version: 66.02
glider: 103
mission: 7
dive: 259
start: 1 1 108 0 41 43
data:
$ID,103
$MISSION,7
$DIVE,259
$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,-67252.82
$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,22
$R_STBD_OVSHOOT,9
$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
$GPS1,002008,6400.027,-1231.124,41,1.9,41,-12.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.36
$_SM_ANGLEo,-42.6
$GPS2,004040,6400.254,-1230.683,12,5.8,31,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.005
$KALMAN_X,-191354.0,-416.0,-1643.3,-14881.7,10240.9
$KALMAN_Y,-224228.0,5.3,-526.1,495627.2,210.5
$MHEAD_RNG_PITCHd_Wd,280.7,23806,-11.1,-6.000
$D_GRID,509
$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,21,-1.10,-146.6,0.0,0.0,0,125,0.00,0.00,-101.38,0.000,2,0.000,0.000,44,2891,3398
$GC,128,-1.10,-146.6,3.8,-4.8,5,150,11.95,2.60,-1.77,0.000,4,0.158,0.075,2164,1494,3501
$GC,369,-1.10,-146.6,39.9,-14.1,15,375,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2904,3501
$GC,684,-1.10,-146.6,69.1,-6.4,31,689,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1485,3501
$GC,724,-1.10,-146.6,72.1,-7.4,33,728,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2901,3501
$GC,1050,-1.10,-146.6,98.6,-8.0,49,1055,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1492,3501
$GC,1077,-1.10,-146.6,100.8,-7.8,50,1081,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2902,3502
$GC,1399,-1.10,-146.6,118.1,-5.9,66,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,1708,-1.10,-146.6,139.4,-8.2,81,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,2017,-1.10,-146.6,169.0,-8.7,96,2021,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1486,3501
$GC,2043,-1.10,-146.6,171.3,-8.4,97,2048,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2900,3501
$GC,2365,-1.10,-146.6,196.2,-8.4,113,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,2674,-1.10,-146.6,227.4,-9.2,128,2678,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3501
$GC,2717,-1.10,-146.6,231.0,-7.5,130,2721,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2904,3501
$GC,3045,-1.10,-146.6,247.5,-5.9,146,3048,0.00,1.70,0.00,0.000,4,0.000,0.100,2165,3784,3501
$GC,3105,-1.10,-146.6,251.7,-7.2,148,3112,0.00,1.58,0.00,0.000,6,0.000,0.051,2165,2907,3501
$GC,3421,-1.10,-146.6,270.7,-7.4,164,3425,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1486,3501
$GC,3476,-1.10,-146.6,274.0,-5.7,166,3482,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2905,3501
$GC,3791,-1.10,-146.6,293.7,-6.9,182,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3501
$GC,4100,-1.10,-146.6,314.9,-7.0,197,4104,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1481,3501
$GC,4143,-1.10,-146.6,317.9,-6.3,199,4148,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2900,3501
$GC,4464,-1.10,-146.6,339.1,-7.8,215,4468,0.00,1.73,0.00,0.000,4,0.000,0.098,2164,3782,3501
$GC,4519,-1.10,-146.6,342.7,-7.2,217,4523,0.00,1.58,0.00,0.000,6,0.000,0.050,2165,2894,3501
$GC,4841,-1.10,-146.6,363.1,-6.1,233,4845,0.00,2.55,0.00,0.000,4,0.000,0.066,2165,1487,3501
$GC,4895,-1.10,-146.6,366.7,-6.8,235,4902,0.00,2.62,0.00,0.000,6,0.000,0.072,2165,2900,3502
$GC,5211,-1.10,-146.6,386.0,-6.2,251,5215,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1484,3501
$GC,5243,-1.10,-146.6,388.3,-6.8,252,5249,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2902,3501
$GC,5558,-1.10,-146.6,411.7,-7.9,268,5563,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1486,3501
$GC,5602,-1.10,-146.6,415.0,-7.9,270,5607,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2908,3501
$GC,5924,-1.10,-146.6,434.8,-6.5,286,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3501
$GC,6233,-1.10,-146.6,455.7,-6.2,301,6236,0.00,1.67,0.00,0.000,4,0.000,0.096,2165,3786,3502
$GC,6440,-1.10,-146.6,470.1,-8.3,310,6444,0.00,1.55,0.00,0.000,6,0.000,0.044,2165,2900,3501
$GC,6767,-1.10,-146.6,499.0,-9.2,326,6771,0.00,2.50,0.00,0.000,4,0.000,0.054,2165,1486,3501
