version: 66.02
glider: 103
mission: 7
dive: 234
start: 12 27 107 2 53 37
data:
$ID,103
$MISSION,7
$DIVE,234
$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,-66761.875
$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,18
$R_STBD_OVSHOOT,13
$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
$GPS1,024337,6348.228,-1253.342,35,1.2,35,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.76
$_SM_ANGLEo,-49.8
$GPS2,025233,6348.172,-1253.296,15,1.4,15,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.101,0.193
$KALMAN_X,-278958.7,532.9,992.8,49106.5,-3004.1
$KALMAN_Y,-191912.9,401.2,-264.8,440269.7,-802.0
$MHEAD_RNG_PITCHd_Wd,39.9,22571,-11.1,-6.000
$D_GRID,631
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.10,-146.3,0.0,0.0,0,136,0.00,0.00,-111.15,0.000,6,0.000,0.000,51,2909,3500
$GC,139,-1.10,-146.6,1.6,-2.8,5,160,11.98,2.65,0.00,0.000,4,0.160,0.061,2166,1490,3502
$GC,413,-1.10,-146.6,36.8,-7.0,17,417,0.00,2.70,0.00,0.000,6,0.000,0.081,2166,2898,3503
$GC,734,-1.10,-146.6,60.8,-8.2,33,738,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,1491,3503
$GC,810,-1.10,-146.6,67.1,-7.4,36,817,0.00,2.72,0.00,0.000,6,0.000,0.081,2166,2900,3503
$GC,1126,-1.10,-146.6,93.6,-7.5,52,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,1436,-1.10,-146.6,116.0,-7.0,67,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,1745,-1.10,-146.6,140.5,-8.2,82,1749,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1484,3503
$GC,1799,-1.10,-146.6,144.9,-8.0,84,1806,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2901,3503
$GC,2115,-1.10,-146.6,169.6,-7.6,100,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,2424,-1.10,-146.6,193.6,-7.3,115,2428,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1489,3503
$GC,2489,-1.10,-146.6,198.5,-7.8,118,2494,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2901,3503
$GC,2810,-1.10,-146.6,220.5,-6.7,134,2815,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1483,3503
$GC,2843,-1.10,-146.6,222.7,-6.4,135,2850,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2893,3503
$GC,3159,-1.10,-146.6,242.0,-6.2,151,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3503
$GC,3469,-1.10,-146.6,260.1,-6.0,166,3473,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1490,3503
$GC,3500,-1.10,-146.6,262.2,-6.1,167,3507,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2901,3503
$GC,3816,-1.10,-146.6,281.4,-6.0,183,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,4126,-1.10,-146.6,300.4,-6.4,198,4131,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1484,3503
$GC,4176,-1.10,-146.6,303.6,-6.1,200,4180,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2899,3503
$GC,4497,-1.10,-146.6,323.6,-6.1,216,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,4807,-1.10,-146.6,342.2,-5.9,231,4812,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1484,3503
$GC,4856,-1.10,-146.6,345.3,-5.9,233,4861,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2900,3503
$GC,5171,-1.10,-146.6,365.6,-6.9,248,5176,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1487,3503
$GC,5206,-1.10,-146.6,368.1,-7.6,249,5212,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2892,3503
$GC,5520,-1.10,-146.6,393.1,-8.0,265,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2892,3503
$GC,5830,-1.10,-146.6,417.2,-7.4,280,5834,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1479,3503
$GC,5902,-1.10,-146.6,422.6,-7.4,283,5906,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2899,3503
$GC,6222,-1.10,-146.6,443.2,-6.0,299,6226,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1480,3503
$GC,6261,-1.10,-146.6,445.4,-5.8,301,6266,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2904,3503
$GC,6588,-1.10,-146.6,466.7,-7.1,317,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,6897,-1.10,-146.6,492.9,-9.3,332,6901,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1483,3503
$GC,6991,-1.10,-146.6,502.4,-10.3,336,6995,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2899,3503
$GC,7306,-1.10,-146.6,533.5,-9.5,351,7310,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1483,3503
$GC,7406,-1.10,-146.6,542.9,-9.1,355,7413,0.00,2.60,0.00,0.000,6,0.000,0.070,2166,2899,3503
