version: 66.02
glider: 103
mission: 7
dive: 274
start: 1 3 108 13 5 1
data:
$ID,103
$MISSION,7
$DIVE,274
$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,-67549.578
$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,7
$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
$GPS1,125226,6408.955,-1235.413,40,1.1,40,-12.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-46.4
$GPS2,130357,6409.157,-1235.366,11,1.5,11,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.042,-0.214
$KALMAN_X,-151541.5,475.2,-391.6,-61029.5,2680.6
$KALMAN_Y,-198584.2,648.0,-824.0,486113.0,4906.1
$MHEAD_RNG_PITCHd_Wd,203.4,26221,-11.1,-6.000
$D_GRID,465
$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,-101.47,0.000,2,0.000,0.000,42,2888,3399
$GC,129,-1.10,-146.6,3.1,-4.0,5,149,12.10,1.83,-1.85,0.000,4,0.160,0.125,2166,3785,3502
$GC,216,-1.10,-146.6,21.3,-10.3,9,220,0.00,1.62,0.00,0.000,6,0.000,0.064,2166,2907,3502
$GC,543,-1.10,-146.6,48.8,-5.5,25,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,852,-1.10,-146.6,66.9,-7.9,40,857,0.00,2.65,0.00,0.000,4,0.000,0.075,2166,1485,3502
$GC,879,-1.10,-146.6,69.3,-8.5,41,884,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2902,3502
$GC,1197,-1.10,-146.6,92.2,-6.9,56,1201,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1484,3502
$GC,1223,-1.10,-146.6,94.3,-7.4,57,1228,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2901,3502
$GC,1540,-1.10,-146.6,109.4,-4.5,72,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,1848,-1.10,-146.6,130.3,-6.9,87,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,2157,-1.10,-146.6,153.5,-7.4,102,2161,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1485,3502
$GC,2189,-1.10,-146.6,155.5,-6.1,103,2195,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2908,3502
$GC,2507,-1.10,-146.6,175.4,-7.0,119,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,2814,-1.10,-146.6,197.2,-7.0,134,2818,0.00,2.65,0.00,0.000,4,0.000,0.070,2167,1483,3502
$GC,2840,-1.10,-146.6,199.0,-6.8,135,2845,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2903,3502
$GC,3162,-1.10,-146.6,222.4,-7.1,151,3166,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1483,3502
$GC,3188,-1.10,-146.6,224.5,-7.1,152,3192,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2899,3502
$GC,3509,-1.10,-146.6,246.6,-6.4,168,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,3818,-1.10,-146.6,266.5,-6.5,183,3823,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1483,3502
$GC,3862,-1.10,-146.6,269.4,-6.2,185,3867,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2899,3502
$GC,4184,-1.10,-146.6,289.8,-6.4,201,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,4493,-1.10,-146.6,306.8,-5.5,216,4498,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1477,3502
$GC,4521,-1.10,-146.6,308.4,-5.6,217,4525,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2902,3502
$GC,4836,-1.10,-146.6,331.2,-8.1,232,4840,0.00,1.73,0.00,0.000,4,0.000,0.100,2166,3780,3502
$GC,4880,-1.10,-146.6,334.6,-8.2,234,4884,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2900,3502
$GC,5212,-1.10,-146.6,355.2,-6.1,250,5216,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1480,3502
$GC,5301,-1.10,-146.6,360.7,-6.2,254,5305,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2903,3502
$GC,5621,-1.10,-146.6,380.8,-6.7,270,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,5930,-1.10,-146.6,401.9,-6.8,285,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,6239,-1.10,-146.6,423.2,-6.8,300,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,6549,-1.10,-146.6,441.9,-6.4,315,6553,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1483,3502
$GC,6598,-1.10,-146.6,445.1,-6.8,317,6602,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2899,3502
$STATE,6911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6911,begin apogee
$GC,6918,-0.42,0.0,466.6,6.9,332,7045,0.77,0.00,123.72,1.101,6,0.101,0.000,2320,2093,2901
