version: 66.02
glider: 103
mission: 7
dive: 244
start: 12 29 107 2 40 25
data:
$ID,103
$MISSION,7
$DIVE,244
$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,-66936.258
$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
$GPS1,023337,6355.270,-1257.041,27,1.7,27,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-46.7
$GPS2,023921,6355.226,-1256.903,14,1.7,14,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.044,0.214
$KALMAN_X,-266389.6,37.9,1462.9,33411.0,-596.1
$KALMAN_Y,-215462.6,378.4,1358.0,475255.8,-5901.9
$MHEAD_RNG_PITCHd_Wd,24.0,9192,-11.1,-6.000
$D_GRID,660
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.10,-146.2,0.0,0.0,0,132,0.00,0.00,-106.20,0.000,6,0.000,0.000,46,2900,3498
$GC,135,-1.10,-146.6,2.4,-3.4,5,153,11.98,2.60,0.00,0.000,4,0.158,0.056,2163,1490,3500
$GC,198,-1.10,-146.6,20.1,-12.6,8,203,0.00,2.70,0.00,0.000,6,0.000,0.079,2163,2904,3501
$GC,514,-1.10,-146.6,52.7,-9.3,23,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3501
$GC,823,-1.10,-146.6,78.8,-8.1,38,827,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1490,3500
$GC,862,-1.10,-146.6,82.4,-9.4,40,866,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2901,3501
$GC,1188,-1.10,-146.6,103.5,-5.2,56,1192,0.00,1.73,0.00,0.000,4,0.000,0.100,2163,3789,3501
$GC,1227,-1.10,-146.6,106.0,-5.7,57,1234,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2905,3500
$GC,1543,-1.10,-146.6,122.3,-4.8,73,1547,0.00,2.62,0.00,0.000,4,0.000,0.072,2163,1484,3501
$GC,1592,-1.10,-146.6,124.5,-4.2,75,1597,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2901,3500
$GC,1907,-1.10,-146.6,157.1,-12.6,90,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,2217,-1.10,-146.6,190.8,-10.2,105,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,2526,-1.10,-146.6,213.7,-5.5,120,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,2835,-1.10,-146.6,232.3,-6.1,135,2839,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1490,3500
$GC,2879,-1.10,-146.6,234.9,-5.5,137,2883,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2908,3500
$GC,3199,-1.10,-146.6,256.2,-6.6,153,3203,0.00,2.65,0.00,0.000,4,0.000,0.069,2163,1481,3500
$GC,3230,-1.10,-146.6,258.5,-7.3,154,3237,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2902,3501
$GC,3546,-1.10,-146.6,280.3,-7.0,170,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3500
$GC,3855,-1.10,-146.6,302.5,-6.7,185,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3500
$GC,4165,-1.10,-146.6,321.0,-5.8,200,4169,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1488,3501
$GC,4214,-1.10,-146.6,324.0,-6.5,202,4218,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2906,3500
$GC,4535,-1.10,-146.6,345.8,-7.6,218,4539,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,1489,3500
$GC,4574,-1.10,-146.6,349.0,-8.1,220,4578,0.00,2.67,0.00,0.000,6,0.000,0.078,2163,2900,3500
$GC,4900,-1.10,-146.6,374.1,-7.2,236,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,5209,-1.10,-146.6,393.3,-6.5,251,5212,0.00,1.70,0.00,0.000,4,0.000,0.098,2163,3786,3500
$GC,5269,-1.10,-146.6,397.9,-7.7,253,5276,0.00,1.58,0.00,0.000,6,0.000,0.049,2163,2899,3500
$GC,5585,-1.10,-146.6,422.2,-8.3,269,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3500
