version: 66.02
glider: 103
mission: 7
dive: 262
start: 1 1 108 11 53 37
data:
$ID,103
$MISSION,7
$DIVE,262
$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,-67301.164
$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,20
$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
$GPS1,114707,6402.198,-1233.277,29,1.2,29,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-44.5
$GPS2,115233,6402.271,-1233.235,16,1.3,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,0.036
$KALMAN_X,-182363.4,-1546.1,-1782.1,-24856.4,10096.8
$KALMAN_Y,-222912.7,844.3,-403.1,497068.4,513.0
$MHEAD_RNG_PITCHd_Wd,291.6,22133,-11.1,-6.000
$D_GRID,519
$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,22,-1.10,-146.6,0.0,0.0,0,130,0.00,0.00,-105.38,0.000,6,0.000,0.000,45,2904,3500
$GC,133,-1.10,-146.6,2.9,-3.9,5,154,11.98,2.62,0.00,0.000,4,0.160,0.056,2164,1484,3502
$GC,389,-1.10,-146.6,39.3,-5.9,16,394,0.00,2.75,0.00,0.000,6,0.000,0.085,2164,2907,3502
$GC,706,-1.10,-146.6,73.3,-14.8,31,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,1015,-1.10,-146.6,93.5,-4.4,46,1019,0.00,2.65,0.00,0.000,4,0.000,0.071,2164,1490,3502
$GC,1078,-1.10,-146.6,97.0,-7.0,49,1083,0.00,2.70,0.00,0.000,6,0.000,0.078,2164,2903,3502
$GC,1406,-1.10,-146.6,114.6,-6.1,65,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,1715,-1.10,-146.6,129.4,-5.4,80,1719,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1487,3502
$GC,1755,-1.10,-146.6,131.6,-5.3,82,1759,0.00,2.70,0.00,0.000,6,0.000,0.079,2164,2903,3502
$GC,2080,-1.10,-146.6,154.8,-6.4,98,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,2390,-1.10,-146.6,174.3,-5.8,113,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,2699,-1.10,-146.6,196.8,-7.4,128,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,3008,-1.10,-146.6,220.5,-8.3,143,3012,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1481,3502
$GC,3040,-1.10,-146.6,222.7,-6.3,144,3046,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2903,3502
$GC,3356,-1.10,-146.6,247.4,-8.4,160,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,3665,-1.10,-146.6,273.5,-8.3,175,3669,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1486,3502
$GC,3697,-1.10,-146.6,276.5,-9.3,176,3703,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2899,3502
$GC,4012,-1.10,-146.6,298.8,-6.1,192,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,4321,-1.10,-146.6,323.9,-8.5,207,4326,0.00,2.55,0.00,0.000,4,0.000,0.061,2164,1487,3502
$GC,4365,-1.10,-146.6,328.0,-9.0,209,4370,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2901,3502
$GC,4686,-1.10,-146.6,353.8,-9.1,225,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,4995,-1.10,-146.6,381.9,-9.1,240,5000,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1489,3502
$GC,5028,-1.10,-146.6,385.0,-9.1,241,5034,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2901,3502
$GC,5344,-1.10,-146.6,407.4,-5.4,257,5348,0.00,1.70,0.00,0.000,4,0.000,0.098,2164,3787,3502
$GC,5389,-1.10,-146.6,410.2,-6.0,259,5393,0.00,1.58,0.00,0.000,6,0.000,0.049,2164,2888,3502
$GC,5721,-1.10,-146.6,429.7,-6.3,275,5726,0.00,2.55,0.00,0.000,4,0.000,0.065,2164,1483,3502
$GC,5805,-1.10,-146.6,435.2,-6.7,279,5810,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2907,3502
$GC,6132,-1.10,-146.6,456.5,-7.0,295,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,6442,-1.10,-146.6,480.3,-7.9,310,6446,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1480,3502
$GC,6490,-1.10,-146.6,484.2,-8.1,312,6495,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,6811,-1.10,-146.6,506.4,-6.3,328,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$STATE,7036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7036,begin apogee
$GC,7043,-0.42,0.0,519.1,5.1,339,7171,0.77,0.00,123.93,1.135,6,0.097,0.000,2317,2093,2901
$STATE,7171,end apogee,CONTROL_FINISHED_OK
$STATE,7171,begin climb
$GC,7174,1.10,146.6,521.2,0.0,345,7301,1.55,2.58,118.97,1.118,4,0.061,0.051,2647,691,2303
$GC,7380,1.11,151.1,512.4,5.9,355,7391,0.00,2.47,5.50,0.815,6,0.000,0.033,2647,2120,2285