$STATE,7046,end apogee,CONTROL_FINISHED_OK
$STATE,7046,begin climb
$GC,7048,1.10,146.6,471.7,0.0,338,7176,1.55,2.60,119.40,1.073,4,0.067,0.055,2647,690,2303
$GC,7302,1.15,182.7,466.4,5.0,350,7338,0.00,2.50,30.90,1.031,6,0.000,0.035,2647,2121,2156
$GC,7650,1.15,183.0,446.7,6.0,366,7655,0.00,2.60,0.00,0.000,4,0.000,0.056,2647,689,2155
$GC,7683,1.15,183.0,444.5,6.3,367,7689,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2106,2155
$GC,7998,1.15,183.0,425.9,6.3,383,8003,0.00,2.58,0.00,0.000,4,0.000,0.066,2647,3508,2155
$GC,8065,1.15,183.0,421.6,6.2,386,8069,0.00,2.47,0.00,0.000,6,0.000,0.036,2647,2086,2154
$GC,8386,1.16,191.0,402.8,5.8,402,8400,0.00,2.67,8.30,0.920,4,0.000,0.065,2647,3494,2122
$GC,8440,1.16,192.3,399.6,6.0,404,8444,0.00,2.42,0.00,0.000,6,0.000,0.035,2647,2100,2122
$GC,8756,1.16,192.3,381.6,6.1,419,8760,0.00,2.60,0.00,0.000,4,0.000,0.067,2647,3502,2122
$GC,8810,1.16,192.3,378.1,6.6,421,8817,0.00,2.45,0.00,0.000,6,0.000,0.039,2647,2100,2122
$GC,9126,1.16,192.3,357.2,6.6,437,9130,0.00,2.62,0.00,0.000,4,0.000,0.070,2647,3502,2122
$GC,9192,1.16,192.3,352.7,6.9,440,9196,0.00,2.47,0.00,0.000,6,0.000,0.043,2647,2101,2121
$GC,9513,1.16,192.3,330.9,6.8,456,9517,0.00,2.62,0.00,0.000,4,0.000,0.072,2647,3502,2121
$GC,9539,1.16,192.3,328.9,7.0,457,9544,0.00,2.47,0.00,0.000,6,0.000,0.046,2647,2103,2121
$GC,9861,1.27,278.7,314.5,3.6,473,9944,0.17,2.70,72.00,1.012,4,0.040,0.071,2696,3503,1763
$GC,9982,1.27,278.7,306.0,9.1,478,9989,0.00,2.53,0.00,0.000,6,0.000,0.048,2696,2098,1762
$GC,10298,1.27,278.7,273.9,10.5,494,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2098,1762
$GC,10607,1.27,278.7,243.3,9.6,509,10612,0.00,2.58,0.00,0.000,4,0.000,0.062,2696,688,1762
$GC,10628,1.27,278.7,240.9,11.0,510,10632,0.00,2.47,0.00,0.000,6,0.000,0.043,2696,2092,1762
$GC,10955,1.27,278.7,206.0,10.9,526,10960,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3509,1762
$GC,10983,1.27,278.7,202.9,11.2,527,10987,0.00,2.50,0.00,0.000,6,0.000,0.046,2696,2097,1762
$GC,11298,1.27,278.7,165.5,13.3,542,11302,0.00,2.55,0.00,0.000,4,0.000,0.061,2696,694,1762
$GC,11318,1.27,278.7,162.7,13.2,543,11323,0.00,2.47,0.00,0.000,6,0.000,0.044,2697,2100,1762
$GC,11647,1.27,278.7,123.5,12.3,559,11651,0.00,2.65,0.00,0.000,4,0.000,0.077,2696,3509,1762
$GC,11673,1.27,278.7,120.3,11.6,560,11677,0.00,2.50,0.00,0.000,6,0.000,0.048,2696,2100,1762
$GC,11995,1.27,278.7,85.5,10.6,576,11999,0.00,2.58,0.00,0.000,4,0.000,0.064,2696,689,1762
$GC,12050,1.27,278.7,79.3,11.6,578,12056,0.00,2.47,0.00,0.000,6,0.000,0.045,2697,2100,1762
$GC,12365,1.27,278.7,46.5,8.7,594,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2100,1763
$GC,12676,1.27,278.7,12.2,12.0,609,12681,0.00,2.67,0.00,0.000,4,0.000,0.081,2697,3512,1763
$GC,12694,1.27,278.7,10.0,11.3,610,12698,0.00,2.53,0.00,0.000,6,0.000,0.054,2696,2099,1762
$STATE,12770,end climb,SURFACE_DEPTH_REACHED
$STATE,12770,begin surface coast
$FINISH,-0.8,1.027348
$STATE,12794,end surface coast,CONTROL_FINISHED_OK
$STATE,12794,begin surface
$SM_CCo,12816,226.10,0.761,2,0,572,571.30
$SM_GC,-0.45,0.00,0.00,226.10,0.000,0.000,0.761,47,2899,572,-10.87,-0.03,571.30
$IRIDIUM_FIX,6342.00,-1234.93,030108,161619
$TT8_MAMPS,0.029146
$HUMID,1994
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.8,97.8
$24V_AH,23.5,48.555
$10V_AH,10.1,23.384
$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,26.175,128.950,354.325,226.100,0.000,118.462,150.673,194.518,3.750,0.000,0.000,11.531,1144.519,9855.705,725.386,1352.268,684.312,33.373,1443.086,0.000,1334.888,0.000,23.437
$DEVICE_MAMPS,159.536,125.021,1100.645,760.864,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.382,430.458,436.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31703,615
$CFSIZE,260165632,242696192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,2,0
$GPS,030108,164338,6409.852,-1232.671,28,1.6,28,-12.2