version: 66.02
glider: 103
mission: 7
dive: 246
start: 12 29 107 12 58 19
data:
$ID,103
$MISSION,7
$DIVE,246
$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,-66964.695
$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,12
$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
$GPS1,125127,6356.448,-1248.423,24,3.4,43,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-47.4
$GPS2,125715,6356.479,-1248.065,12,1.3,12,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.086,0.201
$KALMAN_X,-255485.6,1290.0,977.8,29523.5,2429.7
$KALMAN_Y,-218429.4,370.8,1098.8,480827.0,-4512.2
$MHEAD_RNG_PITCHd_Wd,349.1,11680,-11.1,-6.000
$D_GRID,612
$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,-101.82,0.000,2,0.000,0.000,44,2897,3389
$GC,129,-1.10,-146.6,3.6,-4.7,5,151,12.05,1.75,-2.00,0.000,4,0.161,0.117,2163,3774,3503
$GC,281,-1.10,-146.6,25.4,-8.4,11,287,0.00,1.62,0.00,0.000,6,0.000,0.064,2163,2907,3503
$GC,596,-1.10,-146.6,41.4,-4.4,27,601,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1480,3504
$GC,682,-1.10,-146.6,46.5,-6.1,31,687,0.00,2.72,0.00,0.000,6,0.000,0.079,2163,2903,3504
$GC,1010,-1.10,-146.6,67.9,-5.6,47,1015,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,1488,3503
$GC,1037,-1.10,-146.6,70.0,-6.8,48,1042,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2901,3503
$GC,1353,-1.10,-146.6,90.4,-6.6,63,1357,0.00,2.65,0.00,0.000,4,0.000,0.073,2163,1488,3503
$GC,1403,-1.10,-146.6,93.4,-6.0,65,1407,0.00,2.72,0.00,0.000,6,0.000,0.080,2163,2909,3503
$GC,1718,-1.10,-146.6,116.3,-7.9,80,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,2027,-1.10,-146.6,137.0,-6.5,95,2031,0.00,2.67,0.00,0.000,4,0.000,0.072,2163,1481,3503
$GC,2082,-1.10,-146.6,140.4,-6.3,97,2088,0.00,2.67,0.00,0.000,6,0.000,0.080,2163,2899,3504
$GC,2397,-1.10,-146.6,158.3,-5.5,113,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,2707,-1.10,-146.6,175.3,-6.0,128,2712,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,1484,3503
$GC,2763,-1.10,-146.6,179.0,-6.7,130,2770,0.00,2.72,0.00,0.000,6,0.000,0.079,2163,2916,3504
$GC,3078,-1.10,-146.6,199.1,-6.2,146,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2916,3503
$GC,3388,-1.10,-146.6,219.3,-5.9,161,3392,0.00,2.67,0.00,0.000,4,0.000,0.071,2163,1485,3503
$GC,3427,-1.10,-146.6,221.8,-6.6,163,3431,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2901,3503
$GC,3752,-1.10,-146.6,248.4,-9.6,179,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,4063,-1.10,-146.6,276.6,-9.3,194,4067,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,1484,3503
$GC,4102,-1.10,-146.6,280.3,-9.3,196,4106,0.00,2.70,0.00,0.000,6,0.000,0.081,2163,2901,3503
$GC,4427,-1.10,-146.6,304.8,-8.1,212,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,4737,-1.10,-146.6,326.8,-7.1,227,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,5046,-1.10,-146.6,346.7,-6.5,242,5050,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,1479,3503
$GC,5085,-1.10,-146.6,349.1,-6.0,244,5089,0.00,2.70,0.00,0.000,6,0.000,0.076,2163,2908,3503
$GC,5411,-1.10,-146.6,366.7,-5.0,260,5415,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,1482,3503
$GC,5472,-1.10,-146.6,371.3,-7.8,263,5476,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2904,3503
$GC,5797,-1.10,-146.6,394.1,-7.2,279,5802,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,1484,3503
$GC,5830,-1.10,-146.6,396.4,-6.3,280,5837,0.00,2.67,0.00,0.000,6,0.000,0.078,2163,2908,3503
$GC,6146,-1.10,-146.6,418.1,-6.6,296,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,6455,-1.10,-146.6,438.6,-6.6,311,6460,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1476,3503
$GC,6555,-1.10,-146.6,445.2,-6.8,315,6561,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2908,3503
$GC,6871,-1.10,-146.6,464.8,-6.3,331,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3503
$GC,7180,-1.10,-146.6,484.7,-6.5,346,7184,0.00,2.60,0.00,0.000,4,0.000,0.062,2163,1480,3503
$GC,7234,-1.10,-146.6,488.5,-7.1,348,7241,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2903,3503
$GC,7549,-1.10,-146.6,508.8,-6.3,364,7554,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1476,3503
$GC,7616,-1.10,-146.6,513.2,-7.3,367,7620,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2901,3503
$GC,7943,-1.10,-146.6,538.4,-8.8,383,7947,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1480,3503
$GC,7981,-1.10,-146.6,541.3,-7.0,385,7986,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2904,3503
$GC,8308,-1.10,-146.6,562.6,-6.6,401,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,8617,-1.10,-146.6,582.4,-6.3,416,8622,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1476,3503
