version: 66.02
glider: 103
mission: 7
dive: 257
start: 12 31 107 16 44 7
data:
$ID,103
$MISSION,7
$DIVE,257
$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,-67184.922
$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,19
$R_STBD_OVSHOOT,15
$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
$GPS1,163725,6400.342,-1232.597,40,1.4,40,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-46.1
$GPS2,164303,6400.362,-1232.357,16,1.5,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.145,0.163
$KALMAN_X,-200484.3,-1150.8,839.2,-9017.7,8318.6
$KALMAN_Y,-221439.1,-452.8,1021.8,491937.5,-2680.3
$MHEAD_RNG_PITCHd_Wd,330.6,22452,-11.1,-6.000
$D_GRID,521
$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,-101.62,0.000,2,0.000,0.000,44,2902,3397
$GC,129,-1.10,-146.6,3.7,-4.8,5,151,11.88,2.60,-1.85,0.000,4,0.155,0.068,2166,1486,3502
$GC,302,-1.10,-146.6,20.7,-9.8,12,309,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2897,3502
$GC,620,-1.10,-146.6,44.2,-4.6,28,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2897,3502
$GC,927,-1.10,-146.6,60.9,-6.2,43,932,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1487,3502
$GC,961,-1.10,-146.6,62.7,-4.6,44,967,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2901,3502
$GC,1276,-1.10,-146.6,88.0,-9.1,60,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,1587,-1.10,-146.6,109.9,-6.0,75,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,1895,-1.10,-146.6,128.4,-4.7,90,1900,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1486,3502
$GC,1944,-1.10,-146.6,131.6,-7.0,92,1949,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2903,3502
$GC,2260,-1.10,-146.6,158.4,-10.4,107,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,2570,-1.10,-146.6,187.2,-5.6,122,2574,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3502
$GC,2624,-1.10,-146.6,190.5,-6.2,124,2631,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2904,3502
$GC,2940,-1.10,-146.6,215.7,-6.9,140,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3502
$GC,3249,-1.10,-146.6,235.0,-6.7,155,3254,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1483,3502
$GC,3288,-1.10,-146.6,237.7,-6.7,157,3293,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2900,3502
$GC,3615,-1.10,-146.6,259.5,-6.8,173,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,3924,-1.10,-146.6,279.2,-6.6,188,3928,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1484,3502
$GC,3973,-1.10,-146.6,282.6,-7.1,190,3977,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2900,3502
$GC,4288,-1.10,-146.6,305.1,-6.9,205,4293,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1481,3502
$GC,4321,-1.10,-146.6,307.5,-6.9,206,4327,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2900,3502
$GC,4636,-1.10,-146.6,328.9,-6.9,222,4638,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,4947,-1.10,-146.6,350.6,-7.5,237,4951,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1482,3502
$GC,4996,-1.10,-146.6,354.2,-7.3,239,5000,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2900,3502
$GC,5313,-1.10,-146.6,375.9,-6.4,254,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,5621,-1.10,-146.6,394.8,-5.4,269,5624,0.00,1.73,0.00,0.000,4,0.000,0.101,2166,3790,3502
$GC,5676,-1.10,-146.6,397.8,-5.5,271,5680,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2895,3502
$GC,5997,-1.10,-146.6,415.7,-5.8,287,6001,0.00,2.55,0.00,0.000,4,0.000,0.064,2166,1486,3502
$GC,6052,-1.10,-146.6,419.0,-5.9,289,6058,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2904,3502
