version: 66.02
glider: 103
mission: 7
dive: 240
start: 12 28 107 7 10 6
data:
$ID,103
$MISSION,7
$DIVE,240
$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,-66876.953
$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,22
$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
$GPS1,070307,6351.780,-1251.471,28,1.4,28,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.46
$_SM_ANGLEo,-49.7
$GPS2,070902,6351.697,-1251.469,11,1.4,16,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.035
$KALMAN_X,-268751.8,-657.4,-1266.6,44003.3,5739.2
$KALMAN_Y,-207950.5,270.1,-1181.5,463881.1,-1911.1
$MHEAD_RNG_PITCHd_Wd,273.0,16864,-11.1,-6.000
$D_GRID,619
$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,-146.6,0.0,0.0,0,130,0.00,0.00,-105.97,0.000,6,0.000,0.000,43,2903,3500
$GC,132,-1.10,-146.6,2.9,-3.9,5,149,11.95,1.75,0.00,0.000,4,0.157,0.090,2163,3786,3502
$GC,401,-1.10,-146.6,31.6,-4.2,16,405,0.00,1.60,0.00,0.000,6,0.000,0.055,2163,2905,3502
$GC,728,-1.10,-146.6,51.9,-6.8,32,732,0.00,2.65,0.00,0.000,4,0.000,0.074,2163,1483,3502
$GC,793,-1.10,-146.6,57.5,-9.1,35,798,0.00,2.70,0.00,0.000,6,0.000,0.078,2163,2900,3502
$GC,1115,-1.10,-146.6,86.8,-4.7,51,1118,0.00,1.70,0.00,0.000,4,0.000,0.095,2163,3787,3502
$GC,1209,-1.10,-146.6,93.6,-7.8,55,1213,0.00,1.60,0.00,0.000,6,0.000,0.052,2163,2898,3502
$GC,1537,-1.10,-146.6,119.0,-7.0,71,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,1846,-1.10,-146.6,139.5,-6.4,86,1850,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1489,3502
$GC,1894,-1.10,-146.6,144.1,-10.1,88,1899,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2908,3502
$GC,2210,-1.10,-146.6,173.0,-8.0,103,2213,0.00,1.70,0.00,0.000,4,0.000,0.095,2163,3793,3502
$GC,2293,-1.10,-146.6,178.9,-6.9,106,2299,0.00,1.60,0.00,0.000,6,0.000,0.051,2163,2900,3502
$GC,2608,-1.10,-146.6,204.0,-8.5,122,2613,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1489,3502
$GC,2663,-1.10,-146.6,208.6,-8.5,124,2670,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2900,3502
$GC,2979,-1.10,-146.6,235.6,-7.5,140,2982,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3787,3502
$GC,3017,-1.10,-146.6,238.3,-6.9,141,3023,0.00,1.58,0.00,0.000,6,0.000,0.050,2163,2907,3502
$GC,3333,-1.10,-146.6,260.1,-6.8,157,3337,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1489,3502
$GC,3376,-1.10,-146.6,263.4,-7.4,159,3380,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2900,3502
$GC,3702,-1.10,-146.6,288.6,-8.1,175,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4012,-1.10,-146.6,314.2,-8.6,190,4016,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1487,3502
$GC,4044,-1.10,-146.6,316.8,-7.8,191,4050,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2900,3502
$GC,4359,-1.10,-146.6,339.1,-7.0,207,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4669,-1.10,-146.6,360.9,-7.4,222,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4978,-1.10,-146.6,383.5,-7.4,237,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5287,-1.10,-146.6,403.6,-6.5,252,5291,0.00,1.70,0.00,0.000,4,0.000,0.096,2163,3786,3502
