version: 66.02
glider: 103
mission: 7
dive: 278
start: 1 4 108 3 41 50
data:
$ID,103
$MISSION,7
$DIVE,278
$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,-67612.328
$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,20
$R_STBD_OVSHOOT,11
$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
$GPS1,033538,6410.027,-1231.282,32,1.0,32,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-46.3
$GPS2,034044,6410.144,-1231.312,12,1.5,12,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.026,-0.217
$KALMAN_X,-140130.2,-809.8,-1120.4,-66814.9,5534.7
$KALMAN_Y,-183766.7,-950.6,-797.4,474736.3,7155.3
$MHEAD_RNG_PITCHd_Wd,198.9,29923,-11.1,-6.000
$D_GRID,461
$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,-101.88,0.000,2,0.000,0.000,43,2890,3396
$GC,129,-1.10,-146.6,3.3,-4.4,5,151,11.98,2.60,-1.83,0.000,4,0.158,0.074,2166,1492,3501
$GC,332,-1.10,-146.6,25.6,-6.0,14,336,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2899,3502
$GC,658,-1.10,-146.6,54.2,-7.7,30,661,0.00,1.73,0.00,0.000,4,0.000,0.100,2166,3786,3502
$GC,707,-1.10,-146.6,57.8,-7.4,32,712,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2912,3502
$GC,1035,-1.10,-146.6,77.2,-4.2,48,1040,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1482,3502
$GC,1075,-1.10,-146.6,79.5,-6.4,50,1080,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2903,3502
$GC,1401,-1.10,-146.6,102.1,-8.9,66,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,1712,-1.10,-146.6,123.7,-6.2,81,1716,0.00,1.70,0.00,0.000,4,0.000,0.097,2166,3784,3502
$GC,1767,-1.10,-146.6,127.4,-6.3,83,1771,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2902,3502
$GC,2089,-1.10,-146.6,142.7,-5.2,99,2093,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1486,3502
$GC,2121,-1.10,-146.6,144.9,-7.3,100,2128,0.00,2.65,0.00,0.000,6,0.000,0.076,2166,2900,3502
$GC,2437,-1.10,-146.6,174.5,-8.7,116,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,2746,-1.10,-146.6,195.8,-6.3,131,2751,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1484,3502
$GC,2786,-1.10,-146.6,198.1,-6.1,133,2790,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2906,3502
$GC,3112,-1.10,-146.6,216.6,-5.9,149,3116,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1490,3502
$GC,3138,-1.10,-146.6,218.3,-5.8,150,3143,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2901,3502
$GC,3454,-1.10,-146.6,237.1,-6.3,165,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$GC,3763,-1.10,-146.6,255.2,-5.9,180,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4072,-1.10,-146.6,275.0,-6.8,195,4077,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1485,3502
$GC,4104,-1.10,-146.6,277.2,-6.9,196,4109,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2903,3502
$GC,4420,-1.10,-146.6,297.8,-6.4,211,4424,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1489,3502
$GC,4461,-1.10,-146.6,300.1,-6.2,213,4465,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2903,3502
$GC,4787,-1.10,-146.6,318.6,-5.3,229,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,5096,-1.10,-146.6,336.3,-6.2,244,5100,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1483,3502
$GC,5129,-1.10,-146.6,338.5,-6.4,245,5136,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2901,3502
$GC,5445,-1.10,-146.6,361.3,-7.4,261,5449,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1489,3502
$GC,5471,-1.10,-146.6,363.4,-7.3,262,5476,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2906,3502
$GC,5793,-1.10,-146.6,385.6,-6.0,278,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,6105,-1.10,-146.6,400.2,-4.2,293,6110,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1489,3502
$GC,6133,-1.10,-146.6,401.4,-3.9,294,6137,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2901,3502
$GC,6448,-1.10,-146.6,418.6,-6.3,309,6452,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1480,3502
$GC,6491,-1.10,-146.6,421.5,-6.7,311,6496,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2906,3502
$GC,6812,-1.10,-146.6,441.5,-6.0,327,6816,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1483,3502
