version: 66.02
glider: 103
mission: 7
dive: 235
start: 12 27 107 7 17 49
data:
$ID,103
$MISSION,7
$DIVE,235
$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,-66777.078
$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,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
$GPS1,071125,6347.848,-1254.119,37,1.5,37,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.63
$_SM_ANGLEo,-54.2
$GPS2,071645,6347.770,-1254.140,14,1.4,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.032,0.216
$KALMAN_X,-279879.2,894.7,-1271.9,51224.7,238.8
$KALMAN_Y,-196325.2,537.4,-1029.4,444593.2,-2707.3
$MHEAD_RNG_PITCHd_Wd,4.0,23144,-11.0,-6.000
$D_GRID,640
$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,22,-1.10,-146.6,0.0,0.0,0,134,0.00,0.00,-110.15,0.000,6,0.000,0.000,43,2892,3500
$GC,136,-1.10,-146.6,2.1,-3.2,5,158,11.98,2.62,0.00,0.000,4,0.157,0.060,2167,1489,3502
$GC,253,-1.10,-146.6,20.4,-5.3,10,257,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2904,3502
$GC,575,-1.10,-146.6,43.6,-7.1,26,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2905,3503
$GC,883,-1.10,-146.6,65.8,-8.2,41,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,1192,-1.10,-146.6,94.1,-9.6,56,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,1501,-1.10,-146.6,119.1,-8.3,71,1506,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1493,3502
$GC,1545,-1.10,-146.6,122.7,-7.3,73,1549,0.00,2.65,0.00,0.000,6,0.000,0.076,2167,2900,3503
$GC,1872,-1.10,-146.6,145.8,-6.5,89,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,2181,-1.10,-146.6,168.1,-7.9,104,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,2490,-1.10,-146.6,191.8,-7.7,119,2495,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1492,3503
$GC,2530,-1.10,-146.6,194.7,-7.4,121,2534,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2906,3503
$GC,2855,-1.10,-146.6,218.4,-6.8,137,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,3165,-1.10,-146.6,238.7,-5.2,152,3169,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1491,3503
$GC,3197,-1.10,-146.6,240.6,-5.7,153,3203,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2902,3503
$GC,3513,-1.10,-146.6,259.1,-5.9,169,3514,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,3822,-1.10,-146.6,278.4,-6.2,184,3826,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1491,3503
$GC,3861,-1.10,-146.6,280.8,-6.8,186,3865,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2900,3503
$GC,4187,-1.10,-146.6,301.3,-6.5,202,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,4495,-1.10,-146.6,321.5,-6.4,217,4500,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1491,3503
$GC,4528,-1.10,-146.6,323.7,-6.6,218,4534,0.00,2.65,0.00,0.000,6,0.000,0.075,2167,2898,3503
$GC,4844,-1.10,-146.6,342.3,-5.7,234,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3502
$GC,5153,-1.10,-146.6,361.4,-6.1,249,5157,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1483,3503
$GC,5224,-1.10,-146.6,366.7,-7.4,252,5228,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2903,3502
$GC,5540,-1.10,-146.6,390.2,-7.3,267,5544,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1491,3503
$GC,5571,-1.10,-146.6,392.4,-7.1,268,5578,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2901,3503
$GC,5887,-1.10,-146.6,412.5,-6.2,284,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,6196,-1.10,-146.6,433.3,-7.0,299,6201,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1489,3503
$GC,6251,-1.10,-146.6,437.3,-7.3,301,6258,0.00,2.62,0.00,0.000,6,0.000,0.072,2167,2902,3503
$GC,6567,-1.10,-146.6,461.6,-7.9,317,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,6876,-1.10,-146.6,487.8,-8.6,332,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,7185,-1.10,-146.6,510.2,-6.7,347,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,7495,-1.10,-146.6,529.8,-6.1,362,7499,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1479,3503
$GC,7534,-1.10,-146.6,532.3,-6.6,364,7538,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2907,3503
$GC,7859,-1.10,-146.6,559.8,-10.0,380,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3503
$GC,8169,-1.10,-146.6,583.9,-6.5,395,8173,0.00,2.53,0.00,0.000,4,0.000,0.050,2167,1483,3503
$GC,8263,-1.10,-146.6,590.0,-6.7,399,8268,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2908,3503
$GC,8579,-1.10,-146.6,607.8,-4.9,414,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3503
