version: 66.02
glider: 103
mission: 7
dive: 242
start: 12 28 107 16 44 18
data:
$ID,103
$MISSION,7
$DIVE,242
$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,-66907.016
$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
$GPS1,163738,6352.385,-1254.955,36,1.4,36,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.43
$_SM_ANGLEo,-49.5
$GPS2,164314,6352.320,-1254.998,10,1.4,15,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.070,0.207
$KALMAN_X,-267937.2,-199.5,208.0,38143.0,1685.0
$KALMAN_Y,-212244.9,800.3,295.1,467291.1,-5056.0
$MHEAD_RNG_PITCHd_Wd,353.7,14792,-11.0,-6.000
$D_GRID,648
$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,-146.6,0.0,0.0,0,126,0.00,0.00,-101.62,0.000,2,0.000,0.000,44,2895,3349
$GC,129,-1.10,-146.6,3.0,-3.9,5,151,11.95,1.80,-2.85,0.000,4,0.157,0.127,2164,3781,3500
$GC,358,-1.10,-146.6,29.5,-10.9,15,363,0.00,1.60,0.00,0.000,6,0.000,0.058,2164,2908,3501
$GC,686,-1.10,-146.6,54.2,-5.1,31,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3500
$GC,995,-1.10,-146.6,77.9,-5.4,46,999,0.00,2.65,0.00,0.000,4,0.000,0.075,2164,1487,3501
$GC,1027,-1.10,-146.6,79.4,-5.0,47,1034,0.00,2.67,0.00,0.000,6,0.000,0.081,2164,2900,3501
$GC,1344,-1.10,-146.6,99.6,-6.3,63,1349,0.00,2.65,0.00,0.000,4,0.000,0.072,2164,1482,3501
$GC,1384,-1.10,-146.6,102.2,-6.6,65,1388,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2900,3501
$GC,1710,-1.10,-146.6,122.6,-4.8,81,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,2019,-1.10,-146.6,138.4,-4.1,96,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,2328,-1.10,-146.6,159.3,-7.7,111,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,2638,-1.10,-146.6,184.5,-8.3,126,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,2947,-1.10,-146.6,204.4,-7.3,141,2951,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1486,3501
$GC,2990,-1.10,-146.6,206.6,-4.7,143,2995,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2900,3501
$GC,3311,-1.10,-146.6,222.3,-3.6,159,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,3620,-1.10,-146.6,238.5,-6.2,174,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,3929,-1.10,-146.6,259.6,-7.2,189,3933,0.00,1.70,0.00,0.000,4,0.000,0.098,2164,3786,3501
$GC,3975,-1.10,-146.6,263.0,-8.0,191,3978,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2893,3501
$GC,4306,-1.10,-146.6,294.4,-10.1,207,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3501
$GC,4616,-1.10,-146.6,323.0,-8.9,222,4620,0.00,2.58,0.00,0.000,4,0.000,0.070,2164,1485,3501
$GC,4704,-1.10,-146.6,331.3,-9.3,226,4709,0.00,2.67,0.00,0.000,6,0.000,0.076,2164,2907,3501
$GC,5025,-1.10,-146.6,360.9,-9.4,242,5029,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1481,3500
$GC,5086,-1.10,-146.6,366.5,-8.9,245,5091,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2902,3501
$GC,5413,-1.10,-146.6,394.8,-9.2,261,5417,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1481,3501
$GC,5456,-1.10,-146.6,398.6,-8.8,263,5460,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2900,3501
$GC,5784,-1.10,-146.6,426.1,-8.0,279,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,6093,-1.10,-146.6,450.1,-7.6,294,6097,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1482,3501
$GC,6136,-1.10,-146.6,453.6,-7.9,296,6140,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2909,3501
$GC,6463,-1.10,-146.6,476.8,-7.4,312,6467,0.00,2.60,0.00,0.000,4,0.000,0.062,2164,1482,3501
$GC,6511,-1.10,-146.6,480.9,-8.9,314,6516,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2903,3501
$GC,6833,-1.10,-146.6,504.9,-7.5,330,6837,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1481,3500
$GC,6865,-1.10,-146.6,507.7,-8.2,331,6871,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2901,3501
$GC,7180,-1.10,-146.6,533.8,-8.4,347,7184,0.00,1.67,0.00,0.000,4,0.000,0.091,2164,3786,3500
$GC,7241,-1.10,-146.6,539.2,-8.4,349,7247,0.00,1.55,0.00,0.000,6,0.000,0.041,2164,2897,3500
$GC,7557,-1.10,-146.6,563.3,-7.1,365,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3500
$GC,7866,-1.10,-146.6,583.1,-6.3,380,7870,0.00,2.50,0.00,0.000,4,0.000,0.054,2164,1482,3501
$GC,7915,-1.10,-146.6,586.3,-5.8,382,7919,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2900,3500
$GC,8235,-1.10,-146.6,605.2,-5.5,398,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,8544,-1.10,-146.6,623.7,-7.1,413,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3500
