version: 66.02
glider: 103
mission: 7
dive: 185
start: 12 16 107 22 38 7
data:
$ID,103
$MISSION,7
$DIVE,185
$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,-65763.805
$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,10
$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
$GPS1,223108,6259.928,-1245.527,26,1.7,26,-11.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-55.8
$GPS2,223702,6300.001,-1245.446,13,1.8,30,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6300.000,-1255.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.195,-0.098
$KALMAN_X,-215332.2,844.4,-422.1,-6469.1,663.6
$KALMAN_Y,-83062.3,-48.4,-313.1,242709.3,1913.6
$MHEAD_RNG_PITCHd_Wd,255.2,8033,-11.1,-6.000
$D_GRID,585
$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,-1.10,-146.6,0.0,0.0,0,84,0.00,0.00,-61.60,0.000,2,0.000,0.000,45,2902,3390
$GC,86,-1.10,-146.6,3.1,-7.2,3,109,11.95,2.65,-2.00,0.000,4,0.157,0.078,2165,1488,3501
$GC,204,-1.10,-146.6,18.3,-5.4,8,208,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2907,3502
$GC,525,-1.10,-146.6,43.2,-11.7,24,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,834,-1.10,-146.6,72.8,-5.9,39,838,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1489,3503
$GC,860,-1.10,-146.6,74.6,-6.5,40,865,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2903,3503
$GC,1176,-1.10,-146.6,97.2,-7.8,55,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,1485,-1.10,-146.6,122.1,-7.4,70,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,1795,-1.10,-146.6,147.0,-7.8,85,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,2103,-1.10,-146.6,167.9,-6.3,100,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2412,-1.10,-146.6,188.2,-6.2,115,2417,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1491,3503
$GC,2456,-1.10,-146.6,191.1,-6.8,117,2460,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2900,3503
$GC,2783,-1.10,-146.6,214.5,-7.8,133,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3092,-1.10,-146.6,234.8,-6.3,148,3096,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1483,3503
$GC,3124,-1.10,-146.6,236.7,-5.9,149,3130,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2900,3503
$GC,3439,-1.10,-146.6,257.0,-7.5,165,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,3748,-1.10,-146.6,279.4,-7.0,180,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,4058,-1.10,-146.6,302.0,-7.2,195,4062,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3504
$GC,4101,-1.10,-146.6,305.1,-7.3,197,4105,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2901,3503
$GC,4428,-1.10,-146.6,325.4,-6.0,213,4433,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1486,3503
$GC,4461,-1.10,-146.6,327.2,-5.3,214,4467,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2900,3503
$GC,4776,-1.10,-146.6,345.2,-6.2,230,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5085,-1.10,-146.6,364.8,-6.6,245,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5395,-1.10,-146.6,386.2,-7.2,260,5399,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1482,3503
$GC,5438,-1.10,-146.6,389.4,-7.0,262,5442,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2899,3504
$GC,5764,-1.10,-146.6,412.6,-7.1,278,5768,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1482,3503
$GC,5790,-1.10,-146.6,414.5,-7.1,279,5795,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2901,3503
$GC,6111,-1.10,-146.6,439.3,-8.2,295,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3504
$GC,6420,-1.10,-146.6,465.5,-8.8,310,6424,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1487,3503
$GC,6446,-1.10,-146.6,467.8,-8.4,311,6450,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2903,3503
$GC,6773,-1.10,-146.6,489.7,-5.6,327,6777,0.00,1.65,0.00,0.000,4,0.000,0.086,2165,3784,3503
$GC,6885,-1.10,-146.6,498.0,-6.9,332,6889,0.00,1.52,0.00,0.000,6,0.000,0.035,2165,2894,3503
$GC,7217,-1.10,-146.6,511.2,-4.2,348,7221,0.00,2.50,0.00,0.000,4,0.000,0.056,2165,1491,3503
$GC,7317,-1.10,-146.6,515.9,-4.8,352,7324,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2908,3503
$GC,7632,-1.10,-146.6,533.3,-6.6,368,7636,0.00,1.62,0.00,0.000,4,0.000,0.084,2165,3781,3503
$GC,7687,-1.10,-146.6,537.3,-7.4,370,7692,0.00,1.50,0.00,0.000,6,0.000,0.035,2165,2902,3503
$STATE,7986,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7986,begin apogee
