version: 66.02
glider: 103
mission: 7
dive: 233
start: 12 26 107 22 14 55
data:
$ID,103
$MISSION,7
$DIVE,233
$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,-66746.047
$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,22
$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
$GPS1,220502,6347.188,-1301.717,43,1.4,43,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.72
$_SM_ANGLEo,-48.9
$GPS2,221351,6347.278,-1301.604,14,1.5,14,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.199,0.086
$KALMAN_X,-281090.5,135.9,360.2,44996.9,-4513.9
$KALMAN_Y,-191051.5,-938.7,528.4,438331.2,-864.8
$MHEAD_RNG_PITCHd_Wd,79.1,23597,-11.2,-6.000
$D_GRID,690
$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,-1.11,-144.0,0.0,0.0,0,134,0.00,0.00,-109.97,0.000,6,0.000,0.000,46,2892,3491
$GC,137,-1.11,-146.6,2.3,-3.5,5,153,11.95,1.75,0.00,0.000,4,0.159,0.084,2160,3787,3492
$GC,405,-1.11,-146.6,35.3,-8.2,16,409,0.00,1.58,0.00,0.000,6,0.000,0.049,2160,2902,3493
$GC,732,-1.11,-146.6,60.4,-7.2,32,735,0.00,1.73,0.00,0.000,4,0.000,0.091,2160,3790,3493
$GC,809,-1.11,-146.6,66.3,-7.6,35,814,0.00,1.58,0.00,0.000,6,0.000,0.049,2160,2905,3492
$GC,1131,-1.11,-146.6,91.6,-8.0,51,1135,0.00,2.55,0.00,0.000,4,0.000,0.059,2160,1491,3492
$GC,1163,-1.11,-146.6,94.1,-7.4,52,1169,0.00,2.62,0.00,0.000,6,0.000,0.073,2160,2899,3492
$GC,1480,-1.11,-146.6,118.8,-6.9,68,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2899,3492
$GC,1788,-1.11,-146.6,143.1,-7.4,83,1792,0.00,2.62,0.00,0.000,4,0.000,0.068,2160,1487,3492
$GC,1820,-1.11,-146.6,145.4,-7.3,84,1827,0.00,2.67,0.00,0.000,6,0.000,0.074,2160,2892,3493
$GC,2135,-1.11,-146.6,169.6,-7.9,100,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2892,3493
$GC,2444,-1.11,-146.6,192.6,-7.7,115,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2892,3493
$GC,2754,-1.11,-146.6,218.6,-8.4,130,2758,0.00,2.58,0.00,0.000,4,0.000,0.068,2161,1489,3492
$GC,2780,-1.11,-146.6,220.7,-8.5,131,2785,0.00,2.62,0.00,0.000,6,0.000,0.071,2161,2898,3492
$GC,3101,-1.11,-146.6,242.8,-7.6,147,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2898,3492
$GC,3410,-1.11,-146.6,267.7,-8.0,162,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2899,3493
$GC,3720,-1.11,-146.6,295.0,-8.4,177,3724,0.00,2.60,0.00,0.000,4,0.000,0.067,2160,1490,3492
$GC,3774,-1.11,-146.6,299.7,-9.0,179,3782,0.00,2.65,0.00,0.000,6,0.000,0.075,2160,2900,3493
$GC,4090,-1.11,-146.6,328.4,-9.1,195,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2900,3492
$GC,4399,-1.11,-146.6,353.0,-7.5,210,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2900,3492
$GC,4708,-1.11,-146.6,377.9,-8.6,225,4713,0.00,2.60,0.00,0.000,4,0.000,0.066,2161,1490,3492
$GC,4780,-1.11,-146.6,384.3,-8.8,228,4784,0.00,2.65,0.00,0.000,6,0.000,0.076,2160,2902,3492
