version: 66.02
glider: 103
mission: 7
dive: 270
start: 1 2 108 20 17 9
data:
$ID,103
$MISSION,7
$DIVE,270
$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,-67475.531
$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,19
$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
$GPS1,201108,6405.860,-1232.315,28,1.7,28,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.46
$_SM_ANGLEo,-44.7
$GPS2,201603,6405.901,-1232.281,13,1.6,13,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,-0.026
$KALMAN_X,-158436.3,-629.9,-93.8,-50568.7,3194.0
$KALMAN_Y,-213937.0,274.7,346.1,494634.6,248.0
$MHEAD_RNG_PITCHd_Wd,275.3,25018,-11.1,-6.000
$D_GRID,501
$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,21,-1.10,-146.6,0.0,0.0,0,125,0.00,0.00,-101.38,0.000,2,0.000,0.000,49,2898,3352
$GC,128,-1.10,-146.6,3.0,-3.8,5,150,11.90,2.60,-2.78,0.000,4,0.157,0.078,2163,1487,3501
$GC,331,-1.10,-146.6,23.9,-7.0,14,335,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2901,3501
$GC,657,-1.10,-146.6,48.1,-7.9,30,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,966,-1.10,-146.6,67.8,-6.7,45,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,1275,-1.10,-146.6,94.0,-8.4,60,1280,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1489,3502
$GC,1315,-1.10,-146.6,97.7,-9.0,62,1320,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2901,3502
$GC,1641,-1.10,-146.6,125.6,-7.6,78,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3501
$GC,1951,-1.10,-146.6,148.4,-6.9,93,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,2259,-1.10,-146.6,169.0,-6.3,108,2263,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1484,3502
$GC,2298,-1.10,-146.6,171.4,-6.1,110,2303,0.00,2.70,0.00,0.000,6,0.000,0.076,2163,2909,3502
$GC,2624,-1.10,-146.6,191.9,-6.2,126,2628,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,1483,3502
$GC,2650,-1.10,-146.6,193.7,-6.5,127,2655,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2899,3501
$GC,2972,-1.10,-146.6,213.7,-6.5,143,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,3281,-1.10,-146.6,235.0,-6.9,158,3286,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1482,3502
$GC,3325,-1.10,-146.6,238.3,-6.9,160,3330,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2902,3502
$GC,3647,-1.10,-146.6,260.6,-7.1,176,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3501
$GC,3956,-1.10,-146.6,282.9,-7.6,191,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,4265,-1.10,-146.6,302.8,-6.3,206,4269,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1480,3502
$GC,4308,-1.10,-146.6,305.6,-6.3,208,4313,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2904,3502
$GC,4630,-1.10,-146.6,325.2,-5.5,224,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$GC,4938,-1.10,-146.6,344.2,-6.5,239,4943,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1481,3502
$GC,4988,-1.10,-146.6,347.0,-5.9,241,4993,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2899,3502
$GC,5304,-1.10,-146.6,365.4,-5.8,256,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,5613,-1.10,-146.6,384.1,-6.6,271,5617,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1482,3502
$GC,5652,-1.10,-146.6,386.7,-6.8,273,5656,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2901,3502
$GC,5977,-1.10,-146.6,409.1,-7.2,289,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,6286,-1.10,-146.6,433.2,-8.1,304,6291,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1480,3502
$GC,6343,-1.10,-146.6,437.7,-7.9,306,6349,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2907,3502
$GC,6658,-1.10,-146.6,460.1,-6.4,322,6663,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1484,3502
$GC,6691,-1.10,-146.6,462.3,-6.3,323,6697,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2900,3501
$GC,7006,-1.10,-146.6,482.1,-6.4,339,7010,0.00,1.70,0.00,0.000,4,0.000,0.095,2163,3790,3502
$GC,7107,-1.10,-146.6,489.2,-7.6,343,7111,0.00,1.55,0.00,0.000,6,0.000,0.043,2163,2903,3501
$STATE,7302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7302,begin apogee
$GC,7309,-0.42,0.0,502.4,6.6,353,7435,0.77,0.00,122.90,1.135,6,0.090,0.000,2320,2094,2901
