version: 66.02
glider: 103
mission: 7
dive: 252
start: 12 30 107 16 34 49
data:
$ID,103
$MISSION,7
$DIVE,252
$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,-67095.828
$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,6
$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
$GPS1,162458,6401.832,-1251.635,40,2.0,40,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.57
$_SM_ANGLEo,-41.5
$GPS2,163345,6401.932,-1251.339,13,1.9,13,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,-0.038
$KALMAN_X,-237883.0,-327.4,1652.0,9993.7,333.5
$KALMAN_Y,-215385.1,-1053.1,711.6,489712.5,-1007.6
$MHEAD_RNG_PITCHd_Wd,272.4,7889,-11.1,-6.000
$D_GRID,553
$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,-146.6,0.0,0.0,0,125,0.00,0.00,-101.07,0.000,6,0.000,0.000,39,2893,3500
$GC,128,-1.10,-146.6,5.2,-7.0,5,144,12.12,0.00,0.00,0.000,6,0.158,0.000,2163,2894,3503
$GC,455,-1.10,-146.6,43.2,-9.1,21,459,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1488,3504
$GC,554,-1.10,-146.6,52.4,-11.1,25,562,0.00,2.72,0.00,0.000,6,0.000,0.078,2164,2903,3504
$GC,870,-1.10,-146.6,75.4,-8.2,41,874,0.00,1.73,0.00,0.000,4,0.000,0.097,2163,3793,3504
$GC,931,-1.10,-146.6,78.8,-5.0,43,938,0.00,1.60,0.00,0.000,6,0.000,0.052,2163,2904,3504
$GC,1247,-1.10,-146.6,98.6,-7.7,59,1251,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1482,3504
$GC,1286,-1.10,-146.6,102.5,-9.9,61,1291,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2903,3504
$GC,1612,-1.10,-146.6,124.4,-5.5,77,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3504
$GC,1923,-1.10,-146.6,138.6,-5.1,92,1928,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,1489,3504
$GC,1973,-1.10,-146.6,141.6,-5.6,94,1977,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2901,3504
$GC,2287,-1.10,-146.6,162.1,-7.4,109,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3504
$GC,2597,-1.10,-146.6,182.4,-6.4,124,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3504
$GC,2907,-1.10,-146.6,200.1,-5.2,139,2912,0.00,2.65,0.00,0.000,4,0.000,0.071,2164,1482,3504
$GC,2940,-1.10,-146.6,202.0,-5.2,140,2947,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2902,3504
$GC,3256,-1.10,-146.6,220.3,-5.6,156,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3504
$GC,3566,-1.10,-146.6,235.2,-5.5,171,3570,0.00,2.65,0.00,0.000,4,0.000,0.072,2164,1483,3504
$GC,3615,-1.10,-146.6,238.4,-5.8,173,3620,0.00,2.70,0.00,0.000,6,0.000,0.079,2164,2904,3504
$GC,3930,-1.10,-146.6,258.8,-7.5,188,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3504
$GC,4240,-1.10,-146.6,280.2,-7.6,203,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3504
$GC,4549,-1.10,-146.6,302.8,-6.9,218,4553,0.00,2.62,0.00,0.000,4,0.000,0.070,2163,1487,3504
$GC,4642,-1.10,-146.6,309.2,-8.3,222,4647,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2904,3504
$GC,4958,-1.10,-146.6,331.3,-8.1,237,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3504
$GC,5267,-1.10,-146.6,354.3,-7.5,252,5272,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1479,3504
$GC,5310,-1.10,-146.6,357.8,-7.1,254,5314,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2900,3504
$GC,5637,-1.10,-146.6,381.3,-6.1,270,5642,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1484,3504
$GC,5670,-1.10,-146.6,383.3,-5.8,271,5676,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2904,3504
$GC,5987,-1.10,-146.6,400.8,-7.1,287,5990,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1484,3504
$GC,6036,-1.10,-146.6,404.3,-6.4,289,6041,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2900,3504
$GC,6357,-1.10,-146.6,427.3,-7.1,305,6361,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1483,3504
$GC,6383,-1.10,-146.6,429.2,-7.0,306,6387,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2904,3504
$GC,6706,-1.10,-146.6,450.9,-7.3,322,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3504
$GC,7014,-1.10,-146.6,472.1,-6.3,337,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3504
$GC,7324,-1.10,-146.6,489.1,-6.0,352,7327,0.00,1.67,0.00,0.000,4,0.000,0.092,2163,3786,3504
$GC,7384,-1.10,-146.6,493.4,-7.2,354,7391,0.00,1.55,0.00,0.000,6,0.000,0.042,2164,2900,3504
$GC,7700,-1.10,-146.6,516.8,-7.2,370,7704,0.00,2.53,0.00,0.000,4,0.000,0.056,2163,1486,3503
