version: 66.02
glider: 103
mission: 7
dive: 247
start: 12 29 107 17 57 41
data:
$ID,103
$MISSION,7
$DIVE,247
$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,-66997.148
$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,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
$GPS1,175038,6358.711,-1242.897,96,1.5,96,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-48.4
$GPS2,175638,6358.643,-1242.791,31,1.1,31,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.190,0.108
$KALMAN_X,-247543.5,504.7,407.1,27583.2,4458.8
$KALMAN_Y,-217699.7,592.1,245.9,484720.2,-2206.9
$MHEAD_RNG_PITCHd_Wd,312.0,14196,-11.1,-6.000
$D_GRID,572
$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,-146.6,0.0,0.0,0,131,0.00,0.00,-105.68,0.000,6,0.000,0.000,39,2888,3500
$GC,134,-1.10,-146.6,2.8,-3.5,5,155,12.18,1.80,0.00,0.000,4,0.163,0.094,2166,3787,3502
$GC,380,-1.10,-146.6,34.4,-8.4,16,384,0.00,1.60,0.00,0.000,6,0.000,0.061,2166,2903,3502
$GC,712,-1.10,-146.6,56.2,-6.2,32,717,0.00,2.65,0.00,0.000,4,0.000,0.075,2166,1486,3502
$GC,752,-1.10,-146.6,58.5,-6.1,34,757,0.00,2.72,0.00,0.000,6,0.000,0.081,2166,2902,3502
$GC,1078,-1.10,-146.6,81.7,-7.9,50,1082,0.00,2.67,0.00,0.000,4,0.000,0.074,2166,1482,3502
$GC,1127,-1.10,-146.6,86.6,-9.7,52,1131,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2900,3502
$GC,1443,-1.10,-146.6,108.9,-6.1,67,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,1752,-1.10,-146.6,126.5,-5.7,82,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,2061,-1.10,-146.6,143.5,-5.9,97,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,2370,-1.10,-146.6,163.4,-7.0,112,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,2679,-1.10,-146.6,185.9,-8.1,127,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,2988,-1.10,-146.6,208.1,-7.1,142,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,3298,-1.10,-146.6,230.2,-7.0,157,3302,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1481,3502
$GC,3341,-1.10,-146.6,233.3,-7.2,159,3346,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2903,3502
$GC,3662,-1.10,-146.6,254.6,-8.6,175,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,3972,-1.10,-146.6,279.5,-7.3,190,3976,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1484,3502
$GC,4010,-1.10,-146.6,282.1,-6.7,192,4015,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2909,3502
$GC,4336,-1.10,-146.6,303.3,-5.8,208,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,4646,-1.10,-146.6,320.6,-4.9,223,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,4955,-1.10,-146.6,335.1,-4.9,238,4959,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1481,3502
$GC,5043,-1.10,-146.6,340.6,-6.3,242,5048,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2898,3502
$GC,5364,-1.10,-146.6,362.7,-7.4,258,5369,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1477,3502
$GC,5408,-1.10,-146.6,366.5,-8.2,260,5412,0.00,2.70,0.00,0.000,6,0.000,0.080,2166,2901,3502
$GC,5735,-1.10,-146.6,392.8,-8.2,276,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,6045,-1.10,-146.6,416.8,-7.0,291,6049,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1483,3502
$GC,6116,-1.10,-146.6,422.1,-7.3,294,6121,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2904,3502
$GC,6432,-1.10,-146.6,446.1,-7.9,309,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,6741,-1.10,-146.6,468.1,-7.0,324,6746,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1479,3502
$GC,6784,-1.10,-146.6,471.4,-7.2,326,6789,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2908,3502
$GC,7112,-1.10,-146.6,492.2,-5.7,342,7116,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1482,3502
$GC,7166,-1.10,-146.6,495.4,-5.9,344,7173,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2903,3502
$GC,7482,-1.10,-146.6,513.4,-6.0,360,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,7791,-1.10,-146.6,531.1,-6.1,375,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,8100,-1.10,-146.6,549.1,-5.5,390,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,8410,-1.10,-146.6,568.6,-6.8,405,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$STATE,8469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8469,begin apogee
