version: 66.02
glider: 103
mission: 7
dive: 249
start: 12 30 107 3 37 37
data:
$ID,103
$MISSION,7
$DIVE,249
$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,-67027.531
$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
$GPS1,032638,6401.483,-1243.635,38,1.0,38,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-50.1
$GPS2,033633,6401.561,-1243.302,14,1.8,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.124,0.180
$KALMAN_X,-238538.9,-1712.3,911.2,19886.4,5880.8
$KALMAN_Y,-215456.2,541.7,1516.5,486661.3,-2642.2
$MHEAD_RNG_PITCHd_Wd,337.6,13861,-11.1,-6.000
$D_GRID,557
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,128,0.00,0.00,-101.75,0.000,2,0.000,0.000,43,2897,3375
$GC,131,-1.10,-146.6,3.1,-4.1,5,153,11.93,2.60,-2.35,0.000,4,0.156,0.075,2166,1500,3502
$GC,406,-1.10,-146.6,30.8,-7.8,17,410,0.00,2.67,0.00,0.000,6,0.000,0.081,2166,2896,3502
$GC,726,-1.10,-146.6,56.6,-7.6,33,730,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1484,3502
$GC,832,-1.10,-146.6,66.6,-9.1,38,837,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2900,3502
$GC,1159,-1.10,-146.6,89.2,-5.7,54,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,1468,-1.10,-146.6,105.6,-5.0,69,1472,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,1492,3502
$GC,1500,-1.10,-146.6,107.3,-4.4,70,1507,0.00,2.62,0.00,0.000,6,0.000,0.074,2166,2901,3502
$GC,1818,-1.10,-146.6,123.8,-5.2,86,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,2126,-1.10,-146.6,142.5,-5.8,101,2130,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1487,3502
$GC,2158,-1.10,-146.6,144.6,-6.4,102,2165,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2903,3502
$GC,2473,-1.10,-146.6,163.9,-6.1,118,2478,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1486,3502
$GC,2506,-1.10,-146.6,166.4,-7.2,119,2512,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2907,3502
$GC,2821,-1.10,-146.6,189.9,-6.9,135,2826,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1490,3502
$GC,2861,-1.10,-146.6,193.1,-8.8,137,2865,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2900,3502
$GC,3187,-1.10,-146.6,215.3,-5.5,153,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,3496,-1.10,-146.6,234.5,-6.8,168,3500,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1491,3502
$GC,3551,-1.10,-146.6,238.1,-6.9,170,3557,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2907,3502
$GC,3866,-1.10,-146.6,259.2,-6.9,186,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,4175,-1.10,-146.6,281.9,-7.6,201,4180,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1491,3502
$GC,4247,-1.10,-146.6,287.4,-7.0,204,4252,0.00,2.67,0.00,0.000,6,0.000,0.080,2166,2900,3502
$GC,4563,-1.10,-146.6,308.6,-6.7,219,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,4872,-1.10,-146.6,328.0,-5.6,234,4877,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1485,3502
$GC,4922,-1.10,-146.6,331.0,-5.5,236,4927,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2903,3502
$GC,5238,-1.10,-146.6,348.3,-5.6,251,5242,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1484,3502
$GC,5270,-1.10,-146.6,350.3,-6.4,252,5276,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2908,3502
$GC,5586,-1.10,-146.6,372.8,-7.8,268,5590,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1489,3502
$GC,5624,-1.10,-146.6,376.0,-8.3,270,5629,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2900,3502
$GC,5950,-1.10,-146.6,399.9,-7.2,286,5955,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3502
$GC,5988,-1.10,-146.6,402.5,-6.9,287,5994,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2902,3502
$GC,6303,-1.10,-146.6,424.6,-7.0,303,6307,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1488,3502
$GC,6374,-1.10,-146.6,429.5,-6.8,306,6379,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2908,3502
$GC,6693,-1.10,-146.6,450.7,-6.8,321,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,7000,-1.10,-146.6,472.9,-7.1,336,7004,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1480,3502
$GC,7061,-1.10,-146.6,477.4,-7.0,339,7066,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2909,3502
$GC,7390,-1.10,-146.6,500.5,-7.2,355,7394,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1480,3502
$GC,7478,-1.10,-146.6,506.9,-6.4,359,7482,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2901,3502
$GC,7802,-1.10,-146.6,525.4,-5.1,375,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,8109,-1.10,-146.6,542.4,-5.1,390,8113,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1477,3502