$GC,5348,-1.10,-146.6,408.0,-7.4,254,5354,0.00,1.58,0.00,0.000,6,0.000,0.046,2163,2898,3502
$GC,5663,-1.10,-146.6,428.4,-6.8,270,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,5972,-1.10,-146.6,449.0,-6.1,285,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,6283,-1.10,-146.6,467.2,-5.9,300,6287,0.00,2.53,0.00,0.000,4,0.000,0.058,2163,1486,3502
$GC,6344,-1.10,-146.6,471.1,-6.6,303,6349,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2901,3502
$GC,6670,-1.10,-146.6,491.3,-6.0,319,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,6980,-1.10,-146.6,509.2,-5.8,334,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,7288,-1.10,-146.6,529.4,-6.8,349,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,7602,-1.10,-146.6,551.1,-6.6,364,7606,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1480,3502
$GC,7629,-1.10,-146.6,553.2,-7.0,365,7634,0.00,2.65,0.00,0.000,6,0.000,0.064,2163,2927,3502
$GC,7951,-1.10,-146.6,575.7,-7.0,381,7954,0.00,1.62,0.00,0.000,4,0.000,0.089,2163,3790,3502
$GC,8040,-1.10,-146.6,582.8,-8.2,385,8044,0.00,1.55,0.00,0.000,6,0.000,0.040,2163,2900,3502
$GC,8373,-1.10,-146.6,605.9,-6.4,401,8377,0.00,2.50,0.00,0.000,4,0.000,0.052,2163,1482,3502
$GC,8438,-1.10,-146.6,610.6,-7.1,404,8443,0.00,2.58,0.00,0.000,6,0.000,0.061,2163,2899,3502
$STATE,8578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8578,begin apogee
$GC,8585,-0.42,0.0,620.0,6.8,411,8712,0.75,0.00,124.25,1.223,6,0.081,0.000,2318,2094,2901
$STATE,8713,end apogee,CONTROL_FINISHED_OK
$STATE,8713,begin climb
$GC,8715,1.10,146.6,624.7,0.0,417,8846,1.52,2.62,120.30,1.200,4,0.054,0.052,2647,691,2303
$GC,8942,1.16,191.5,617.6,4.8,427,8989,0.00,2.47,38.80,1.134,6,0.000,0.032,2647,2129,2120
$GC,9299,1.19,216.2,598.2,5.3,445,9328,0.00,2.62,21.75,1.121,4,0.000,0.061,2647,3499,2019
$GC,9395,1.19,216.2,592.3,6.6,449,9400,0.00,2.45,0.00,0.000,6,0.000,0.035,2647,2094,2018
$GC,9716,1.19,216.2,573.4,6.2,465,9721,0.00,2.60,0.00,0.000,4,0.000,0.063,2647,3493,2017
$GC,9766,1.19,216.2,569.9,6.7,467,9770,0.00,2.45,0.00,0.000,6,0.000,0.035,2647,2102,2017
$GC,10087,1.19,216.2,547.7,7.1,483,10091,0.00,2.60,0.00,0.000,4,0.000,0.064,2647,3499,2016
$GC,10209,1.19,216.2,538.9,7.0,488,10215,0.00,2.42,0.00,0.000,6,0.000,0.035,2647,2099,2016
$GC,10524,1.19,216.2,516.0,7.3,504,10528,0.00,2.58,0.00,0.000,4,0.000,0.066,2647,3493,2016
$GC,10585,1.19,216.2,511.3,7.9,507,10590,0.00,2.45,0.00,0.000,6,0.000,0.041,2647,2098,2016
$GC,10911,1.19,216.2,486.6,7.7,523,10916,0.00,2.60,0.00,0.000,4,0.000,0.067,2647,3493,2016
$GC,10995,1.19,216.2,479.9,8.4,527,10999,0.00,2.45,0.00,0.000,6,0.000,0.041,2647,2099,2016
$GC,11321,1.19,216.2,453.7,7.9,543,11325,0.00,2.60,0.00,0.000,4,0.000,0.069,2647,3492,2016
$GC,11392,1.19,216.2,447.6,8.9,546,11396,0.00,2.45,0.00,0.000,6,0.000,0.043,2647,2101,2016
$GC,11714,1.19,216.2,422.4,8.0,562,11718,0.00,2.60,0.00,0.000,4,0.000,0.071,2647,3492,2016
$GC,11802,1.19,216.2,415.2,8.2,566,11806,0.00,2.45,0.00,0.000,6,0.000,0.045,2647,2103,2016
