version: 66.02
glider: 103
mission: 7
dive: 231
start: 12 26 107 12 50 38
data:
$ID,103
$MISSION,7
$DIVE,231
$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,-1
$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,571.30371
$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,-66696.719
$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,22
$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
$GPS1,123108,6344.604,-1254.104,39,1.0,39,-12.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.71
$_SM_ANGLEo,-48.3
$GPS2,124932,6344.475,-1253.957,11,1.4,11,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.001,0.218
$KALMAN_X,-276987.6,-9.7,1945.2,46164.8,-5451.6
$KALMAN_Y,-189488.3,194.2,1894.0,429019.9,-5361.6
$MHEAD_RNG_PITCHd_Wd,12.5,29168,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,135,0.00,0.00,-110.35,0.000,6,0.000,0.000,48,2903,3499
$GC,137,-1.10,-146.6,1.9,-2.9,5,159,11.88,2.62,0.00,0.000,4,0.157,0.056,2163,1485,3501
$GC,366,-1.10,-146.6,30.8,-9.0,15,370,0.00,2.70,0.00,0.000,6,0.000,0.075,2163,2896,3501
$GC,693,-1.10,-146.6,50.3,-7.1,31,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3501
$GC,1002,-1.10,-146.6,75.2,-8.6,46,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3501
$GC,1313,-1.10,-146.6,99.4,-6.9,61,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3501
$GC,1621,-1.10,-146.6,121.7,-6.5,76,1625,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1482,3501
$GC,1669,-1.10,-146.6,125.4,-8.0,78,1674,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2900,3501
$GC,1991,-1.10,-146.6,146.4,-6.7,94,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,2300,-1.10,-146.6,168.5,-7.3,109,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,2610,-1.10,-146.6,190.9,-7.0,124,2614,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1483,3501
$GC,2648,-1.10,-146.6,193.6,-6.8,126,2653,0.00,2.70,0.00,0.000,6,0.000,0.078,2163,2906,3501
$GC,2974,-1.10,-146.6,215.4,-6.6,142,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,3283,-1.10,-146.6,233.5,-5.5,157,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,3593,-1.10,-146.6,246.5,-3.7,172,3597,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1492,3501
$GC,3625,-1.10,-146.6,247.6,-4.2,173,3632,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2906,3501
$GC,3941,-1.10,-146.6,260.9,-4.7,189,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,4250,-1.10,-146.6,280.7,-7.2,204,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,4559,-1.10,-146.6,303.9,-8.0,219,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3500
$GC,4868,-1.10,-146.6,330.8,-9.1,234,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,5178,-1.10,-146.6,358.0,-8.8,249,5182,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,1488,3501
$GC,5232,-1.10,-146.6,362.7,-8.3,251,5239,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2903,3501
$GC,5548,-1.10,-146.6,385.0,-6.9,267,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3501
$GC,5857,-1.10,-146.6,405.9,-6.9,282,5862,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1489,3501
$GC,5901,-1.10,-146.6,408.9,-6.5,284,5905,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2908,3501
$GC,6228,-1.10,-146.6,430.1,-6.4,300,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3501
$GC,6538,-1.10,-146.6,446.6,-4.7,315,6542,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3501
$GC,6570,-1.10,-146.6,448.2,-4.6,316,6576,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2901,3501
$GC,6885,-1.10,-146.6,468.4,-8.3,332,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,7195,-1.10,-146.6,494.9,-7.4,347,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3501
$GC,7504,-1.10,-146.6,513.2,-4.8,362,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3500
$GC,7813,-1.10,-146.6,528.7,-6.3,377,7817,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1485,3501
$GC,7856,-1.10,-146.6,532.1,-8.2,379,7860,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2901,3501
$GC,8183,-1.10,-146.6,557.6,-6.8,395,8187,0.00,2.55,0.00,0.000,4,0.000,0.055,2163,1481,3501
$GC,8260,-1.10,-146.6,562.6,-5.9,398,8266,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2902,3501