$GC,5894,-1.10,-146.6,447.6,-8.1,284,5898,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1476,3500
$GC,5965,-1.10,-146.6,453.7,-8.4,287,5970,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2903,3500
$GC,6281,-1.10,-146.6,479.3,-7.9,302,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3501
$GC,6592,-1.10,-146.6,500.7,-6.4,317,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3501
$GC,6899,-1.10,-146.6,521.1,-6.7,332,6904,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1481,3500
$GC,6949,-1.10,-146.6,524.7,-7.1,334,6954,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2906,3500
$GC,7269,-1.10,-146.6,546.1,-6.3,350,7274,0.00,2.55,0.00,0.000,4,0.000,0.055,2163,1481,3500
$GC,7347,-1.10,-146.6,551.0,-6.2,353,7353,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2908,3500
$GC,7662,-1.10,-146.6,571.5,-6.2,369,7666,0.00,2.55,0.00,0.000,4,0.000,0.054,2162,1475,3500
$GC,7785,-1.10,-146.6,579.0,-6.6,374,7789,0.00,2.62,0.00,0.000,6,0.000,0.063,2163,2907,3500
$GC,8101,-1.10,-146.6,598.0,-5.9,389,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3501
$GC,8410,-1.10,-146.6,619.4,-6.8,404,8414,0.00,2.55,0.00,0.000,4,0.000,0.051,2163,1477,3500
$GC,8481,-1.10,-146.6,624.5,-7.2,407,8485,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2909,3500
$GC,8802,-1.10,-146.6,644.5,-6.8,423,8807,0.00,2.55,0.00,0.000,4,0.000,0.051,2163,1478,3500
$GC,8846,-1.10,-146.6,647.4,-6.8,425,8851,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2900,3500
$STATE,9041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9041,begin apogee
$GC,9048,-0.42,0.0,660.4,6.8,435,9177,0.77,0.00,124.95,1.252,6,0.087,0.000,2320,2086,2901
$STATE,9177,end apogee,CONTROL_FINISHED_OK
$STATE,9177,begin climb
$GC,9180,1.10,146.6,664.7,0.0,441,9310,1.52,2.58,122.62,1.218,4,0.054,0.054,2650,697,2303
$GC,9328,1.14,175.9,662.6,5.2,448,9360,0.00,2.50,26.40,1.156,6,0.000,0.033,2650,2130,2183
$GC,9669,1.14,175.9,641.1,6.4,464,9673,0.00,2.50,0.00,0.000,4,0.000,0.064,2650,3494,2181
$GC,9752,1.14,175.9,635.7,6.8,467,9759,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2086,2182
$GC,10068,1.14,175.9,617.1,6.5,483,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2085,2181
$GC,10377,1.14,175.9,596.2,6.8,498,10382,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3498,2180
$GC,10553,1.14,175.9,582.6,8.2,506,10557,0.00,2.45,0.00,0.000,6,0.000,0.038,2650,2096,2179
$GC,10879,1.14,175.9,557.7,7.5,522,10883,0.00,2.53,0.00,0.000,4,0.000,0.056,2650,695,2178
$GC,10972,1.14,175.9,550.7,7.1,526,10977,0.00,2.42,0.00,0.000,6,0.000,0.037,2650,2093,2178
$GC,11294,1.18,205.2,532.2,5.2,542,11321,0.00,0.00,25.10,1.169,6,0.000,0.000,2650,2093,2064
$GC,11623,1.19,217.4,513.8,5.7,558,11644,0.00,2.75,11.57,1.091,4,0.000,0.069,2650,3508,2014
$GC,11712,1.20,227.7,508.8,5.7,562,11728,0.10,2.47,10.10,1.069,6,0.049,0.041,2683,2103,1972
$GC,12037,1.20,227.7,483.8,8.1,577,12038,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2103,1972
$GC,12346,1.20,227.7,459.5,8.1,592,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2103,1972
$GC,12655,1.20,227.7,434.7,8.1,607,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2103,1972