$GC,6843,-1.10,-146.6,443.5,-6.0,328,6850,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2898,3502
$STATE,7157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7157,begin apogee
$GC,7164,-0.42,0.0,462.3,7.6,344,7291,0.77,0.00,123.45,1.118,6,0.107,0.000,2317,2097,2901
$STATE,7292,end apogee,CONTROL_FINISHED_OK
$STATE,7292,begin climb
$GC,7294,1.10,146.6,468.9,0.0,350,7421,1.55,2.62,118.53,1.107,4,0.061,0.058,2647,683,2303
$GC,7523,1.17,201.9,467.0,4.5,360,7575,0.00,2.53,46.12,1.081,6,0.000,0.038,2647,2107,2078
$GC,7897,1.17,201.9,442.2,7.2,379,7901,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3514,2077
$GC,7929,1.17,201.9,439.5,7.4,380,7936,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2093,2077
$GC,8245,1.17,201.9,419.1,6.0,396,8249,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3511,2076
$GC,8288,1.19,214.1,416.5,5.7,398,8305,0.00,2.50,11.20,0.996,6,0.000,0.046,2647,2101,2028
$GC,8614,1.19,214.1,397.6,6.2,414,8618,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3511,2027
$GC,8653,1.19,214.1,394.9,7.1,416,8658,0.00,2.53,0.00,0.000,6,0.000,0.048,2648,2095,2027
$GC,8980,1.24,260.8,377.8,4.7,432,9025,0.15,2.72,38.97,1.071,4,0.043,0.076,2694,3511,1836
$GC,9105,1.24,260.8,368.5,8.4,437,9111,0.00,2.55,0.00,0.000,6,0.000,0.048,2694,2096,1836
$GC,9419,1.24,260.8,342.6,8.0,453,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2096,1835
$GC,9729,1.24,260.8,316.2,9.0,468,9733,0.00,2.65,0.00,0.000,4,0.000,0.073,2695,3511,1835
$GC,9761,1.24,260.8,312.9,9.8,469,9767,0.00,2.50,0.00,0.000,6,0.000,0.045,2694,2100,1835
$GC,10077,1.24,260.8,281.8,9.9,485,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2100,1835
$GC,10386,1.24,260.8,250.7,10.0,500,10390,0.00,2.65,0.00,0.000,4,0.000,0.073,2695,3512,1835
$GC,10425,1.24,260.8,246.5,10.9,502,10429,0.00,2.50,0.00,0.000,6,0.000,0.045,2695,2099,1835
$GC,10750,1.24,260.8,214.6,9.5,518,10755,0.00,2.65,0.00,0.000,4,0.000,0.074,2695,3505,1835
$GC,10783,1.24,260.8,211.3,9.8,519,10789,0.00,2.50,0.00,0.000,6,0.000,0.049,2695,2097,1835
$GC,11099,1.24,260.8,183.5,8.3,535,11103,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3505,1835
$GC,11131,1.24,260.8,180.7,8.5,536,11137,0.00,2.50,0.00,0.000,6,0.000,0.048,2695,2096,1835
$GC,11446,1.24,260.8,152.5,9.8,552,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2096,1835
$GC,11756,1.24,260.8,124.3,9.6,567,11758,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2096,1835
$GC,12065,1.24,260.8,99.2,7.7,582,12066,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2096,1835
$GC,12376,1.24,260.8,74.0,7.8,597,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2096,1836
$GC,12684,1.24,260.8,55.7,9.6,612,12689,0.00,2.55,0.00,0.000,4,0.000,0.062,2695,688,1836
$GC,12702,1.24,260.8,53.8,9.4,613,12706,0.00,2.47,0.00,0.000,6,0.000,0.047,2695,2094,1836
$GC,13028,1.28,290.2,26.1,5.2,629,13058,0.00,2.72,24.62,0.819,4,0.000,0.076,2695,3511,1716
$GC,13069,1.49,459.5,25.2,1.3,631,13209,0.17,2.60,132.25,0.811,6,0.038,0.054,2742,2093,1027
$STATE,13269,end climb,SURFACE_DEPTH_REACHED
$STATE,13269,begin surface coast
$FINISH,-1.0,1.027357
$STATE,13289,end surface coast,CONTROL_FINISHED_OK
$STATE,13290,begin surface
$SM_CCo,13312,87.75,0.766,0,0,571,571.30
$SM_GC,-0.61,0.00,0.00,87.75,0.000,0.000,0.766,31,2898,571,-10.94,-0.06,571.30
$IRIDIUM_FIX,6346.88,-1226.37,040108,040437
$TT8_MAMPS,0.029146
$HUMID,2026
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.2,108.4
$24V_AH,23.4,49.237
$10V_AH,10.1,23.642
$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,26.475,129.650,495.150,87.750,0.000,32.784,49.058,125.432,3.500,0.000,0.000,12.038,1179.155,10008.840,680.152,1439.697,419.568,33.369,1462.101,0.000,1417.588,0.000,21.862
$DEVICE_MAMPS,158.002,100.477,1118.286,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,472.020,437.786,481.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31755,642
$CFSIZE,260165632,242515968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,040108,072631,6411.198,-1228.216,39,1.1,44,-12.2