version: 66.02
glider: 103
mission: 7
dive: 182
start: 12 16 107 10 44 11
data:
$ID,103
$MISSION,7
$DIVE,182
$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,-65702.562
$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,20
$R_STBD_OVSHOOT,9
$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
$GPS1,103738,6256.308,-1237.186,34,1.0,34,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-54.0
$GPS2,104304,6256.385,-1237.146,15,1.1,16,-11.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.174,0.132
$KALMAN_X,-218809.4,191.8,-531.8,5107.4,-1064.6
$KALMAN_Y,-87777.8,407.2,97.5,239854.3,-709.5
$MHEAD_RNG_PITCHd_Wd,319.0,16437,-11.1,-6.000
$D_GRID,601
$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,-146.6,0.0,0.0,0,83,0.00,0.00,-61.38,0.000,2,0.000,0.000,44,2898,3344
$GC,85,-1.10,-146.6,3.6,-9.4,3,108,11.93,2.58,-2.80,0.000,4,0.157,0.075,2166,1489,3502
$GC,357,-1.10,-146.6,32.1,-6.1,15,362,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2903,3503
$GC,684,-1.10,-146.6,52.1,-7.1,31,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,992,-1.10,-146.6,72.8,-6.9,46,997,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1490,3503
$GC,1069,-1.10,-146.6,78.5,-6.7,49,1076,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2900,3503
$GC,1387,-1.10,-146.6,100.9,-7.5,65,1391,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1491,3503
$GC,1425,-1.10,-146.6,104.1,-8.0,67,1430,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3504
$GC,1751,-1.10,-146.6,129.7,-8.0,83,1756,0.00,2.65,0.00,0.000,4,0.000,0.073,2166,1484,3504
$GC,1783,-1.10,-146.6,132.5,-8.3,84,1791,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2893,3504
$GC,2099,-1.10,-146.6,157.1,-8.0,100,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2893,3504
$GC,2408,-1.10,-146.6,182.9,-8.1,115,2413,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1490,3504
$GC,2440,-1.10,-146.6,185.6,-8.2,116,2447,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2905,3504
$GC,2756,-1.10,-146.6,211.0,-7.8,132,2760,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1491,3504
$GC,2789,-1.10,-146.6,213.6,-8.1,133,2796,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2901,3504
$GC,3104,-1.10,-146.6,236.5,-6.8,149,3108,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1490,3504
$GC,3130,-1.10,-146.6,238.4,-7.6,150,3134,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2901,3504
$GC,3452,-1.10,-146.6,260.6,-6.9,166,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3504
$GC,3761,-1.10,-146.6,279.8,-6.0,181,3765,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1484,3504
$GC,3827,-1.10,-146.6,283.9,-5.8,184,3831,0.00,2.65,0.00,0.000,6,0.000,0.076,2166,2900,3504
$GC,4147,-1.10,-146.6,302.7,-6.5,200,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3504
$GC,4456,-1.10,-146.6,322.2,-5.9,215,4461,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1487,3504
$GC,4518,-1.10,-146.6,325.8,-6.0,218,4522,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2908,3504
$GC,4843,-1.10,-146.6,345.4,-6.3,234,4848,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3504
$GC,4864,-1.10,-146.6,346.9,-6.7,235,4869,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3504
$GC,5192,-1.10,-146.6,370.3,-7.3,251,5196,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1482,3504
$GC,5224,-1.10,-146.6,372.8,-7.2,252,5230,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2900,3504
$GC,5539,-1.10,-146.6,393.0,-6.1,268,5543,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1487,3504
$GC,5610,-1.10,-146.6,397.4,-6.1,271,5615,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2902,3504
$GC,5932,-1.10,-146.6,413.8,-4.6,287,5936,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1483,3504
$GC,6016,-1.10,-146.6,417.7,-4.6,291,6020,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3504
$GC,6341,-1.10,-146.6,437.1,-7.0,307,6346,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1484,3504
$GC,6385,-1.10,-146.6,440.3,-7.4,309,6389,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2900,3504
$GC,6712,-1.10,-146.6,464.1,-7.8,325,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3504