$GC,12965,1.20,227.7,410.8,7.6,622,12969,0.00,2.62,0.00,0.000,4,0.000,0.075,2684,3503,1971
$GC,13009,1.20,227.7,407.3,7.7,624,13014,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2100,1972
$GC,13330,1.20,227.7,383.9,7.0,640,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1972
$GC,13639,1.20,227.7,361.2,7.5,655,13641,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1972
$GC,13948,1.20,227.7,336.9,8.0,670,13950,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1973
$GC,14258,1.20,227.7,310.3,9.1,685,14262,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3508,1973
$GC,14301,1.20,227.7,306.2,8.8,687,14305,0.00,2.50,0.00,0.000,6,0.000,0.049,2684,2102,1973
$GC,14628,1.20,227.7,279.0,8.2,703,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1973
$GC,14937,1.20,227.7,250.8,9.5,718,14938,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1974
$GC,15246,1.20,227.7,225.6,7.8,733,15250,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,692,1974
$GC,15295,1.20,227.7,221.7,7.4,735,15299,0.00,2.47,0.00,0.000,6,0.000,0.044,2684,2096,1974
$GC,15610,1.20,227.7,199.9,6.9,750,15615,0.00,2.67,0.00,0.000,4,0.000,0.079,2684,3515,1973
$GC,15649,1.20,227.7,196.9,7.9,752,15654,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,2097,1974
$GC,15976,1.20,227.7,168.4,8.8,768,15980,0.00,2.53,0.00,0.000,4,0.000,0.060,2684,694,1974
$GC,16082,1.20,227.7,155.7,11.8,773,16086,0.00,2.47,0.00,0.000,6,0.000,0.045,2684,2101,1974
$GC,16409,1.20,227.7,123.0,8.9,789,16414,0.00,2.65,0.00,0.000,4,0.000,0.079,2684,3512,1974
$GC,16473,1.20,227.7,117.2,9.2,792,16477,0.00,2.53,0.00,0.000,6,0.000,0.051,2684,2100,1974
$GC,16799,1.20,227.7,90.6,8.4,808,16803,0.00,2.55,0.00,0.000,4,0.000,0.062,2684,691,1975
$GC,16865,1.20,227.7,84.5,8.1,811,16869,0.00,2.47,0.00,0.000,6,0.000,0.046,2684,2100,1975
$GC,17185,1.20,227.7,61.3,9.3,827,17190,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3515,1975
$GC,17225,1.20,227.7,57.2,12.1,829,17229,0.00,2.53,0.00,0.000,6,0.000,0.053,2684,2102,1975
$GC,17551,1.20,227.7,22.3,10.5,845,17555,0.00,2.55,0.00,0.000,4,0.000,0.064,2684,694,1975
$GC,17590,1.20,227.7,18.4,9.3,847,17594,0.00,2.47,0.00,0.000,6,0.000,0.044,2684,2107,1975
$STATE,17770,end climb,SURFACE_DEPTH_REACHED
$STATE,17770,begin surface coast
$FINISH,-0.9,1.002403
$STATE,17792,end surface coast,CONTROL_FINISHED_OK
$STATE,17792,begin surface
$SM_CCo,17814,271.23,0.762,1,0,572,571.30
$SM_GC,-0.50,0.00,0.00,271.23,0.000,0.000,0.762,33,2900,572,-10.93,0.00,571.30
$IRIDIUM_FIX,6327.46,-1258.21,291207,010133
$TT8_MAMPS,0.029146
$HUMID,2008
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.8,72.6
$24V_AH,23.4,43.144
$10V_AH,10.1,21.146
$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,25.750,149.000,320.750,271.225,0.000,32.779,45.484,154.362,5.750,0.000,0.000,14.632,1563.253,13778.797,767.537,1860.950,476.187,33.372,1706.054,0.000,1829.403,0.000,37.660
$DEVICE_MAMPS,158.002,99.710,1251.744,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,623.933,602.601,523.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44270,857
$CFSIZE,260165632,244248576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,291207,074307,6355.682,-1252.057,36,1.6,36,-12.3