version: 66.02
glider: 103
mission: 7
dive: 251
start: 12 30 107 12 35 7
data:
$ID,103
$MISSION,7
$DIVE,251
$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,-67081.391
$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,21
$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
$GPS1,122451,6401.981,-1253.333,52,2.5,71,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.64
$_SM_ANGLEo,-40.0
$GPS2,123404,6402.104,-1253.214,16,3.2,35,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.020
$KALMAN_X,-239904.9,-1083.8,-1108.7,13947.6,5012.4
$KALMAN_Y,-214882.1,-604.1,-238.3,490043.8,1056.6
$MHEAD_RNG_PITCHd_Wd,277.2,6749,-11.1,-6.000
$D_GRID,543
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,134,0.00,0.00,-108.47,0.000,6,0.000,0.000,43,2897,3501
$GC,136,-1.10,-146.6,1.8,-2.7,5,158,11.95,2.62,0.00,0.000,4,0.157,0.059,2166,1489,3502
$GC,163,-1.10,-146.6,14.0,-34.6,6,168,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2904,3502
$GC,484,-1.10,-146.6,42.2,-8.6,22,489,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,1490,3502
$GC,708,-1.10,-146.6,62.6,-9.8,32,712,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2898,3502
$GC,1035,-1.10,-146.6,103.3,-10.6,48,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,1344,-1.10,-146.6,125.0,-7.0,63,1349,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1492,3502
$GC,1371,-1.10,-146.6,127.0,-7.2,64,1375,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3502
$GC,1694,-1.10,-146.6,148.1,-6.8,80,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,2001,-1.10,-146.6,171.2,-7.7,95,2006,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1486,3502
$GC,2045,-1.10,-146.6,174.5,-7.0,97,2050,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2908,3502
$GC,2372,-1.10,-146.6,198.0,-7.1,113,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,2681,-1.10,-146.6,221.4,-7.6,128,2686,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1490,3502
$GC,2743,-1.10,-146.6,226.6,-8.7,131,2748,0.00,2.70,0.00,0.000,6,0.000,0.083,2166,2899,3502
$GC,3069,-1.10,-146.6,254.1,-8.3,147,3073,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1485,3502
$GC,3096,-1.10,-146.6,256.5,-8.7,148,3100,0.00,2.70,0.00,0.000,6,0.000,0.081,2166,2900,3502
$GC,3411,-1.10,-146.6,282.6,-7.7,163,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,3720,-1.10,-146.6,305.4,-7.1,178,3724,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1490,3502
$GC,3769,-1.10,-146.6,308.8,-6.3,180,3774,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2901,3502
$GC,4084,-1.10,-146.6,329.4,-6.9,195,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4394,-1.10,-146.6,350.0,-6.4,210,4401,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1488,3502
$GC,4451,-1.10,-146.6,353.6,-5.8,212,4456,0.00,2.67,0.00,0.000,6,0.000,0.079,2166,2901,3502
$GC,4766,-1.10,-146.6,374.5,-6.8,227,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,5076,-1.10,-146.6,396.4,-6.7,242,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,5385,-1.10,-146.6,416.9,-7.1,257,5390,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1486,3502
$GC,5447,-1.10,-146.6,421.9,-8.1,260,5451,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2906,3502
$GC,5773,-1.10,-146.6,448.7,-9.0,276,5778,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1487,3502
$GC,5806,-1.10,-146.6,452.0,-9.9,277,5812,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2909,3502
$GC,6121,-1.10,-146.6,477.4,-7.2,293,6125,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1482,3502
$GC,6148,-1.10,-146.6,479.3,-6.8,294,6153,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2902,3502
$GC,6470,-1.10,-146.6,498.9,-4.8,310,6474,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1486,3502
$GC,6502,-1.10,-146.6,500.4,-4.6,311,6508,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2902,3502
