version: 66.02
glider: 103
mission: 7
dive: 243
start: 12 28 107 21 29 7
data:
$ID,103
$MISSION,7
$DIVE,243
$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,-66921
$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,13
$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
$GPS1,212238,6352.782,-1259.162,39,1.9,39,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-48.3
$GPS2,212803,6352.747,-1259.155,13,1.8,13,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.145,0.170
$KALMAN_X,-268776.1,-198.9,-1303.6,36848.0,3374.9
$KALMAN_Y,-215066.7,634.7,-303.4,471694.6,-4733.0
$MHEAD_RNG_PITCHd_Wd,331.8,13451,-10.7,-6.000
$D_GRID,686
$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,-1.07,-146.6,0.0,0.0,0,126,0.00,0.00,-101.95,0.000,2,0.000,0.000,47,2909,3329
$GC,129,-1.07,-146.6,3.0,-3.8,5,151,11.93,1.77,-3.15,0.000,4,0.156,0.123,2170,3780,3500
$GC,403,-1.07,-146.6,38.4,-8.6,17,407,0.00,1.60,0.00,0.000,6,0.000,0.058,2170,2903,3500
$GC,730,-1.07,-146.6,61.9,-5.0,33,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2903,3500
$GC,1041,-1.07,-146.6,80.6,-4.1,48,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2903,3500
$GC,1349,-1.07,-146.6,98.5,-5.6,63,1354,0.00,2.62,0.00,0.000,4,0.000,0.073,2170,1488,3500
$GC,1404,-1.07,-146.6,101.7,-6.2,65,1411,0.00,2.70,0.00,0.000,6,0.000,0.081,2170,2891,3500
$GC,1720,-1.07,-146.6,126.0,-8.3,81,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2890,3500
$GC,2029,-1.07,-146.6,147.2,-6.8,96,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2891,3500
$GC,2339,-1.07,-146.6,167.4,-5.1,111,2342,0.00,1.70,0.00,0.000,4,0.000,0.093,2170,3786,3500
$GC,2377,-1.07,-146.6,169.5,-5.5,112,2383,0.00,1.58,0.00,0.000,6,0.000,0.050,2170,2903,3500
$GC,2693,-1.07,-146.6,184.7,-5.4,128,2697,0.00,2.60,0.00,0.000,4,0.000,0.071,2170,1487,3500
$GC,2732,-1.07,-146.6,186.7,-5.2,130,2737,0.00,2.67,0.00,0.000,6,0.000,0.077,2170,2900,3500
$GC,3058,-1.07,-146.6,206.4,-6.0,146,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2900,3500
$GC,3367,-1.07,-146.6,234.0,-10.1,161,3372,0.00,2.62,0.00,0.000,4,0.000,0.071,2170,1487,3500
$GC,3394,-1.07,-146.6,236.8,-10.1,162,3398,0.00,2.67,0.00,0.000,6,0.000,0.077,2170,2901,3500
$GC,3715,-1.07,-146.6,269.4,-10.3,178,3720,0.00,2.62,0.00,0.000,4,0.000,0.071,2170,1489,3500
$GC,3748,-1.07,-146.6,272.8,-10.2,179,3754,0.00,2.67,0.00,0.000,6,0.000,0.079,2170,2902,3500
$GC,4063,-1.07,-146.6,299.6,-8.0,195,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2903,3500
$GC,4373,-1.07,-146.6,318.8,-5.5,210,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2902,3500
$GC,4682,-1.07,-146.6,336.5,-5.8,225,4686,0.00,2.62,0.00,0.000,4,0.000,0.069,2170,1484,3500
$GC,4748,-1.07,-146.6,340.1,-4.6,228,4752,0.00,2.67,0.00,0.000,6,0.000,0.075,2170,2908,3500
$GC,5068,-1.07,-146.6,358.0,-6.3,244,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2908,3500
$GC,5378,-1.07,-146.6,375.9,-5.7,259,5383,0.00,2.62,0.00,0.000,4,0.000,0.067,2170,1484,3500
$GC,5418,-1.07,-146.6,378.5,-6.6,261,5422,0.00,2.67,0.00,0.000,6,0.000,0.075,2170,2905,3500
$GC,5744,-1.07,-146.6,402.2,-8.1,277,5748,0.00,2.62,0.00,0.000,4,0.000,0.066,2170,1481,3500
