version: 66.02
glider: 103
mission: 7
dive: 236
start: 12 27 107 12 4 19
data:
$ID,103
$MISSION,7
$DIVE,236
$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,-66789.984
$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
$GPS1,115741,6350.822,-1251.779,26,2.0,30,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.59
$_SM_ANGLEo,-53.3
$GPS2,120315,6350.822,-1251.689,12,1.9,12,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.035,0.216
$KALMAN_X,-279154.8,473.6,1428.6,50367.9,-3604.7
$KALMAN_Y,-197077.3,49.7,1458.1,448951.2,-5762.4
$MHEAD_RNG_PITCHd_Wd,3.1,18288,-11.1,-6.000
$D_GRID,626
$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,-146.6,0.0,0.0,0,132,0.00,0.00,-108.45,0.000,6,0.000,0.000,30,2901,3499
$GC,135,-1.10,-146.6,2.8,-3.8,5,156,12.18,2.62,0.00,0.000,4,0.162,0.057,2164,1485,3500
$GC,296,-1.10,-146.6,31.4,-9.9,12,301,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2899,3501
$GC,619,-1.10,-146.6,62.2,-8.8,28,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3501
$GC,927,-1.10,-146.6,101.1,-12.0,43,931,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3786,3501
$GC,995,-1.10,-146.6,107.8,-8.0,46,999,0.00,1.58,0.00,0.000,6,0.000,0.052,2164,2898,3501
$GC,1329,-1.10,-146.6,132.3,-9.7,62,1333,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1484,3501
$GC,1413,-1.10,-146.6,142.8,-11.8,66,1417,0.00,2.70,0.00,0.000,6,0.000,0.079,2164,2899,3501
$GC,1738,-1.10,-146.6,172.3,-9.7,82,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,2048,-1.10,-146.6,197.5,-5.0,97,2051,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3787,3501
$GC,2103,-1.10,-146.6,200.9,-7.3,99,2107,0.00,1.58,0.00,0.000,6,0.000,0.047,2164,2899,3501
$GC,2425,-1.10,-146.6,225.7,-8.8,115,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,2733,-1.10,-146.6,252.9,-6.5,130,2737,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1478,3501
$GC,2794,-1.10,-146.6,257.3,-8.9,133,2799,0.00,2.72,0.00,0.000,6,0.000,0.081,2164,2905,3501
$GC,3120,-1.10,-146.6,280.3,-6.6,149,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3501
$GC,3429,-1.10,-146.6,301.9,-7.5,164,3433,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1486,3501
$GC,3472,-1.10,-146.6,305.1,-7.0,166,3477,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2904,3501
$GC,3793,-1.10,-146.6,326.4,-6.1,182,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3501
$GC,4103,-1.10,-146.6,345.0,-5.5,197,4107,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1479,3501
$GC,4135,-1.10,-146.6,347.0,-5.8,198,4141,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2907,3500
$GC,4450,-1.10,-146.6,367.5,-6.4,214,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3500
$GC,4759,-1.10,-146.6,390.9,-6.9,229,4764,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1480,3500
$GC,4793,-1.10,-146.6,393.2,-6.3,230,4800,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2908,3500
$GC,5109,-1.10,-146.6,414.2,-7.1,246,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3501
$GC,5418,-1.10,-146.6,436.0,-6.9,261,5423,0.00,2.60,0.00,0.000,4,0.000,0.059,2164,1475,3501
$GC,5462,-1.10,-146.6,439.1,-6.3,263,5466,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2906,3501
$GC,5789,-1.10,-146.6,462.5,-7.7,279,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3501
$GC,6098,-1.10,-146.6,482.7,-5.3,294,6103,0.00,2.55,0.00,0.000,4,0.000,0.052,2164,1479,3500
$GC,6133,-1.10,-146.6,484.2,-3.9,295,6139,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2906,3500
$GC,6449,-1.10,-146.6,494.6,-2.9,311,6453,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1479,3500
$GC,6498,-1.10,-146.6,496.5,-4.2,313,6502,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2904,3501
$GC,6813,-1.10,-146.6,510.6,-4.7,328,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3501
$GC,7123,-1.10,-146.6,531.3,-7.7,343,7127,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1475,3500
$GC,7233,-1.10,-146.6,540.0,-7.4,348,7238,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2895,3500
$GC,7560,-1.10,-146.6,562.6,-7.5,364,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3500
$GC,7869,-1.10,-146.6,583.5,-6.1,379,7873,0.00,2.53,0.00,0.000,4,0.000,0.048,2164,1467,3500
