version: 66.02
glider: 103
mission: 7
dive: 269
start: 1 2 108 16 30 49
data:
$ID,103
$MISSION,7
$DIVE,269
$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,-67461.648
$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,14
$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
$GPS1,162402,6404.456,-1230.062,38,1.2,38,-12.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-46.9
$GPS2,162945,6404.515,-1230.042,16,1.4,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,0.052
$KALMAN_X,-158682.9,-1511.0,-409.1,-47136.6,5654.3
$KALMAN_Y,-215808.3,57.2,697.7,493820.6,-187.5
$MHEAD_RNG_PITCHd_Wd,295.9,25719,-11.1,-6.000
$D_GRID,499
$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,23,-1.10,-146.6,0.0,0.0,0,127,0.00,0.00,-102.05,0.000,2,0.000,0.000,50,2897,3387
$GC,130,-1.10,-146.6,3.4,-4.5,5,152,11.93,2.62,-2.08,0.000,4,0.157,0.075,2167,1490,3501
$GC,365,-1.10,-146.6,30.1,-10.6,15,370,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2900,3502
$GC,681,-1.10,-146.6,54.0,-7.1,30,685,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1491,3502
$GC,742,-1.10,-146.6,58.3,-7.2,33,747,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2901,3502
$GC,1068,-1.10,-146.6,81.6,-6.5,49,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,1378,-1.10,-146.6,102.9,-6.2,64,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,1687,-1.10,-146.6,123.9,-6.6,79,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,1996,-1.10,-146.6,147.5,-7.4,94,2001,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1492,3502
$GC,2038,-1.10,-146.6,150.3,-7.2,96,2043,0.00,2.65,0.00,0.000,6,0.000,0.075,2167,2902,3502
$GC,2365,-1.10,-146.6,174.4,-7.4,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,2674,-1.10,-146.6,197.5,-7.3,127,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,2983,-1.10,-146.6,220.9,-7.7,142,2987,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1494,3502
$GC,3009,-1.10,-146.6,223.1,-7.7,143,3014,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2899,3502
$GC,3331,-1.10,-146.6,247.3,-7.6,159,3332,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,3640,-1.10,-146.6,270.5,-7.2,174,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,3950,-1.10,-146.6,291.8,-7.2,189,3954,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1484,3502
$GC,3982,-1.10,-146.6,294.2,-7.4,190,3988,0.00,2.65,0.00,0.000,6,0.000,0.077,2167,2899,3502
$GC,4298,-1.10,-146.6,315.1,-6.0,206,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,4607,-1.10,-146.6,334.1,-6.5,221,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,4917,-1.10,-146.6,354.5,-6.6,236,4921,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3502
$GC,4949,-1.10,-146.6,357.0,-7.0,237,4956,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2903,3502
$GC,5265,-1.10,-146.6,376.8,-6.1,253,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,5574,-1.10,-146.6,396.3,-6.1,268,5579,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1483,3502
$GC,5652,-1.10,-146.6,401.2,-5.8,271,5658,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2903,3502
$GC,5967,-1.10,-146.6,421.1,-7.0,287,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,6277,-1.10,-146.6,445.3,-8.1,302,6281,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1491,3502
$GC,6361,-1.10,-146.6,452.3,-8.8,306,6366,0.00,2.62,0.00,0.000,6,0.000,0.071,2167,2901,3502
$GC,6687,-1.10,-146.6,477.7,-7.6,322,6691,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1490,3502
$GC,6753,-1.10,-146.6,482.8,-7.3,325,6758,0.00,2.62,0.00,0.000,6,0.000,0.072,2167,2900,3502
$STATE,7057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7057,begin apogee
