version: 66.02
glider: 103
mission: 7
dive: 186
start: 12 17 107 3 3 2
data:
$ID,103
$MISSION,7
$DIVE,186
$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,-65796.273
$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,23
$R_STBD_OVSHOOT,11
$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
$GPS1,025625,6300.314,-1247.329,47,1.2,63,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-57.7
$GPS2,030156,6300.363,-1247.230,14,1.2,31,-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,-0.099
$KALMAN_X,-213068.7,-185.9,684.7,-10376.2,390.4
$KALMAN_Y,-80790.8,-668.0,658.2,240750.7,1627.4
$MHEAD_RNG_PITCHd_Wd,255.0,6568,-11.1,-6.000
$D_GRID,598
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-64.95,0.000,6,0.000,0.000,41,2893,3499
$GC,89,-1.10,-146.6,3.0,-7.1,3,110,12.00,2.62,0.00,0.000,4,0.160,0.059,2164,1486,3501
$GC,178,-1.10,-146.6,17.5,-7.8,7,183,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2899,3502
$GC,504,-1.10,-146.6,40.9,-7.4,23,508,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1490,3502
$GC,535,-1.10,-146.6,43.4,-7.6,24,542,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2899,3502
$GC,853,-1.10,-146.6,68.8,-7.9,40,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,1161,-1.10,-146.6,91.9,-7.9,55,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,1470,-1.10,-146.6,113.6,-7.2,70,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,1779,-1.10,-146.6,135.7,-6.4,85,1783,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1490,3502
$GC,1822,-1.10,-146.6,138.6,-6.7,87,1827,0.00,2.62,0.00,0.000,6,0.000,0.073,2164,2900,3502
$GC,2149,-1.10,-146.6,159.7,-6.2,103,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,2458,-1.10,-146.6,179.8,-6.5,118,2462,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1483,3502
$GC,2501,-1.10,-146.6,182.9,-7.2,120,2505,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3502
$GC,2828,-1.10,-146.6,206.1,-7.3,136,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,3137,-1.10,-146.6,228.6,-7.2,151,3142,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1487,3502
$GC,3187,-1.10,-146.6,232.2,-6.9,153,3191,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3502
$GC,3507,-1.10,-146.6,253.5,-6.4,169,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,3817,-1.10,-146.6,273.9,-6.6,184,3821,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1486,3502
$GC,3848,-1.10,-146.6,276.2,-7.7,185,3855,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2906,3502
$GC,4164,-1.10,-146.6,298.2,-7.0,201,4168,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1485,3502
$GC,4202,-1.10,-146.6,300.8,-6.7,203,4207,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2902,3502
$GC,4528,-1.10,-146.6,323.6,-7.0,219,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,4838,-1.10,-146.6,342.8,-5.9,234,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,5147,-1.10,-146.6,361.9,-6.1,249,5151,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1487,3502
$GC,5208,-1.10,-146.6,365.6,-6.1,252,5212,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2901,3502
$GC,5533,-1.10,-146.6,387.5,-6.9,268,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,5842,-1.10,-146.6,408.4,-6.9,283,5847,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1482,3502
$GC,5927,-1.10,-146.6,415.0,-8.9,287,5931,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2903,3502
$GC,6252,-1.10,-146.6,441.1,-9.2,303,6255,0.00,1.67,0.00,0.000,4,0.000,0.087,2164,3790,3502
$GC,6341,-1.10,-146.6,449.2,-8.9,307,6345,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2900,3502
$GC,6673,-1.10,-146.6,478.3,-7.9,323,6677,0.00,2.53,0.00,0.000,4,0.000,0.058,2164,1491,3502
$GC,6789,-1.10,-146.6,486.7,-6.7,328,6793,0.00,2.60,0.00,0.000,6,0.000,0.067,2164,2902,3502
$GC,7110,-1.10,-146.6,510.8,-7.3,344,7115,0.00,2.55,0.00,0.000,4,0.000,0.055,2164,1484,3502
$GC,7137,-1.10,-146.6,512.8,-7.8,345,7142,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2896,3502
$GC,7459,-1.10,-146.6,532.1,-6.0,361,7462,0.00,1.65,0.00,0.000,4,0.000,0.085,2164,3785,3502
$GC,7536,-1.10,-146.6,537.2,-6.5,364,7540,0.00,1.50,0.00,0.000,6,0.000,0.035,2164,2902,3502
$GC,7857,-1.10,-146.6,558.7,-6.3,380,7861,0.00,1.67,0.00,0.000,4,0.000,0.086,2164,3786,3502
$GC,7957,-1.10,-146.6,564.8,-6.7,384,7961,0.00,1.52,0.00,0.000,6,0.000,0.037,2164,2897,3502
$STATE,8029,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8029,begin apogee
$GC,8036,-0.42,0.0,569.6,6.8,388,8163,0.75,0.00,123.85,1.170,6,0.076,0.000,2321,2104,2901
$STATE,8163,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8165,1.10,146.6,573.1,0.0,394,8294,1.52,2.65,121.18,1.125,4,0.055,0.056,2648,697,2303