$GC,7992,-0.42,0.0,554.9,5.8,385,8120,0.75,0.00,124.22,1.147,6,0.080,0.000,2319,2094,2901
$STATE,8121,end apogee,CONTROL_FINISHED_OK
$STATE,8121,begin climb
$GC,8122,1.10,146.6,558.9,0.0,391,8253,1.52,2.60,120.57,1.110,4,0.054,0.057,2647,698,2302
$GC,8508,1.15,187.5,540.8,4.9,408,8548,0.00,2.50,34.90,1.101,6,0.000,0.038,2647,2119,2136
$GC,8864,1.16,196.3,519.6,5.8,426,8878,0.00,2.65,8.75,0.991,4,0.000,0.058,2647,694,2100
$GC,9007,1.16,196.3,510.6,6.4,432,9012,0.00,2.47,0.00,0.000,6,0.000,0.040,2647,2096,2099
$GC,9328,1.19,218.0,493.1,5.4,448,9353,0.10,2.70,18.98,1.108,4,0.048,0.072,2683,3505,2012
$GC,9374,1.19,218.0,489.9,7.4,450,9379,0.00,2.50,0.00,0.000,6,0.000,0.041,2683,2100,2011
$GC,9702,1.19,218.0,459.9,10.5,466,9706,0.00,2.65,0.00,0.000,4,0.000,0.069,2683,3512,2011
$GC,9735,1.19,218.0,456.2,11.5,467,9741,0.00,2.50,0.00,0.000,6,0.000,0.042,2683,2101,2010
$GC,10050,1.19,218.0,428.2,7.9,483,10054,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3508,2009
$GC,10082,1.19,218.0,425.7,7.2,484,10088,0.00,2.47,0.00,0.000,6,0.000,0.041,2683,2103,2009
$GC,10397,1.19,220.1,404.5,5.9,500,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2103,2009
$GC,10706,1.21,230.5,387.2,5.7,515,10720,0.00,0.00,11.55,0.992,6,0.000,0.000,2683,2103,1961
$GC,11016,1.21,230.5,366.2,7.0,530,11017,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2103,1960
$GC,11325,1.21,230.5,344.0,7.4,545,11329,0.00,2.60,0.00,0.000,4,0.000,0.070,2683,3507,1960
$GC,11390,1.21,230.5,338.4,9.1,548,11394,0.00,2.50,0.00,0.000,6,0.000,0.044,2683,2094,1961
$GC,11717,1.21,230.5,309.6,9.2,564,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2094,1961
$GC,12026,1.21,230.5,279.6,9.7,579,12030,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3513,1961
$GC,12058,1.21,230.5,276.4,9.2,580,12065,0.00,2.53,0.00,0.000,6,0.000,0.045,2683,2102,1961
$GC,12374,1.21,230.5,248.5,8.3,596,12378,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3507,1961
$GC,12394,1.21,230.5,246.5,9.0,597,12398,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,2108,1961
$GC,12721,1.21,230.5,220.3,8.4,613,12725,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3512,1962
$GC,12764,1.21,230.5,216.3,8.6,615,12768,0.00,2.50,0.00,0.000,6,0.000,0.046,2683,2097,1962
$GC,13091,1.21,230.5,189.7,8.0,631,13092,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2097,1962
$GC,13400,1.21,230.5,164.2,8.4,646,13405,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3510,1963
$GC,13443,1.21,230.5,160.2,9.5,648,13447,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2100,1963
$GC,13770,1.21,230.5,132.3,8.6,664,13772,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1963
$GC,14079,1.21,230.5,103.6,10.4,679,14084,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3508,1963
$GC,14100,1.21,230.5,101.2,10.8,680,14105,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2097,1963
$GC,14428,1.21,230.5,71.1,9.6,696,14432,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3507,1963
$GC,14460,1.21,230.5,67.8,10.0,697,14467,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2100,1963
$GC,14776,1.21,230.5,37.9,9.8,713,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1963
$GC,15086,1.21,230.5,15.3,7.5,728,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2100,1963
$STATE,15289,end climb,SURFACE_DEPTH_REACHED
$STATE,15289,begin surface coast
$FINISH,-0.8,1.015383
$STATE,15311,end surface coast,CONTROL_FINISHED_OK
$STATE,15311,begin surface
$SM_CCo,15332,57.67,0.727,2,0,1678,300.00
$SM_GC,-0.10,0.00,0.00,57.67,0.000,0.000,0.727,41,2892,1678,-10.90,-0.23,300.00
$IRIDIUM_FIX,6235.17,-1243.01,161207,222214
$TT8_MAMPS,0.029146
$HUMID,2070
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.3,89.5
$24V_AH,23.5,33.232
$10V_AH,10.1,16.250
$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,25.725,123.400,318.975,57.675,0.000,38.202,41.155,163.413,4.250,0.000,0.000,30.650,1353.864,11860.657,503.708,1621.349,432.978,33.364,1313.513,0.000,1587.481,0.000,26.653
$DEVICE_MAMPS,157.235,85.904,1147.432,727.116,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.387,515.381,487.617,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38000,739
$CFSIZE,260165632,247767040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,171207,025625,6300.314,-1247.329,47,1.2,63,-11.9