version: 66.02
glider: 103
mission: 7
dive: 238
start: 12 27 107 21 20 24
data:
$ID,103
$MISSION,7
$DIVE,238
$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,-66822.719
$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,18
$R_STBD_OVSHOOT,11
$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
$GPS1,211338,6350.993,-1253.150,30,1.0,30,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-48.3
$GPS2,211920,6350.932,-1253.074,9,1.0,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.169,0.138
$KALMAN_X,-273581.7,336.1,-1253.7,46425.1,3802.1
$KALMAN_Y,-202632.8,82.4,-583.7,456765.0,-3486.5
$MHEAD_RNG_PITCHd_Wd,321.4,17710,-11.1,-6.000
$D_GRID,637
$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,-146.4,0.0,0.0,0,126,0.00,0.00,-102.07,0.000,2,0.000,0.000,42,2903,3371
$GC,129,-1.10,-146.6,3.4,-4.3,5,151,12.07,1.73,-2.30,0.000,4,0.161,0.112,2167,3776,3503
$GC,326,-1.10,-146.6,28.8,-6.9,13,332,0.00,1.60,0.00,0.000,6,0.000,0.057,2167,2907,3503
$GC,641,-1.10,-146.6,48.7,-5.2,29,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3503
$GC,950,-1.10,-146.6,61.6,-3.7,44,955,0.00,2.65,0.00,0.000,4,0.000,0.073,2167,1479,3503
$GC,968,-1.10,-146.6,62.3,-4.1,45,973,0.00,2.72,0.00,0.000,6,0.000,0.082,2167,2899,3503
$GC,1294,-1.10,-146.6,77.6,-5.2,61,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,1603,-1.10,-146.6,106.0,-11.9,76,1607,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1486,3503
$GC,1635,-1.10,-146.6,109.4,-9.7,77,1642,0.00,2.70,0.00,0.000,6,0.000,0.082,2167,2905,3503
$GC,1952,-1.10,-146.6,130.8,-8.0,93,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,2260,-1.10,-146.6,162.6,-10.0,108,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,2570,-1.10,-146.6,191.9,-7.8,123,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2905,3503
$GC,2878,-1.10,-146.6,216.3,-9.3,138,2882,0.00,1.73,0.00,0.000,4,0.000,0.096,2167,3787,3503
$GC,2939,-1.10,-146.6,221.4,-9.3,140,2946,0.00,1.58,0.00,0.000,6,0.000,0.047,2167,2899,3503
$GC,3255,-1.10,-146.6,236.9,-4.0,156,3260,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1486,3503
$GC,3310,-1.10,-146.6,240.2,-6.1,158,3317,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2899,3503
$GC,3626,-1.10,-146.6,256.0,-5.2,174,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,3935,-1.10,-146.6,277.4,-8.1,189,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,4244,-1.10,-146.6,303.2,-8.0,204,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,4554,-1.10,-146.6,324.6,-6.5,219,4561,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1489,3503
$GC,4589,-1.10,-146.6,326.9,-6.7,220,4593,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2903,3503
$GC,4906,-1.10,-146.6,350.2,-7.8,235,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,5213,-1.10,-146.6,374.1,-7.9,250,5217,0.00,1.67,0.00,0.000,4,0.000,0.093,2167,3784,3503
$GC,5263,-1.10,-146.6,378.2,-8.4,252,5267,0.00,1.55,0.00,0.000,6,0.000,0.045,2167,2905,3503
$GC,5589,-1.10,-146.6,406.6,-8.6,268,5590,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2905,3503
$GC,5899,-1.10,-146.6,432.6,-7.5,283,5903,0.00,2.55,0.00,0.000,4,0.000,0.060,2167,1483,3503
$GC,5942,-1.10,-146.6,435.5,-7.0,285,5946,0.00,2.62,0.00,0.000,6,0.000,0.069,2167,2899,3503
$GC,6263,-1.10,-146.6,456.3,-6.5,301,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,6573,-1.10,-146.6,478.0,-7.2,316,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,6883,-1.10,-146.6,500.4,-7.5,331,6887,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1479,3503
$GC,6926,-1.10,-146.6,503.8,-7.5,333,6930,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2903,3503
$GC,7253,-1.10,-146.6,527.5,-7.2,349,7257,0.00,2.53,0.00,0.000,4,0.000,0.052,2167,1481,3503
$GC,7285,-1.10,-146.6,530.0,-7.4,350,7292,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2900,3503
$GC,7605,-1.10,-146.6,550.9,-6.3,366,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,7910,-1.10,-146.6,572.0,-7.4,381,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,8220,-1.10,-146.6,588.3,-3.6,396,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,8529,-1.10,-146.6,597.5,-2.6,411,8533,0.00,2.53,0.00,0.000,4,0.000,0.047,2167,1470,3503
$GC,8596,-1.10,-146.6,599.7,-3.3,414,8600,0.00,2.60,0.00,0.000,6,0.000,0.060,2167,2901,3503