$GC,8690,-1.10,-146.6,587.2,-6.1,419,8694,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2908,3503
$STATE,8755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8756,begin apogee
$GC,8763,-0.42,0.0,591.5,6.5,422,8891,0.77,0.00,125.32,1.206,6,0.094,0.000,2319,2092,2901
$STATE,8892,end apogee,CONTROL_FINISHED_OK
$STATE,8892,begin climb
$GC,8894,1.10,146.6,596.0,0.0,428,9026,1.52,2.62,122.00,1.173,4,0.056,0.056,2647,690,2303
$GC,9179,1.15,183.0,588.8,5.0,441,9216,0.00,2.50,31.50,1.133,6,0.000,0.035,2647,2118,2155
$GC,9524,1.15,183.0,567.9,6.8,458,9528,0.00,2.55,0.00,0.000,4,0.000,0.066,2647,3501,2154
$GC,9607,1.15,183.0,561.4,7.8,462,9612,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2091,2153
$GC,9934,1.15,183.0,537.6,6.6,478,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2091,2153
$GC,10243,1.15,185.3,519.9,5.9,493,10247,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3500,2152
$GC,10394,1.15,185.3,510.5,6.2,500,10399,0.00,2.45,0.00,0.000,6,0.000,0.039,2647,2100,2151
$GC,10721,1.19,221.3,492.7,5.0,516,10761,0.10,0.00,32.80,1.151,6,0.053,0.000,2680,2100,1998
$GC,11070,1.19,221.3,469.9,7.0,533,11071,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,1998
$GC,11379,1.19,221.3,448.6,7.3,548,11383,0.00,2.65,0.00,0.000,4,0.000,0.076,2680,3502,1997
$GC,11417,1.19,221.3,445.4,8.5,550,11422,0.00,2.47,0.00,0.000,6,0.000,0.046,2679,2105,1997
$GC,11743,1.19,221.3,418.5,8.2,566,11744,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2105,1997
$GC,12052,1.19,221.3,395.3,6.1,581,12057,0.00,2.65,0.00,0.000,4,0.000,0.077,2680,3505,1997
$GC,12114,1.21,235.6,391.8,5.6,584,12135,0.00,2.50,12.98,1.024,6,0.000,0.048,2679,2093,1940
$GC,12443,1.21,235.6,370.0,6.8,600,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2093,1940
$GC,12753,1.21,235.6,347.6,6.3,615,12757,0.00,2.65,0.00,0.000,4,0.000,0.076,2679,3499,1940
$GC,12807,1.24,259.3,344.5,5.3,617,12834,0.00,2.50,20.75,1.018,6,0.000,0.049,2679,2098,1844
$GC,13143,1.24,259.3,321.7,9.4,634,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2098,1844
$GC,13452,1.24,259.3,287.2,13.4,649,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2098,1844
$GC,13761,1.24,259.3,255.8,7.6,664,13766,0.00,2.65,0.00,0.000,4,0.000,0.077,2680,3499,1844
$GC,13811,1.24,259.3,251.7,8.4,666,13815,0.00,2.50,0.00,0.000,6,0.000,0.049,2679,2099,1844
$GC,14127,1.25,265.0,227.9,5.8,681,14136,0.00,0.00,6.97,0.841,6,0.000,0.000,2679,2099,1820
$GC,14436,1.25,265.0,206.6,6.6,696,14440,0.00,2.65,0.00,0.000,4,0.000,0.076,2679,3499,1820
$GC,14468,1.25,265.0,204.7,6.1,697,14474,0.00,2.50,0.00,0.000,6,0.000,0.051,2680,2101,1820
$GC,14783,1.25,265.0,185.4,6.0,713,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1821
$GC,15092,1.25,265.0,168.6,6.5,728,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2101,1821
$GC,15402,1.25,265.0,143.2,9.4,743,15404,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1821
$GC,15711,1.25,265.0,116.3,8.3,758,15713,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2101,1821
$GC,16021,1.25,265.0,94.0,6.8,773,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2100,1821
$GC,16330,1.25,265.0,69.8,8.2,788,16335,0.00,2.65,0.00,0.000,4,0.000,0.078,2679,3498,1821
$GC,16363,1.25,265.0,66.8,8.4,789,16369,0.00,2.53,0.00,0.000,6,0.000,0.053,2679,2100,1821
$GC,16680,1.25,265.0,39.6,8.9,805,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2100,1821
$GC,16988,1.25,265.0,12.7,7.7,820,16993,0.00,2.65,0.00,0.000,4,0.000,0.078,2680,3498,1821
$GC,17038,1.25,265.0,8.7,7.4,822,17042,0.00,2.50,0.00,0.000,6,0.000,0.049,2680,2093,1821
$STATE,17110,end climb,SURFACE_DEPTH_REACHED
$STATE,17110,begin surface coast
$FINISH,-1.0,1.027382
$STATE,17132,end surface coast,CONTROL_FINISHED_OK
$STATE,17132,begin surface
$SM_CCo,17154,243.48,0.767,2,0,572,571.30
$SM_GC,-0.51,0.00,0.00,243.48,0.000,0.000,0.767,38,2885,572,-10.91,-0.42,571.30
$IRIDIUM_FIX,6327.46,-1353.88,291207,111102
$TT8_MAMPS,0.029913
$HUMID,2000
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.2,74.2
$24V_AH,23.4,43.509
$10V_AH,10.1,21.313
$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,25.775,137.425,352.325,243.475,0.000,40.460,33.957,162.065,5.000,0.000,0.000,12.357,1502.165,13218.293,773.937,1793.388,480.415,33.368,1677.182,0.000,1771.651,0.000,32.801
$DEVICE_MAMPS,161.070,117.351,1206.491,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.548,572.538,544.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41103,827
$CFSIZE,260165632,244133888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,291207,175038,6358.711,-1242.897,96,1.5,96,-12.3