$GC,5101,-1.11,-146.6,410.7,-8.3,244,5106,0.00,2.60,0.00,0.000,4,0.000,0.065,2161,1482,3492
$GC,5141,-1.11,-146.6,414.0,-9.2,246,5146,0.00,2.67,0.00,0.000,6,0.000,0.073,2160,2909,3493
$GC,5467,-1.11,-146.6,439.2,-7.6,262,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2909,3493
$GC,5776,-1.11,-146.6,463.3,-7.6,277,5780,0.00,2.60,0.00,0.000,4,0.000,0.062,2160,1479,3492
$GC,5847,-1.11,-146.6,469.0,-8.0,280,5852,0.00,2.65,0.00,0.000,6,0.000,0.071,2160,2907,3492
$GC,6163,-1.11,-146.6,494.2,-8.2,295,6167,0.00,2.58,0.00,0.000,4,0.000,0.060,2161,1488,3492
$GC,6190,-1.11,-146.6,496.5,-8.0,296,6194,0.00,2.62,0.00,0.000,6,0.000,0.070,2161,2901,3492
$GC,6505,-1.11,-146.6,519.1,-6.6,311,6510,0.00,2.58,0.00,0.000,4,0.000,0.058,2161,1480,3492
$GC,6561,-1.11,-146.6,523.1,-7.5,313,6567,0.00,2.62,0.00,0.000,6,0.000,0.066,2160,2903,3492
$GC,6876,-1.11,-146.6,544.3,-7.0,329,6880,0.00,2.55,0.00,0.000,4,0.000,0.058,2160,1484,3492
$GC,6919,-1.11,-146.6,547.5,-7.2,331,6923,0.00,2.65,0.00,0.000,6,0.000,0.070,2161,2900,3492
$GC,7246,-1.11,-146.6,572.5,-7.7,347,7250,0.00,2.55,0.00,0.000,4,0.000,0.056,2160,1476,3492
$GC,7324,-1.11,-146.6,577.8,-6.3,350,7332,0.00,2.65,0.00,0.000,6,0.000,0.066,2161,2898,3493
$GC,7640,-1.11,-146.6,597.5,-6.6,366,7644,0.00,2.53,0.00,0.000,4,0.000,0.053,2161,1483,3492
$GC,7729,-1.11,-146.6,603.7,-6.7,370,7733,0.00,2.60,0.00,0.000,6,0.000,0.064,2160,2901,3492
$GC,8056,-1.11,-146.6,623.6,-6.3,386,8060,0.00,1.67,0.00,0.000,4,0.000,0.089,2160,3787,3493
$GC,8169,-1.11,-146.6,630.9,-5.0,391,8173,0.00,1.55,0.00,0.000,6,0.000,0.041,2161,2902,3492
$STATE,8396,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8396,begin apogee
$GC,8404,-0.42,0.0,648.4,7.2,402,8529,0.77,0.00,122.62,1.216,6,0.081,0.000,2320,2091,2901
$STATE,8530,end apogee,CONTROL_FINISHED_OK
$STATE,8530,begin climb
$GC,8532,1.11,146.6,652.6,0.0,408,8664,1.52,2.62,121.22,1.187,4,0.051,0.056,2652,697,2303
$GC,8704,1.11,146.6,646.7,6.5,416,8708,0.00,2.47,0.00,0.000,6,0.000,0.035,2652,2121,2303
$GC,9030,1.11,146.6,629.1,6.1,432,9035,0.00,2.53,0.00,0.000,4,0.000,0.061,2652,3497,2301
$GC,9164,1.25,256.8,620.9,2.9,438,9263,0.12,2.45,90.85,1.202,6,0.045,0.037,2691,2091,1854
$GC,9571,1.25,256.8,596.6,6.4,458,9575,0.00,2.53,0.00,0.000,4,0.000,0.056,2691,695,1852
$GC,9688,1.25,256.8,587.1,8.7,463,9692,0.00,2.45,0.00,0.000,6,0.000,0.038,2691,2093,1851
$GC,10014,1.26,265.7,560.5,5.7,479,10025,0.00,0.00,8.85,1.037,6,0.000,0.000,2691,2093,1817
$GC,10324,1.26,265.7,539.5,8.5,494,10328,0.00,2.53,0.00,0.000,4,0.000,0.054,2691,700,1816
$GC,10400,1.26,265.7,531.7,10.5,497,10407,0.00,2.45,0.00,0.000,6,0.000,0.039,2691,2099,1816
$GC,10716,1.26,265.7,500.2,9.7,513,10720,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3514,1816
$GC,10748,1.26,265.7,496.8,10.1,514,10755,0.00,2.47,0.00,0.000,6,0.000,0.042,2691,2106,1816