$GC,8476,-0.42,0.0,572.8,6.9,408,8605,0.75,0.00,125.18,1.190,6,0.084,0.000,2320,2086,2901
$STATE,8605,end apogee,CONTROL_FINISHED_OK
$STATE,8606,begin climb
$GC,8608,1.10,146.6,578.3,0.0,414,8739,1.55,2.60,121.90,1.163,4,0.060,0.054,2651,695,2303
$GC,8880,1.13,172.0,573.3,5.3,426,8909,0.00,2.47,22.88,1.098,6,0.000,0.035,2650,2119,2199
$GC,9238,1.16,192.1,555.0,5.4,444,9262,0.00,2.67,18.00,1.104,4,0.000,0.068,2651,3502,2117
$GC,9314,1.16,192.1,550.1,7.1,447,9318,0.00,2.50,0.00,0.000,6,0.000,0.038,2651,2092,2117
$GC,9629,1.16,192.1,529.0,7.3,462,9633,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3501,2116
$GC,9677,1.16,192.1,524.9,8.8,464,9682,0.00,2.45,0.00,0.000,6,0.000,0.039,2651,2100,2116
$GC,9999,1.16,192.1,497.4,8.3,480,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2100,2115
$GC,10308,1.16,192.1,476.0,6.7,495,10312,0.00,2.62,0.00,0.000,4,0.000,0.069,2650,3500,2115
$GC,10396,1.16,192.1,469.9,7.0,499,10400,0.00,2.47,0.00,0.000,6,0.000,0.042,2650,2098,2114
$GC,10723,1.16,192.1,447.8,7.0,515,10727,0.00,2.62,0.00,0.000,4,0.000,0.070,2650,3502,2114
$GC,10789,1.16,192.1,442.9,7.9,518,10793,0.00,2.47,0.00,0.000,6,0.000,0.044,2651,2097,2114
$GC,11115,1.16,192.1,422.0,6.8,534,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2097,2114
$GC,11425,1.19,217.3,402.1,5.3,549,11453,0.00,2.72,21.38,1.068,4,0.000,0.072,2650,3504,2015
$GC,11534,1.22,245.8,396.3,5.2,554,11565,0.12,2.50,24.85,1.055,6,0.045,0.047,2690,2105,1898
$GC,11882,1.22,245.8,369.4,8.4,571,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2105,1898
$GC,12190,1.22,245.8,342.5,9.1,586,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2105,1897
$GC,12499,1.22,245.8,315.0,8.9,601,12504,0.00,2.65,0.00,0.000,4,0.000,0.077,2690,3500,1897
$GC,12542,1.22,245.8,310.8,9.5,603,12547,0.00,2.50,0.00,0.000,6,0.000,0.048,2690,2096,1897
$GC,12869,1.22,245.8,281.1,8.9,619,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1898
$GC,13178,1.22,245.8,253.3,9.1,634,13183,0.00,2.67,0.00,0.000,4,0.000,0.076,2690,3505,1898
$GC,13218,1.22,245.8,249.5,9.8,636,13223,0.00,2.50,0.00,0.000,6,0.000,0.048,2690,2101,1897
$GC,13544,1.22,245.8,219.7,9.3,652,13545,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2101,1898
$GC,13853,1.22,245.8,191.4,9.1,667,13857,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3501,1898
$GC,13914,1.22,245.8,185.6,9.3,670,13919,0.00,2.50,0.00,0.000,6,0.000,0.050,2690,2099,1899
$GC,14241,1.22,245.8,159.3,8.0,686,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1899
$GC,14550,1.22,245.8,131.2,9.4,701,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1899
$GC,14860,1.22,245.8,100.8,9.9,716,14864,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3499,1899
$GC,14903,1.22,245.8,96.5,8.9,718,14907,0.00,2.50,0.00,0.000,6,0.000,0.051,2690,2099,1899
$GC,15224,1.22,245.8,67.8,8.8,734,15225,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1899
$GC,15535,1.22,245.8,37.6,9.3,749,15540,0.00,2.65,0.00,0.000,4,0.000,0.076,2690,3501,1899
$GC,15575,1.22,245.8,33.5,10.0,751,15579,0.00,2.50,0.00,0.000,6,0.000,0.050,2690,2095,1900
$GC,15901,1.22,245.8,4.2,7.9,767,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2094,1900
$STATE,15940,end climb,SURFACE_DEPTH_REACHED
$STATE,15940,begin surface coast
$FINISH,-0.8,1.027385
$STATE,15962,end surface coast,CONTROL_FINISHED_OK
$STATE,15962,begin surface
$SM_CCo,15984,258.98,0.767,2,0,572,571.30
$SM_GC,-0.65,0.00,0.00,258.98,0.000,0.000,0.767,45,2879,572,-10.87,-0.59,571.30
$IRIDIUM_FIX,6332.30,-1250.86,291207,161632
$TT8_MAMPS,0.029146
$HUMID,2022
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.90
$XPDR_PINGS,2
$24V_AH,23.4,43.687
$10V_AH,10.1,21.391
$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,26.075,110.900,334.175,258.975,0.000,34.696,35.148,161.657,4.750,0.000,0.000,31.826,1395.540,12351.087,738.073,1677.730,463.881,33.373,1571.102,0.000,1644.918,0.000,28.458
$DEVICE_MAMPS,163.371,94.341,1189.617,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.453,542.793,508.255,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38072,770
$CFSIZE,260165632,244084736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,2,0
$GPS,291207,222938,6359.354,-1245.648,28,1.1,28,-12.3