$GC,6368,-1.10,-146.6,436.7,-5.7,305,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,6676,-1.10,-146.6,457.0,-7.0,320,6681,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1484,3502
$GC,6765,-1.10,-146.6,463.8,-7.7,324,6769,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2904,3502
$GC,7092,-1.10,-146.6,488.3,-7.6,340,7096,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1482,3502
$GC,7131,-1.10,-146.6,491.2,-8.1,342,7135,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2900,3502
$STATE,7372,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7372,begin apogee
$GC,7379,-0.42,0.0,508.4,7.3,354,7506,0.75,0.00,124.05,1.131,6,0.094,0.000,2317,2090,2901
$STATE,7507,end apogee,CONTROL_FINISHED_OK
$STATE,7507,begin climb
$GC,7509,1.10,146.6,513.3,0.0,360,7637,1.55,2.58,119.50,1.103,4,0.056,0.051,2649,690,2303
$GC,7767,1.12,157.6,506.3,5.7,372,7784,0.00,2.47,10.98,0.973,6,0.000,0.034,2649,2118,2258
$GC,8093,1.17,200.2,489.8,4.8,388,8135,0.00,2.60,36.20,1.081,4,0.000,0.062,2649,3502,2084
$GC,8303,1.38,370.2,478.6,1.3,397,8451,0.28,2.45,138.90,1.093,6,0.031,0.037,2720,2093,1391
$GC,8767,1.38,370.2,430.6,12.4,420,8771,0.00,2.53,0.00,0.000,4,0.000,0.054,2720,699,1389
$GC,8898,1.38,370.2,413.0,14.1,426,8902,0.00,2.47,0.00,0.000,6,0.000,0.041,2720,2094,1389
$GC,9223,1.38,370.2,368.0,13.6,442,9228,0.00,2.67,0.00,0.000,4,0.000,0.074,2720,3516,1388
$GC,9267,1.38,370.2,361.5,14.8,444,9271,0.00,2.50,0.00,0.000,6,0.000,0.046,2720,2104,1388
$GC,9587,1.38,370.2,321.4,12.2,460,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2104,1388
$GC,9896,1.38,370.2,283.7,12.6,475,9900,0.00,2.67,0.00,0.000,4,0.000,0.074,2720,3514,1388
$GC,9939,1.38,370.2,278.1,12.8,477,9944,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,2093,1388
$GC,10260,1.38,370.2,239.6,12.4,493,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2093,1388
$GC,10570,1.38,370.2,201.3,12.2,508,10574,0.00,2.67,0.00,0.000,4,0.000,0.073,2720,3511,1388
$GC,10602,1.38,370.2,197.0,13.8,509,10608,0.00,2.53,0.00,0.000,6,0.000,0.050,2720,2096,1388
$GC,10917,1.38,370.2,158.1,12.0,525,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2095,1388
$GC,11227,1.38,370.2,120.1,12.2,540,11231,0.00,2.67,0.00,0.000,4,0.000,0.074,2720,3512,1388
$GC,11253,1.38,370.2,115.9,15.4,541,11258,0.00,2.53,0.00,0.000,6,0.000,0.050,2721,2096,1388
$GC,11569,1.38,370.2,75.0,14.5,556,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2096,1388
$GC,11878,1.38,370.2,36.5,11.6,571,11879,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2095,1388
$STATE,12144,end climb,SURFACE_DEPTH_REACHED
$STATE,12144,begin surface coast
$FINISH,-0.9,1.013614
$STATE,12166,end surface coast,CONTROL_FINISHED_OK
$STATE,12166,begin surface
$SM_CCo,12188,158.10,0.790,1,0,572,571.30
$SM_GC,-0.51,0.00,0.00,158.10,0.000,0.000,0.790,46,2899,572,-10.87,-0.06,571.30
$IRIDIUM_FIX,6332.30,-1205.69,311207,161607
$TT8_MAMPS,0.029146
$HUMID,2030
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,451.3,65.7
$24V_AH,23.4,45.575
$10V_AH,10.1,22.183
$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,26.100,100.125,429.625,158.100,0.000,38.751,38.482,149.082,4.250,0.000,0.000,16.065,1081.860,9163.363,690.805,1345.995,421.836,33.372,1397.731,0.000,1323.807,0.000,27.909
$DEVICE_MAMPS,154.934,101.244,1130.558,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.923,404.432,417.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28555,585
$CFSIZE,260165632,243548160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,311207,201108,6400.563,-1230.606,34,1.7,34,-12.1