version: 66.02
glider: 103
mission: 7
dive: 245
start: 12 29 107 7 49 55
data:
$ID,103
$MISSION,7
$DIVE,245
$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,-66951.703
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,074307,6355.682,-1252.057,36,1.6,36,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.50
$_SM_ANGLEo,-43.7
$GPS2,074851,6355.608,-1251.911,14,1.6,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,0.052
$KALMAN_X,-261477.6,878.9,-631.3,34139.7,4656.0
$KALMAN_Y,-217066.5,320.6,-842.8,479843.9,-1330.5
$MHEAD_RNG_PITCHd_Wd,296.0,10454,-11.1,-6.000
$D_GRID,628
$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,21,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-105.80,0.000,6,0.000,0.000,33,2900,3501
$GC,134,-1.10,-146.6,2.4,-3.4,5,155,12.12,1.77,0.00,0.000,4,0.160,0.098,2165,3782,3501
$GC,357,-1.10,-146.6,29.1,-8.2,15,361,0.00,1.62,0.00,0.000,6,0.000,0.061,2165,2903,3502
$GC,689,-1.10,-146.6,56.9,-8.9,31,694,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,1481,3502
$GC,739,-1.10,-146.6,60.8,-9.1,33,744,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2897,3502
$GC,1054,-1.10,-146.6,93.0,-9.4,48,1058,0.00,1.73,0.00,0.000,4,0.000,0.097,2165,3789,3502
$GC,1110,-1.10,-146.6,97.2,-7.1,50,1114,0.00,1.60,0.00,0.000,6,0.000,0.054,2165,2901,3502
$GC,1431,-1.10,-146.6,119.1,-6.1,66,1435,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1481,3502
$GC,1485,-1.10,-146.6,123.2,-8.4,68,1492,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2900,3502
$GC,1803,-1.10,-146.6,147.5,-6.9,84,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,2111,-1.10,-146.6,167.9,-6.4,99,2114,0.00,1.70,0.00,0.000,4,0.000,0.097,2165,3786,3502
$GC,2167,-1.10,-146.6,171.5,-6.5,101,2171,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2899,3502
$GC,2488,-1.10,-146.6,189.5,-5.7,117,2492,0.00,2.60,0.00,0.000,4,0.000,0.071,2165,1484,3502
$GC,2543,-1.10,-146.6,192.5,-5.0,119,2549,0.00,2.67,0.00,0.000,6,0.000,0.080,2165,2901,3502
$GC,2858,-1.10,-146.6,211.3,-6.4,135,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,3167,-1.10,-146.6,231.8,-6.5,150,3171,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1482,3502
$GC,3193,-1.10,-146.6,233.7,-6.9,151,3197,0.00,2.70,0.00,0.000,6,0.000,0.080,2165,2903,3502
$GC,3515,-1.10,-146.6,258.9,-8.5,167,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,3824,-1.10,-146.6,283.6,-7.6,182,3828,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1481,3502
$GC,3867,-1.10,-146.6,286.9,-7.6,184,3871,0.00,2.72,0.00,0.000,6,0.000,0.082,2166,2906,3502
$GC,4194,-1.10,-146.6,313.6,-8.6,200,4198,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1480,3502
$GC,4237,-1.10,-146.6,317.6,-8.7,202,4241,0.00,2.70,0.00,0.000,6,0.000,0.080,2165,2904,3502
$GC,4558,-1.10,-146.6,344.1,-7.8,218,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,4867,-1.10,-146.6,366.8,-7.3,233,4872,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1482,3502
$GC,4900,-1.10,-146.6,369.2,-7.4,234,4906,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2901,3502
$GC,5215,-1.10,-146.6,392.5,-7.3,250,5219,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1487,3502
$GC,5242,-1.10,-146.6,394.5,-7.4,251,5246,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2908,3502
