version: 66.02
glider: 103
mission: 7
dive: 277
start: 1 4 108 0 11 30
data:
$ID,103
$MISSION,7
$DIVE,277
$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,-67599.664
$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,18
$R_STBD_OVSHOOT,10
$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
$GPS1,000138,6409.892,-1228.860,32,1.4,32,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-47.7
$GPS2,001026,6409.978,-1228.918,11,2.0,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.169,-0.138
$KALMAN_X,-141534.3,-349.5,-580.7,-64316.9,4287.0
$KALMAN_Y,-185678.0,-954.9,-1198.8,476726.3,7475.4
$MHEAD_RNG_PITCHd_Wd,242.9,31276,-11.1,-6.000
$D_GRID,463
$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,-146.6,0.0,0.0,0,131,0.00,0.00,-106.57,0.000,6,0.000,0.000,27,2903,3501
$GC,134,-1.10,-146.6,2.7,-3.6,5,155,12.07,2.65,0.00,0.000,4,0.159,0.058,2166,1484,3502
$GC,256,-1.10,-146.6,24.0,-8.3,10,260,0.00,2.72,0.00,0.000,6,0.000,0.081,2167,2906,3503
$GC,572,-1.10,-146.6,46.8,-7.8,25,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,883,-1.10,-146.6,64.0,-7.1,40,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,1190,-1.10,-146.6,88.1,-8.3,55,1195,0.00,2.67,0.00,0.000,4,0.000,0.073,2167,1484,3503
$GC,1222,-1.10,-146.6,91.4,-10.4,56,1229,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2900,3503
$GC,1539,-1.10,-146.6,115.5,-5.0,72,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,1849,-1.10,-146.6,140.2,-9.2,87,1854,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,1489,3503
$GC,1882,-1.10,-146.6,143.3,-8.4,88,1889,0.00,2.67,0.00,0.000,6,0.000,0.080,2167,2902,3503
$GC,2198,-1.10,-146.6,170.0,-7.4,104,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,2506,-1.10,-146.6,192.9,-7.1,119,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,2816,-1.10,-146.6,213.1,-7.0,134,2820,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1488,3503
$GC,2855,-1.10,-146.6,216.2,-7.5,136,2860,0.00,2.70,0.00,0.000,6,0.000,0.079,2167,2906,3502
$GC,3182,-1.10,-146.6,239.4,-7.4,152,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,3491,-1.10,-146.6,262.7,-8.9,167,3495,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1481,3503
$GC,3518,-1.10,-146.6,264.8,-8.2,168,3522,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2906,3503
$GC,3833,-1.10,-146.6,292.6,-8.7,183,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,4142,-1.10,-146.6,316.7,-7.3,198,4146,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1481,3503
$GC,4208,-1.10,-146.6,321.6,-6.7,201,4213,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2900,3503
$GC,4529,-1.10,-146.6,345.1,-8.3,217,4533,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1480,3503
$GC,4555,-1.10,-146.6,347.5,-8.8,218,4560,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2901,3503
$GC,4871,-1.10,-146.6,372.2,-7.0,233,4875,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1485,3503
$GC,4911,-1.10,-146.6,375.1,-7.5,235,4915,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2900,3503
$GC,5237,-1.10,-146.6,397.7,-7.7,251,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,5551,-1.10,-146.6,425.8,-9.8,266,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,5855,-1.10,-146.6,451.7,-6.7,281,5859,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1485,3503
$GC,5904,-1.10,-146.6,454.5,-5.4,283,5909,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2906,3503
$STATE,6155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6155,begin apogee
$GC,6163,-0.42,0.0,463.3,3.6,295,6290,0.77,0.00,124.30,1.093,6,0.100,0.000,2318,2094,2901