$GC,7022,-1.10,-146.6,483.5,-4.8,340,7026,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1487,3504
$GC,7054,-1.10,-146.6,485.0,-4.5,341,7060,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2901,3504
$GC,7369,-1.10,-146.6,502.6,-7.4,357,7373,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1477,3504
$GC,7407,-1.10,-146.6,505.7,-8.1,359,7412,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2901,3504
$GC,7733,-1.10,-146.6,525.6,-5.4,375,7738,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1479,3503
$GC,7818,-1.10,-146.6,529.8,-3.9,379,7822,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2900,3504
$GC,8144,-1.10,-146.6,550.0,-5.9,395,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$STATE,8224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8224,begin apogee
$GC,8230,-0.42,0.0,555.8,7.0,399,8357,0.73,0.00,123.60,1.168,6,0.077,0.000,2316,2093,2901
$STATE,8357,end apogee,CONTROL_FINISHED_OK
$STATE,8358,begin climb
$GC,8359,1.10,146.6,559.5,0.0,405,8484,1.55,0.00,120.43,1.146,6,0.056,0.000,2648,2093,2302
$GC,8791,1.37,362.2,559.9,0.0,426,8974,0.25,0.00,178.82,1.137,6,0.038,0.000,2713,2093,1424
$GC,9284,1.37,362.2,526.0,11.9,450,9289,0.00,2.58,0.00,0.000,4,0.000,0.060,2713,691,1424
$GC,9362,1.37,362.2,515.8,13.8,453,9368,0.00,2.53,0.00,0.000,6,0.000,0.043,2714,2113,1424
$GC,9677,1.37,362.2,477.9,10.5,469,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2113,1422
$GC,9987,1.37,362.2,442.8,12.5,484,9991,0.00,2.65,0.00,0.000,4,0.000,0.079,2713,3506,1421
$GC,10003,1.37,362.2,440.6,12.6,485,10007,0.00,2.53,0.00,0.000,6,0.000,0.050,2713,2100,1420
$GC,10328,1.37,362.2,400.2,10.3,501,10333,0.00,2.58,0.00,0.000,4,0.000,0.063,2713,691,1421
$GC,10390,1.37,362.2,394.1,9.3,504,10394,0.00,2.50,0.00,0.000,6,0.000,0.048,2713,2097,1421
$GC,10721,1.37,362.2,361.7,10.4,520,10725,0.00,2.67,0.00,0.000,4,0.000,0.079,2713,3511,1421
$GC,10747,1.37,362.2,358.7,11.7,521,10751,0.00,2.53,0.00,0.000,6,0.000,0.047,2713,2093,1420
$GC,11068,1.37,362.2,322.1,11.5,537,11073,0.00,2.70,0.00,0.000,4,0.000,0.078,2714,3511,1421
$GC,11100,1.37,362.2,318.3,11.4,538,11107,0.00,2.53,0.00,0.000,6,0.000,0.050,2713,2097,1421
$GC,11416,1.37,362.2,281.6,11.7,554,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2097,1421
$GC,11725,1.37,362.2,248.1,10.5,569,11729,0.00,2.67,0.00,0.000,4,0.000,0.077,2713,3519,1422
$GC,11768,1.37,362.2,242.8,11.3,571,11772,0.00,2.53,0.00,0.000,6,0.000,0.048,2713,2100,1422
$GC,12094,1.37,362.2,204.2,11.7,587,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2100,1422
$GC,12404,1.37,362.2,168.1,11.7,602,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2100,1422
$GC,12714,1.37,362.2,132.9,11.3,617,12715,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2100,1423
$GC,13024,1.37,362.2,95.4,11.9,632,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2100,1423
$GC,13332,1.37,362.2,58.5,12.2,647,13337,0.00,2.70,0.00,0.000,4,0.000,0.079,2713,3519,1423
$GC,13365,1.37,362.2,54.4,11.6,648,13372,0.00,2.53,0.00,0.000,6,0.000,0.053,2714,2103,1423
$GC,13680,1.37,362.2,16.3,12.2,664,13685,0.00,2.58,0.00,0.000,4,0.000,0.065,2714,695,1424
$GC,13780,1.37,362.2,3.9,13.8,668,13787,0.00,2.50,0.00,0.000,6,0.000,0.047,2713,2089,1424
$STATE,13805,end climb,SURFACE_DEPTH_REACHED
$STATE,13806,begin surface coast
$FINISH,-0.9,1.013080
$STATE,13827,end surface coast,CONTROL_FINISHED_OK
$STATE,13828,begin surface
$SM_CCo,13909,0.00,0.000,0,0,1422,362.80
$SM_GC,-0.28,11.73,0.00,0.00,0.030,0.000,0.000,49,2903,1422,-10.78,0.06,362.80
$IRIDIUM_FIX,6230.49,-1228.14,161207,101027
$TT8_MAMPS,0.028379
$HUMID,2083
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.8,89.9
$24V_AH,23.4,32.836
$10V_AH,10.1,16.046
$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,26.175,133.650,422.850,0.000,0.000,39.892,34.789,150.320,4.250,0.000,0.000,16.531,1241.835,10566.811,568.782,1462.595,411.683,33.367,1312.632,0.000,1442.509,0.000,26.652
$DEVICE_MAMPS,157.235,79.001,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.511,471.161,441.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34791,671
$CFSIZE,260165632,247922688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,161207,143737,6259.178,-1239.368,65,1.1,65,-11.8