$STATE,7436,end apogee,CONTROL_FINISHED_OK
$STATE,7436,begin climb
$GC,7438,1.10,146.6,506.7,0.0,359,7565,1.52,2.60,118.80,1.104,4,0.060,0.052,2647,685,2303
$GC,7692,1.11,151.3,499.8,5.9,371,7703,0.00,2.50,5.60,0.819,6,0.000,0.034,2647,2121,2284
$GC,8018,1.17,198.5,483.8,4.7,387,8064,0.00,2.60,40.35,1.068,4,0.000,0.060,2647,3509,2091
$GC,8160,1.17,198.5,476.3,6.1,393,8166,0.00,2.50,0.00,0.000,6,0.000,0.035,2647,2086,2090
$GC,8476,1.17,198.5,455.0,7.1,409,8480,0.00,2.62,0.00,0.000,4,0.000,0.064,2647,3501,2090
$GC,8547,1.17,198.5,449.5,7.7,412,8551,0.00,2.42,0.00,0.000,6,0.000,0.035,2647,2102,2090
$GC,8869,1.19,217.1,429.4,5.5,428,8891,0.00,2.67,16.25,1.018,4,0.000,0.066,2647,3504,2016
$GC,8914,1.21,234.0,426.9,5.5,430,8937,0.12,2.47,15.48,1.007,6,0.044,0.036,2686,2093,1947
$GC,9245,1.21,234.0,405.4,6.9,446,9249,0.00,2.65,0.00,0.000,4,0.000,0.073,2686,3503,1946
$GC,9271,1.21,234.0,403.4,7.6,447,9275,0.00,2.47,0.00,0.000,6,0.000,0.044,2686,2104,1946
$GC,9592,1.21,234.0,380.3,7.5,463,9597,0.00,2.55,0.00,0.000,4,0.000,0.058,2686,691,1946
$GC,9636,1.21,234.0,376.6,8.3,465,9640,0.00,2.45,0.00,0.000,6,0.000,0.040,2686,2092,1946
$GC,9963,1.21,234.0,350.3,8.0,481,9968,0.00,2.65,0.00,0.000,4,0.000,0.073,2686,3514,1946
$GC,10026,1.21,234.0,345.3,7.9,484,10030,0.00,2.50,0.00,0.000,6,0.000,0.045,2686,2102,1946
$GC,10351,1.21,234.0,320.3,8.0,500,10355,0.00,2.55,0.00,0.000,4,0.000,0.060,2686,692,1946
$GC,10394,1.21,234.0,316.6,8.4,502,10399,0.00,2.47,0.00,0.000,6,0.000,0.042,2686,2107,1946
$GC,10721,1.21,234.0,290.0,8.2,518,10726,0.00,2.62,0.00,0.000,4,0.000,0.074,2686,3514,1946
$GC,10784,1.21,234.0,284.8,8.6,521,10788,0.00,2.50,0.00,0.000,6,0.000,0.045,2686,2096,1946
$GC,11109,1.21,234.0,257.1,8.8,537,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2096,1946
$GC,11418,1.21,234.0,229.4,9.1,552,11423,0.00,2.65,0.00,0.000,4,0.000,0.072,2686,3507,1946
$GC,11462,1.21,234.0,225.2,9.8,554,11466,0.00,2.50,0.00,0.000,6,0.000,0.046,2686,2097,1947
$GC,11789,1.21,234.0,198.6,8.2,570,11793,0.00,2.65,0.00,0.000,4,0.000,0.071,2686,3512,1947
$GC,11815,1.21,234.0,196.1,8.7,571,11819,0.00,2.50,0.00,0.000,6,0.000,0.046,2686,2092,1946
$GC,12136,1.21,234.0,168.9,8.3,587,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2092,1947
$GC,12446,1.21,234.0,144.1,7.9,602,12451,0.00,2.65,0.00,0.000,4,0.000,0.072,2686,3507,1947
$GC,12502,1.21,234.0,139.2,8.6,604,12509,0.00,2.50,0.00,0.000,6,0.000,0.048,2686,2089,1947
$GC,12817,1.21,234.0,112.7,8.6,620,12822,0.00,2.67,0.00,0.000,4,0.000,0.072,2686,3512,1947
$GC,12844,1.21,234.0,110.3,8.9,621,12849,0.00,2.50,0.00,0.000,6,0.000,0.048,2686,2102,1947
$GC,13168,1.21,234.0,85.5,7.7,637,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2102,1947
$GC,13475,1.21,234.0,63.6,7.1,652,13479,0.00,2.65,0.00,0.000,4,0.000,0.073,2686,3511,1947
$GC,13529,1.21,234.0,58.9,9.5,654,13536,0.00,2.50,0.00,0.000,6,0.000,0.051,2686,2100,1947
$GC,13846,1.21,234.0,30.6,9.0,670,13847,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1947
$GC,14154,1.21,234.0,3.3,8.7,685,14159,0.00,2.60,0.00,0.000,4,0.000,0.069,2686,688,1947
$STATE,14174,end climb,SURFACE_DEPTH_REACHED
$STATE,14174,begin surface coast
$FINISH,0.3,1.027346
$STATE,14198,end surface coast,CONTROL_FINISHED_OK
$STATE,14198,begin surface
$SM_CCo,14223,257.25,0.762,1,0,572,571.30
$SM_GC,-0.38,0.00,0.00,257.25,0.000,0.000,0.762,48,2899,572,-10.87,-0.03,571.30
$IRIDIUM_FIX,6337.14,-1232.79,020108,202059
$TT8_MAMPS,0.027612
$HUMID,2001
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,475.6,66.8
$24V_AH,23.4,47.836
$10V_AH,10.1,23.094
$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,25.800,135.775,319.375,257.250,0.000,37.988,35.968,122.084,4.000,0.000,0.000,13.256,1275.918,10836.942,731.003,1533.806,423.875,33.365,1521.654,0.000,1518.872,0.000,26.593
$DEVICE_MAMPS,157.235,95.108,1135.160,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.304,482.704,484.122,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,687
$CFSIZE,260165632,242892800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,030108,001938,6406.151,-1236.191,28,1.6,28,-12.2