version: 66.02
glider: 103
mission: 7
dive: 268
start: 1 2 108 12 16 3
data:
$ID,103
$MISSION,7
$DIVE,268
$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,-67444.469
$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,8
$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
$GPS1,120939,6404.182,-1228.333,33,2.0,34,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.46
$_SM_ANGLEo,-46.5
$GPS2,121459,6404.233,-1228.338,10,2.9,29,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.197,-0.094
$KALMAN_X,-159024.2,-1770.4,-1404.3,-44051.0,7989.4
$KALMAN_Y,-215951.8,-85.2,-1048.7,495338.2,2872.8
$MHEAD_RNG_PITCHd_Wd,256.8,26874,-11.1,-6.000
$D_GRID,492
$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,-101.55,0.000,2,0.000,0.000,47,2893,3399
$GC,129,-1.10,-146.6,3.7,-4.5,5,151,11.95,2.62,-1.80,0.000,4,0.158,0.078,2165,1498,3502
$GC,257,-1.10,-146.6,25.2,-10.5,10,264,0.00,2.70,0.00,0.000,6,0.000,0.082,2165,2909,3502
$GC,575,-1.10,-146.6,48.7,-6.3,26,579,0.00,2.67,0.00,0.000,4,0.000,0.073,2165,1487,3502
$GC,618,-1.10,-146.6,51.5,-6.7,28,623,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2904,3502
$GC,939,-1.10,-146.6,72.9,-7.7,44,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,1249,-1.10,-146.6,95.3,-7.2,59,1253,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1485,3502
$GC,1303,-1.10,-146.6,99.4,-7.1,61,1310,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2908,3502
$GC,1619,-1.10,-146.6,120.8,-6.7,77,1624,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1493,3502
$GC,1646,-1.10,-146.6,122.7,-6.6,78,1651,0.00,2.65,0.00,0.000,6,0.000,0.077,2165,2900,3502
$GC,1964,-1.10,-146.6,145.1,-7.3,93,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,2271,-1.10,-146.6,167.9,-7.3,108,2275,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1491,3502
$GC,2314,-1.10,-146.6,171.3,-7.4,110,2319,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2906,3502
$GC,2636,-1.10,-146.6,195.4,-7.5,126,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,2945,-1.10,-146.6,219.4,-7.8,141,2949,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1494,3502
$GC,2988,-1.10,-146.6,222.9,-7.9,143,2993,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2901,3502
$GC,3309,-1.10,-146.6,247.4,-7.7,159,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,3618,-1.10,-146.6,269.5,-7.0,174,3622,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1484,3502
$GC,3645,-1.10,-146.6,271.6,-7.1,175,3649,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2903,3502
$GC,3960,-1.10,-146.6,292.5,-6.5,190,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,4270,-1.10,-146.6,311.5,-5.7,205,4274,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1484,3502
$GC,4314,-1.10,-146.6,314.2,-5.8,207,4318,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2903,3502
$GC,4633,-1.10,-146.6,335.4,-6.9,223,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,4943,-1.10,-146.6,357.4,-7.1,238,4947,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1491,3502
$GC,4982,-1.10,-146.6,360.2,-7.1,240,4986,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2901,3502
$GC,5308,-1.10,-146.6,383.2,-6.9,256,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5617,-1.10,-146.6,403.0,-6.2,271,5621,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1485,3502
$GC,5672,-1.10,-146.6,406.6,-6.4,273,5678,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2902,3502
$GC,5988,-1.10,-146.6,425.9,-6.1,289,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,6297,-1.10,-146.6,444.9,-5.6,304,6300,0.00,1.70,0.00,0.000,4,0.000,0.098,2166,3783,3502
$GC,6392,-1.10,-146.6,450.8,-6.0,308,6396,0.00,1.58,0.00,0.000,6,0.000,0.047,2166,2888,3502
$GC,6718,-1.10,-146.6,471.2,-6.7,324,6723,0.00,2.53,0.00,0.000,4,0.000,0.062,2166,1486,3502
$GC,6841,-1.10,-146.6,480.3,-7.3,329,6847,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2899,3502
$STATE,7030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7030,begin apogee
$GC,7037,-0.42,0.0,493.2,6.4,339,7164,0.75,0.00,123.65,1.119,6,0.096,0.000,2314,2097,2901
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7165,begin climb
$GC,7167,1.10,146.6,497.4,0.0,345,7295,1.58,2.60,119.32,1.089,4,0.059,0.052,2650,687,2303
$GC,7392,1.16,196.8,493.5,4.6,355,7440,0.00,2.47,42.50,1.069,6,0.000,0.034,2650,2123,2098