$GC,7896,-1.10,-146.6,585.2,-5.6,380,7900,0.00,2.62,0.00,0.000,6,0.000,0.062,2164,2903,3501
$STATE,8168,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8168,begin apogee
$GC,8175,-0.42,0.0,601.5,6.2,393,8303,0.75,0.00,124.78,1.215,6,0.083,0.000,2317,2079,2901
$STATE,8304,end apogee,CONTROL_FINISHED_OK
$STATE,8304,begin climb
$GC,8306,1.10,146.6,605.6,0.0,399,8437,1.55,2.58,121.38,1.184,4,0.055,0.053,2650,698,2303
$GC,8674,1.13,166.4,590.8,5.5,416,8698,0.00,2.47,18.15,1.106,6,0.000,0.035,2650,2122,2222
$GC,9025,1.13,166.4,569.2,6.1,433,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2122,2220
$GC,9335,1.13,166.4,547.2,6.4,448,9339,0.00,2.55,0.00,0.000,4,0.000,0.064,2650,3505,2219
$GC,9445,1.20,228.2,542.0,4.3,453,9503,0.00,2.45,51.90,1.180,6,0.000,0.036,2650,2096,1970
$GC,9814,1.24,259.4,524.7,5.1,471,9846,0.15,2.70,26.83,1.144,4,0.041,0.066,2696,3502,1843
$GC,9869,1.24,259.4,520.8,7.2,473,9873,0.00,2.47,0.00,0.000,6,0.000,0.036,2696,2101,1842
$GC,10194,1.24,259.4,493.1,8.5,489,10198,0.00,2.50,0.00,0.000,4,0.000,0.053,2696,699,1842
$GC,10295,1.24,259.4,485.0,7.8,493,10299,0.00,2.45,0.00,0.000,6,0.000,0.037,2696,2096,1842
$GC,10610,1.24,259.4,455.6,10.9,508,10614,0.00,2.62,0.00,0.000,4,0.000,0.071,2696,3505,1841
$GC,10659,1.24,259.4,450.0,11.6,510,10663,0.00,2.45,0.00,0.000,6,0.000,0.040,2696,2102,1841
$GC,10974,1.24,259.4,416.2,11.0,525,10978,0.00,2.50,0.00,0.000,4,0.000,0.054,2696,698,1841
$GC,11013,1.24,259.4,411.8,11.9,526,11019,0.00,2.47,0.00,0.000,6,0.000,0.040,2696,2100,1841
$GC,11328,1.24,259.4,376.5,11.2,542,11332,0.00,2.65,0.00,0.000,4,0.000,0.077,2696,3508,1841
$GC,11354,1.24,259.4,373.5,11.0,543,11359,0.00,2.50,0.00,0.000,6,0.000,0.046,2696,2098,1841
$GC,11675,1.24,259.4,344.2,8.2,559,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2098,1841
$GC,11985,1.24,259.4,318.1,8.8,574,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2098,1842
$GC,12294,1.24,259.4,291.4,8.4,589,12299,0.00,2.67,0.00,0.000,4,0.000,0.077,2696,3514,1842
$GC,12327,1.24,259.4,288.6,7.9,590,12334,0.00,2.53,0.00,0.000,6,0.000,0.048,2696,2109,1842
$GC,12643,1.24,259.4,260.9,8.9,606,12644,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2109,1842
$GC,12952,1.24,259.4,232.6,9.1,621,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2109,1842
$GC,13261,1.24,259.4,205.8,8.5,636,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2108,1842
$GC,13570,1.24,259.4,180.6,8.3,651,13575,0.00,2.65,0.00,0.000,4,0.000,0.077,2696,3508,1842
$GC,13614,1.24,259.4,176.6,9.3,653,13618,0.00,2.53,0.00,0.000,6,0.000,0.051,2696,2093,1842
$GC,13934,1.24,259.4,150.0,8.1,669,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2093,1843
$GC,14244,1.24,259.4,123.2,9.0,684,14245,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2093,1843
$GC,14553,1.24,259.4,97.0,7.8,699,14558,0.00,2.70,0.00,0.000,4,0.000,0.077,2696,3515,1843
$GC,14580,1.24,259.4,94.3,9.9,700,14584,0.00,2.53,0.00,0.000,6,0.000,0.048,2696,2089,1843
$GC,14902,1.24,259.4,63.3,8.4,716,14903,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2089,1844
$GC,15211,1.24,259.4,39.6,8.2,731,15216,0.00,2.50,0.00,0.000,4,0.000,0.059,2696,698,1843
$GC,15274,1.39,383.9,35.7,2.6,734,15378,0.00,2.50,98.40,0.831,6,0.000,0.050,2696,2099,1334
$STATE,15581,end climb,SURFACE_DEPTH_REACHED
$STATE,15581,begin surface coast
$FINISH,-0.9,1.027356
$STATE,15603,end surface coast,CONTROL_FINISHED_OK
$STATE,15603,begin surface
$SM_CCo,15625,146.57,0.774,0,0,572,571.30
$SM_GC,-0.81,0.00,0.00,146.57,0.000,0.000,0.774,40,2901,572,-10.90,0.03,571.30
$IRIDIUM_FIX,6322.64,-1256.03,271207,111124
$TT8_MAMPS,0.027612
$HUMID,2023
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,526.5,85.0
$24V_AH,23.4,41.648
$10V_AH,10.1,20.503
$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,26.250,123.350,441.425,146.575,0.000,37.589,36.239,155.038,4.750,0.000,0.000,12.282,1367.752,11933.292,703.861,1656.954,460.279,33.372,1571.450,0.000,1639.836,0.000,32.837
$DEVICE_MAMPS,161.837,94.341,1214.928,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,556.606,518.791,462.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,750
$CFSIZE,260165632,244731904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,271207,162826,6351.894,-1248.474,39,1.4,39,-12.3