version: 66.02
glider: 103
mission: 7
dive: 250
start: 12 30 107 8 16 24
data:
$ID,103
$MISSION,7
$DIVE,250
$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,-67044.82
$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,6
$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
$GPS1,080938,6402.686,-1247.513,33,1.3,33,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-47.7
$GPS2,081520,6402.690,-1247.683,11,1.5,16,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,0.000
$KALMAN_X,-237680.6,-1347.7,-1999.9,17742.9,8310.0
$KALMAN_Y,-213893.1,229.3,-928.1,489965.4,1951.2
$MHEAD_RNG_PITCHd_Wd,282.4,11172,-11.1,-6.000
$D_GRID,551
$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,-146.6,0.0,0.0,0,129,0.00,0.00,-105.47,0.000,6,0.000,0.000,47,2888,3500
$GC,132,-1.10,-146.6,3.0,-3.9,5,153,11.98,2.60,0.00,0.000,4,0.160,0.058,2164,1490,3502
$GC,403,-1.10,-146.6,37.4,-10.2,17,407,0.00,2.70,0.00,0.000,6,0.000,0.079,2164,2902,3502
$GC,730,-1.10,-146.6,65.5,-7.5,33,734,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1484,3502
$GC,779,-1.10,-146.6,68.5,-6.1,35,783,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2902,3502
$GC,1100,-1.10,-146.6,100.4,-8.9,51,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,1410,-1.10,-146.6,124.7,-9.1,66,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,1719,-1.10,-146.6,146.8,-8.3,81,1723,0.00,2.65,0.00,0.000,4,0.000,0.073,2165,1485,3502
$GC,1758,-1.10,-146.6,149.5,-7.1,83,1763,0.00,2.70,0.00,0.000,6,0.000,0.081,2164,2902,3502
$GC,2083,-1.10,-146.6,170.0,-6.0,99,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,2393,-1.10,-146.6,188.3,-6.1,114,2397,0.00,2.62,0.00,0.000,4,0.000,0.073,2164,1492,3502
$GC,2442,-1.10,-146.6,191.5,-6.9,116,2446,0.00,2.67,0.00,0.000,6,0.000,0.081,2165,2900,3502
$GC,2758,-1.10,-146.6,213.5,-7.4,131,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,3067,-1.10,-146.6,236.2,-7.0,146,3071,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1490,3502
$GC,3121,-1.10,-146.6,240.1,-7.0,148,3128,0.00,2.67,0.00,0.000,6,0.000,0.079,2164,2901,3502
$GC,3436,-1.10,-146.6,261.7,-7.1,164,3441,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1490,3502
$GC,3471,-1.10,-146.6,264.0,-7.2,165,3477,0.00,2.67,0.00,0.000,6,0.000,0.078,2164,2900,3502
$GC,3786,-1.10,-146.6,285.3,-6.5,181,3790,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1488,3502
$GC,3812,-1.10,-146.6,287.3,-6.9,182,3817,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2899,3502
$GC,4134,-1.10,-146.6,309.8,-7.1,198,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,4443,-1.10,-146.6,332.5,-7.2,213,4448,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1491,3502
$GC,4482,-1.10,-146.6,335.3,-6.9,215,4487,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2900,3502
$GC,4809,-1.10,-146.6,357.3,-6.2,231,4813,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1488,3502
$GC,4887,-1.10,-146.6,362.0,-5.5,234,4893,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2900,3502
$GC,5201,-1.10,-146.6,380.2,-6.6,250,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,5511,-1.10,-146.6,400.0,-6.9,265,5518,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1483,3502
$GC,5574,-1.10,-146.6,404.5,-7.1,267,5580,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2902,3502
$GC,5892,-1.10,-146.6,425.2,-6.8,283,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,6199,-1.10,-146.6,443.3,-5.2,298,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,6508,-1.10,-146.6,461.3,-5.8,313,6513,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1482,3502
$GC,6563,-1.10,-146.6,465.0,-6.7,315,6570,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2898,3502
$GC,6880,-1.10,-146.6,488.9,-7.3,331,6884,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1480,3502
$GC,6911,-1.10,-146.6,491.3,-7.1,332,6918,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2908,3502
$GC,7227,-1.10,-146.6,507.7,-4.3,348,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$GC,7538,-1.10,-146.6,525.2,-6.7,363,7542,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1484,3502