$GC,5792,-1.07,-146.6,406.4,-8.7,279,5797,0.00,2.65,0.00,0.000,6,0.000,0.072,2170,2900,3500
$GC,6113,-1.07,-146.6,432.5,-8.3,295,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2900,3500
$GC,6423,-1.07,-146.6,455.5,-6.5,310,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2900,3500
$GC,6732,-1.07,-146.6,474.3,-5.6,325,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2900,3500
$GC,7041,-1.07,-146.6,491.5,-6.2,340,7046,0.00,2.58,0.00,0.000,4,0.000,0.061,2170,1483,3500
$GC,7091,-1.07,-146.6,495.1,-7.2,342,7095,0.00,2.62,0.00,0.000,6,0.000,0.070,2170,2901,3500
$GC,7412,-1.07,-146.6,515.3,-7.6,358,7416,0.00,2.58,0.00,0.000,4,0.000,0.058,2170,1477,3500
$GC,7443,-1.07,-146.6,517.9,-8.3,359,7450,0.00,2.65,0.00,0.000,6,0.000,0.068,2170,2910,3500
$GC,7759,-1.07,-146.6,545.5,-8.9,375,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2909,3500
$GC,8069,-1.07,-146.6,566.4,-5.5,390,8073,0.00,2.58,0.00,0.000,4,0.000,0.054,2170,1470,3500
$GC,8198,-1.07,-146.6,573.3,-5.8,396,8203,0.00,2.62,0.00,0.000,6,0.000,0.065,2170,2899,3500
$GC,8525,-1.07,-146.6,590.8,-5.1,412,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2170,2899,3500
$GC,8833,-1.07,-146.6,607.4,-6.2,427,8838,0.00,2.53,0.00,0.000,4,0.000,0.052,2170,1474,3500
$GC,8951,-1.07,-146.6,614.1,-5.4,432,8955,0.00,2.60,0.00,0.000,6,0.000,0.062,2170,2899,3500
$GC,9266,-1.07,-146.6,633.7,-6.7,447,9270,0.00,2.50,0.00,0.000,4,0.000,0.050,2170,1472,3500
$GC,9399,-1.07,-146.6,642.3,-6.6,453,9403,0.00,2.60,0.00,0.000,6,0.000,0.061,2170,2906,3500
$GC,9726,-1.07,-146.6,663.8,-5.2,469,9730,0.00,2.53,0.00,0.000,4,0.000,0.048,2170,1477,3500
$GC,9787,-1.07,-146.6,667.5,-5.7,472,9792,0.00,2.60,0.00,0.000,6,0.000,0.062,2170,2906,3500
$STATE,9967,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9967,begin apogee
$GC,9974,-0.42,0.0,681.4,9.1,481,10103,0.73,0.00,125.15,1.272,6,0.078,0.000,2321,2082,2901
$STATE,10103,end apogee,CONTROL_FINISHED_OK
$STATE,10103,begin climb
$GC,10106,1.07,146.6,684.4,0.0,487,10237,1.45,2.72,122.07,1.236,4,0.041,0.060,2646,3509,2303
$GC,10476,1.13,197.3,672.7,4.7,504,10526,0.00,2.47,43.50,1.225,6,0.000,0.036,2646,2096,2096
$GC,10850,1.13,197.3,654.3,6.2,522,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2094,2095
$GC,11158,1.13,197.3,631.5,7.4,537,11162,0.00,2.65,0.00,0.000,4,0.000,0.065,2646,3523,2094
$GC,11201,1.13,197.3,627.9,8.8,539,11205,0.00,2.50,0.00,0.000,6,0.000,0.037,2646,2094,2093
$GC,11528,1.15,209.9,605.4,5.7,555,11549,0.00,2.62,11.45,1.133,4,0.000,0.057,2646,700,2045
$GC,11663,1.22,271.8,599.4,4.4,561,11725,0.15,2.47,52.38,1.225,6,0.040,0.037,2690,2115,1793
$GC,12034,1.22,271.8,568.3,10.6,579,12039,0.00,2.60,0.00,0.000,4,0.000,0.069,2690,3510,1792
$GC,12101,1.22,271.8,560.4,10.8,582,12105,0.00,2.47,0.00,0.000,6,0.000,0.039,2690,2100,1791
$GC,12428,1.22,271.8,527.2,9.7,598,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2100,1791
$GC,12737,1.22,271.8,502.3,8.2,613,12741,0.00,2.65,0.00,0.000,4,0.000,0.070,2690,3507,1790
$GC,12785,1.22,271.8,498.0,9.1,615,12789,0.00,2.47,0.00,0.000,6,0.000,0.041,2690,2099,1790
