version: 66.02
glider: 103
mission: 7
dive: 267
start: 1 2 108 8 28 31
data:
$ID,103
$MISSION,7
$DIVE,267
$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,-67413.844
$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,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
$GPS1,081826,6404.996,-1225.005,41,1.7,41,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-47.7
$GPS2,082727,6404.967,-1225.045,14,1.8,14,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,-0.043
$KALMAN_X,-161507.4,-1159.7,30.5,-40729.0,4469.1
$KALMAN_Y,-215882.8,-364.5,-128.2,495980.6,994.4
$MHEAD_RNG_PITCHd_Wd,270.9,29833,-11.1,-6.000
$D_GRID,476
$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,23,-1.10,-146.6,0.0,0.0,0,131,0.00,0.00,-106.05,0.000,6,0.000,0.000,49,2900,3500
$GC,134,-1.10,-146.6,2.6,-3.6,5,150,11.93,1.77,0.00,0.000,4,0.158,0.097,2166,3786,3502
$GC,402,-1.10,-146.6,34.0,-7.3,16,406,0.00,1.62,0.00,0.000,6,0.000,0.061,2166,2907,3502
$GC,730,-1.10,-146.6,57.5,-7.3,32,733,0.00,1.75,0.00,0.000,4,0.000,0.099,2166,3790,3502
$GC,938,-1.10,-146.6,73.2,-6.8,41,941,0.00,1.62,0.00,0.000,6,0.000,0.056,2166,2892,3502
$GC,1264,-1.10,-146.6,98.0,-7.7,57,1269,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1481,3502
$GC,1308,-1.10,-146.6,101.8,-8.4,59,1313,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2903,3502
$GC,1635,-1.10,-146.6,127.4,-7.6,75,1640,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1487,3502
$GC,1668,-1.10,-146.6,130.0,-7.8,76,1674,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3502
$GC,1985,-1.10,-146.6,150.9,-7.3,92,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,2292,-1.10,-146.6,174.6,-6.0,107,2296,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1480,3502
$GC,2336,-1.10,-146.6,177.7,-7.5,109,2340,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3502
$GC,2658,-1.10,-146.6,198.7,-6.5,125,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,2965,-1.10,-146.6,220.7,-7.2,140,2969,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1484,3502
$GC,2992,-1.10,-146.6,222.9,-7.5,141,2996,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2903,3502
$GC,3307,-1.10,-146.6,246.4,-7.8,156,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,3617,-1.10,-146.6,270.0,-7.5,171,3621,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1484,3502
$GC,3656,-1.10,-146.6,272.9,-6.8,173,3660,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3502
$GC,3981,-1.10,-146.6,297.7,-7.7,189,3986,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1475,3502
$GC,4008,-1.10,-146.6,299.7,-7.6,190,4016,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2905,3502
$GC,4332,-1.10,-146.6,322.3,-6.4,206,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3502
$GC,4641,-1.10,-146.6,342.9,-6.6,221,4646,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1482,3502
$GC,4703,-1.10,-146.6,347.2,-6.7,224,4707,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2907,3502
$GC,5029,-1.10,-146.6,369.5,-6.9,240,5033,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1483,3502
$GC,5067,-1.10,-146.6,372.2,-6.3,242,5072,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2907,3502
$GC,5393,-1.10,-146.6,393.5,-6.0,258,5398,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1476,3502
$GC,5428,-1.10,-146.6,395.5,-6.4,259,5434,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2901,3502
$GC,5743,-1.10,-146.6,419.3,-8.0,275,5746,0.00,1.73,0.00,0.000,4,0.000,0.096,2166,3787,3502
$GC,5833,-1.10,-146.6,427.5,-9.0,279,5836,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2886,3502
$GC,6166,-1.10,-146.6,455.2,-7.9,295,6170,0.00,2.53,0.00,0.000,4,0.000,0.064,2166,1485,3502
$GC,6215,-1.10,-146.6,459.3,-7.7,297,6219,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2904,3502
$STATE,6451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6452,begin apogee