$GC,5557,-1.10,-146.6,417.2,-7.3,266,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,5867,-1.10,-146.6,439.2,-6.8,281,5871,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1477,3502
$GC,5922,-1.10,-146.6,443.0,-6.8,283,5928,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2899,3502
$GC,6237,-1.10,-146.6,460.9,-5.2,299,6241,0.00,1.70,0.00,0.000,4,0.000,0.097,2166,3784,3502
$GC,6315,-1.10,-146.6,465.2,-5.3,302,6319,0.00,1.58,0.00,0.000,6,0.000,0.046,2166,2896,3502
$GC,6636,-1.10,-146.6,479.2,-4.2,318,6640,0.00,2.55,0.00,0.000,4,0.000,0.063,2165,1484,3502
$GC,6713,-1.10,-146.6,482.5,-3.9,321,6719,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2899,3502
$GC,7029,-1.10,-146.6,498.4,-5.6,337,7033,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1479,3502
$GC,7085,-1.10,-146.6,501.9,-6.3,339,7091,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2908,3502
$GC,7400,-1.10,-146.6,522.0,-6.6,355,7403,0.00,1.67,0.00,0.000,4,0.000,0.097,2166,3784,3502
$GC,7455,-1.10,-146.6,525.9,-7.4,357,7459,0.00,1.55,0.00,0.000,6,0.000,0.044,2165,2900,3502
$GC,7776,-1.10,-146.6,545.0,-6.0,373,7780,0.00,2.53,0.00,0.000,4,0.000,0.058,2165,1484,3502
$GC,7830,-1.10,-146.6,548.3,-6.2,375,7837,0.00,2.60,0.00,0.000,6,0.000,0.069,2166,2899,3502
$GC,8147,-1.10,-146.6,570.8,-7.5,391,8151,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1477,3502
$GC,8208,-1.10,-146.6,575.8,-8.1,394,8213,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,8534,-1.10,-146.6,600.3,-7.0,410,8539,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1477,3502
$GC,8591,-1.10,-146.6,604.6,-7.9,412,8597,0.00,2.65,0.00,0.000,6,0.000,0.066,2165,2906,3502
$GC,8906,-1.10,-146.6,624.9,-6.4,428,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$STATE,8966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8966,begin apogee
$GC,8973,-0.42,0.0,628.9,6.5,431,9101,0.75,0.00,125.12,1.240,6,0.084,0.000,2319,2093,2901
$STATE,9102,end apogee,CONTROL_FINISHED_OK
$STATE,9102,begin climb
$GC,9105,1.10,146.6,633.9,0.0,437,9236,1.52,2.62,122.22,1.203,4,0.053,0.054,2649,691,2303
$GC,9365,1.12,161.3,626.5,5.6,449,9384,0.00,2.47,14.07,1.095,6,0.000,0.034,2649,2125,2242
$GC,9712,1.13,170.2,605.4,5.8,466,9726,0.00,2.60,8.77,1.042,4,0.000,0.064,2649,3498,2207
$GC,9838,1.13,170.2,597.3,6.7,471,9845,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2088,2207
$GC,10154,1.13,170.2,576.8,6.6,487,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2088,2206
$GC,10463,1.13,170.2,556.4,6.2,502,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2088,2206
$GC,10773,1.15,184.5,538.4,5.6,517,10794,0.00,2.58,13.25,1.119,4,0.000,0.055,2649,708,2148
$GC,10872,1.15,184.5,531.9,6.2,521,10876,0.00,2.42,0.00,0.000,6,0.000,0.038,2649,2098,2148
$GC,11193,1.15,184.5,512.0,6.3,537,11197,0.00,2.60,0.00,0.000,4,0.000,0.069,2649,3507,2148
$GC,11322,1.15,184.5,503.0,7.6,543,11326,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2096,2147
$GC,11647,1.17,203.5,484.2,5.5,559,11669,0.00,2.65,17.02,1.116,4,0.000,0.058,2649,695,2071
$GC,11753,1.18,206.0,477.6,5.9,563,11763,0.00,2.45,4.10,0.790,6,0.000,0.038,2649,2097,2061
$GC,12090,1.18,211.9,457.9,5.8,580,12104,0.00,2.72,6.45,0.947,4,0.000,0.073,2649,3506,2037
$GC,12179,1.18,211.9,452.5,6.0,584,12183,0.00,2.50,0.00,0.000,6,0.000,0.045,2649,2100,2037
