version: 66.02
glider: 103
mission: 7
dive: 241
start: 12 28 107 12 3 9
data:
$ID,103
$MISSION,7
$DIVE,241
$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,-66890.875
$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,21
$R_STBD_OVSHOOT,14
$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
$GPS1,114928,6350.644,-1255.618,25,2.6,44,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-52.4
$GPS2,120203,6350.665,-1255.453,13,1.6,13,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.076,0.205
$KALMAN_X,-269390.5,-476.9,-82.7,39791.1,2354.2
$KALMAN_Y,-211624.9,549.3,1068.7,463114.9,-7432.1
$MHEAD_RNG_PITCHd_Wd,351.9,17678,-11.1,-6.000
$D_GRID,656
$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,-146.6,0.0,0.0,0,126,0.00,0.00,-102.15,0.000,2,0.000,0.000,38,2908,3330
$GC,129,-1.10,-146.6,3.2,-4.1,5,151,12.07,1.77,-3.15,0.000,4,0.160,0.129,2166,3774,3500
$GC,219,-1.10,-146.6,16.9,-8.3,9,223,0.00,1.58,0.00,0.000,6,0.000,0.056,2167,2894,3500
$GC,551,-1.10,-146.6,45.9,-8.4,25,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2894,3500
$GC,860,-1.10,-146.6,83.8,-13.9,40,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2894,3500
$GC,1170,-1.10,-146.6,116.0,-11.2,55,1171,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2894,3500
$GC,1479,-1.10,-146.6,154.9,-14.4,70,1483,0.00,2.58,0.00,0.000,4,0.000,0.072,2167,1487,3500
$GC,1550,-1.10,-146.6,165.3,-14.6,73,1554,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2896,3500
$GC,1871,-1.10,-146.6,208.7,-11.6,89,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2896,3500
$GC,2181,-1.10,-146.6,243.9,-9.9,104,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2896,3500
$GC,2490,-1.10,-146.6,270.8,-7.9,119,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2897,3500
$GC,2799,-1.10,-146.6,298.9,-7.6,134,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2896,3500
$GC,3109,-1.10,-146.6,313.5,-5.1,149,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2896,3500
$GC,3417,-1.10,-146.6,330.0,-6.3,164,3421,0.00,1.73,0.00,0.000,4,0.000,0.098,2167,3789,3500
$GC,3456,-1.10,-146.6,332.9,-7.4,165,3462,0.00,1.58,0.00,0.000,6,0.000,0.050,2167,2904,3500
$GC,3772,-1.10,-146.6,356.3,-7.4,181,3776,0.00,2.60,0.00,0.000,4,0.000,0.068,2167,1484,3500
$GC,3810,-1.10,-146.6,359.4,-8.1,183,3815,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2902,3500
$GC,4136,-1.10,-146.6,383.6,-7.4,199,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3500
$GC,4447,-1.10,-146.6,401.1,-6.5,214,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3500
$GC,4755,-1.10,-146.6,421.9,-6.1,229,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3500
$GC,5064,-1.10,-146.6,441.8,-7.3,244,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3500
$GC,5374,-1.10,-146.6,463.5,-6.6,259,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3500
$GC,5683,-1.10,-146.6,483.0,-5.6,274,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3500
$GC,5993,-1.10,-146.6,499.6,-5.4,289,5998,0.00,2.55,0.00,0.000,4,0.000,0.060,2167,1480,3500
$GC,6042,-1.10,-146.6,502.8,-5.8,291,6047,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2901,3500
$GC,6363,-1.10,-146.6,521.6,-5.7,307,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3500
$GC,6672,-1.10,-146.6,545.3,-9.4,322,6676,0.00,2.53,0.00,0.000,4,0.000,0.058,2167,1483,3500
$GC,6801,-1.10,-146.6,556.4,-8.4,328,6805,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2900,3500
$GC,7131,-1.10,-146.6,575.2,-5.0,344,7135,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1479,3500
$GC,7209,-1.10,-146.6,579.8,-6.2,347,7215,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2909,3500
$GC,7527,-1.10,-146.6,600.1,-7.1,363,7531,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1475,3500
$GC,7576,-1.10,-146.6,603.9,-7.0,365,7580,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2899,3500
$GC,7898,-1.10,-146.6,622.9,-5.5,381,7901,0.00,1.70,0.00,0.000,4,0.000,0.094,2167,3789,3500
$GC,7975,-1.10,-146.6,628.6,-6.8,384,7980,0.00,1.58,0.00,0.000,6,0.000,0.043,2167,2893,3500
$STATE,8273,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8274,begin apogee
$GC,8281,-0.42,0.0,648.3,6.7,399,8409,0.73,0.00,124.65,1.244,6,0.081,0.000,2316,2096,2901
$STATE,8409,end apogee,CONTROL_FINISHED_OK
$STATE,8409,begin climb
$GC,8411,1.10,146.6,651.5,0.0,405,8542,1.55,2.65,122.20,1.202,4,0.053,0.062,2651,698,2303
