8,209,4371,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1492,3502
$GC,4415,-1.10,-146.6,323.4,-6.7,211,4420,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2900,3502
$GC,4737,-1.10,-146.6,344.9,-6.9,227,4741,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1491,3502
$GC,4770,-1.10,-146.6,347.3,-7.6,228,4776,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3502
$GC,5084,-1.10,-146.6,370.4,-7.7,244,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,5394,-1.10,-146.6,391.6,-6.2,259,5398,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1494,3502
$GC,5442,-1.10,-146.6,394.7,-6.4,261,5447,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2900,3502
$GC,5763,-1.10,-146.6,415.0,-6.7,277,5768,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1491,3502
$GC,5796,-1.10,-146.6,417.3,-6.8,278,5802,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2903,3502
$GC,6111,-1.10,-146.6,438.2,-6.9,294,6115,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1487,3502
$GC,6143,-1.10,-146.6,440.3,-6.5,295,6150,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2899,3502
$GC,6459,-1.10,-146.6,462.7,-7.0,311,6463,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1490,3502
$GC,6513,-1.10,-146.6,466.9,-8.2,313,6520,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,6828,-1.10,-146.6,489.2,-7.1,329,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,7138,-1.10,-146.6,505.8,-4.6,344,7143,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1491,3502
$GC,7210,-1.10,-146.6,509.1,-4.3,347,7214,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2907,3502
$GC,7531,-1.10,-146.6,530.3,-6.9,363,7535,0.00,2.55,0.00,0.000,4,0.000,0.057,2164,1482,3502
$GC,7585,-1.10,-146.6,533.9,-6.5,365,7592,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2899,3502
$GC,7901,-1.10,-146.6,552.1,-5.4,381,7906,0.00,2.53,0.00,0.000,4,0.000,0.055,2164,1491,3502
$GC,7951,-1.10,-146.6,554.7,-4.5,383,7955,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2903,3502
$GC,8266,-1.10,-146.6,574.6,-6.8,398,8270,0.00,2.53,0.00,0.000,4,0.000,0.056,2164,1491,3502
$GC,8311,-1.10,-146.6,578.0,-8.6,400,8315,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2906,3502
$STATE,8573,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8573,begin apogee
$GC,8579,-0.42,0.0,599.2,7.6,413,8706,0.73,0.00,122.93,1.217,6,0.062,0.000,2320,2102,2901
$STATE,8706,end apogee,CONTROL_FINISHED_OK
$STATE,8706,begin climb
$GC,8708,1.10,146.6,602.3,0.0,419,8833,1.52,0.00,120.10,1.187,6,0.050,0.000,2651,2101,2304
$GC,9141,1.15,183.1,589.5,5.0,440,9177,0.00,2.70,31.05,1.173,4,0.000,0.066,2651,3514,2154
$GC,9223,1.19,217.4,585.9,5.1,443,9257,0.00,2.53,29.52,1.177,6,0.000,0.038,2651,2084,2014
$GC,9569,1.31,317.4,570.3,3.2,459,9659,0.17,2.62,82.97,1.180,4,0.038,0.061,2706,705,1606
$GC,9743,1.31,317.4,556.1,11.8,467,9747,0.00,2.53,0.00,0.000,6,0.000,0.042,2706,2103,1606
$GC,10070,1.31,317.4,522.4,10.6,483,10074,0.00,2.58,0.00,0.000,4,0.000,0.059,2706,701,1603
$GC,10245,1.31,317.4,504.8,10.4,491,10249,0.00,2.47,0.00,0.000,6,0.000,0.043,2706,2099,1603
$GC,10577,1.31,317.4,465.8,11.3,507,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2099,1602
$GC,10886,1.31,317.4,432.9,9.7,522,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2099,1602
$GC,11195,1.31,317.4,400.1,10.7,537,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2099,1602
$GC,11504,1.31,317.4,365.5,11.6,552,11509,0.00,2.65,0.00,0.000,4,0.000,0.078,2706,3510,1602
$GC,11531,1.31,317.4,362.3,11.9,553,11535,0.00,2.50,0.00,0.000,6,0.000,0.047,2706,2102,1602
$GC,11852,1.31,317.4,326.2,11.0,569,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2102,1602
$GC,12161,1.31,317.4,291.2,11.8,584,12165,0.00,2.67,0.00,0.000,4,0.000,0.076,2706,3515,1603
$GC,12193,1.31,317.4,287.1,12.4,585,12200,0.00,2.50,0.00,0.000,6,0.000,0.048,2706,2098,1603
$GC,12508,1.31,317.4,249.4,11.6,601,12513,0.00,2.58,0.00,0.000,4,0.000,0.064,2706,686,1603
$GC,12552,1.31,317.4,243.9,12.7,603,12556,0.00,2.53,0.00,0.000,6,0.000,0.048,2706,2106,1603
$GC,12879,1.31,317.4,205.9,11.1,619,12883,0.00,2.62,0.00,0.000,4,0.000,0.075,2706,3512,1603
$GC,12927,1.31,317.4,200.1,10.6,621,12932,0.00,2.53,0.00,0.000,6,0.000,0.048,2706,2093,1603
$GC,13249,1.31,317.4,166.3,10.2,637,13252,0.00,2.55,0.00,0.000,4,0.000,0.065,2706,688,1604
$GC,13281,1.31,317.4,162.7,11.1,638,13285,0.00,2.50,0.00,0.000,6,0.000,0.049,2706,2098,1604
$GC,13603,1.31,317.4,131.7,9.4,654,13607,0.00,2.65,0.00,0.000,4,0.000,0.075,2706,3516,1604
$GC,13641,1.31,317.4,127.8,10.2,656,13646,0.00,2.53,0.00,0.000,6,0.000,0.049,2706,2098,1604
$GC,13968,1.31,317.4,94.0,10.5,672,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1604
$GC,14277,1.31,317.4,64.0,9.8,687,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1605
$GC,14586,1.31,317.4,36.2,9.4,702,14590,0.00,2.58,0.00,0.000,4,0.000,0.068,2706,694,1606
$GC,14640,1.31,317.4,30.9,10.3,704,14647,0.00,2.53,0.00,0.000,6,0.000,0.048,2706,2101,1606
$STATE,14913,end climb,SURFACE_DEPTH_REACHED
$STATE,14913,begin surface coast
$FINISH,-0.8,1.027316
$STATE,14935,end surface coast,CONTROL_FINISHED_OK
$STATE,14935,begin surface
$SM_CCo,15017,0.00,0.000,0,0,1604,318.15
$SM_GC,-0.13,11.73,0.00,0.00,0.031,0.000,0.000,44,2895,1604,-10.80,-0.14,318.15
$IRIDIUM_FIX,6230.49,-1227.12,161207,050552
$TT8_MAMPS,0.028379
$HUMID,2091
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.1,108.0
$24V_AH,23.4,32.685
$10V_AH,10.1,15.979
$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,26.075,143.850,386.575,0.000,0.000,37.820,41.787,157.271,4.500,0.000,0.000,10.987,1339.915,11422.282,503.441,1661.980,441.681,33.374,1363.681,0.000,1643.769,0.000,28.332
$DEVICE_MAMPS,157.235,89.739,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.675,496.760,467.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34828,719
$CFSIZE,260165632,247967744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
$GPS,161207,103738,6256.308,-1237.186,34,1.0,34,-11.8