$GC,13107,1.22,271.8,467.3,10.4,631,13112,0.00,2.65,0.00,0.000,4,0.000,0.071,2690,3505,1790
$GC,13146,1.22,271.8,463.0,10.4,633,13150,0.00,2.47,0.00,0.000,6,0.000,0.044,2690,2105,1790
$GC,13471,1.22,271.8,429.5,10.3,649,13476,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3502,1790
$GC,13511,1.22,271.8,425.2,11.2,651,13515,0.00,2.50,0.00,0.000,6,0.000,0.045,2690,2092,1790
$GC,13837,1.22,271.8,391.7,9.6,667,13841,0.00,2.70,0.00,0.000,4,0.000,0.077,2690,3508,1791
$GC,13869,1.22,271.8,388.3,9.6,668,13875,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2092,1791
$GC,14184,1.22,271.8,358.7,9.0,684,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1791
$GC,14494,1.22,271.8,332.1,8.5,699,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1791
$GC,14803,1.23,273.8,309.1,5.9,714,14804,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1792
$GC,15112,1.23,273.8,275.3,12.1,729,15113,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1792
$GC,15421,1.23,273.8,247.5,6.9,744,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,1792
$GC,15730,1.23,273.8,219.3,7.2,759,15735,0.00,2.67,0.00,0.000,4,0.000,0.076,2690,3502,1792
$GC,15757,1.23,273.8,217.2,7.8,760,15761,0.00,2.50,0.00,0.000,6,0.000,0.051,2690,2102,1792
$GC,16079,1.23,273.8,188.7,10.2,776,16080,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2102,1793
$GC,16388,1.23,273.8,156.6,11.0,791,16392,0.00,2.65,0.00,0.000,4,0.000,0.077,2690,3505,1793
$GC,16420,1.23,273.8,152.1,11.7,792,16426,0.00,2.53,0.00,0.000,6,0.000,0.051,2690,2090,1793
$GC,16736,1.23,273.8,113.7,12.4,808,16741,0.00,0.00,3.78,0.621,6,0.000,0.000,2690,2090,1784
$GC,17047,1.23,273.8,82.2,9.8,823,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2090,1784
$GC,17355,1.23,273.8,47.9,10.0,838,17359,0.00,2.67,0.00,0.000,4,0.000,0.078,2690,3502,1784
$GC,17387,1.23,273.8,45.8,6.2,839,17393,0.00,2.50,0.00,0.000,6,0.000,0.054,2690,2100,1784
$GC,17702,1.23,273.8,22.2,6.1,855,17706,0.00,2.55,0.00,0.000,4,0.000,0.061,2690,690,1784
$GC,17735,1.30,329.5,20.7,4.5,856,17786,0.00,2.47,45.33,0.808,6,0.000,0.049,2690,2097,1557
$STATE,17967,end climb,SURFACE_DEPTH_REACHED
$STATE,17967,begin surface coast
$FINISH,-0.3,1.027341
$STATE,17990,end surface coast,CONTROL_FINISHED_OK
$STATE,17991,begin surface
$SM_CCo,18012,189.98,0.767,1,0,572,571.30
$SM_GC,-0.44,0.00,0.00,189.98,0.000,0.000,0.767,46,2900,572,-10.87,0.00,571.30
$IRIDIUM_FIX,6327.46,-1259.31,281207,202040
$TT8_MAMPS,0.029146
$HUMID,2018
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.3,64.5
$24V_AH,23.4,42.962
$10V_AH,10.1,21.064
$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,25.800,139.425,403.650,189.975,0.000,37.377,37.735,144.287,6.000,0.000,0.000,13.355,1589.654,13821.650,740.559,1942.252,453.611,33.374,1721.048,0.000,1906.229,0.000,39.231
$DEVICE_MAMPS,156.468,123.487,1272.453,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.135,606.115,531.981,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44292,869
$CFSIZE,260165632,244314112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
$GPS,291207,023337,6355.270,-1257.041,27,1.7,27,-12.4