version: 66.02
glider: 103
mission: 7
dive: 239
start: 12 28 107 2 7 56
data:
$ID,103
$MISSION,7
$DIVE,239
$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,-66860.023
$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,19
$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
$GPS1,020055,6352.379,-1252.093,25,1.3,42,-12.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-47.4
$GPS2,020653,6352.336,-1251.978,16,4.4,35,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.057,0.211
$KALMAN_X,-271053.7,-367.4,1508.1,42784.4,-178.4
$KALMAN_Y,-204590.7,-91.5,1367.5,459504.2,-6453.9
$MHEAD_RNG_PITCHd_Wd,27.3,15616,-11.1,-6.000
$D_GRID,629
$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,21,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-107.60,0.000,6,0.000,0.000,43,2899,3500
$GC,134,-1.10,-146.6,2.3,-3.4,5,155,11.88,2.65,0.00,0.000,4,0.154,0.060,2167,1485,3502
$GC,295,-1.10,-146.6,28.4,-8.2,12,299,0.00,2.70,0.00,0.000,6,0.000,0.080,2167,2898,3502
$GC,617,-1.10,-146.6,49.9,-5.8,28,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3501
$GC,925,-1.10,-146.6,71.1,-7.6,43,929,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1489,3502
$GC,952,-1.10,-146.6,73.3,-7.9,44,956,0.00,2.70,0.00,0.000,6,0.000,0.080,2167,2907,3502
$GC,1267,-1.10,-146.6,100.7,-14.3,59,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3501
$GC,1576,-1.10,-146.6,135.3,-11.3,74,1581,0.00,2.65,0.00,0.000,4,0.000,0.070,2167,1484,3501
$GC,1608,-1.10,-146.6,139.6,-12.4,75,1615,0.00,2.67,0.00,0.000,6,0.000,0.081,2167,2900,3501
$GC,1924,-1.10,-146.6,162.2,-2.9,91,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,2234,-1.10,-146.6,181.7,-8.0,106,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,2543,-1.10,-146.6,209.4,-9.1,121,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,2852,-1.10,-146.6,236.3,-7.0,136,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3501
$GC,3162,-1.10,-146.6,256.0,-4.8,151,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,3471,-1.10,-146.6,271.9,-6.1,166,3475,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1484,3501
$GC,3502,-1.10,-146.6,274.0,-6.7,167,3509,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2900,3502
$GC,3818,-1.10,-146.6,290.3,-5.4,183,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,4128,-1.10,-146.6,309.1,-5.7,198,4132,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1481,3501
$GC,4155,-1.10,-146.6,310.7,-5.9,199,4159,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2900,3501
$GC,4470,-1.10,-146.6,331.6,-6.6,214,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,4782,-1.10,-146.6,350.4,-5.7,229,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,5089,-1.10,-146.6,366.2,-5.4,244,5093,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1489,3501
$GC,5121,-1.10,-146.6,368.0,-5.6,245,5127,0.00,2.65,0.00,0.000,6,0.000,0.080,2167,2900,3501
$GC,5437,-1.10,-146.6,384.8,-5.2,261,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,5746,-1.10,-146.6,402.0,-5.4,276,5751,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1482,3501
$GC,5808,-1.10,-146.6,405.6,-6.0,279,5812,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2901,3501
$GC,6135,-1.10,-146.6,425.9,-6.0,295,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,6443,-1.10,-146.6,445.2,-6.8,310,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,6752,-1.10,-146.6,465.3,-6.0,325,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3501
$GC,7062,-1.10,-146.6,481.8,-4.9,340,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,7371,-1.10,-146.6,496.1,-4.8,355,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,7680,-1.10,-146.6,517.3,-8.4,370,7684,0.00,2.55,0.00,0.000,4,0.000,0.057,2167,1483,3501
$GC,7729,-1.10,-146.6,521.8,-9.7,372,7733,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2906,3502
$GC,8044,-1.10,-146.6,548.7,-8.2,387,8048,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1481,3501
$GC,8219,-1.10,-146.6,562.8,-8.7,395,8224,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2908,3501
$GC,8545,-1.10,-146.6,584.2,-6.6,411,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3501
$GC,8855,-1.10,-146.6,600.5,-5.6,426,8859,0.00,2.53,0.00,0.000,4,0.000,0.051,2167,1479,3501
$GC,8887,-1.10,-146.6,602.7,-6.5,427,8894,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2903,3502
$STATE,9036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9036,begin apogee
$GC,9042,-0.42,0.0,613.4,7.3,435,9171,0.73,0.00,124.80,1.223,6,0.081,0.000,2317,2084,2901
$STATE,9171,end apogee,CONTROL_FINISHED_OK
