version: 66.02
glider: 103
mission: 7
dive: 261
start: 1 1 108 7 57 17
data:
$ID,103
$MISSION,7
$DIVE,261
$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,-67282.562
$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,24
$R_STBD_OVSHOOT,8
$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
$GPS1,075108,6401.092,-1230.671,40,1.1,40,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-46.8
$GPS2,075611,6401.148,-1230.676,12,1.9,14,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.196,0.097
$KALMAN_X,-183906.8,-1603.9,-815.3,-21992.7,8645.6
$KALMAN_Y,-223756.3,960.1,-211.9,495515.0,-1219.4
$MHEAD_RNG_PITCHd_Wd,308.7,23902,-11.1,-6.000
$D_GRID,509
$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,-101.97,0.000,2,0.000,0.000,32,2898,3419
$GC,129,-1.10,-146.6,4.7,-5.9,5,151,12.12,2.60,-1.27,0.000,4,0.162,0.071,2163,1495,3500
$GC,347,-1.10,-146.6,34.3,-8.5,14,354,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2899,3501
$GC,663,-1.10,-146.6,56.0,-4.8,30,668,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1492,3501
$GC,696,-1.10,-146.6,57.7,-4.8,31,703,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2905,3501
$GC,1014,-1.10,-146.6,75.5,-5.8,47,1018,0.00,2.65,0.00,0.000,4,0.000,0.069,2163,1487,3501
$GC,1063,-1.10,-146.6,78.4,-5.4,49,1068,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2909,3501
$GC,1380,-1.10,-146.6,95.1,-4.6,64,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3501
$GC,1688,-1.10,-146.6,116.5,-8.3,79,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3501
$GC,1997,-1.10,-146.6,135.7,-5.1,94,2002,0.00,2.65,0.00,0.000,4,0.000,0.071,2163,1486,3501
$GC,2036,-1.10,-146.6,138.7,-7.3,96,2041,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2899,3501
$GC,2362,-1.10,-146.6,159.6,-7.6,112,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,2672,-1.10,-146.6,181.5,-5.6,127,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,2981,-1.10,-146.6,199.9,-7.1,142,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,3290,-1.10,-146.6,219.2,-7.4,157,3294,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,1486,3501
$GC,3323,-1.10,-146.6,223.6,-13.8,158,3329,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2902,3501
$GC,3639,-1.10,-146.6,250.7,-5.1,174,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,3948,-1.10,-146.6,271.1,-6.0,189,3952,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1484,3501
$GC,4005,-1.10,-146.6,275.0,-7.8,191,4011,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2902,3501
$GC,4320,-1.10,-146.6,296.2,-6.6,207,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3501
$GC,4629,-1.10,-146.6,319.7,-8.2,222,4634,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1490,3501
$GC,4668,-1.10,-146.6,323.0,-8.5,224,4673,0.00,2.65,0.00,0.000,6,0.000,0.075,2163,2902,3501
$GC,4995,-1.10,-146.6,350.6,-8.9,240,5000,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1489,3501
$GC,5035,-1.10,-146.6,354.3,-9.6,242,5039,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2907,3501
$GC,5360,-1.10,-146.6,384.9,-10.0,258,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3501
$GC,5670,-1.10,-146.6,415.9,-9.4,273,5674,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1488,3501
$GC,5703,-1.10,-146.6,418.9,-8.9,274,5709,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3501
$GC,6018,-1.10,-146.6,442.5,-6.5,290,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,6328,-1.10,-146.6,461.4,-5.6,305,6332,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1481,3501
$GC,6382,-1.10,-146.6,464.8,-6.3,307,6389,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2901,3501
$GC,6698,-1.10,-146.6,481.2,-3.7,323,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3501