$GC,8141,-1.10,-146.6,544.2,-6.0,391,8148,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2901,3502
$STATE,8372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8372,begin apogee
$GC,8379,-0.42,0.0,557.5,6.1,403,8507,0.75,0.00,124.18,1.189,6,0.090,0.000,2317,2100,2901
$STATE,8507,end apogee,CONTROL_FINISHED_OK
$STATE,8507,begin climb
$GC,8510,1.10,146.6,561.8,0.0,409,8639,1.55,2.62,119.97,1.183,4,0.056,0.054,2650,684,2303
$GC,8892,1.10,146.6,545.8,6.3,426,8898,0.00,2.50,0.00,0.000,6,0.000,0.036,2650,2118,2302
$GC,9207,1.13,168.9,527.4,5.4,442,9232,0.00,2.60,19.67,1.147,4,0.000,0.065,2650,3500,2212
$GC,9282,1.13,168.9,523.0,6.3,445,9289,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2085,2211
$GC,9598,1.13,168.9,503.2,6.9,461,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2085,2211
$GC,9907,1.15,182.2,484.1,5.6,476,9928,0.00,2.75,11.98,1.092,4,0.000,0.069,2650,3500,2158
$GC,10053,1.18,209.0,475.9,5.3,482,10085,0.00,2.47,23.80,1.132,6,0.000,0.038,2650,2100,2049
$GC,10394,1.21,232.9,457.3,5.3,499,10421,0.10,2.72,20.90,1.121,4,0.055,0.074,2679,3498,1951
$GC,10465,1.21,232.9,452.6,6.6,502,10469,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,2101,1950
$GC,10786,1.21,232.9,428.6,8.1,518,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2101,1950
$GC,11095,1.21,232.9,401.5,9.3,533,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,1950
$GC,11405,1.21,232.9,374.2,8.8,548,11409,0.00,2.67,0.00,0.000,4,0.000,0.077,2679,3501,1950
$GC,11443,1.21,232.9,370.9,8.8,550,11447,0.00,2.47,0.00,0.000,6,0.000,0.045,2679,2101,1950
$GC,11769,1.21,232.9,345.4,8.8,566,11774,0.00,2.65,0.00,0.000,4,0.000,0.077,2679,3501,1950
$GC,11831,1.21,232.9,339.7,9.2,569,11835,0.00,2.47,0.00,0.000,6,0.000,0.046,2680,2102,1950
$GC,12156,1.21,232.9,310.6,8.4,585,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2102,1950
$GC,12465,1.21,232.9,286.8,7.9,600,12470,0.00,2.65,0.00,0.000,4,0.000,0.077,2679,3499,1950
$GC,12515,1.21,232.9,282.8,7.5,602,12519,0.00,2.50,0.00,0.000,6,0.000,0.049,2679,2093,1950
$GC,12836,1.21,232.9,257.7,8.3,618,12840,0.00,2.67,0.00,0.000,4,0.000,0.077,2679,3502,1950
$GC,12868,1.21,232.9,255.2,8.0,619,12874,0.00,2.47,0.00,0.000,6,0.000,0.048,2680,2102,1950
$GC,13183,1.21,232.9,228.9,8.6,635,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2101,1950
$GC,13492,1.21,232.9,200.7,8.8,650,13497,0.00,2.65,0.00,0.000,4,0.000,0.077,2679,3499,1951
$GC,13536,1.21,232.9,196.6,9.9,652,13541,0.00,2.50,0.00,0.000,6,0.000,0.050,2679,2096,1951
$GC,13863,1.21,232.9,171.6,7.1,668,13864,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2096,1951
$GC,14172,1.21,237.2,151.1,5.9,683,14183,0.00,2.70,5.47,0.769,4,0.000,0.078,2679,3501,1933
$GC,14244,1.21,237.2,146.2,6.3,686,14249,0.00,2.50,0.00,0.000,6,0.000,0.051,2679,2099,1932
$GC,14560,1.21,237.2,123.8,8.1,701,14564,0.00,2.67,0.00,0.000,4,0.000,0.077,2679,3506,1933
$GC,14592,1.21,237.2,121.1,8.0,702,14599,0.00,2.53,0.00,0.000,6,0.000,0.052,2679,2109,1933
$GC,14909,1.21,237.2,93.7,8.5,718,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2109,1933
$GC,15217,1.21,237.2,64.7,10.0,733,15221,0.00,2.62,0.00,0.000,4,0.000,0.076,2680,3499,1933
$GC,15271,1.21,237.2,59.2,9.5,735,15278,0.00,2.53,0.00,0.000,6,0.000,0.051,2679,2101,1933
$GC,15588,1.21,237.2,29.1,10.2,751,15592,0.00,2.65,0.00,0.000,4,0.000,0.075,2679,3502,1933
$GC,15619,1.21,237.2,26.2,7.7,752,15626,0.00,2.50,0.00,0.000,6,0.000,0.051,2679,2092,1933
$STATE,15935,end climb,SURFACE_DEPTH_REACHED
$STATE,15935,begin surface coast
$FINISH,-0.9,1.014118
$STATE,15955,end surface coast,CONTROL_FINISHED_OK
$STATE,15955,begin surface
$SM_CCo,15978,265.15,0.779,2,0,572,571.30
$SM_GC,-0.55,0.00,0.00,265.15,0.000,0.000,0.779,47,2886,572,-10.87,-0.40,571.30
$IRIDIUM_FIX,6327.46,-1429.44,301207,070751
$TT8_MAMPS,0.029146
$HUMID,2009
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.4,75.0
$24V_AH,23.4,44.071
$10V_AH,10.1,21.558
$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,25.850,154.775,325.975,265.150,0.000,78.264,94.224,247.394,5.000,0.000,0.000,14.908,1426.466,12221.661,785.217,1763.250,665.534,33.373,1678.199,0.000,1737.052,0.000,32.800
$DEVICE_MAMPS,156.468,80.535,1188.850,779.272,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.930,535.408,523.831,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37908,769
$CFSIZE,260165632,243961856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,2,0
$GPS,301207,080938,6402.686,-1247.513,33,1.3,33,-12.3