$GC,8917,-1.10,-146.6,614.3,-4.5,430,8920,0.00,1.67,0.00,0.000,4,0.000,0.087,2167,3792,3503
$GC,8944,-1.10,-146.6,615.6,-5.0,431,8948,0.00,1.58,0.00,0.000,6,0.000,0.038,2167,2874,3503
$STATE,9165,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9165,begin apogee
$GC,9172,-0.42,0.0,627.9,6.6,442,9300,0.73,0.00,124.62,1.239,6,0.073,0.000,2319,2096,2901
$STATE,9301,end apogee,CONTROL_FINISHED_OK
$STATE,9301,begin climb
$GC,9303,1.10,146.6,631.5,0.0,448,9430,1.52,0.00,121.10,1.221,6,0.056,0.000,2648,2096,2303
$GC,9739,1.12,163.8,610.6,5.5,470,9761,0.00,2.58,15.88,1.129,4,0.000,0.055,2648,697,2233
$GC,9990,1.13,168.4,593.4,5.9,481,10001,0.00,2.47,5.53,0.939,6,0.000,0.035,2647,2121,2214
$GC,10311,1.13,168.4,571.8,8.6,496,10315,0.00,2.53,0.00,0.000,4,0.000,0.063,2648,3502,2213
$GC,10468,1.13,168.4,555.8,9.7,503,10472,0.00,2.45,0.00,0.000,6,0.000,0.035,2648,2098,2212
$GC,10793,1.13,168.4,532.9,6.2,519,10797,0.00,2.53,0.00,0.000,4,0.000,0.056,2648,699,2211
$GC,10969,1.14,172.5,522.4,5.9,527,10979,0.00,2.42,4.62,0.874,6,0.000,0.036,2648,2097,2197
$GC,11294,1.28,288.5,509.9,2.8,543,11398,0.15,2.70,95.30,1.193,4,0.039,0.068,2701,3507,1724
$GC,11466,1.28,288.5,499.4,8.5,551,11471,0.00,2.47,0.00,0.000,6,0.000,0.038,2702,2101,1723
$GC,11792,1.28,288.5,470.6,9.3,567,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2101,1722
$GC,12101,1.28,288.5,443.3,8.7,582,12106,0.00,2.62,0.00,0.000,4,0.000,0.071,2702,3501,1722
$GC,12156,1.28,288.5,437.8,10.0,584,12163,0.00,2.47,0.00,0.000,6,0.000,0.043,2702,2100,1722
$GC,12472,1.28,288.5,405.2,10.7,600,12476,0.00,2.65,0.00,0.000,4,0.000,0.074,2701,3502,1722
$GC,12511,1.28,288.5,400.9,11.2,602,12516,0.00,2.50,0.00,0.000,6,0.000,0.046,2701,2098,1722
$GC,12837,1.28,288.5,370.0,9.4,618,12842,0.00,2.55,0.00,0.000,4,0.000,0.061,2701,691,1722
$GC,12871,1.28,288.5,366.8,9.7,619,12878,0.00,2.47,0.00,0.000,6,0.000,0.043,2701,2093,1723
$GC,13187,1.28,288.5,335.5,9.6,635,13191,0.00,2.67,0.00,0.000,4,0.000,0.076,2702,3519,1722
$GC,13230,1.28,288.5,331.1,9.5,637,13234,0.00,2.53,0.00,0.000,6,0.000,0.048,2702,2099,1722
$GC,13556,1.28,288.5,301.8,9.6,653,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2099,1723
$GC,13866,1.28,288.5,268.7,11.1,668,13870,0.00,2.67,0.00,0.000,4,0.000,0.076,2702,3511,1723
$GC,13898,1.28,288.5,264.8,10.8,669,13904,0.00,2.53,0.00,0.000,6,0.000,0.050,2701,2096,1723
$GC,14213,1.28,288.5,232.0,10.2,685,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,1724
$GC,14523,1.28,288.5,201.1,8.6,700,14524,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,1724
$GC,14832,1.28,288.5,175.2,9.3,715,14833,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2096,1724
$GC,15142,1.28,288.5,134.8,15.7,730,15143,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,1724
$GC,15451,1.28,288.5,99.7,8.4,745,15452,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,1724
$GC,15760,1.28,288.5,74.9,7.0,760,15761,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,1725
$GC,16071,1.28,288.5,44.8,8.8,775,16072,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2093,1725
$GC,16380,1.28,288.5,11.0,13.1,790,16381,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2093,1725
$STATE,16481,end climb,SURFACE_DEPTH_REACHED
$STATE,16481,begin surface coast
$FINISH,-0.9,1.027343
$STATE,16502,end surface coast,CONTROL_FINISHED_OK
$STATE,16502,begin surface
$SM_CCo,16524,224.25,0.778,1,0,572,571.30
$SM_GC,-0.52,0.00,0.00,224.25,0.000,0.000,0.778,43,2899,572,-10.89,-0.03,571.30
$IRIDIUM_FIX,6322.64,-1127.20,271207,202024
$TT8_MAMPS,0.029146
$HUMID,2021
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.9,86.9
$24V_AH,23.4,42.018
$10V_AH,10.1,20.660
$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,26.150,103.725,367.050,224.250,0.000,40.981,43.343,150.945,5.000,0.000,0.000,14.872,1437.952,12761.963,756.481,1675.416,478.572,33.371,1590.075,0.000,1665.256,0.000,31.518
$DEVICE_MAMPS,161.070,111.982,1239.472,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.237,554.840,506.435,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41067,796
$CFSIZE,260165632,244617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,281207,020055,6352.379,-1252.093,25,1.3,42,-12.3