$GC,7064,-0.42,0.0,499.6,3.6,340,7191,0.75,0.00,123.80,1.119,6,0.096,0.000,2317,2098,2901
$STATE,7192,end apogee,CONTROL_FINISHED_OK
$STATE,7192,begin climb
$GC,7195,1.10,146.6,500.4,0.0,346,7322,1.55,2.60,119.45,1.083,4,0.059,0.053,2648,687,2303
$GC,7424,1.19,217.5,494.2,4.0,357,7489,0.00,2.47,59.33,1.058,6,0.000,0.033,2648,2124,2014
$GC,7817,1.27,285.2,480.5,4.1,376,7879,0.15,2.62,56.08,1.073,4,0.039,0.071,2696,3501,1738
$GC,7992,1.27,285.2,469.1,7.9,384,7997,0.00,2.47,0.00,0.000,6,0.000,0.041,2696,2094,1737
$GC,8318,1.27,285.2,442.2,8.6,400,8322,0.00,2.53,0.00,0.000,4,0.000,0.055,2696,692,1736
$GC,8383,1.27,285.2,437.1,8.0,403,8388,0.00,2.47,0.00,0.000,6,0.000,0.042,2696,2093,1736
$GC,8710,1.27,285.2,412.8,8.1,419,8715,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3510,1735
$GC,8743,1.27,285.2,409.9,8.9,420,8750,0.00,2.50,0.00,0.000,6,0.000,0.043,2697,2108,1736
$GC,9059,1.27,285.2,381.0,9.6,436,9063,0.00,2.53,0.00,0.000,4,0.000,0.056,2697,692,1735
$GC,9130,1.27,285.2,373.8,9.9,439,9135,0.00,2.50,0.00,0.000,6,0.000,0.044,2697,2106,1735
$GC,9445,1.27,285.2,342.9,10.0,454,9450,0.00,2.62,0.00,0.000,4,0.000,0.074,2696,3509,1735
$GC,9485,1.27,285.2,338.6,11.2,456,9489,0.00,2.50,0.00,0.000,6,0.000,0.044,2697,2094,1735
$GC,9811,1.27,285.2,305.6,9.6,472,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2094,1735
$GC,10120,1.27,285.2,274.8,10.1,487,10124,0.00,2.67,0.00,0.000,4,0.000,0.074,2697,3510,1735
$GC,10152,1.27,285.2,271.0,11.2,488,10159,0.00,2.50,0.00,0.000,6,0.000,0.045,2697,2098,1735
$GC,10468,1.27,285.2,238.3,10.7,504,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2098,1735
$GC,10777,1.27,285.2,205.9,10.4,519,10781,0.00,2.67,0.00,0.000,4,0.000,0.076,2696,3512,1735
$GC,10816,1.27,285.2,201.8,10.7,521,10820,0.00,2.50,0.00,0.000,6,0.000,0.047,2696,2101,1735
$GC,11142,1.27,285.2,168.9,10.1,537,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2102,1735
$GC,11452,1.27,285.2,138.3,10.1,552,11457,0.00,2.67,0.00,0.000,4,0.000,0.077,2697,3512,1736
$GC,11484,1.27,285.2,134.8,10.4,553,11491,0.00,2.50,0.00,0.000,6,0.000,0.049,2697,2094,1736
$GC,11801,1.27,285.2,104.8,9.4,569,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2094,1736
$GC,12111,1.27,285.2,72.5,11.0,584,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2094,1736
$GC,12419,1.27,285.2,44.8,8.5,599,12424,0.00,2.67,0.00,0.000,4,0.000,0.077,2696,3510,1736
$GC,12446,1.27,285.2,42.1,9.5,600,12450,0.00,2.50,0.00,0.000,6,0.000,0.050,2696,2103,1736
$GC,12761,1.27,285.2,13.7,7.1,615,12766,0.00,2.58,0.00,0.000,4,0.000,0.064,2696,689,1736
$GC,12805,1.27,285.2,8.2,12.7,617,12810,0.00,2.53,0.00,0.000,6,0.000,0.052,2697,2107,1736
$STATE,12883,end climb,SURFACE_DEPTH_REACHED
$STATE,12883,begin surface coast
$FINISH,-0.3,1.027349
$STATE,12906,end surface coast,CONTROL_FINISHED_OK
$STATE,12906,begin surface
$SM_CCo,12929,221.27,0.769,1,0,572,571.30
$SM_GC,-0.53,0.00,0.00,221.27,0.000,0.000,0.769,49,2898,572,-10.86,-0.06,571.30
$IRIDIUM_FIX,6342.00,-1229.06,020108,161632
$TT8_MAMPS,0.028379
$HUMID,2015
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.4,79.4
$24V_AH,23.5,47.671
$10V_AH,10.1,23.024
$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,25.950,106.575,358.650,221.275,0.000,38.025,35.846,158.061,4.000,0.000,0.000,16.555,1143.615,9826.883,709.189,1398.872,436.052,33.372,1426.153,0.000,1374.805,0.000,25.010
$DEVICE_MAMPS,157.235,94.341,1119.053,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.675,432.624,444.904,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31756,622
$CFSIZE,260165632,242954240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,020108,201108,6405.860,-1232.315,28,1.7,28,-12.2