$STATE,9171,begin climb
$GC,9173,1.10,146.6,618.1,0.0,441,9304,1.55,2.60,121.20,1.191,4,0.052,0.052,2652,697,2303
$GC,9560,1.13,167.9,602.9,5.4,458,9586,0.00,2.47,19.23,1.112,6,0.000,0.035,2652,2121,2216
$GC,9895,1.13,167.9,582.6,6.2,475,9899,0.00,2.53,0.00,0.000,4,0.000,0.063,2652,3504,2215
$GC,10024,1.13,167.9,573.7,7.7,481,10028,0.00,2.45,0.00,0.000,6,0.000,0.035,2652,2093,2215
$GC,10350,1.16,190.9,553.3,5.4,497,10375,0.00,2.58,20.30,1.140,4,0.000,0.057,2652,700,2122
$GC,10577,1.20,225.0,540.9,5.1,507,10612,0.00,2.42,29.45,1.175,6,0.000,0.037,2652,2099,1983
$GC,10940,1.20,225.0,518.5,6.6,525,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2100,1981
$GC,11248,1.20,225.0,497.5,6.8,540,11252,0.00,2.60,0.00,0.000,4,0.000,0.067,2652,3508,1981
$GC,11309,1.20,225.0,493.0,7.8,543,11314,0.00,2.45,0.00,0.000,6,0.000,0.039,2652,2105,1981
$GC,11635,1.20,225.0,470.3,6.5,559,11640,0.00,2.62,0.00,0.000,4,0.000,0.067,2652,3511,1980
$GC,11707,1.20,225.0,465.5,6.6,562,11712,0.00,2.47,0.00,0.000,6,0.000,0.040,2652,2096,1980
$GC,12029,1.22,239.8,447.5,5.6,578,12051,0.10,2.70,13.15,1.050,4,0.051,0.069,2688,3498,1923
$GC,12103,1.22,239.8,442.5,6.9,581,12107,0.00,2.50,0.00,0.000,6,0.000,0.042,2689,2093,1923
$GC,12423,1.22,239.8,419.6,7.6,597,12427,0.00,2.65,0.00,0.000,4,0.000,0.073,2689,3504,1923
$GC,12466,1.22,239.8,415.8,8.4,599,12470,0.00,2.47,0.00,0.000,6,0.000,0.044,2689,2103,1923
$GC,12787,1.22,239.8,387.7,9.0,615,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2103,1923
$GC,13096,1.22,239.8,360.3,8.6,630,13100,0.00,2.55,0.00,0.000,4,0.000,0.059,2689,690,1923
$GC,13139,1.22,239.8,356.3,9.5,632,13144,0.00,2.47,0.00,0.000,6,0.000,0.042,2689,2100,1923
$GC,13460,1.22,239.8,328.4,8.9,648,13464,0.00,2.62,0.00,0.000,4,0.000,0.074,2689,3509,1923
$GC,13503,1.22,239.8,324.1,9.5,650,13507,0.00,2.50,0.00,0.000,6,0.000,0.046,2689,2094,1923
$GC,13830,1.22,239.8,295.3,8.2,666,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2094,1923
$GC,14139,1.22,239.8,272.6,6.6,681,14140,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2094,1923
$GC,14449,1.23,247.9,254.2,5.8,696,14463,0.00,2.60,8.65,0.874,4,0.000,0.060,2689,695,1890
$GC,14493,1.23,247.9,251.0,7.2,698,14497,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,2099,1890
$GC,14818,1.23,247.9,225.6,7.8,714,14819,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1890
$GC,15127,1.23,247.9,199.2,9.1,729,15128,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1890
$GC,15437,1.23,247.9,173.4,7.3,744,15441,0.00,2.65,0.00,0.000,4,0.000,0.074,2689,3514,1890
$GC,15491,1.23,247.9,168.4,8.9,746,15498,0.00,2.50,0.00,0.000,6,0.000,0.048,2689,2101,1890
$GC,15809,1.23,247.9,138.5,9.9,762,15813,0.00,2.55,0.00,0.000,4,0.000,0.060,2689,687,1890
$GC,15864,1.23,247.9,132.8,9.3,764,15870,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,2093,1890
$GC,16179,1.23,247.9,101.3,11.6,780,16184,0.00,2.65,0.00,0.000,4,0.000,0.077,2689,3510,1890
$GC,16233,1.23,247.9,95.4,11.0,782,16240,0.00,2.55,0.00,0.000,6,0.000,0.053,2689,2099,1890
$GC,16550,1.23,247.9,63.7,8.4,798,16554,0.00,2.55,0.00,0.000,4,0.000,0.064,2689,695,1891
$GC,16593,1.28,288.0,61.2,4.9,800,16631,0.00,2.47,33.25,0.836,6,0.000,0.046,2689,2099,1726
$GC,16941,1.28,288.0,41.7,7.5,817,16945,0.00,2.67,0.00,0.000,4,0.000,0.078,2689,3512,1726
$GC,16973,1.28,288.0,39.3,7.5,818,16980,0.00,2.55,0.00,0.000,6,0.000,0.058,2689,2095,1725
$GC,17289,1.28,288.0,9.5,9.5,834,17290,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2094,1725
$STATE,17369,end climb,SURFACE_DEPTH_REACHED
$STATE,17369,begin surface coast
$FINISH,-1.1,1.027996
$STATE,17391,end surface coast,CONTROL_FINISHED_OK
$STATE,17391,begin surface
$SM_CCo,17413,224.07,0.769,2,0,572,571.30
$SM_GC,-0.42,0.00,0.00,224.07,0.000,0.000,0.769,43,2901,572,-10.89,0.03,571.30
$IRIDIUM_FIX,6322.64,-1247.61,281207,010146
$TT8_MAMPS,0.029146
$HUMID,2014
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.0,96.9
$24V_AH,23.4,42.200
$10V_AH,10.1,20.742
$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,25.775,132.100,370.025,224.075,0.000,37.952,38.095,153.344,4.750,0.000,0.000,36.680,1521.479,13413.550,756.594,1856.627,470.273,33.373,1689.325,0.000,1813.076,0.000,30.245
$DEVICE_MAMPS,154.167,80.535,1222.598,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.562,590.496,508.170,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41096,839
$CFSIZE,260165632,244551680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,2,0
$GPS,281207,070307,6351.780,-1251.471,28,1.4,28,-12.3