$GC,11064,1.26,265.7,467.0,9.1,530,11068,0.00,2.55,0.00,0.000,4,0.000,0.057,2691,691,1816
$GC,11152,1.26,265.7,458.4,9.6,534,11156,0.00,2.47,0.00,0.000,6,0.000,0.040,2691,2104,1816
$GC,11479,1.26,265.7,427.6,9.9,550,11483,0.00,2.65,0.00,0.000,4,0.000,0.077,2691,3515,1816
$GC,11522,1.26,265.7,423.2,9.9,552,11526,0.00,2.50,0.00,0.000,6,0.000,0.046,2691,2102,1816
$GC,11848,1.26,265.7,391.7,10.0,568,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1816
$GC,12158,1.26,265.7,359.8,10.2,583,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1816
$GC,12467,1.26,265.7,329.7,9.8,598,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1816
$GC,12776,1.26,265.7,299.2,9.8,613,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1816
$GC,13086,1.26,265.7,268.6,10.4,628,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1817
$GC,13395,1.26,265.7,236.9,10.3,643,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1817
$GC,13704,1.26,265.7,203.0,11.1,658,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1817
$GC,14014,1.26,265.7,169.4,11.1,673,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1817
$GC,14323,1.26,265.7,137.1,9.6,688,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1817
$GC,14634,1.26,265.7,106.2,9.1,703,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2102,1817
$GC,14942,1.26,265.7,76.3,10.0,718,14943,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2101,1818
$GC,15251,1.26,265.7,47.4,8.9,733,15255,0.00,2.67,0.00,0.000,4,0.000,0.078,2691,3510,1818
$GC,15283,1.26,265.7,44.1,9.5,734,15290,0.00,2.55,0.00,0.000,6,0.000,0.053,2691,2103,1818
$GC,15600,1.26,265.7,16.0,8.7,750,15605,0.00,2.58,0.00,0.000,4,0.000,0.066,2691,690,1818
$GC,15633,1.26,265.7,12.0,11.2,751,15640,0.00,2.47,0.00,0.000,6,0.000,0.044,2691,2103,1818
$STATE,15761,end climb,SURFACE_DEPTH_REACHED
$STATE,15761,begin surface coast
$FINISH,0.2,1.027334
$STATE,15783,end surface coast,CONTROL_FINISHED_OK
$STATE,15784,begin surface
$SM_CCo,15805,240.45,0.752,1,0,572,571.30
$SM_GC,-0.86,0.00,0.00,240.45,0.000,0.000,0.752,51,2909,572,-10.85,0.25,571.30
$IRIDIUM_FIX,6322.64,-1300.77,271207,020259
$TT8_MAMPS,0.029146
$HUMID,2007
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,15.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.3,58.0
$24V_AH,23.4,41.096
$10V_AH,10.1,20.275
$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,26.250,121.000,343.550,240.450,0.000,79.818,74.499,203.417,5.750,0.000,0.000,15.362,1384.577,12198.449,742.097,1684.822,585.815,33.370,1598.115,0.000,1659.979,0.000,37.934
$DEVICE_MAMPS,158.769,90.506,1216.462,752.427,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.080,531.035,484.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,759
$CFSIZE,260165632,244883456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,1,0
$GPS,271207,024337,6348.228,-1253.342,35,1.2,35,-12.3