$GC,12504,1.18,212.7,433.4,6.0,600,12509,0.00,2.65,0.00,0.000,4,0.000,0.072,2649,3507,2037
$GC,12588,1.18,212.7,428.4,6.6,604,12593,0.00,2.50,0.00,0.000,6,0.000,0.045,2649,2093,2037
$GC,12914,1.20,229.4,410.5,5.5,620,12937,0.10,2.75,16.10,1.048,4,0.050,0.076,2681,3507,1965
$GC,12970,1.20,229.4,406.3,7.8,622,12975,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2103,1965
$GC,13292,1.20,229.4,380.9,8.3,638,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2103,1965
$GC,13601,1.20,229.4,355.3,8.3,653,13605,0.00,2.65,0.00,0.000,4,0.000,0.077,2681,3507,1965
$GC,13655,1.20,229.4,350.3,9.1,655,13662,0.00,2.53,0.00,0.000,6,0.000,0.049,2681,2106,1965
$GC,13971,1.20,229.4,325.0,7.9,671,13976,0.00,2.67,0.00,0.000,4,0.000,0.079,2681,3511,1965
$GC,14003,1.20,229.4,322.3,8.2,672,14009,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2094,1965
$GC,14318,1.20,229.4,296.3,8.3,688,14320,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2094,1965
$GC,14628,1.20,229.4,270.5,8.0,703,14632,0.00,2.67,0.00,0.000,4,0.000,0.077,2681,3507,1966
$GC,14689,1.20,229.4,265.9,7.0,706,14694,0.00,2.53,0.00,0.000,6,0.000,0.051,2681,2096,1966
$GC,15015,1.20,229.4,243.6,6.8,722,15016,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2096,1966
$GC,15324,1.20,229.4,217.3,9.8,737,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2096,1966
$GC,15634,1.20,229.4,188.7,9.5,752,15635,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2095,1966
$GC,15943,1.20,229.4,158.6,9.7,767,15947,0.00,2.67,0.00,0.000,4,0.000,0.078,2681,3506,1966
$GC,15965,1.20,229.4,156.5,10.6,768,15969,0.00,2.53,0.00,0.000,6,0.000,0.049,2681,2097,1966
$GC,16286,1.20,229.4,124.1,15.0,784,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2096,1966
$GC,16595,1.24,259.1,94.9,5.2,799,16622,0.00,0.00,25.33,0.861,6,0.000,0.000,2681,2096,1844
$GC,16925,1.24,259.1,73.4,6.4,815,16926,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2096,1843
$GC,17234,1.24,259.1,47.7,8.1,830,17238,0.00,2.70,0.00,0.000,4,0.000,0.077,2681,3514,1843
$GC,17273,1.24,259.1,43.9,11.0,832,17277,0.00,2.55,0.00,0.000,6,0.000,0.056,2681,2097,1843
$GC,17598,1.24,259.1,11.5,8.8,848,17603,0.00,2.53,0.00,0.000,4,0.000,0.058,2681,694,1843
$GC,17665,1.24,259.1,6.1,6.6,851,17669,0.00,2.45,0.00,0.000,6,0.000,0.038,2681,2102,1843
$STATE,17716,end climb,SURFACE_DEPTH_REACHED
$STATE,17716,begin surface coast
$FINISH,0.3,1.027377
$STATE,17738,end surface coast,CONTROL_FINISHED_OK
$STATE,17738,begin surface
$SM_CCo,17760,246.45,0.773,1,0,572,571.30
$SM_GC,-0.48,0.00,0.00,246.45,0.000,0.000,0.773,44,2894,572,-10.88,-0.17,571.30
$IRIDIUM_FIX,6332.30,-1300.41,291207,060645
$TT8_MAMPS,0.028379
$HUMID,2011
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,575.4,77.5
$24V_AH,23.4,43.327
$10V_AH,10.1,21.231
$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,26.150,165.150,352.450,246.450,0.000,32.786,33.300,166.011,5.250,0.000,0.000,14.821,1598.641,13544.052,786.245,1962.518,478.830,33.368,1782.355,0.000,1924.842,0.000,33.097
$DEVICE_MAMPS,160.303,98.176,1240.239,773.136,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.469,594.166,520.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44282,855
$CFSIZE,260165632,244183040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,1,0
$GPS,291207,125127,6356.448,-1248.423,24,3.4,43,-12.3