$GC,8378,1.13,167.1,568.3,5.4,404,8406,0.00,2.47,18.75,1.044,6,0.000,0.036,2648,2115,2219
$GC,8714,1.18,211.9,551.2,4.8,421,8758,0.00,2.65,37.88,1.101,4,0.000,0.065,2647,3492,2038
$GC,8889,1.18,211.9,539.1,7.4,429,8893,0.00,2.47,0.00,0.000,6,0.000,0.040,2647,2093,2037
$GC,9214,1.18,211.9,520.1,6.3,445,9218,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3499,2036
$GC,9313,1.18,211.9,513.2,7.2,449,9320,0.00,2.45,0.00,0.000,6,0.000,0.038,2647,2101,2035
$GC,9629,1.18,211.9,490.4,6.9,465,9633,0.00,2.60,0.00,0.000,4,0.000,0.064,2648,3501,2033
$GC,9661,1.18,211.9,488.1,7.0,466,9667,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2104,2033
$GC,9976,1.18,211.9,466.1,7.2,482,9981,0.00,2.58,0.00,0.000,4,0.000,0.066,2648,3501,2032
$GC,10072,1.18,211.9,459.0,7.1,486,10076,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2096,2032
$GC,10387,1.19,218.8,439.9,5.8,501,10401,0.00,2.65,6.75,0.931,4,0.000,0.066,2648,3501,2008
$GC,10446,1.20,222.2,436.2,5.9,503,10457,0.10,2.47,4.62,0.803,6,0.049,0.040,2682,2097,1995
$GC,10784,1.20,222.2,413.2,7.2,520,10788,0.00,2.62,0.00,0.000,4,0.000,0.070,2682,3501,1994
$GC,10816,1.20,222.2,410.6,7.6,521,10822,0.00,2.47,0.00,0.000,6,0.000,0.041,2682,2091,1995
$GC,11131,1.20,222.2,385.2,8.6,537,11136,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3504,1995
$GC,11180,1.20,222.2,380.6,9.8,539,11184,0.00,2.50,0.00,0.000,6,0.000,0.042,2682,2102,1995
$GC,11501,1.20,222.2,353.8,8.2,555,11502,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2102,1995
$GC,11810,1.20,222.2,328.5,8.2,570,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2102,1995
$GC,12120,1.20,222.2,303.0,8.3,585,12124,0.00,2.60,0.00,0.000,4,0.000,0.071,2682,3501,1995
$GC,12168,1.20,222.2,298.6,8.7,587,12173,0.00,2.50,0.00,0.000,6,0.000,0.045,2682,2102,1996
$GC,12489,1.20,222.2,272.1,8.2,603,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2102,1996
$GC,12798,1.20,222.2,248.1,7.3,618,12803,0.00,2.62,0.00,0.000,4,0.000,0.072,2682,3502,1996
$GC,12853,1.20,222.2,243.8,7.7,620,12860,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2100,1996
$GC,13169,1.20,222.2,221.6,6.9,636,13174,0.00,2.60,0.00,0.000,4,0.000,0.071,2682,3501,1997
$GC,13208,1.20,222.2,218.7,6.9,638,13212,0.00,2.47,0.00,0.000,6,0.000,0.046,2682,2099,1997
$GC,13539,1.20,222.2,195.5,6.9,654,13543,0.00,2.62,0.00,0.000,4,0.000,0.074,2682,3502,1997
$GC,13571,1.20,222.2,193.3,6.6,655,13578,0.00,2.50,0.00,0.000,6,0.000,0.045,2682,2103,1997
$GC,13886,1.20,222.2,172.7,6.6,671,13891,0.00,2.60,0.00,0.000,4,0.000,0.070,2682,3501,1997
$GC,13907,1.20,222.2,171.3,6.8,672,13912,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2085,1998
$GC,14234,1.20,222.2,149.2,6.8,688,14239,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3508,1997
$GC,14278,1.20,222.2,145.9,7.3,690,14282,0.00,2.50,0.00,0.000,6,0.000,0.048,2682,2094,1998
$GC,14605,1.20,222.2,119.5,10.0,706,14609,0.00,2.62,0.00,0.000,4,0.000,0.069,2682,3504,1998
$GC,14644,1.20,222.2,115.5,10.4,708,14648,0.00,2.47,0.00,0.000,6,0.000,0.048,2682,2097,1998
$GC,14975,1.20,222.2,85.8,8.7,724,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1998
$GC,15284,1.20,222.2,59.8,9.2,739,15289,0.00,2.62,0.00,0.000,4,0.000,0.070,2682,3504,1998
$GC,15317,1.20,222.2,56.7,9.1,740,15324,0.00,2.53,0.00,0.000,6,0.000,0.049,2682,2099,1998
$GC,15634,1.21,233.3,31.8,5.7,756,15652,0.00,0.00,11.48,0.747,6,0.000,0.000,2682,2099,1948
$GC,15963,1.21,233.3,8.0,8.6,772,15967,0.00,2.55,0.00,0.000,4,0.000,0.061,2682,697,1948
$GC,15995,1.21,233.3,5.6,7.7,773,16001,0.00,2.40,0.00,0.000,6,0.000,0.036,2682,2101,1948
$STATE,16040,end climb,SURFACE_DEPTH_REACHED
$STATE,16040,begin surface coast
$FINISH,0.1,1.027325
$STATE,16062,end surface coast,CONTROL_FINISHED_OK
$STATE,16062,begin surface
$SM_CCo,16083,52.10,0.763,0,0,1678,300.00
$SM_GC,-0.20,0.00,0.00,52.10,0.000,0.000,0.763,28,2885,1678,-10.96,-0.42,300.00
$IRIDIUM_FIX,6235.17,-1244.06,171207,020259
$TT8_MAMPS,0.029146
$HUMID,2071
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,475.1,103.1
$24V_AH,23.4,33.359
$10V_AH,10.1,16.328
$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,25.950,156.875,324.500,52.100,0.000,37.779,34.791,141.435,4.000,0.000,0.000,31.836,1444.947,12319.857,532.188,1766.217,422.494,33.366,1426.762,0.000,1726.635,0.000,26.692
$DEVICE_MAMPS,159.536,91.273,1169.675,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.304,540.568,516.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37978,777
$CFSIZE,260165632,247705600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
$GPS,171207,073328,6258.621,-1251.480,36,2.3,55,-11.9