version: 66.02
glider: 103
mission: 7
dive: 237
start: 12 27 107 16 35 1
data:
$ID,103
$MISSION,7
$DIVE,237
$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,-66807.219
$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,26
$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
$GPS1,162826,6351.894,-1248.474,39,1.4,39,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.62
$_SM_ANGLEo,-43.9
$GPS2,163357,6351.781,-1248.401,16,1.8,16,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.144,0.164
$KALMAN_X,-274052.1,450.6,442.2,49145.2,1435.6
$KALMAN_Y,-197562.7,110.3,-629.7,453243.5,-1125.3
$MHEAD_RNG_PITCHd_Wd,331.1,17899,-11.1,-6.000
$D_GRID,601
$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,20,begin dive
$GC,22,-1.10,-146.6,0.0,0.0,0,134,0.00,0.00,-109.93,0.000,6,0.000,0.000,40,2902,3501
$GC,137,-1.10,-146.6,1.8,-3.1,5,157,12.12,1.75,0.00,0.000,4,0.163,0.088,2164,3787,3503
$GC,409,-1.10,-146.6,31.5,-6.8,17,413,0.00,1.60,0.00,0.000,6,0.000,0.054,2164,2907,3503
$GC,736,-1.10,-146.6,50.2,-6.2,33,741,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1486,3503
$GC,978,-1.10,-146.6,72.3,-5.7,44,983,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2900,3503
$GC,1305,-1.10,-146.6,96.1,-8.2,60,1309,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1484,3503
$GC,1438,-1.10,-146.6,105.6,-7.8,66,1443,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2907,3503
$GC,1761,-1.10,-146.6,127.9,-7.3,82,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3503
$GC,2069,-1.10,-146.6,148.7,-6.6,97,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,2378,-1.10,-146.6,169.2,-7.4,112,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,2687,-1.10,-146.6,191.9,-7.3,127,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,2996,-1.10,-146.6,214.4,-7.2,142,3000,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1488,3503
$GC,3107,-1.10,-146.6,222.2,-6.7,147,3111,0.00,2.67,0.00,0.000,6,0.000,0.078,2165,2900,3503
$GC,3428,-1.10,-146.6,245.7,-7.3,163,3432,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1489,3503
$GC,3516,-1.10,-146.6,252.4,-7.6,167,3521,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2900,3503
$GC,3838,-1.10,-146.6,275.4,-7.2,183,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,4146,-1.10,-146.6,298.2,-7.8,198,4151,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1481,3503
$GC,4196,-1.10,-146.6,302.0,-7.3,200,4200,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2901,3503
$GC,4511,-1.10,-146.6,324.2,-6.8,215,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,4820,-1.10,-146.6,344.5,-6.4,230,4825,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1482,3503
$GC,4875,-1.10,-146.6,348.2,-6.6,232,4882,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2902,3503
$GC,5191,-1.10,-146.6,368.7,-6.7,248,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,5500,-1.10,-146.6,391.2,-6.9,263,5504,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1478,3503
$GC,5555,-1.10,-146.6,395.4,-8.0,265,5561,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2907,3503
$GC,5870,-1.10,-146.6,419.1,-7.6,281,5875,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1480,3503
$GC,5909,-1.10,-146.6,422.0,-7.6,283,5914,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2902,3503
$GC,6235,-1.10,-146.6,444.6,-6.4,299,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,6544,-1.10,-146.6,462.5,-5.3,314,6548,0.00,2.58,0.00,0.000,4,0.000,0.056,2165,1475,3503
$GC,6599,-1.10,-146.6,465.6,-5.8,316,6606,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2908,3503
$GC,6915,-1.10,-146.6,481.4,-5.0,332,6920,0.00,2.58,0.00,0.000,4,0.000,0.055,2165,1474,3503
$GC,6959,-1.10,-146.6,483.7,-5.1,334,6964,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2907,3503
$GC,7280,-1.10,-146.6,501.4,-5.7,350,7285,0.00,2.55,0.00,0.000,4,0.000,0.053,2165,1479,3503
$GC,7320,-1.10,-146.6,503.8,-6.1,352,7324,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2907,3503
$GC,7645,-1.10,-146.6,527.2,-7.5,368,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,7955,-1.10,-146.6,548.8,-6.9,383,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$GC,8264,-1.10,-146.6,570.1,-7.0,398,8268,0.00,1.65,0.00,0.000,4,0.000,0.085,2165,3787,3503
$GC,8403,-1.10,-146.6,579.7,-6.8,404,8408,0.00,1.55,0.00,0.000,6,0.000,0.037,2165,2890,3503