$GC,6810,-1.10,-146.6,502.6,-7.7,328,6814,0.00,2.58,0.00,0.000,6,0.000,0.061,2165,2904,3501
$STATE,6887,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6887,begin apogee
$GC,6895,-0.42,0.0,507.9,6.6,332,7021,0.75,0.00,123.45,1.127,6,0.082,0.000,2317,2091,2901
$STATE,7022,end apogee,CONTROL_FINISHED_OK
$STATE,7022,begin climb
$GC,7024,1.10,146.6,512.1,0.0,338,7152,1.52,2.67,119.40,1.101,4,0.054,0.058,2648,3516,2303
$GC,7226,1.10,146.6,508.0,7.7,347,7232,0.00,2.47,0.00,0.000,6,0.000,0.034,2648,2093,2303
$GC,7542,1.12,161.6,488.1,5.6,363,7561,0.00,0.00,14.00,1.009,6,0.000,0.000,2648,2093,2242
$GC,7871,1.22,242.6,473.0,3.8,379,7945,0.12,2.75,66.32,1.112,4,0.042,0.068,2689,3518,1911
$GC,7979,1.22,242.6,466.1,7.6,384,7983,0.00,2.50,0.00,0.000,6,0.000,0.039,2689,2100,1910
$GC,8305,1.22,242.6,434.6,9.9,400,8310,0.00,2.65,0.00,0.000,4,0.000,0.068,2689,3514,1910
$GC,8361,1.22,242.6,428.9,10.5,402,8367,0.00,2.50,0.00,0.000,6,0.000,0.043,2689,2100,1909
$GC,8676,1.22,242.6,400.5,8.9,418,8680,0.00,2.65,0.00,0.000,4,0.000,0.071,2689,3516,1909
$GC,8725,1.22,242.6,395.9,9.3,420,8729,0.00,2.53,0.00,0.000,6,0.000,0.045,2689,2093,1909
$GC,9040,1.22,242.6,367.2,9.2,435,9044,0.00,2.53,0.00,0.000,4,0.000,0.058,2689,695,1909
$GC,9090,1.22,242.6,362.1,9.6,437,9094,0.00,2.47,0.00,0.000,6,0.000,0.041,2689,2105,1909
$GC,9411,1.22,242.6,334.1,9.3,453,9415,0.00,2.62,0.00,0.000,4,0.000,0.074,2689,3510,1909
$GC,9443,1.22,242.6,330.9,9.6,454,9449,0.00,2.50,0.00,0.000,6,0.000,0.047,2689,2100,1908
$GC,9758,1.22,242.6,302.7,9.4,470,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,1909
$GC,10067,1.22,242.6,273.4,9.1,485,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,1909
$GC,10377,1.22,242.6,243.6,10.0,500,10381,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3515,1909
$GC,10409,1.22,242.6,240.3,8.9,501,10415,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2096,1909
$GC,10724,1.22,242.6,208.1,10.2,517,10729,0.00,2.53,0.00,0.000,4,0.000,0.060,2689,689,1909
$GC,10745,1.22,242.6,205.8,10.6,518,10750,0.00,2.47,0.00,0.000,6,0.000,0.044,2689,2099,1909
$GC,11073,1.22,242.6,173.2,9.5,534,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,1909
$GC,11382,1.22,242.6,146.1,8.9,549,11386,0.00,2.65,0.00,0.000,4,0.000,0.076,2689,3511,1909
$GC,11421,1.22,242.6,142.7,9.4,551,11425,0.00,2.50,0.00,0.000,6,0.000,0.048,2689,2097,1909
$GC,11747,1.22,242.6,116.5,8.8,567,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,1909
$GC,12056,1.22,242.6,83.6,11.8,582,12061,0.00,2.67,0.00,0.000,4,0.000,0.076,2689,3509,1908
$GC,12100,1.22,242.6,78.4,12.1,584,12104,0.00,2.50,0.00,0.000,6,0.000,0.051,2689,2100,1909
$GC,12421,1.22,242.6,42.7,10.7,600,12425,0.00,2.53,0.00,0.000,4,0.000,0.060,2689,695,1909
$GC,12475,1.22,242.6,38.0,8.3,602,12483,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,2096,1909
$GC,12791,1.22,242.6,8.3,11.0,618,12795,0.00,2.58,0.00,0.000,4,0.000,0.064,2689,699,1909
$GC,12830,1.22,242.6,4.9,7.4,620,12835,0.00,2.47,0.00,0.000,6,0.000,0.046,2689,2110,1909
$STATE,12887,end climb,SURFACE_DEPTH_REACHED
$STATE,12887,begin surface coast
$FINISH,-0.9,1.027351
$STATE,12909,end surface coast,CONTROL_FINISHED_OK
$STATE,12909,begin surface
$SM_CCo,12931,258.40,0.770,2,0,572,571.30
$SM_GC,-0.47,0.00,0.00,258.40,0.000,0.000,0.770,30,2898,572,-10.95,-0.06,571.30
$IRIDIUM_FIX,6332.30,-1236.52,010108,040425
$TT8_MAMPS,0.028379
$HUMID,2000
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.7,91.1
$24V_AH,23.4,45.941
$10V_AH,10.1,22.330
$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,25.875,131.775,323.175,258.400,0.000,194.511,194.845,433.837,3.750,0.000,0.000,31.912,1166.344,10002.022,753.906,1450.813,1075.067,33.386,1500.121,0.000,1409.966,0.000,23.424
$DEVICE_MAMPS,158.002,102.011,1126.723,770.068,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.785,435.569,436.408,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31696,624
$CFSIZE,260165632,243425280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,010108,042301,6401.040,-1229.411,37,1.6,43,-12.1