$GC,8578,-1.10,-146.6,576.7,-4.4,414,8582,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1479,3501
$GC,8694,-1.10,-146.6,583.0,-6.4,419,8699,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2906,3501
$GC,9015,-1.10,-146.6,604.4,-7.1,435,9020,0.00,2.55,0.00,0.000,4,0.000,0.053,2163,1479,3500
$GC,9065,-1.10,-146.6,608.1,-7.5,437,9069,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2904,3501
$STATE,9255,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9255,begin apogee
$GC,9262,-0.42,0.0,620.6,6.6,446,9389,0.70,0.00,124.32,1.221,6,0.044,0.000,2324,2074,2901
$STATE,9390,end apogee,CONTROL_FINISHED_OK
$STATE,9390,begin climb
$GC,9392,1.10,146.6,620.3,0.0,452,9523,1.55,2.80,121.47,1.179,4,0.066,0.074,2649,3504,2303
$GC,9779,1.38,371.1,620.8,-0.2,469,9973,0.28,2.53,185.60,1.183,6,0.036,0.053,2716,2120,1387
$GC,10294,1.38,371.1,586.9,11.0,495,10298,0.00,2.62,0.00,0.000,4,0.000,0.068,2716,3515,1385
$GC,10360,1.38,371.1,579.2,11.4,498,10364,0.00,2.50,0.00,0.000,6,0.000,0.038,2716,2091,1385
$GC,10680,1.38,371.1,543.2,12.7,514,10684,0.00,2.53,0.00,0.000,4,0.000,0.057,2716,699,1383
$GC,10809,1.38,371.1,526.8,12.7,520,10813,0.00,2.47,0.00,0.000,6,0.000,0.039,2716,2112,1383
$GC,11134,1.38,371.1,487.4,12.0,536,11139,0.00,2.60,0.00,0.000,4,0.000,0.072,2716,3509,1383
$GC,11178,1.38,371.1,481.4,14.0,538,11182,0.00,2.47,0.00,0.000,6,0.000,0.041,2716,2099,1383
$GC,11505,1.38,371.1,439.8,11.9,554,11509,0.00,2.53,0.00,0.000,4,0.000,0.057,2716,694,1383
$GC,11538,1.38,371.1,435.5,12.5,555,11545,0.00,2.47,0.00,0.000,6,0.000,0.042,2716,2101,1383
$GC,11854,1.38,371.1,399.6,9.9,571,11858,0.00,2.62,0.00,0.000,4,0.000,0.075,2716,3511,1383
$GC,11903,1.38,371.1,394.3,10.7,573,11907,0.00,2.50,0.00,0.000,6,0.000,0.045,2716,2098,1383
$GC,12218,1.38,371.1,362.4,9.8,588,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2098,1383
$GC,12527,1.38,371.1,333.6,9.4,603,12532,0.00,2.67,0.00,0.000,4,0.000,0.074,2716,3518,1383
$GC,12573,1.38,371.1,329.2,10.2,605,12577,0.00,2.53,0.00,0.000,6,0.000,0.045,2716,2097,1383
$GC,12893,1.38,371.1,293.4,11.5,621,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2097,1384
$GC,13202,1.38,371.1,258.0,11.4,636,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2097,1384
$GC,13512,1.38,371.1,220.4,13.0,651,13516,0.00,2.65,0.00,0.000,4,0.000,0.074,2716,3512,1384
$GC,13557,1.38,371.1,214.4,14.2,653,13561,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,2098,1384
$GC,13876,1.38,371.1,173.0,12.9,669,13878,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2098,1385
$GC,14186,1.38,371.1,135.1,11.6,684,14191,0.00,2.65,0.00,0.000,4,0.000,0.072,2716,3510,1385
$GC,14213,1.38,371.1,131.6,12.3,685,14217,0.00,2.50,0.00,0.000,6,0.000,0.048,2716,2096,1385
$GC,14535,1.38,371.1,90.4,13.3,701,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2096,1385
$GC,14844,1.38,371.1,52.7,11.3,716,14848,0.00,2.67,0.00,0.000,4,0.000,0.076,2716,3509,1385
$GC,14883,1.38,371.1,48.1,11.6,718,14887,0.00,2.50,0.00,0.000,6,0.000,0.047,2716,2096,1385
$GC,15209,1.38,371.1,9.0,11.9,734,15210,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2096,1385
$STATE,15268,end climb,SURFACE_DEPTH_REACHED
$STATE,15268,begin surface coast
$FINISH,-0.5,1.027338
$STATE,15290,end surface coast,CONTROL_FINISHED_OK
$STATE,15290,begin surface
$SM_CCo,15313,158.30,0.757,1,0,572,571.30
$SM_GC,-0.74,0.00,0.00,158.30,0.000,0.000,0.757,44,2899,572,-10.88,-0.03,571.30
$IRIDIUM_FIX,6317.84,-1303.31,261207,161650
$TT8_MAMPS,0.029146
$HUMID,2050
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.8,53.5
$24V_AH,23.4,40.729
$10V_AH,10.1,20.116
$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,26.075,112.025,431.400,158.300,0.000,193.131,204.640,341.487,5.250,0.000,0.000,11.939,1333.374,11951.590,705.926,1626.832,980.821,33.374,1547.628,0.000,1608.927,0.000,33.040
$DEVICE_MAMPS,157.235,79.001,1221.064,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,543.736,510.227,465.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37878,738
$CFSIZE,260165632,244989952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,261207,170945,6345.202,-1257.594,28,1.5,35,-12.3