$GC,6459,-0.42,0.0,476.9,7.5,309,6586,0.77,0.00,123.95,1.092,6,0.103,0.000,2318,2097,2901
$STATE,6587,end apogee,CONTROL_FINISHED_OK
$STATE,6587,begin climb
$GC,6589,1.10,146.6,482.9,0.0,315,6717,1.55,2.60,119.78,1.063,4,0.061,0.053,2648,686,2303
$GC,6763,1.20,229.5,482.3,3.7,323,6839,0.10,2.50,68.97,1.042,6,0.047,0.033,2678,2124,1965
$GC,7165,1.20,229.5,454.7,7.7,343,7170,0.00,2.58,0.00,0.000,4,0.000,0.071,2678,3500,1964
$GC,7243,1.20,229.5,448.5,7.6,346,7249,0.00,2.50,0.00,0.000,6,0.000,0.041,2679,2091,1964
$GC,7558,1.20,229.5,425.0,7.9,362,7563,0.00,2.65,0.00,0.000,4,0.000,0.071,2678,3500,1964
$GC,7636,1.20,229.5,418.6,8.3,365,7642,0.00,2.45,0.00,0.000,6,0.000,0.044,2678,2099,1964
$GC,7952,1.20,229.5,394.6,7.5,381,7956,0.00,2.62,0.00,0.000,4,0.000,0.069,2678,3500,1963
$GC,7995,1.20,229.5,390.7,8.8,383,7999,0.00,2.47,0.00,0.000,6,0.000,0.045,2679,2100,1963
$GC,8322,1.20,229.5,362.1,9.3,399,8326,0.00,2.62,0.00,0.000,4,0.000,0.072,2678,3499,1963
$GC,8355,1.20,229.5,358.9,10.0,400,8362,0.00,2.47,0.00,0.000,6,0.000,0.047,2678,2104,1963
$GC,8671,1.20,229.5,330.0,9.0,416,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2104,1963
$GC,8980,1.20,229.5,303.2,8.3,431,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2104,1963
$GC,9289,1.20,229.5,278.7,7.7,446,9294,0.00,2.62,0.00,0.000,4,0.000,0.073,2678,3499,1962
$GC,9321,1.20,229.5,276.1,8.2,447,9328,0.00,2.47,0.00,0.000,6,0.000,0.047,2678,2098,1962
$GC,9637,1.20,229.5,252.1,7.6,463,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2097,1962
$GC,9946,1.20,229.5,229.1,7.5,478,9950,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3500,1962
$GC,9978,1.20,229.5,226.5,7.4,479,9984,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2092,1962
$GC,10293,1.20,229.5,203.2,7.5,495,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2092,1962
$GC,10603,1.20,229.5,180.0,7.4,510,10607,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3500,1962
$GC,10652,1.20,229.5,176.1,8.0,512,10656,0.00,2.47,0.00,0.000,6,0.000,0.048,2678,2096,1962
$GC,10967,1.20,229.5,152.8,7.3,527,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2096,1962
$GC,11277,1.20,229.5,128.7,7.8,542,11281,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3502,1962
$GC,11316,1.20,229.5,125.7,8.3,544,11320,0.00,2.47,0.00,0.000,6,0.000,0.049,2678,2100,1963
$GC,11648,1.20,229.5,99.4,8.0,560,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,1963
$GC,11957,1.20,229.5,75.4,8.0,575,11961,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3502,1963
$GC,12001,1.20,229.5,71.6,8.3,577,12006,0.00,2.50,0.00,0.000,6,0.000,0.050,2679,2103,1963
$GC,12321,1.20,229.5,46.4,7.9,593,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2103,1963
$GC,12632,1.20,229.5,24.3,6.4,608,12637,0.00,2.55,0.00,0.000,4,0.000,0.064,2679,698,1963
$GC,12660,1.20,229.5,21.2,10.9,609,12664,0.00,2.42,0.00,0.000,6,0.000,0.038,2679,2093,1963
$STATE,12891,end climb,SURFACE_DEPTH_REACHED
$STATE,12891,begin surface coast
$FINISH,0.0,1.027349
$STATE,12913,end surface coast,CONTROL_FINISHED_OK
$STATE,12913,begin surface
$SM_CCo,12935,257.77,0.763,1,0,572,571.30
$SM_GC,-0.46,0.00,0.00,257.77,0.000,0.000,0.763,47,2892,572,-10.87,-0.20,571.30
$IRIDIUM_FIX,6337.14,-1228.00,020108,121217
$TT8_MAMPS,0.029146
$HUMID,1995
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.3,27.3
$24V_AH,23.5,47.335
$10V_AH,10.1,22.886
$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,25.800,121.625,312.700,257.775,0.000,77.506,67.786,225.431,4.750,0.000,0.000,14.644,1166.763,9844.236,719.345,1440.868,585.631,33.366,1457.926,0.000,1413.723,0.000,32.270
$DEVICE_MAMPS,158.002,98.943,1092.208,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,456.455,428.450,461.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31709,621
$CFSIZE,260165632,243052544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,020108,120939,6404.182,-1228.333,33,2.0,34,-12.2