$GC,7761,-1.10,-146.6,521.1,-7.2,373,7765,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2901,3503
$GC,8087,-1.10,-146.6,545.2,-8.1,389,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$STATE,8187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8187,begin apogee
$GC,8194,-0.42,0.0,553.9,8.5,394,8322,0.75,0.00,124.88,1.175,6,0.085,0.000,2317,2091,2901
$STATE,8323,end apogee,CONTROL_FINISHED_OK
$STATE,8323,begin climb
$GC,8326,1.10,146.6,560.6,0.0,400,8456,1.55,2.60,120.88,1.150,4,0.056,0.052,2650,695,2303
$GC,8608,1.11,154.4,554.4,5.8,413,8625,0.00,2.47,8.27,0.965,6,0.000,0.034,2650,2124,2271
$GC,8933,1.11,154.4,534.5,6.8,429,8937,0.00,2.53,0.00,0.000,4,0.000,0.060,2650,3502,2270
$GC,8988,1.11,154.4,530.3,7.4,431,8993,0.00,2.45,0.00,0.000,6,0.000,0.034,2650,2084,2270
$GC,9310,1.12,160.9,509.2,5.8,447,9324,0.00,2.70,7.10,0.961,4,0.000,0.062,2650,3502,2244
$GC,9461,1.20,222.8,501.6,4.3,453,9520,0.00,2.45,51.70,1.137,6,0.000,0.036,2650,2102,1992
$GC,9838,1.20,222.8,480.4,8.2,472,9842,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3502,1991
$GC,9926,1.20,222.8,472.2,9.1,476,9930,0.00,2.47,0.00,0.000,6,0.000,0.041,2650,2098,1991
$GC,10253,1.20,222.8,445.7,7.3,492,10257,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3497,1991
$GC,10359,1.20,222.8,438.1,7.3,497,10363,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2100,1991
$GC,10690,1.20,222.8,417.3,6.0,513,10694,0.00,2.60,0.00,0.000,4,0.000,0.068,2650,3496,1991
$GC,10762,1.26,275.7,414.0,4.5,516,10814,0.17,2.50,44.05,1.081,6,0.038,0.047,2701,2101,1777
$GC,11124,1.26,275.7,386.5,8.6,534,11128,0.00,2.65,0.00,0.000,4,0.000,0.074,2701,3499,1776
$GC,11167,1.26,275.7,382.3,9.0,536,11171,0.00,2.50,0.00,0.000,6,0.000,0.046,2701,2095,1776
$GC,11494,1.26,275.7,350.4,10.2,552,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2095,1776
$GC,11803,1.26,275.7,321.0,8.8,567,11807,0.00,2.65,0.00,0.000,4,0.000,0.074,2701,3501,1776
$GC,11835,1.26,275.7,317.6,9.9,568,11841,0.00,2.50,0.00,0.000,6,0.000,0.048,2701,2100,1776
$GC,12151,1.26,275.7,287.1,9.5,584,12152,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2100,1776
$GC,12459,1.26,275.7,257.5,9.5,599,12464,0.00,2.62,0.00,0.000,4,0.000,0.076,2701,3495,1776
$GC,12525,1.26,275.7,251.3,8.9,602,12529,0.00,2.50,0.00,0.000,6,0.000,0.051,2701,2097,1776
$GC,12852,1.26,275.7,224.6,8.0,618,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2097,1776
$GC,13161,1.26,275.7,196.0,10.0,633,13165,0.00,2.65,0.00,0.000,4,0.000,0.077,2701,3495,1776
$GC,13200,1.26,275.7,192.0,10.7,635,13204,0.00,2.50,0.00,0.000,6,0.000,0.051,2701,2100,1776
$GC,13526,1.26,275.7,159.8,8.7,651,13531,0.00,2.58,0.00,0.000,4,0.000,0.064,2701,690,1776
$GC,13560,1.26,275.7,156.6,9.4,652,13567,0.00,2.45,0.00,0.000,6,0.000,0.045,2701,2083,1776
$GC,13876,1.26,275.7,118.3,12.9,668,13877,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2083,1776
$GC,14185,1.28,288.2,82.7,5.7,683,14207,0.00,2.60,11.75,0.820,4,0.000,0.063,2701,694,1726
$GC,14268,1.28,288.2,75.1,9.3,686,14275,0.00,2.53,0.00,0.000,6,0.000,0.047,2701,2120,1726
$GC,14585,1.28,288.2,34.6,11.0,702,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2121,1726
$GC,14894,1.37,361.3,4.9,4.0,717,14919,0.00,0.00,22.62,0.795,2,0.000,0.000,2701,2124,1616
$STATE,14919,end climb,SURFACE_DEPTH_REACHED
$STATE,14919,begin surface coast
$FINISH,1.4,1.027346
$STATE,14924,end surface coast,CONTROL_FINISHED_OK
$STATE,14924,begin surface
$SM_CCo,14947,201.75,0.769,1,0,572,571.30
$SM_GC,-0.90,0.00,0.00,201.75,0.000,0.000,0.769,52,2901,572,-10.84,0.03,571.30
$IRIDIUM_FIX,6337.14,-1303.73,301207,202055
$TT8_MAMPS,0.029146
$HUMID,2021
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.4,87.0
$24V_AH,23.4,44.623
$10V_AH,10.1,21.774
$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,26.625,128.950,391.250,201.750,0.000,78.576,83.263,195.866,5.250,0.000,0.000,13.810,1327.471,11415.863,735.160,1627.335,592.922,33.374,1580.613,0.000,1602.743,0.000,34.468
$DEVICE_MAMPS,158.002,97.409,1175.044,769.301,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.982,498.339,467.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,718
$CFSIZE,260165632,243814400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,301207,204858,6359.796,-1250.479,39,2.1,58,-12.3