$GC,7706,1.11,151.1,492.6,6.5,371,7711,0.00,2.53,0.00,0.000,4,0.000,0.061,2647,3499,2284
$GC,7907,1.11,151.1,477.8,7.5,380,7912,0.00,2.42,0.00,0.000,6,0.000,0.034,2647,2096,2284
$GC,8235,1.13,165.4,457.5,5.6,396,8256,0.00,2.60,13.27,1.001,4,0.000,0.054,2647,700,2226
$GC,8312,1.13,165.4,452.2,7.4,399,8316,0.00,2.45,0.00,0.000,6,0.000,0.036,2647,2089,2226
$GC,8633,1.13,165.4,430.9,6.9,415,8637,0.00,2.62,0.00,0.000,4,0.000,0.068,2647,3508,2226
$GC,8717,1.13,165.4,424.5,7.9,419,8721,0.00,2.45,0.00,0.000,6,0.000,0.038,2647,2103,2226
$GC,9042,1.13,165.4,401.0,7.6,435,9047,0.00,2.60,0.00,0.000,4,0.000,0.065,2647,3504,2225
$GC,9086,1.13,165.4,397.4,7.5,437,9090,0.00,2.45,0.00,0.000,6,0.000,0.039,2647,2100,2225
$GC,9413,1.13,165.4,372.1,7.9,453,9417,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3504,2225
$GC,9462,1.13,165.4,368.5,6.8,455,9466,0.00,2.47,0.00,0.000,6,0.000,0.043,2647,2100,2225
$GC,9777,1.13,165.4,346.4,6.3,470,9781,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3504,2225
$GC,9820,1.13,165.4,343.4,7.6,472,9824,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2100,2225
$GC,10147,1.13,165.4,322.2,6.8,488,10152,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3503,2225
$GC,10209,1.13,165.4,317.8,7.2,491,10214,0.00,2.47,0.00,0.000,6,0.000,0.045,2647,2101,2225
$GC,10535,1.13,165.4,296.1,6.7,507,10540,0.00,2.62,0.00,0.000,4,0.000,0.070,2647,3506,2225
$GC,10575,1.13,165.4,293.1,8.2,509,10579,0.00,2.47,0.00,0.000,6,0.000,0.045,2647,2100,2225
$GC,10900,1.13,165.4,271.2,6.5,525,10905,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3503,2225
$GC,10932,1.13,165.4,269.1,6.5,526,10939,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2098,2225
$GC,11248,1.13,165.4,247.4,6.9,542,11252,0.00,2.55,0.00,0.000,4,0.000,0.062,2647,688,2225
$GC,11292,1.13,165.4,244.4,6.8,544,11296,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2087,2225
$GC,11619,1.15,187.7,224.1,5.4,560,11644,0.00,2.70,19.42,0.914,4,0.000,0.070,2647,3508,2135
$GC,11701,1.22,242.0,220.2,4.5,563,11751,0.12,2.53,44.47,0.920,6,0.045,0.047,2689,2102,1914
$GC,12078,1.22,242.0,185.2,9.7,582,12082,0.00,2.58,0.00,0.000,4,0.000,0.061,2689,691,1913
$GC,12121,1.22,242.0,180.5,10.6,584,12126,0.00,2.50,0.00,0.000,6,0.000,0.045,2689,2097,1913
$GC,12442,1.22,242.0,147.8,10.4,600,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,1913
$GC,12752,1.22,242.0,125.3,6.5,615,12756,0.00,2.65,0.00,0.000,4,0.000,0.077,2689,3511,1913
$GC,12796,1.22,242.0,121.2,9.1,617,12800,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2095,1913
$GC,13116,1.22,242.0,89.4,10.5,633,13120,0.00,2.55,0.00,0.000,4,0.000,0.064,2689,698,1913
$GC,13165,1.22,242.0,84.0,10.0,635,13169,0.00,2.47,0.00,0.000,6,0.000,0.044,2689,2103,1913
$GC,13487,1.22,242.0,51.7,11.3,651,13491,0.00,2.65,0.00,0.000,4,0.000,0.077,2689,3513,1913
$GC,13526,1.22,242.0,47.2,11.5,653,13530,0.00,2.50,0.00,0.000,6,0.000,0.051,2689,2103,1913
$GC,13852,1.22,242.0,13.9,9.0,669,13856,0.00,2.55,0.00,0.000,4,0.000,0.063,2689,697,1913
$GC,13914,1.22,242.0,8.8,9.8,672,13918,0.00,2.50,0.00,0.000,6,0.000,0.050,2689,2098,1913
$STATE,13990,end climb,SURFACE_DEPTH_REACHED
$STATE,13990,begin surface coast
$FINISH,-0.2,1.027349
$STATE,14012,end surface coast,CONTROL_FINISHED_OK
$STATE,14012,begin surface
$SM_CCo,14035,260.15,0.758,2,0,572,571.30
$SM_GC,-0.46,0.00,0.00,260.15,0.000,0.000,0.758,44,2899,572,-10.88,-0.06,571.30
$IRIDIUM_FIX,6337.14,-1226.94,010108,111105
$TT8_MAMPS,0.029146
$HUMID,1993
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.8,86.4
$24V_AH,23.4,46.489
$10V_AH,10.2,22.534
$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,25.950,140.150,325.575,260.150,0.000,40.100,40.725,142.266,4.000,0.000,0.000,17.971,1272.997,10603.477,746.573,1583.856,442.913,33.370,1558.647,0.000,1558.464,0.000,25.024
$DEVICE_MAMPS,159.536,98.176,1135.160,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.587,475.644,465.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34857,677
$CFSIZE,260165632,243286016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,2,0
$GPS,010108,155326,6404.207,-1230.743,48,1.6,48,-12.2