version: 66.02
glider: 103
mission: 7
dive: 264
start: 1 1 108 20 1 47
data:
$ID,103
$MISSION,7
$DIVE,264
$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,-67347.234
$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,12
$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
$GPS1,195126,6406.019,-1227.647,41,1.9,41,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-48.7
$GPS2,200044,6406.025,-1227.337,13,1.8,30,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,-0.065
$KALMAN_X,-174678.1,308.9,269.0,-31295.3,4932.0
$KALMAN_Y,-217745.4,-77.7,-188.4,499558.1,1659.5
$MHEAD_RNG_PITCHd_Wd,264.8,28770,-11.1,-6.000
$D_GRID,484
$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,-102.07,0.000,2,0.000,0.000,47,2898,3362
$GC,129,-1.10,-146.6,3.0,-3.9,5,150,11.88,0.00,-2.62,0.000,6,0.156,0.000,2164,2898,3501
$GC,460,-1.10,-146.6,36.8,-7.6,21,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3501
$GC,768,-1.10,-146.6,57.8,-6.3,36,772,0.00,2.62,0.00,0.000,4,0.000,0.074,2165,1491,3501
$GC,811,-1.10,-146.6,60.6,-6.6,38,815,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2899,3501
$GC,1139,-1.10,-146.6,80.3,-5.5,54,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,1448,-1.10,-146.6,101.4,-7.4,69,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3501
$GC,1757,-1.10,-146.6,123.4,-6.7,84,1761,0.00,2.60,0.00,0.000,4,0.000,0.070,2165,1492,3501
$GC,1784,-1.10,-146.6,125.1,-6.0,85,1788,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2898,3501
$GC,2101,-1.10,-146.6,144.4,-6.6,100,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3501
$GC,2408,-1.10,-146.6,165.9,-6.5,115,2412,0.00,2.60,0.00,0.000,4,0.000,0.071,2165,1492,3501
$GC,2434,-1.10,-146.6,167.6,-6.0,116,2439,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2906,3501
$GC,2756,-1.10,-146.6,188.6,-7.1,132,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3501
$GC,3065,-1.10,-146.6,211.9,-6.9,147,3069,0.00,2.60,0.00,0.000,4,0.000,0.068,2164,1492,3501
$GC,3119,-1.10,-146.6,215.4,-6.9,149,3126,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2900,3501
$GC,3435,-1.10,-146.6,237.1,-6.8,165,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,3744,-1.10,-146.6,261.9,-8.0,180,3748,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1490,3501
$GC,3776,-1.10,-146.6,264.6,-8.3,181,3782,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2907,3501
$GC,4092,-1.10,-146.6,288.8,-7.2,197,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,4401,-1.10,-146.6,312.1,-8.2,212,4405,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1487,3501
$GC,4455,-1.10,-146.6,316.3,-7.5,214,4461,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2904,3501
$GC,4771,-1.10,-146.6,337.8,-6.6,230,4775,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1483,3501
$GC,4797,-1.10,-146.6,339.6,-6.6,231,4801,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3502
$GC,5118,-1.10,-146.6,359.6,-5.9,247,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3501
$GC,5428,-1.10,-146.6,377.8,-5.8,262,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,5737,-1.10,-146.6,397.2,-6.8,277,5741,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1481,3501
$GC,5791,-1.10,-146.6,401.2,-7.2,279,5798,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2908,3501
$GC,6107,-1.10,-146.6,423.0,-6.8,295,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3501
$GC,6417,-1.10,-146.6,443.9,-6.5,310,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3501
$GC,6726,-1.10,-146.6,467.4,-8.3,325,6730,0.00,2.55,0.00,0.000,4,0.000,0.053,2164,1486,3501
$GC,6765,-1.10,-146.6,470.6,-8.8,327,6769,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2906,3501
$STATE,6944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6944,begin apogee
$GC,6951,-0.42,0.0,484.4,7.5,336,7078,0.75,0.00,123.82,1.102,6,0.080,0.000,2317,2092,2901
$STATE,7079,end apogee,CONTROL_FINISHED_OK
$STATE,7079,begin climb
$GC,7081,1.10,146.6,489.7,0.0,342,7209,1.55,2.58,119.95,1.076,4,0.058,0.051,2650,691,2302
$GC,7300,1.14,175.2,485.6,5.2,352,7332,0.00,2.47,25.15,1.024,6,0.000,0.032,2650,2123,2186
$GC,7641,1.14,175.2,463.3,7.3,369,7645,0.00,2.53,0.00,0.000,4,0.000,0.063,2650,3497,2185
$GC,7826,1.14,175.2,449.2,8.2,377,7830,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2091,2184