$GC,8733,1.20,223.7,649.7,3.9,420,8804,0.00,2.47,65.18,1.190,6,0.000,0.035,2651,2126,1989
$GC,9130,1.20,223.7,620.9,6.8,440,9134,0.00,2.55,0.00,0.000,4,0.000,0.067,2651,3495,1987
$GC,9214,1.20,223.7,614.4,8.3,444,9218,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2088,1987
$GC,9539,1.20,223.7,588.8,7.7,460,9544,0.00,2.65,0.00,0.000,4,0.000,0.068,2651,3500,1985
$GC,9589,1.20,223.7,584.2,9.9,462,9593,0.00,2.47,0.00,0.000,6,0.000,0.039,2651,2107,1985
$GC,9910,1.20,223.7,555.2,9.2,478,9914,0.00,2.55,0.00,0.000,4,0.000,0.057,2651,696,1985
$GC,9983,1.20,223.7,548.4,8.8,481,9987,0.00,2.45,0.00,0.000,6,0.000,0.038,2651,2089,1985
$GC,10299,1.25,264.4,528.2,4.9,496,10341,0.15,2.72,33.92,1.159,4,0.040,0.073,2698,3504,1822
$GC,10413,1.25,264.4,520.3,7.6,501,10417,0.00,2.47,0.00,0.000,6,0.000,0.041,2698,2103,1822
$GC,10739,1.25,264.4,497.5,6.4,517,10744,0.00,2.53,0.00,0.000,4,0.000,0.054,2698,689,1822
$GC,10806,1.25,264.4,492.6,7.0,520,10810,0.00,2.47,0.00,0.000,6,0.000,0.038,2698,2102,1822
$GC,11133,1.25,264.4,466.1,8.5,536,11137,0.00,2.62,0.00,0.000,4,0.000,0.074,2698,3509,1822
$GC,11187,1.25,264.4,461.4,8.4,538,11194,0.00,2.50,0.00,0.000,6,0.000,0.044,2698,2094,1822
$GC,11503,1.25,264.4,434.2,9.2,554,11507,0.00,2.67,0.00,0.000,4,0.000,0.073,2698,3514,1822
$GC,11551,1.25,264.4,429.6,9.5,556,11556,0.00,2.53,0.00,0.000,6,0.000,0.044,2698,2100,1822
$GC,11872,1.25,264.4,402.1,8.7,572,11876,0.00,2.53,0.00,0.000,4,0.000,0.056,2698,694,1822
$GC,11938,1.25,264.4,396.3,8.8,575,11942,0.00,2.45,0.00,0.000,6,0.000,0.041,2698,2099,1822
$GC,12265,1.25,264.4,368.8,9.3,591,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2099,1823
$GC,12574,1.25,264.4,342.2,8.0,606,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2099,1823
$GC,12883,1.25,264.4,314.5,9.2,621,12888,0.00,2.65,0.00,0.000,4,0.000,0.077,2698,3508,1823
$GC,12910,1.25,264.4,311.7,9.9,622,12914,0.00,2.50,0.00,0.000,6,0.000,0.047,2698,2096,1823
$GC,13231,1.25,264.4,281.9,10.3,638,13236,0.00,2.53,0.00,0.000,4,0.000,0.059,2698,694,1824
$GC,13264,1.25,264.4,278.1,10.7,639,13270,0.00,2.47,0.00,0.000,6,0.000,0.044,2698,2101,1824
$GC,13579,1.25,264.4,246.6,10.2,655,13584,0.00,2.65,0.00,0.000,4,0.000,0.077,2698,3508,1824
$GC,13606,1.25,264.4,244.2,9.3,656,13610,0.00,2.50,0.00,0.000,6,0.000,0.049,2698,2103,1824
$GC,13927,1.25,264.4,214.5,10.1,672,13932,0.00,2.55,0.00,0.000,4,0.000,0.061,2698,689,1824
$GC,13993,1.25,264.4,207.2,9.6,675,13998,0.00,2.50,0.00,0.000,6,0.000,0.044,2698,2107,1825
$GC,14321,1.25,264.4,176.7,8.2,691,14325,0.00,2.65,0.00,0.000,4,0.000,0.077,2698,3516,1825
$GC,14360,1.25,264.4,173.2,8.4,693,14364,0.00,2.53,0.00,0.000,6,0.000,0.048,2698,2094,1825
$GC,14686,1.25,264.4,142.4,11.6,709,14690,0.00,2.53,0.00,0.000,4,0.000,0.061,2698,694,1825
$GC,14757,1.25,264.4,134.2,10.7,712,14761,0.00,2.47,0.00,0.000,6,0.000,0.045,2698,2099,1825
$GC,15079,1.25,264.4,101.2,10.7,728,15083,0.00,2.65,0.00,0.000,4,0.000,0.077,2698,3511,1825
$GC,15127,1.25,264.4,95.1,12.0,730,15132,0.00,2.53,0.00,0.000,6,0.000,0.051,2698,2096,1825
$GC,15449,1.25,264.4,63.8,11.7,746,15450,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2096,1825
$GC,15760,1.25,264.4,32.6,9.1,761,15761,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2096,1825
$GC,16068,1.25,264.4,5.1,9.2,776,16069,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2095,1825
$STATE,16107,end climb,SURFACE_DEPTH_REACHED
$STATE,16107,begin surface coast
$FINISH,-0.9,1.027343
$STATE,16129,end surface coast,CONTROL_FINISHED_OK
$STATE,16129,begin surface
$SM_CCo,16151,241.12,0.764,1,0,572,571.30
$SM_GC,-0.58,0.00,0.00,241.12,0.000,0.000,0.764,44,2895,572,-10.88,-0.14,571.30
$IRIDIUM_FIX,6322.64,-1251.28,281207,151555
$TT8_MAMPS,0.029146
$HUMID,2017
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.1,57.5
$24V_AH,23.4,42.584
$10V_AH,10.1,20.902
$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,26.125,125.625,345.950,241.125,0.000,120.447,184.191,213.597,5.750,0.000,0.000,13.289,1423.584,12544.574,733.715,1714.533,752.038,33.370,1605.984,0.000,1688.217,0.000,37.597
$DEVICE_MAMPS,160.303,128.856,1244.074,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.514,546.878,460.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,779
$CFSIZE,260165632,244441088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,281207,163738,6352.385,-1254.955,36,1.4,36,-12.3