version: 66.02
glider: 103
mission: 7
dive: 248
start: 12 29 107 22 44 1
data:
$ID,103
$MISSION,7
$DIVE,248
$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,-67012
$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,23
$R_STBD_OVSHOOT,4
$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
$GPS1,222938,6359.354,-1245.648,28,1.1,28,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-53.5
$GPS2,224257,6359.467,-1245.491,14,1.1,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,0.002
$KALMAN_X,-242984.8,-1051.8,-1409.4,24063.3,9294.6
$KALMAN_Y,-217664.7,668.9,-336.5,486734.3,-423.4
$MHEAD_RNG_PITCHd_Wd,282.7,11821,-11.1,-6.000
$D_GRID,584
$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,-1.10,-146.6,0.0,0.0,0,126,0.00,0.00,-101.85,0.000,2,0.000,0.000,45,2882,3357
$GC,129,-1.10,-146.6,3.2,-4.0,5,151,12.07,1.85,-2.65,0.000,4,0.162,0.126,2167,3789,3501
$GC,404,-1.10,-146.6,31.2,-9.0,17,408,0.00,1.62,0.00,0.000,6,0.000,0.061,2167,2909,3501
$GC,731,-1.10,-146.6,51.8,-6.7,33,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2909,3501
$GC,1041,-1.10,-146.6,77.0,-6.2,48,1046,0.00,2.67,0.00,0.000,4,0.000,0.077,2167,1480,3501
$GC,1096,-1.10,-146.6,80.6,-6.5,50,1103,0.00,2.75,0.00,0.000,6,0.000,0.079,2167,2904,3501
$GC,1412,-1.10,-146.6,103.4,-7.7,66,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3501
$GC,1721,-1.10,-146.6,126.4,-7.6,81,1726,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1485,3501
$GC,1765,-1.10,-146.6,129.6,-7.5,83,1770,0.00,2.70,0.00,0.000,6,0.000,0.077,2167,2910,3501
$GC,2086,-1.10,-146.6,156.4,-9.4,99,2090,0.00,2.67,0.00,0.000,4,0.000,0.074,2167,1486,3501
$GC,2129,-1.10,-146.6,161.0,-11.0,101,2134,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2898,3501
$GC,2450,-1.10,-146.6,187.5,-9.1,117,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3501
$GC,2760,-1.10,-146.6,213.2,-8.3,132,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3501
$GC,3069,-1.10,-146.6,236.1,-6.7,147,3073,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1479,3501
$GC,3140,-1.10,-146.6,240.7,-6.6,150,3144,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2901,3501
$GC,3462,-1.10,-146.6,264.1,-6.6,166,3466,0.00,2.65,0.00,0.000,4,0.000,0.070,2167,1479,3501
$GC,3501,-1.10,-146.6,266.6,-6.0,168,3505,0.00,2.70,0.00,0.000,6,0.000,0.075,2167,2908,3501
$GC,3827,-1.10,-146.6,289.8,-9.3,184,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3502
$GC,4136,-1.10,-146.6,312.1,-6.4,199,4140,0.00,2.65,0.00,0.000,4,0.000,0.068,2167,1478,3501
$GC,4179,-1.10,-146.6,315.6,-8.0,201,4183,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2901,3501
$GC,4505,-1.10,-146.6,338.8,-7.0,217,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3501
$GC,4815,-1.10,-146.6,360.9,-6.9,232,4820,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1482,3501
$GC,4869,-1.10,-146.6,365.0,-7.4,234,4876,0.00,2.70,0.00,0.000,6,0.000,0.078,2167,2908,3501
$GC,5185,-1.10,-146.6,389.0,-7.9,250,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3501
$GC,5495,-1.10,-146.6,412.9,-7.2,265,5499,0.00,2.65,0.00,0.000,4,0.000,0.068,2167,1477,3501
$GC,5549,-1.10,-146.6,416.8,-6.6,267,5556,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2902,3501
$GC,5864,-1.10,-146.6,437.2,-6.7,283,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,6174,-1.10,-146.6,455.4,-5.5,298,6179,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1483,3501
$GC,6214,-1.10,-146.6,457.5,-5.5,300,6218,0.00,2.65,0.00,0.000,6,0.000,0.076,2167,2899,3501
$GC,6541,-1.10,-146.6,476.1,-6.2,316,6545,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,1472,3501
$GC,6579,-1.10,-146.6,478.5,-6.5,318,6584,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2899,3501
$GC,6905,-1.10,-146.6,497.9,-6.0,334,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3501
$GC,7215,-1.10,-146.6,516.4,-5.9,349,7220,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1479,3501
$GC,7304,-1.10,-146.6,522.1,-6.8,353,7308,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2904,3501
$GC,7631,-1.10,-146.6,545.1,-7.5,369,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3501
$GC,7940,-1.10,-146.6,568.5,-7.3,384,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3501
$STATE,8165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8165,begin apogee
$GC,8172,-0.42,0.0,584.0,6.7,395,8299,0.75,0.00,124.32,1.216,6,0.093,0.000,2318,2090,2901
$STATE,8300,end apogee,CONTROL_FINISHED_OK
$STATE,8300,begin climb