$GC,6818,-1.10,-146.6,514.7,-5.8,327,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,7127,-1.10,-146.6,535.6,-6.2,342,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$STATE,7248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7248,begin apogee
$GC,7255,-0.42,0.0,543.1,5.9,348,7382,0.75,0.00,123.72,1.195,6,0.082,0.000,2319,2092,2901
$STATE,7382,end apogee,CONTROL_FINISHED_OK
$STATE,7382,begin climb
$GC,7385,1.10,146.6,547.2,0.0,354,7514,1.52,2.60,120.00,1.157,4,0.058,0.054,2646,691,2303
$GC,7677,1.10,147.9,536.2,6.0,367,7683,0.00,2.50,0.00,0.000,6,0.000,0.037,2646,2122,2302
$GC,7993,1.25,266.7,522.6,2.7,383,8099,0.17,2.67,99.53,1.147,4,0.041,0.073,2699,3502,1813
$GC,8233,1.25,266.7,504.7,10.0,394,8237,0.00,2.50,0.00,0.000,6,0.000,0.041,2699,2090,1811
$GC,8555,1.25,266.7,475.8,9.4,410,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2090,1811
$GC,8863,1.25,266.7,439.8,10.3,425,8868,0.00,2.67,0.00,0.000,4,0.000,0.077,2699,3501,1810
$GC,8902,1.25,266.7,436.1,9.7,427,8906,0.00,2.50,0.00,0.000,6,0.000,0.046,2699,2102,1810
$GC,9228,1.25,266.7,408.8,8.3,443,9232,0.00,2.58,0.00,0.000,4,0.000,0.060,2699,685,1810
$GC,9304,1.25,266.7,402.1,8.2,446,9311,0.00,2.47,0.00,0.000,6,0.000,0.043,2699,2092,1810
$GC,9620,1.25,266.7,379.6,7.5,462,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2092,1809
$GC,9929,1.25,266.7,352.6,9.9,477,9934,0.00,2.65,0.00,0.000,4,0.000,0.077,2699,3508,1809
$GC,9984,1.25,266.7,346.5,11.2,479,9991,0.00,2.50,0.00,0.000,6,0.000,0.047,2699,2099,1809
$GC,10300,1.25,266.7,312.4,10.1,495,10304,0.00,2.67,0.00,0.000,4,0.000,0.077,2699,3508,1809
$GC,10338,1.25,266.7,308.5,11.1,497,10343,0.00,2.53,0.00,0.000,6,0.000,0.049,2699,2094,1809
$GC,10665,1.25,266.7,277.6,9.4,513,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,1809
$GC,10974,1.25,266.7,251.9,7.7,528,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,1809
$GC,11283,1.25,266.7,231.3,7.0,543,11288,0.00,2.67,0.00,0.000,4,0.000,0.076,2699,3508,1809
$GC,11327,1.25,266.7,227.6,8.3,545,11331,0.00,2.53,0.00,0.000,6,0.000,0.051,2699,2096,1809
$GC,11654,1.25,266.7,190.9,14.4,561,11658,0.00,2.55,0.00,0.000,4,0.000,0.060,2699,684,1809
$GC,11697,1.25,266.7,184.9,13.0,563,11702,0.00,2.50,0.00,0.000,6,0.000,0.048,2699,2097,1809
$GC,12018,1.25,266.7,154.5,9.8,579,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2098,1810
$GC,12328,1.25,266.7,116.6,13.8,594,12329,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2098,1810
$GC,12637,1.25,266.7,75.5,11.8,609,12642,0.00,2.65,0.00,0.000,4,0.000,0.079,2699,3511,1810
$GC,12664,1.25,266.7,71.8,13.7,610,12668,0.00,2.53,0.00,0.000,6,0.000,0.051,2699,2096,1810
$GC,12986,1.25,266.7,37.0,9.7,626,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2094,1811
$GC,13295,1.25,266.7,15.6,9.1,641,13299,0.00,2.53,0.00,0.000,4,0.000,0.059,2699,692,1810
$GC,13361,1.25,266.7,7.6,13.0,644,13366,0.00,2.53,0.00,0.000,6,0.000,0.052,2699,2108,1811
$STATE,13418,end climb,SURFACE_DEPTH_REACHED
$STATE,13418,begin surface coast
$FINISH,-0.9,1.027368
$STATE,13442,end surface coast,CONTROL_FINISHED_OK
$STATE,13442,begin surface
$SM_CCo,13464,240.73,0.778,2,0,572,571.30
$SM_GC,-0.50,0.00,0.00,240.73,0.000,0.000,0.778,39,2894,572,-10.91,-0.17,571.30
$IRIDIUM_FIX,6332.30,-1256.74,301207,161650
$TT8_MAMPS,0.029146
$HUMID,1992
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,526.2,102.9
$24V_AH,23.4,44.437
$10V_AH,10.1,21.699
$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,25.975,117.925,343.250,240.725,0.000,76.910,76.127,211.236,4.750,0.000,0.000,35.943,1195.396,10312.792,735.444,1472.366,568.474,33.376,1483.744,0.000,1425.234,0.000,29.938
$DEVICE_MAMPS,157.235,112.749,1194.986,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.194,449.091,423.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31655,648
$CFSIZE,260165632,243884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,0
$GPS,301207,162458,6401.832,-1251.635,40,2.0,40,-12.4