$GC,12128,1.19,216.2,389.5,7.4,582,12133,0.00,2.62,0.00,0.000,4,0.000,0.073,2647,3498,2016
$GC,12206,1.19,216.2,383.1,8.3,585,12213,0.00,2.50,0.00,0.000,6,0.000,0.045,2647,2096,2016
$GC,12522,1.19,216.2,357.0,9.0,601,12526,0.00,2.62,0.00,0.000,4,0.000,0.073,2647,3491,2016
$GC,12570,1.19,216.2,352.3,9.4,603,12574,0.00,2.47,0.00,0.000,6,0.000,0.046,2647,2093,2016
$GC,12892,1.19,216.2,323.4,8.3,619,12896,0.00,2.62,0.00,0.000,4,0.000,0.073,2647,3500,2016
$GC,12924,1.21,234.6,321.6,5.5,620,12945,0.08,2.50,15.95,0.970,6,0.035,0.045,2684,2101,1944
$GC,13255,1.21,234.6,301.8,6.9,636,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2101,1944
$GC,13564,1.21,234.6,269.6,10.3,651,13569,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3497,1944
$GC,13591,1.21,234.6,266.2,12.1,652,13595,0.00,2.50,0.00,0.000,6,0.000,0.049,2684,2093,1944
$GC,13913,1.22,239.1,239.0,5.9,668,13923,0.00,2.67,5.45,0.769,4,0.000,0.077,2684,3491,1925
$GC,13952,1.33,329.6,237.5,3.5,670,14034,0.00,2.50,73.47,0.950,6,0.000,0.050,2684,2096,1557
$GC,14344,1.44,419.2,221.2,3.5,689,14419,0.15,0.00,72.03,0.937,6,0.047,0.000,2724,2095,1191
$GC,14736,1.44,419.2,192.5,9.8,708,14740,0.00,2.67,0.00,0.000,4,0.000,0.077,2724,3495,1191
$GC,14756,1.44,419.2,190.5,8.9,709,14761,0.00,2.53,0.00,0.000,6,0.000,0.050,2724,2106,1190
$GC,15083,1.44,419.2,154.9,10.2,725,15087,0.00,2.58,0.00,0.000,4,0.000,0.062,2724,691,1191
$GC,15109,1.44,419.2,152.0,10.1,726,15113,0.00,2.47,0.00,0.000,6,0.000,0.045,2724,2088,1191
$GC,15430,1.44,419.2,121.4,9.4,742,15435,0.00,2.67,0.00,0.000,4,0.000,0.077,2725,3513,1190
$GC,15474,1.44,419.2,118.7,6.8,744,15479,0.00,2.53,0.00,0.000,6,0.000,0.051,2725,2096,1190
$GC,15795,1.44,419.2,88.2,8.7,760,15799,0.00,2.55,0.00,0.000,4,0.000,0.063,2724,694,1191
$GC,15844,1.44,419.2,82.2,11.9,762,15848,0.00,2.50,0.00,0.000,6,0.000,0.047,2724,2101,1190
$GC,16165,1.44,419.2,43.1,11.8,778,16170,0.00,2.65,0.00,0.000,4,0.000,0.077,2724,3514,1191
$GC,16197,1.44,419.2,39.5,9.7,779,16204,0.00,2.55,0.00,0.000,6,0.000,0.051,2725,2103,1191
$STATE,16513,end climb,SURFACE_DEPTH_REACHED
$STATE,16513,begin surface coast
$FINISH,-1.0,1.027341
$STATE,16533,end surface coast,CONTROL_FINISHED_OK
$STATE,16533,begin surface
$SM_CCo,16555,120.95,0.781,1,0,572,571.30
$SM_GC,-0.37,0.00,0.00,120.95,0.000,0.000,0.781,38,2908,572,-10.91,0.20,571.30
$IRIDIUM_FIX,6327.46,-1253.45,281207,060654
$TT8_MAMPS,0.029146
$HUMID,2043
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,551.1,93.1
$24V_AH,23.4,42.388
$10V_AH,10.1,20.821
$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,26.100,156.400,472.000,120.950,0.000,39.962,38.758,164.461,4.750,0.000,0.000,16.294,1479.431,12491.781,722.602,1880.947,475.144,33.374,1705.953,0.000,1839.072,0.000,31.518
$DEVICE_MAMPS,157.235,96.642,1223.365,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,573.752,556.246,487.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41096,796
$CFSIZE,260165632,244486144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,281207,114928,6350.644,-1255.618,25,2.6,44,-12.3