$STATE,6291,end apogee,CONTROL_FINISHED_OK
$STATE,6291,begin climb
$GC,6294,1.10,146.6,466.0,0.0,301,6421,1.55,2.60,119.47,1.065,4,0.060,0.056,2648,691,2303
$GC,6563,1.16,191.1,458.7,4.8,313,6611,0.00,2.50,37.85,1.030,6,0.000,0.038,2648,2113,2121
$GC,6919,1.16,191.1,437.3,6.5,331,6923,0.00,2.60,0.00,0.000,4,0.000,0.071,2648,3505,2120
$GC,7020,1.22,243.6,431.8,4.5,335,7073,0.12,2.50,43.65,1.044,6,0.045,0.041,2686,2096,1906
$GC,7384,1.22,243.6,411.4,7.5,353,7388,0.00,2.67,0.00,0.000,4,0.000,0.075,2686,3506,1905
$GC,7405,1.22,243.6,409.3,8.3,354,7409,0.00,2.50,0.00,0.000,6,0.000,0.044,2687,2093,1905
$GC,7726,1.22,243.6,383.0,8.6,370,7730,0.00,2.67,0.00,0.000,4,0.000,0.074,2687,3513,1904
$GC,7758,1.22,243.6,380.1,8.8,371,7764,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2097,1905
$GC,8074,1.22,243.6,347.9,10.3,387,8078,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3507,1904
$GC,8106,1.22,243.6,344.4,10.4,388,8112,0.00,2.50,0.00,0.000,6,0.000,0.048,2686,2099,1904
$GC,8421,1.22,243.6,311.9,10.2,404,8426,0.00,2.55,0.00,0.000,4,0.000,0.060,2686,691,1904
$GC,8494,1.22,243.6,305.2,9.0,407,8498,0.00,2.47,0.00,0.000,6,0.000,0.042,2687,2101,1904
$GC,8809,1.22,243.6,277.9,8.9,422,8814,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3518,1904
$GC,8849,1.22,243.6,274.1,10.0,424,8853,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2096,1904
$GC,9175,1.22,243.6,242.7,9.3,440,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2096,1904
$GC,9483,1.22,243.6,215.8,8.3,455,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2096,1904
$GC,9793,1.22,243.6,187.4,9.2,470,9797,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3512,1904
$GC,9825,1.22,243.6,184.3,9.3,471,9831,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2100,1904
$GC,10141,1.22,243.6,158.9,6.8,487,10144,0.00,2.55,0.00,0.000,4,0.000,0.061,2686,688,1904
$GC,10186,1.22,243.7,156.4,6.0,489,10190,0.00,2.47,0.00,0.000,6,0.000,0.045,2686,2099,1904
$GC,10518,1.22,243.7,125.4,9.8,505,10523,0.00,2.65,0.00,0.000,4,0.000,0.077,2687,3515,1904
$GC,10540,1.22,243.7,123.4,9.2,506,10544,0.00,2.53,0.00,0.000,6,0.000,0.050,2687,2102,1904
$GC,10860,1.22,243.7,95.3,7.8,522,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1904
$GC,11171,1.22,243.7,66.2,9.8,537,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1904
$GC,11480,1.22,243.7,39.5,9.1,552,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1904
$GC,11788,1.22,243.7,11.5,7.6,567,11792,0.00,2.62,0.00,0.000,4,0.000,0.076,2687,693,1904
$GC,11843,1.32,322.6,8.6,3.8,569,11912,0.00,2.45,62.50,0.799,6,0.000,0.045,2686,2108,1585
$STATE,11929,end climb,SURFACE_DEPTH_REACHED
$STATE,11929,begin surface coast
$FINISH,-0.9,1.027381
$STATE,11951,end surface coast,CONTROL_FINISHED_OK
$STATE,11951,begin surface
$SM_CCo,11974,195.57,0.757,2,0,572,571.30
$SM_GC,-0.57,0.00,0.00,195.57,0.000,0.000,0.757,43,2890,572,-10.88,-0.28,571.30
$IRIDIUM_FIX,6342.00,-1230.12,040108,040433
$TT8_MAMPS,0.029146
$HUMID,1999
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.5,66.3
$24V_AH,23.5,49.065
$10V_AH,10.1,23.575
$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,26.250,107.125,387.775,195.575,0.000,76.242,73.162,208.979,4.250,0.000,0.000,16.461,1058.471,9104.414,712.942,1275.754,575.553,33.372,1388.337,0.000,1260.909,0.000,27.899
$DEVICE_MAMPS,158.769,80.535,1092.975,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.685,395.519,433.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28654,575
$CFSIZE,260165632,242577408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,040108,033538,6410.027,-1231.282,32,1.0,32,-12.2