$GC,7654,-1.10,-146.6,533.0,-6.1,368,7658,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2903,3502
$STATE,7926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7926,begin apogee
$GC,7933,-0.42,0.0,551.8,7.4,381,8061,0.75,0.00,124.40,1.189,6,0.087,0.000,2317,2098,2901
$STATE,8062,end apogee,CONTROL_FINISHED_OK
$STATE,8062,begin climb
$GC,8064,1.10,146.6,557.8,0.0,387,8195,1.55,2.62,120.45,1.164,4,0.055,0.054,2651,687,2303
$GC,8314,1.16,189.6,554.9,4.8,398,8361,0.00,2.50,36.95,1.120,6,0.000,0.035,2651,2121,2128
$GC,8671,1.16,193.0,534.6,5.9,416,8680,0.00,2.60,4.57,0.823,4,0.000,0.067,2651,3505,2114
$GC,8725,1.16,193.0,530.8,6.7,418,8731,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2093,2114
$GC,9040,1.16,193.0,508.2,6.8,434,9045,0.00,2.62,0.00,0.000,4,0.000,0.068,2651,3501,2113
$GC,9080,1.16,193.0,505.5,6.9,436,9085,0.00,2.47,0.00,0.000,6,0.000,0.040,2650,2096,2113
$GC,9407,1.24,260.9,490.2,4.1,452,9469,0.15,2.75,56.28,1.157,4,0.043,0.071,2700,3499,1837
$GC,9503,1.24,260.9,484.8,6.4,456,9507,0.00,2.47,0.00,0.000,6,0.000,0.039,2700,2100,1836
$GC,9818,1.24,260.9,458.7,9.5,471,9822,0.00,2.53,0.00,0.000,4,0.000,0.056,2700,698,1836
$GC,9869,1.24,260.9,453.1,11.3,473,9874,0.00,2.45,0.00,0.000,6,0.000,0.039,2701,2092,1836
$GC,10184,1.24,260.9,416.5,11.9,488,10189,0.00,2.65,0.00,0.000,4,0.000,0.074,2701,3505,1835
$GC,10247,1.24,260.9,409.4,12.2,491,10251,0.00,2.50,0.00,0.000,6,0.000,0.045,2701,2102,1835
$GC,10572,1.24,260.9,378.4,8.4,507,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2102,1835
$GC,10881,1.24,260.9,347.2,11.3,522,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2102,1835
$GC,11191,1.24,260.9,320.0,7.7,537,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2102,1834
$GC,11500,1.24,260.9,292.4,9.1,552,11505,0.00,2.67,0.00,0.000,4,0.000,0.078,2700,3505,1835
$GC,11533,1.24,260.9,288.8,10.5,553,11539,0.00,2.50,0.00,0.000,6,0.000,0.045,2700,2094,1835
$GC,11848,1.24,260.9,255.0,11.7,569,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2094,1835
$GC,12158,1.24,260.9,220.3,11.3,584,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2094,1835
$GC,12467,1.24,260.9,183.6,12.2,599,12471,0.00,2.65,0.00,0.000,4,0.000,0.074,2700,3504,1836
$GC,12516,1.24,260.9,177.1,13.3,601,12520,0.00,2.50,0.00,0.000,6,0.000,0.049,2701,2100,1835
$GC,12837,1.24,260.9,149.3,8.1,617,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2100,1835
$GC,13148,1.24,260.9,122.6,8.3,632,13152,0.00,2.67,0.00,0.000,4,0.000,0.077,2700,3509,1835
$GC,13174,1.24,260.9,120.2,8.8,633,13179,0.00,2.53,0.00,0.000,6,0.000,0.051,2701,2095,1835
$GC,13490,1.24,260.9,91.5,9.5,648,13491,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2095,1835
$GC,13799,1.24,260.9,63.4,8.9,663,13801,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2094,1836
$GC,14108,1.24,260.9,38.1,8.1,678,14113,0.00,2.60,0.00,0.000,4,0.000,0.074,2701,694,1836
$GC,14216,1.26,276.7,30.5,5.6,683,14238,0.00,2.47,13.73,0.819,6,0.000,0.046,2700,2095,1773
$STATE,14524,end climb,SURFACE_DEPTH_REACHED
$STATE,14524,begin surface coast
$FINISH,-1.0,1.027386
$STATE,14548,end surface coast,CONTROL_FINISHED_OK
$STATE,14549,begin surface
$SM_CCo,14570,228.62,0.812,0,0,571,571.30
$SM_GC,-0.57,0.00,0.00,228.62,0.000,0.000,0.812,43,2897,571,-10.89,-0.08,571.30
$IRIDIUM_FIX,6337.14,-1243.46,301207,070700
$TT8_MAMPS,0.029146
$HUMID,2036
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,1
$24V_AH,23.4,44.252
$10V_AH,10.1,21.629
$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,26.150,122.950,356.375,228.625,0.000,37.842,36.311,154.875,4.500,0.000,0.000,16.666,1282.336,11143.418,733.635,1549.557,447.172,33.373,1531.290,0.000,1526.343,0.000,28.471
$DEVICE_MAMPS,159.536,81.302,1188.850,812.253,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.257,485.066,465.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34818,699
$CFSIZE,260165632,243924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,301207,122451,6401.981,-1253.333,52,2.5,71,-12.4