$GC,8302,1.10,146.6,589.0,0.0,401,8433,1.52,2.65,120.80,1.183,4,0.056,0.055,2645,684,2303
$GC,8557,1.11,148.6,581.6,5.9,413,8562,0.00,2.50,0.00,0.000,6,0.000,0.037,2645,2116,2302
$GC,8884,1.14,178.2,563.9,5.2,429,8918,0.00,2.65,27.48,1.152,4,0.000,0.065,2645,3500,2174
$GC,9002,1.14,178.2,556.9,6.7,434,9006,0.00,2.47,0.00,0.000,6,0.000,0.038,2645,2092,2174
$GC,9323,1.15,184.2,537.7,5.8,450,9336,0.00,2.67,6.40,0.963,4,0.000,0.065,2645,3508,2150
$GC,9457,1.15,184.2,528.9,7.1,456,9461,0.00,2.47,0.00,0.000,6,0.000,0.038,2645,2101,2150
$GC,9783,1.15,185.2,509.0,6.0,472,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2101,2150
$GC,10092,1.15,185.2,487.7,7.5,487,10096,0.00,2.62,0.00,0.000,4,0.000,0.067,2645,3505,2149
$GC,10157,1.15,185.2,482.5,8.0,490,10161,0.00,2.47,0.00,0.000,6,0.000,0.038,2645,2093,2149
$GC,10485,1.15,185.2,459.5,6.7,506,10489,0.00,2.62,0.00,0.000,4,0.000,0.067,2645,3502,2149
$GC,10551,1.15,185.2,454.8,6.6,509,10555,0.00,2.45,0.00,0.000,6,0.000,0.038,2645,2101,2148
$GC,10871,1.15,185.2,431.1,8.6,525,10876,0.00,2.55,0.00,0.000,4,0.000,0.060,2645,692,2148
$GC,10949,1.15,185.2,423.9,9.1,528,10955,0.00,2.45,0.00,0.000,6,0.000,0.040,2645,2095,2148
$GC,11265,1.15,185.2,400.1,7.0,544,11269,0.00,2.60,0.00,0.000,4,0.000,0.069,2645,3505,2148
$GC,11371,1.15,185.2,392.8,7.1,549,11375,0.00,2.45,0.00,0.000,6,0.000,0.039,2646,2100,2148
$GC,11697,1.20,227.5,375.4,4.8,565,11740,0.12,2.75,36.33,1.077,4,0.049,0.077,2681,3509,1972
$GC,11803,1.20,227.5,368.4,7.3,569,11809,0.00,2.55,0.00,0.000,6,0.000,0.048,2681,2098,1972
$GC,12118,1.20,227.5,346.0,7.6,585,12119,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,1972
$GC,12428,1.20,227.5,320.0,8.6,600,12432,0.00,2.67,0.00,0.000,4,0.000,0.075,2681,3508,1972
$GC,12483,1.20,227.5,314.9,8.6,602,12489,0.00,2.55,0.00,0.000,6,0.000,0.051,2680,2098,1972
$GC,12798,1.20,227.5,288.4,8.3,618,12803,0.00,2.67,0.00,0.000,4,0.000,0.077,2681,3504,1972
$GC,12842,1.20,227.5,284.5,8.6,620,12847,0.00,2.50,0.00,0.000,6,0.000,0.050,2681,2101,1973
$GC,13163,1.20,227.5,258.3,7.9,636,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1973
$GC,13473,1.20,227.5,234.7,7.6,651,13477,0.00,2.67,0.00,0.000,4,0.000,0.076,2680,3511,1973
$GC,13512,1.20,227.5,231.6,7.8,653,13516,0.00,2.53,0.00,0.000,6,0.000,0.051,2681,2103,1973
$GC,13837,1.20,227.5,208.0,6.8,669,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,1973
$GC,14147,1.20,227.5,185.9,6.8,684,14151,0.00,2.65,0.00,0.000,4,0.000,0.075,2681,3505,1974
$GC,14190,1.20,227.5,182.5,7.8,686,14194,0.00,2.53,0.00,0.000,6,0.000,0.051,2681,2094,1974
$GC,14511,1.20,227.5,154.7,8.3,702,14512,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2095,1974
$GC,14821,1.20,228.0,135.4,6.0,717,14822,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2094,1974
$GC,15132,1.23,248.6,116.3,5.4,732,15157,0.00,2.75,18.52,0.867,4,0.000,0.077,2681,3501,1886
$GC,15190,1.23,248.6,112.1,6.8,734,15197,0.00,2.58,0.00,0.000,6,0.000,0.052,2680,2097,1886
$GC,15506,1.23,248.6,91.8,7.5,750,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,1886
$GC,15816,1.23,248.6,64.0,7.5,765,15820,0.00,2.67,0.00,0.000,4,0.000,0.077,2681,3506,1886
$GC,15877,1.23,248.6,58.6,9.4,768,15882,0.00,2.55,0.00,0.000,6,0.000,0.054,2681,2093,1886
$GC,16204,1.23,248.6,33.8,7.6,784,16205,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2093,1886
$GC,16513,1.23,248.6,6.7,9.0,799,16514,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2093,1887
$STATE,16573,end climb,SURFACE_DEPTH_REACHED
$STATE,16573,begin surface coast
$FINISH,0.2,1.027390
$STATE,16596,end surface coast,CONTROL_FINISHED_OK
$STATE,16596,begin surface
$SM_CCo,16618,254.68,0.782,2,0,572,571.30
$SM_GC,-0.41,0.00,0.00,254.68,0.000,0.000,0.782,43,2896,572,-10.89,-0.11,571.30
$IRIDIUM_FIX,6332.30,-1241.30,301207,020207
$TT8_MAMPS,0.029913
$HUMID,2001
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,551.4,61.5
$24V_AH,23.4,43.882
$10V_AH,10.1,21.476
$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,26.025,137.350,333.850,254.675,0.000,111.135,109.852,334.448,5.000,0.000,0.000,14.217,1476.206,12861.909,755.811,1803.769,800.657,33.373,1663.580,0.000,1779.163,0.000,31.433
$DEVICE_MAMPS,161.837,125.788,1215.695,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,587.614,561.664,537.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41158,803
$CFSIZE,260165632,244011008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,2,0
$GPS,301207,032638,6401.483,-1243.635,38,1.0,38,-12.3