$STATE,8687,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8687,begin apogee
$GC,8694,-0.42,0.0,600.1,6.9,418,8823,0.75,0.00,125.22,1.200,6,0.083,0.000,2318,2092,2901
$STATE,8823,end apogee,CONTROL_FINISHED_OK
$STATE,8824,begin climb
$GC,8826,1.10,146.6,605.4,0.0,424,8957,1.52,2.62,121.15,1.174,4,0.054,0.051,2647,697,2303
$GC,9181,1.10,146.6,591.6,6.9,440,9186,0.00,2.47,0.00,0.000,6,0.000,0.034,2647,2128,2302
$GC,9503,1.13,170.9,573.5,5.3,456,9527,0.00,0.00,21.83,1.127,6,0.000,0.000,2647,2128,2204
$GC,9832,1.19,220.1,557.7,4.6,472,9882,0.10,2.62,41.83,1.166,4,0.048,0.060,2685,3499,2003
$GC,9977,1.19,220.1,547.4,7.5,478,9983,0.00,2.45,0.00,0.000,6,0.000,0.035,2685,2091,2002
$GC,10293,1.19,220.1,524.1,7.4,494,10297,0.00,2.60,0.00,0.000,4,0.000,0.061,2684,3502,2001
$GC,10381,1.19,220.1,518.0,6.7,498,10385,0.00,2.42,0.00,0.000,6,0.000,0.034,2685,2100,2001
$GC,10707,1.19,220.1,495.0,8.0,514,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,2001
$GC,11017,1.19,220.1,465.8,10.3,529,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2100,2001
$GC,11326,1.19,220.1,434.3,9.9,544,11330,0.00,2.62,0.00,0.000,4,0.000,0.069,2685,3501,2001
$GC,11365,1.19,220.1,430.3,10.7,546,11369,0.00,2.45,0.00,0.000,6,0.000,0.041,2685,2106,2001
$GC,11691,1.19,220.1,404.1,7.0,562,11695,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3502,2001
$GC,11734,1.19,220.1,401.2,6.6,564,11738,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2095,2000
$GC,12061,1.20,228.2,381.6,5.8,580,12075,0.00,2.58,7.90,0.933,4,0.000,0.056,2685,700,1970
$GC,12114,1.20,228.2,378.2,6.1,582,12119,0.00,2.42,0.00,0.000,6,0.000,0.039,2685,2086,1970
$GC,12435,1.20,228.2,356.9,7.0,598,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2086,1970
$GC,12745,1.20,228.2,332.9,7.5,613,12749,0.00,2.67,0.00,0.000,4,0.000,0.077,2685,3508,1970
$GC,12793,1.20,228.2,329.0,8.5,615,12798,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2099,1970
$GC,13115,1.20,228.2,305.2,7.1,631,13119,0.00,2.67,0.00,0.000,4,0.000,0.076,2685,3512,1970
$GC,13153,1.20,228.2,302.4,7.1,633,13158,0.00,2.53,0.00,0.000,6,0.000,0.049,2685,2091,1970
$GC,13480,1.20,228.2,278.1,7.4,649,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2091,1970
$GC,13789,1.20,228.2,256.5,6.9,664,13793,0.00,2.67,0.00,0.000,4,0.000,0.076,2685,3508,1971
$GC,13860,1.20,228.2,251.1,7.6,667,13864,0.00,2.50,0.00,0.000,6,0.000,0.049,2685,2100,1971
$GC,14175,1.20,228.2,228.7,7.9,682,14177,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2101,1971
$GC,14485,1.26,271.2,208.7,4.8,697,14527,0.00,2.75,36.00,0.930,4,0.000,0.076,2685,3508,1795
$GC,14622,1.26,271.2,197.5,10.0,703,14626,0.00,2.53,0.00,0.000,6,0.000,0.051,2685,2105,1794
$GC,14943,1.37,366.3,176.6,3.4,719,15024,0.12,0.00,77.15,0.912,6,0.046,0.000,2718,2103,1407
$GC,15333,1.37,366.3,139.4,12.5,738,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2103,1406
$GC,15642,1.37,366.3,99.1,12.9,753,15646,0.00,2.60,0.00,0.000,4,0.000,0.067,2719,692,1405
$GC,15668,1.37,366.3,95.5,13.0,754,15672,0.00,2.50,0.00,0.000,6,0.000,0.045,2719,2100,1406
$GC,15990,1.37,366.3,58.4,15.2,770,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2100,1406
$GC,16299,1.37,366.3,17.4,13.4,785,16300,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2100,1406
$STATE,16441,end climb,SURFACE_DEPTH_REACHED
$STATE,16441,begin surface coast
$FINISH,-1.1,1.016144
$STATE,16463,end surface coast,CONTROL_FINISHED_OK
$STATE,16463,begin surface
$SM_CCo,16485,160.65,0.794,1,0,572,571.30
$SM_GC,-0.50,0.00,0.00,160.65,0.000,0.000,0.794,42,2902,572,-10.89,0.08,571.30
$IRIDIUM_FIX,6322.64,-1251.28,271207,151535
$TT8_MAMPS,0.029146
$HUMID,2015
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,15.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.6,84.2
$24V_AH,23.4,41.831
$10V_AH,10.1,20.582
$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,26.225,123.725,431.075,160.650,0.000,38.553,37.039,144.366,5.000,0.000,0.000,16.601,1461.995,12511.417,739.954,1838.373,446.517,33.369,1659.477,0.000,1809.015,0.000,32.837
$DEVICE_MAMPS,162.604,88.205,1200.355,793.845,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.680,551.148,486.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41156,793
$CFSIZE,260165632,244666368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,1,0
$GPS,271207,211338,6350.993,-1253.150,30,1.0,30,-12.3