$GC,8141,1.14,175.2,427.4,6.6,392,8146,0.00,2.62,0.00,0.000,4,0.000,0.065,2650,3499,2184
$GC,8230,1.14,175.2,421.3,6.4,396,8235,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2098,2184
$GC,8557,1.14,175.2,401.4,6.2,412,8561,0.00,2.60,0.00,0.000,4,0.000,0.066,2650,3496,2183
$GC,8618,1.14,175.2,397.1,6.9,415,8622,0.00,2.42,0.00,0.000,6,0.000,0.041,2650,2101,2183
$GC,8950,1.14,175.2,375.4,6.2,431,8955,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3496,2183
$GC,8990,1.14,175.2,373.0,6.1,433,8994,0.00,2.47,0.00,0.000,6,0.000,0.045,2650,2099,2183
$GC,9315,1.14,175.2,354.2,6.0,449,9320,0.00,2.62,0.00,0.000,4,0.000,0.070,2650,3498,2183
$GC,9387,1.14,175.2,349.5,6.1,452,9392,0.00,2.45,0.00,0.000,6,0.000,0.044,2650,2102,2183
$GC,9709,1.15,180.9,330.8,5.8,468,9719,0.00,2.65,5.68,0.824,4,0.000,0.069,2650,3503,2163
$GC,9797,1.15,180.9,325.5,6.4,472,9802,0.00,2.50,0.00,0.000,6,0.000,0.047,2650,2096,2163
$GC,10118,1.16,192.6,307.3,5.7,488,10131,0.00,0.00,11.52,0.927,6,0.000,0.000,2650,2096,2115
$GC,10427,1.16,192.6,290.1,6.4,503,10431,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3502,2115
$GC,10488,1.16,192.6,286.0,7.0,506,10493,0.00,2.47,0.00,0.000,6,0.000,0.045,2650,2102,2115
$GC,10815,1.16,192.6,264.5,6.3,522,10819,0.00,2.60,0.00,0.000,4,0.000,0.072,2650,3496,2115
$GC,10841,1.16,192.6,262.6,7.0,523,10846,0.00,2.47,0.00,0.000,6,0.000,0.045,2650,2097,2115
$GC,11156,1.16,192.6,239.4,7.3,538,11161,0.00,2.62,0.00,0.000,4,0.000,0.073,2650,3498,2115
$GC,11206,1.16,192.6,235.8,7.3,540,11210,0.00,2.47,0.00,0.000,6,0.000,0.046,2650,2099,2115
$GC,11521,1.16,192.6,214.1,7.0,555,11525,0.00,2.62,0.00,0.000,4,0.000,0.072,2650,3499,2115
$GC,11560,1.16,192.6,211.3,6.8,557,11564,0.00,2.47,0.00,0.000,6,0.000,0.045,2650,2096,2115
$GC,11885,1.16,192.6,188.8,7.1,573,11890,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3497,2115
$GC,11929,1.16,192.6,185.4,7.6,575,11934,0.00,2.45,0.00,0.000,6,0.000,0.044,2650,2100,2115
$GC,12250,1.16,192.6,162.3,6.7,591,12255,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3495,2115
$GC,12300,1.16,192.6,159.0,6.8,593,12304,0.00,2.47,0.00,0.000,6,0.000,0.047,2650,2094,2115
$GC,12616,1.16,192.6,137.4,6.9,608,12620,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3503,2115
$GC,12659,1.16,192.6,134.0,8.1,610,12663,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,2099,2115
$GC,12986,1.16,192.6,113.2,6.3,626,12990,0.00,2.62,0.00,0.000,4,0.000,0.072,2650,3499,2115
$GC,13030,1.16,192.6,110.0,7.1,628,13034,0.00,2.50,0.00,0.000,6,0.000,0.048,2650,2098,2115
$GC,13350,1.16,192.6,86.6,7.2,644,13355,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3494,2115
$GC,13383,1.16,192.6,84.1,7.5,645,13390,0.00,2.50,0.00,0.000,6,0.000,0.047,2650,2101,2115
$GC,13701,1.16,192.6,62.9,6.8,661,13705,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3498,2115
$GC,13749,1.16,192.6,59.1,7.3,663,13754,0.00,2.47,0.00,0.000,6,0.000,0.046,2650,2093,2115
$GC,14071,1.18,210.4,39.6,5.5,679,14093,0.00,2.67,15.62,0.791,4,0.000,0.073,2650,3492,2043
$GC,14133,1.20,228.7,36.2,5.5,681,14154,0.10,2.50,16.12,0.783,6,0.049,0.044,2685,2091,1968
$GC,14466,1.20,228.7,11.3,8.7,697,14467,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2091,1967
$STATE,14586,end climb,SURFACE_DEPTH_REACHED
$STATE,14586,begin surface coast
$FINISH,-1.0,1.027171
$STATE,14607,end surface coast,CONTROL_FINISHED_OK
$STATE,14608,begin surface
$SM_CCo,14630,264.45,0.763,0,0,572,571.30
$SM_GC,-0.53,0.00,0.00,264.45,0.000,0.000,0.763,47,2880,572,-10.87,-0.57,571.30
$IRIDIUM_FIX,6337.14,-1223.20,010108,232318
$TT8_MAMPS,0.029146
$HUMID,1993
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.8,80.7
$24V_AH,23.5,46.825
$10V_AH,10.1,22.677
$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,25.775,142.100,317.875,264.450,0.000,74.024,168.314,137.074,4.000,0.000,0.000,30.070,1309.686,11224.505,740.211,1591.818,604.153,33.360,1549.209,0.000,1554.459,0.000,26.344
$DEVICE_MAMPS,155.701,92.040,1102.179,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.143,491.829,524.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34791,704
$CFSIZE,260165632,243187712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
$GPS,020108,001108,6405.122,-1226.699,30,1.6,30,-12.1