$GC,7007,-1.10,-146.6,501.7,-7.6,338,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3501
$STATE,7108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7108,begin apogee
$GC,7115,-0.42,0.0,510.2,8.4,343,7242,0.77,0.00,123.10,1.137,6,0.094,0.000,2318,2096,2901
$STATE,7242,end apogee,CONTROL_FINISHED_OK
$STATE,7242,begin climb
$GC,7245,1.10,146.6,515.7,0.0,349,7375,1.55,2.58,120.12,1.095,4,0.058,0.050,2650,691,2302
$GC,7611,1.10,146.6,502.1,6.4,366,7616,0.00,2.47,0.00,0.000,6,0.000,0.034,2650,2120,2302
$GC,7937,1.10,146.6,472.6,8.6,382,7942,0.00,2.55,0.00,0.000,4,0.000,0.064,2650,3503,2302
$GC,8010,1.10,146.6,466.6,7.9,385,8014,0.00,2.45,0.00,0.000,6,0.000,0.035,2650,2089,2301
$GC,8325,1.12,157.3,449.4,5.7,400,8337,0.00,0.00,10.32,0.973,6,0.000,0.000,2650,2089,2259
$GC,8635,1.12,161.7,431.5,5.9,415,8645,0.00,2.67,5.55,0.845,4,0.000,0.067,2650,3505,2241
$GC,8729,1.13,165.4,426.0,5.9,419,8741,0.00,2.45,4.78,0.793,6,0.000,0.035,2650,2095,2226
$GC,9049,1.27,280.3,413.7,2.8,435,9152,0.15,2.75,93.72,1.068,4,0.045,0.074,2696,3495,1757
$GC,9199,1.27,280.3,406.1,7.1,442,9203,0.00,2.50,0.00,0.000,6,0.000,0.044,2696,2097,1757
$GC,9524,1.27,280.3,379.8,8.9,458,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2097,1756
$GC,9834,1.27,280.3,351.3,9.7,473,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2097,1756
$GC,10143,1.27,280.3,320.0,10.2,488,10147,0.00,2.65,0.00,0.000,4,0.000,0.075,2697,3504,1756
$GC,10182,1.27,280.3,316.1,10.2,490,10186,0.00,2.47,0.00,0.000,6,0.000,0.048,2696,2104,1756
$GC,10508,1.27,280.3,283.4,9.9,506,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2104,1756
$GC,10817,1.27,280.3,251.7,11.1,521,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2104,1756
$GC,11126,1.27,280.3,220.0,10.4,536,11130,0.00,2.58,0.00,0.000,4,0.000,0.062,2697,688,1756
$GC,11170,1.27,280.3,215.7,9.1,538,11174,0.00,2.47,0.00,0.000,6,0.000,0.047,2696,2091,1756
$GC,11495,1.27,280.3,188.4,8.2,554,11500,0.00,2.65,0.00,0.000,4,0.000,0.074,2697,3509,1756
$GC,11534,1.27,280.3,184.8,9.9,556,11539,0.00,2.53,0.00,0.000,6,0.000,0.050,2696,2097,1756
$GC,11861,1.27,280.3,157.8,11.2,572,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2095,1757
$GC,12170,1.27,280.3,128.7,9.8,587,12175,0.00,2.58,0.00,0.000,4,0.000,0.064,2696,687,1756
$GC,12203,1.27,280.3,124.3,14.2,588,12210,0.00,2.47,0.00,0.000,6,0.000,0.045,2696,2100,1756
$GC,12521,1.29,301.3,103.4,5.4,604,12541,0.00,0.00,18.15,0.837,6,0.000,0.000,2697,2100,1673
$GC,12850,1.29,301.3,68.8,6.5,620,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2100,1672
$GC,13158,1.29,301.3,33.1,13.2,635,13162,0.00,2.60,0.00,0.000,4,0.000,0.066,2697,694,1672
$GC,13185,1.29,301.3,29.2,14.8,636,13189,0.00,2.50,0.00,0.000,6,0.000,0.048,2697,2098,1672
$STATE,13457,end climb,SURFACE_DEPTH_REACHED
$STATE,13457,begin surface coast
$FINISH,-1.0,1.027348
$STATE,13479,end surface coast,CONTROL_FINISHED_OK
$STATE,13479,begin surface
$SM_CCo,13501,213.43,0.768,2,0,572,571.30
$SM_GC,-0.52,0.00,0.00,213.43,0.000,0.000,0.768,45,2902,572,-10.88,0.06,571.30
$IRIDIUM_FIX,6332.30,-1231.73,010108,080829
$TT8_MAMPS,0.027612
$HUMID,2007
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,450.7,80.5
$24V_AH,23.5,46.322
$10V_AH,10.1,22.463
$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,26.225,101.700,375.750,213.425,0.000,37.739,42.056,123.440,3.750,0.000,0.000,14.550,1190.582,10308.140,726.549,1423.694,400.504,33.366,1455.665,0.000,1401.654,0.000,25.015
$DEVICE_MAMPS,161.837,97.409,1137.461,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.421,451.496,467.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31620,650
$CFSIZE,260165632,243347456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,0
$GPS,010108,114707,6402.198,-1233.277,29,1.2,29,-12.2