$GC,7722,-1.10,-146.6,566.8,-7.2,371,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,8031,-1.10,-146.6,588.1,-7.0,386,8035,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1476,3503
$GC,8091,-1.10,-146.6,592.5,-6.3,388,8098,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2901,3503
$GC,8407,-1.10,-146.6,612.3,-5.6,404,8412,0.00,2.55,0.00,0.000,4,0.000,0.053,2166,1475,3503
$GC,8479,-1.10,-146.6,616.4,-6.2,407,8483,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2905,3502
$STATE,8511,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8511,begin apogee
$GC,8518,-0.42,0.0,618.0,5.3,409,8646,0.75,0.00,124.53,1.195,6,0.089,0.000,2318,2094,2901
$STATE,8647,end apogee,CONTROL_FINISHED_OK
$STATE,8647,begin climb
$GC,8649,1.10,146.6,622.7,0.0,415,8780,1.55,2.60,120.82,1.176,4,0.057,0.052,2651,688,2303
$GC,9035,1.27,282.6,608.2,2.2,432,9156,0.17,2.50,112.20,1.167,6,0.035,0.035,2706,2125,1748
$GC,9471,1.27,282.6,573.2,9.4,454,9475,0.00,2.60,0.00,0.000,4,0.000,0.053,2706,692,1747
$GC,9543,1.27,282.6,566.0,9.8,457,9547,0.00,2.42,0.00,0.000,6,0.000,0.036,2706,2096,1747
$GC,9863,1.27,282.6,533.8,10.3,473,9864,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2096,1745
$GC,10173,1.27,282.6,502.2,10.1,488,10177,0.00,2.55,0.00,0.000,4,0.000,0.054,2706,685,1745
$GC,10245,1.27,282.6,494.1,11.9,491,10249,0.00,2.47,0.00,0.000,6,0.000,0.040,2706,2095,1745
$GC,10560,1.27,282.6,460.1,10.7,506,10565,0.00,2.65,0.00,0.000,4,0.000,0.076,2706,3508,1745
$GC,10632,1.27,282.6,451.4,11.8,509,10637,0.00,2.50,0.00,0.000,6,0.000,0.044,2706,2093,1744
$GC,10948,1.27,282.6,418.9,9.5,524,10952,0.00,2.53,0.00,0.000,4,0.000,0.058,2706,694,1744
$GC,10996,1.27,282.6,414.1,9.9,526,11001,0.00,2.50,0.00,0.000,6,0.000,0.042,2706,2098,1744
$GC,11318,1.27,282.6,383.3,9.9,542,11322,0.00,2.65,0.00,0.000,4,0.000,0.076,2706,3511,1744
$GC,11356,1.27,282.6,379.3,11.3,544,11361,0.00,2.50,0.00,0.000,6,0.000,0.046,2706,2102,1744
$GC,11682,1.27,282.6,345.9,10.5,560,11687,0.00,2.55,0.00,0.000,4,0.000,0.060,2706,691,1745
$GC,11715,1.27,282.6,342.2,11.1,561,11721,0.00,2.47,0.00,0.000,6,0.000,0.043,2706,2100,1745
$GC,12031,1.27,282.6,309.3,9.8,577,12035,0.00,2.62,0.00,0.000,4,0.000,0.076,2706,3511,1745
$GC,12062,1.27,282.6,305.9,9.5,578,12069,0.00,2.50,0.00,0.000,6,0.000,0.048,2706,2098,1745
$GC,12378,1.27,282.6,273.4,10.8,594,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1745
$GC,12687,1.27,282.6,240.7,10.3,609,12688,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1745
$GC,12996,1.27,282.6,210.6,9.5,624,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1746
$GC,13306,1.27,282.6,180.6,10.1,639,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1746
$GC,13615,1.27,282.6,152.2,9.9,654,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1746
$GC,13925,1.27,282.6,124.8,8.4,669,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1746
$GC,14236,1.27,282.6,92.4,11.9,684,14237,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2098,1746
$GC,14544,1.27,282.6,58.1,11.1,699,14548,0.00,2.55,0.00,0.000,4,0.000,0.064,2706,695,1746
$GC,14673,1.27,282.6,43.8,11.1,705,14677,0.00,2.47,0.00,0.000,6,0.000,0.048,2706,2098,1746
$GC,14999,1.27,282.6,12.3,8.7,721,15003,0.00,2.55,0.00,0.000,4,0.000,0.060,2706,695,1747
$GC,15048,1.27,282.6,7.2,10.5,723,15052,0.00,2.47,0.00,0.000,6,0.000,0.041,2706,2114,1747
$STATE,15119,end climb,SURFACE_DEPTH_REACHED
$STATE,15120,begin surface coast
$FINISH,-1.3,1.015145
$STATE,15141,end surface coast,CONTROL_FINISHED_OK
$STATE,15142,begin surface
$SM_CCo,15163,227.00,0.760,1,0,572,571.30
$SM_GC,-0.64,0.00,0.00,227.00,0.000,0.000,0.760,42,2892,572,-10.89,-0.23,571.30
$IRIDIUM_FIX,6322.64,-1256.03,271207,060635
$TT8_MAMPS,0.029146
$HUMID,1997
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.7,101.8
$24V_AH,23.4,41.284
$10V_AH,10.1,20.352
$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,25.975,132.750,357.550,227.000,0.000,77.683,71.208,212.704,4.750,0.000,0.000,15.205,1344.006,11583.348,744.084,1686.264,590.290,33.363,1606.164,0.000,1661.158,0.000,29.929
$DEVICE_MAMPS,160.303,101.244,1194.986,760.097,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.684,506.697,467.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34879,728
$CFSIZE,260165632,244834304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,1,0
$GPS,271207,071125,6347.848,-1254.119,37,1.5,37,-12.3