$GC,8854,-1.10,-146.6,644.9,-6.6,428,8857,0.00,1.70,0.00,0.000,4,0.000,0.091,2164,3785,3500
$STATE,8907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8907,begin apogee
$GC,8916,-0.42,0.0,648.2,6.1,430,9047,0.73,0.00,125.07,1.226,6,0.083,0.000,2316,2088,2901
$STATE,9048,end apogee,CONTROL_FINISHED_OK
$STATE,9048,begin climb
$GC,9050,1.10,146.6,652.2,0.0,437,9181,1.52,2.62,120.93,1.213,4,0.053,0.052,2647,693,2303
$GC,9264,1.10,146.6,644.7,6.2,447,9269,0.00,2.47,0.00,0.000,6,0.000,0.032,2647,2125,2302
$GC,9591,1.15,190.5,627.5,4.8,463,9635,0.00,2.60,38.05,1.174,4,0.000,0.059,2647,3494,2124
$GC,9889,1.15,190.5,609.2,7.1,476,9893,0.00,2.45,0.00,0.000,6,0.000,0.035,2647,2099,2123
$GC,10210,1.16,197.9,592.2,5.8,492,10224,0.00,2.62,7.53,1.007,4,0.000,0.061,2647,3488,2095
$GC,10292,1.21,233.1,587.7,5.0,495,10328,0.12,2.40,30.50,1.175,6,0.044,0.035,2686,2099,1950
$GC,10644,1.21,233.1,562.2,8.3,513,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,1949
$GC,10953,1.21,233.1,533.3,10.2,528,10957,0.00,2.60,0.00,0.000,4,0.000,0.066,2686,3494,1948
$GC,11018,1.21,233.1,525.9,10.7,531,11023,0.00,2.45,0.00,0.000,6,0.000,0.038,2686,2109,1949
$GC,11345,1.21,233.1,497.2,7.2,547,11349,0.00,2.53,0.00,0.000,4,0.000,0.053,2686,697,1948
$GC,11422,1.21,233.1,491.9,6.5,550,11429,0.00,2.42,0.00,0.000,6,0.000,0.037,2686,2098,1948
$GC,11738,1.21,233.1,472.7,6.4,566,11742,0.00,2.62,0.00,0.000,4,0.000,0.071,2686,3510,1948
$GC,11776,1.21,233.1,470.1,6.4,568,11781,0.00,2.47,0.00,0.000,6,0.000,0.041,2686,2098,1948
$GC,12102,1.21,233.1,443.3,8.6,584,12106,0.00,2.53,0.00,0.000,4,0.000,0.055,2686,691,1948
$GC,12145,1.21,233.1,439.5,8.5,586,12149,0.00,2.45,0.00,0.000,6,0.000,0.038,2686,2098,1948
$GC,12472,1.21,233.1,411.0,8.7,602,12476,0.00,2.65,0.00,0.000,4,0.000,0.075,2686,3514,1948
$GC,12510,1.21,233.1,407.6,9.0,604,12515,0.00,2.47,0.00,0.000,6,0.000,0.045,2686,2104,1948
$GC,12836,1.21,233.1,379.8,8.8,620,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1948
$GC,13146,1.21,233.1,353.8,7.9,635,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1948
$GC,13455,1.21,233.1,332.2,7.8,650,13456,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1948
$GC,13764,1.21,233.1,305.3,7.8,665,13765,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1949
$GC,14073,1.21,233.1,283.6,6.4,680,14078,0.00,2.65,0.00,0.000,4,0.000,0.077,2686,3509,1949
$GC,14106,1.21,239.3,281.4,5.8,681,14120,0.00,2.50,6.57,0.841,6,0.000,0.048,2686,2097,1925
$GC,14441,1.39,386.2,268.4,2.0,698,14564,0.12,0.00,118.68,0.969,6,0.050,0.000,2719,2096,1326
$GC,14872,1.39,386.2,222.2,13.7,719,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2096,1325
$GC,15181,1.39,386.2,178.4,15.3,734,15183,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2096,1325
$GC,15491,1.39,386.2,132.3,15.2,749,15496,0.00,2.70,0.00,0.000,4,0.000,0.079,2719,3509,1325
$GC,15524,1.39,386.2,126.7,16.6,750,15531,0.00,2.50,0.00,0.000,6,0.000,0.051,2720,2104,1325
$GC,15841,1.39,386.2,77.3,15.4,766,15845,0.00,2.58,0.00,0.000,4,0.000,0.062,2720,692,1325
$GC,15868,1.39,386.2,72.7,16.4,767,15872,0.00,2.50,0.00,0.000,6,0.000,0.048,2720,2095,1325
$GC,16184,1.39,386.2,30.7,11.5,782,16188,0.00,2.67,0.00,0.000,4,0.000,0.079,2720,3519,1326
$GC,16227,1.39,386.2,25.3,11.0,784,16231,0.00,2.58,0.00,0.000,6,0.000,0.053,2720,2075,1326
$STATE,16428,end climb,SURFACE_DEPTH_REACHED
$STATE,16428,begin surface coast
$FINISH,-0.8,1.027339
$STATE,16451,end surface coast,CONTROL_FINISHED_OK
$STATE,16452,begin surface
$SM_CCo,16473,146.82,0.771,1,0,571,571.30
$SM_GC,-0.51,0.00,0.00,146.82,0.000,0.000,0.771,47,2906,571,-10.87,0.17,571.30
$IRIDIUM_FIX,6322.64,-1301.87,281207,151554
$TT8_MAMPS,0.029146
$HUMID,2027
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.7,95.4
$24V_AH,23.4,42.772
$10V_AH,10.1,20.980
$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,26.100,129.875,447.325,146.825,0.000,40.060,39.377,149.008,5.750,0.000,0.000,15.519,1449.125,12576.999,716.159,1786.080,448.798,33.365,1638.762,0.000,1748.125,0.000,34.764
$DEVICE_MAMPS,157.235,126.555,1226.433,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,568.200,559.262,484.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41176,795
$CFSIZE,260165632,244379648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,1,0
$GPS,281207,212238,6352.782,-1259.162,39,1.9,39,-12.4