$GC,8888,-1.10,-146.6,620.1,-4.6,429,8893,0.00,2.53,0.00,0.000,4,0.000,0.050,2167,1483,3503
$STATE,8993,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8993,begin apogee
$GC,9000,-0.42,0.0,628.0,5.0,434,9128,0.73,0.00,124.72,1.213,6,0.075,0.000,2318,2108,2901
$STATE,9128,end apogee,CONTROL_FINISHED_OK
$STATE,9128,begin climb
$GC,9130,1.10,146.6,630.2,0.0,440,9257,1.52,0.00,121.45,1.185,6,0.054,0.000,2648,2109,2303
$GC,9562,1.17,201.1,609.3,4.5,461,9616,0.00,2.67,46.50,1.174,4,0.000,0.054,2648,693,2081
$GC,9807,1.17,201.1,591.4,6.6,472,9811,0.00,2.47,0.00,0.000,6,0.000,0.036,2648,2114,2080
$GC,10133,1.17,201.1,571.9,6.1,488,10138,0.00,2.55,0.00,0.000,4,0.000,0.064,2648,3502,2079
$GC,10211,1.25,268.4,568.4,4.1,491,10273,0.15,2.45,56.28,1.180,6,0.041,0.036,2692,2094,1806
$GC,10583,1.25,268.4,541.6,8.6,509,10588,0.00,2.62,0.00,0.000,4,0.000,0.065,2692,3502,1804
$GC,10627,1.25,268.4,537.4,9.2,511,10631,0.00,2.45,0.00,0.000,6,0.000,0.036,2692,2099,1804
$GC,10954,1.25,268.4,513.1,7.0,527,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1803
$GC,11263,1.25,268.4,488.7,9.0,542,11267,0.00,2.60,0.00,0.000,4,0.000,0.066,2692,3501,1803
$GC,11295,1.25,268.4,485.5,9.8,543,11301,0.00,2.45,0.00,0.000,6,0.000,0.038,2692,2098,1803
$GC,11610,1.25,268.4,459.8,7.2,559,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1803
$GC,11919,1.25,268.4,432.2,8.5,574,11924,0.00,2.62,0.00,0.000,4,0.000,0.071,2692,3502,1803
$GC,11959,1.25,268.4,429.3,8.0,576,11964,0.00,2.47,0.00,0.000,6,0.000,0.045,2692,2105,1803
$GC,12286,1.25,268.4,401.2,9.1,592,12290,0.00,2.55,0.00,0.000,4,0.000,0.058,2692,688,1803
$GC,12329,1.25,268.4,397.1,9.2,594,12333,0.00,2.45,0.00,0.000,6,0.000,0.041,2692,2094,1803
$GC,12655,1.25,268.4,369.9,8.6,610,12660,0.00,2.65,0.00,0.000,4,0.000,0.075,2692,3514,1804
$GC,12705,1.25,268.4,365.4,9.3,612,12709,0.00,2.50,0.00,0.000,6,0.000,0.047,2692,2098,1804
$GC,13020,1.25,268.4,334.4,10.4,627,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1804
$GC,13329,1.25,268.4,304.0,9.6,642,13334,0.00,2.67,0.00,0.000,4,0.000,0.075,2692,3514,1804
$GC,13379,1.25,268.4,298.9,9.8,644,13384,0.00,2.53,0.00,0.000,6,0.000,0.049,2692,2096,1804
$GC,13694,1.25,268.4,269.5,9.6,659,13695,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2096,1804
$GC,14003,1.25,268.4,241.3,8.3,674,14008,0.00,2.67,0.00,0.000,4,0.000,0.077,2692,3512,1805
$GC,14047,1.25,268.4,237.2,10.0,676,14051,0.00,2.50,0.00,0.000,6,0.000,0.050,2692,2101,1805
$GC,14373,1.25,268.4,205.2,9.8,692,14374,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2101,1805
$GC,14682,1.25,268.4,172.4,10.7,707,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2101,1805
$GC,14992,1.25,268.4,141.0,8.9,722,14997,0.00,2.65,0.00,0.000,4,0.000,0.075,2692,3508,1805
$GC,15057,1.25,268.4,134.7,11.2,725,15062,0.00,2.50,0.00,0.000,6,0.000,0.049,2692,2100,1805
$GC,15385,1.25,268.4,119.7,7.6,741,15386,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1806
$GC,15694,1.25,268.4,77.0,13.8,756,15695,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2099,1806
$GC,16003,1.31,316.0,53.2,4.7,771,16049,0.00,2.78,38.90,0.821,4,0.000,0.080,2692,3504,1611
$GC,16091,1.31,316.0,47.9,8.7,775,16096,0.00,2.55,0.00,0.000,6,0.000,0.051,2692,2093,1611
$GC,16418,1.31,316.0,9.4,11.1,791,16423,0.00,2.75,0.00,0.000,4,0.000,0.089,2692,3508,1610
$GC,16468,1.31,316.0,2.9,9.4,793,16472,0.00,2.47,0.00,0.000,6,0.000,0.038,2692,2093,1610
$STATE,16478,end climb,SURFACE_DEPTH_REACHED
$STATE,16478,begin surface coast
$FINISH,-0.7,1.027363
$STATE,16500,end surface coast,CONTROL_FINISHED_OK
$STATE,16500,begin surface
$SM_CCo,16522,198.88,0.766,1,0,572,571.30
$SM_GC,-0.83,0.00,0.00,198.88,0.000,0.000,0.766,30,2900,572,-10.95,0.00,571.30
$IRIDIUM_FIX,6322.64,-1250.20,271207,060636
$TT8_MAMPS,0.029913
$HUMID,2014
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,526.0,111.8
$24V_AH,23.4,41.465
$10V_AH,10.1,20.429
$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,25.900,124.500,387.850,198.875,0.000,40.810,40.713,137.254,4.500,0.000,0.000,14.580,1433.226,12755.867,733.616,1703.139,437.094,33.368,1601.490,0.000,1680.792,0.000,29.953
$DEVICE_MAMPS,157.235,95.108,1213.394,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.453,553.519,501.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41070,795
$CFSIZE,260165632,244776960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,271207,115741,6350.822,-1251.779,26,2.0,30,-12.3