$GC,7748,1.16,196.8,473.0,6.3,373,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2123,2097
$GC,8057,1.16,196.8,450.5,7.8,388,8061,0.00,2.53,0.00,0.000,4,0.000,0.065,2650,3501,2097
$GC,8077,1.16,196.8,448.6,9.0,389,8082,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2090,2097
$GC,8405,1.16,196.8,420.3,8.8,405,8409,0.00,2.62,0.00,0.000,4,0.000,0.064,2650,3505,2096
$GC,8443,1.16,196.8,416.9,9.5,407,8448,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2095,2096
$GC,8769,1.16,196.8,391.8,7.2,423,8773,0.00,2.60,0.00,0.000,4,0.000,0.066,2650,3501,2096
$GC,8853,1.16,196.8,385.8,7.3,427,8857,0.00,2.45,0.00,0.000,6,0.000,0.039,2650,2100,2096
$GC,9179,1.16,196.8,364.8,6.3,443,9183,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3504,2095
$GC,9217,1.16,196.8,362.2,7.1,445,9222,0.00,2.45,0.00,0.000,6,0.000,0.040,2649,2099,2095
$GC,9544,1.16,196.8,341.7,6.2,461,9548,0.00,2.62,0.00,0.000,4,0.000,0.069,2650,3504,2095
$GC,9593,1.16,196.8,338.4,6.2,463,9597,0.00,2.47,0.00,0.000,6,0.000,0.042,2650,2096,2095
$GC,9914,1.16,196.8,318.3,6.3,479,9918,0.00,2.62,0.00,0.000,4,0.000,0.071,2650,3504,2095
$GC,9963,1.16,196.8,315.0,6.5,481,9968,0.00,2.47,0.00,0.000,6,0.000,0.043,2650,2095,2095
$GC,10279,1.16,196.8,296.0,6.0,496,10283,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3507,2095
$GC,10322,1.17,204.4,293.3,5.8,498,10339,0.00,2.47,7.40,0.872,6,0.000,0.044,2650,2099,2067
$GC,10648,1.20,222.1,275.0,5.5,514,10670,0.00,2.70,15.77,0.940,4,0.000,0.070,2650,3505,1995
$GC,10693,1.20,222.3,272.3,6.0,516,10698,0.00,2.50,0.00,0.000,6,0.000,0.042,2650,2099,1995
$GC,11020,1.20,222.3,252.9,6.2,532,11024,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3507,1995
$GC,11069,1.20,222.3,249.8,6.5,534,11073,0.00,2.50,0.00,0.000,6,0.000,0.045,2650,2096,1995
$GC,11384,1.20,222.3,230.9,6.2,549,11388,0.00,2.62,0.00,0.000,4,0.000,0.070,2650,3500,1995
$GC,11433,1.20,225.0,227.9,5.9,551,11445,0.00,2.47,4.05,0.680,6,0.000,0.047,2650,2099,1983
$GC,11754,1.21,229.9,209.0,5.9,567,11765,0.10,2.67,5.88,0.786,4,0.055,0.072,2677,3502,1963
$GC,11809,1.21,229.9,205.4,6.8,569,11816,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2098,1963
$GC,12125,1.21,229.9,185.7,6.2,585,12130,0.00,2.62,0.00,0.000,4,0.000,0.071,2677,3500,1963
$GC,12180,1.21,229.9,181.4,7.3,587,12187,0.00,2.47,0.00,0.000,6,0.000,0.049,2678,2099,1963
$GC,12496,1.21,229.9,158.4,7.7,603,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,1963
$GC,12806,1.21,229.9,132.2,8.8,618,12810,0.00,2.65,0.00,0.000,4,0.000,0.076,2678,3500,1963
$GC,12845,1.21,229.9,129.0,7.9,620,12850,0.00,2.50,0.00,0.000,6,0.000,0.050,2678,2096,1963
$GC,13172,1.21,229.9,103.3,8.2,636,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2096,1963
$GC,13481,1.21,229.9,78.6,7.3,651,13486,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3505,1963
$GC,13525,1.21,229.9,75.1,7.8,653,13530,0.00,2.53,0.00,0.000,6,0.000,0.049,2678,2099,1963
$GC,13852,1.21,229.9,49.0,8.1,669,13853,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2099,1963
$GC,14162,1.21,229.9,24.3,7.9,684,14163,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2099,1963
$GC,14472,1.21,229.9,4.9,8.4,699,14477,0.00,2.65,0.00,0.000,4,0.000,0.075,2678,3502,1963
$GC,14500,1.21,229.9,2.0,10.6,700,14504,0.00,2.30,0.00,0.000,3,0.000,0.046,2678,2188,1963
$STATE,14504,end climb,SURFACE_DEPTH_REACHED
$STATE,14505,begin surface coast
$FINISH,1.0,1.027348
$STATE,14510,end surface coast,CONTROL_FINISHED_OK
$STATE,14510,begin surface
$SM_CCo,14532,262.17,0.753,2,0,572,571.30
$SM_GC,-0.56,0.00,0.00,262.17,0.000,0.000,0.753,49,2896,572,-10.86,-0.11,571.30
$IRIDIUM_FIX,6337.14,-1223.20,020108,121231
$TT8_MAMPS,0.028379
$HUMID,1985
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.1,73.4
$24V_AH,23.5,47.500
$10V_AH,10.1,22.958
$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,26.150,145.725,318.575,262.175,0.000,39.421,37.314,127.411,4.000,0.000,0.000,30.002,1300.105,11081.855,754.122,1576.222,431.302,33.374,1562.011,0.000,1541.833,0.000,24.990
$DEVICE_MAMPS,158.002,98.176,1119.053,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,519.517,485.037,496.004,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34887,701
$CFSIZE,260165632,242987008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,2,0
$GPS,020108,162402,6404.456,-1230.062,38,1.2,38,-12.2