version: 66.02
glider: 103
mission: 7
dive: 266
start: 1 2 108 4 28 21
data:
$ID,103
$MISSION,7
$DIVE,266
$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,-67398.578
$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,20
$R_STBD_OVSHOOT,9
$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
$GPS1,042208,6405.206,-1224.422,35,1.2,35,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-54.1
$GPS2,042715,6405.239,-1224.320,16,2.0,16,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.035
$KALMAN_X,-165846.2,42.1,439.1,-37355.8,4011.6
$KALMAN_Y,-216628.6,-503.0,724.7,496517.8,744.1
$MHEAD_RNG_PITCHd_Wd,272.8,30549,-11.1,-6.000
$D_GRID,475
$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,21,-1.10,-146.6,0.0,0.0,0,125,0.00,0.00,-101.25,0.000,2,0.000,0.000,40,2892,3374
$GC,128,-1.10,-146.6,3.1,-4.0,5,150,11.95,1.80,-2.33,0.000,4,0.157,0.120,2164,3783,3501
$GC,308,-1.10,-146.6,24.7,-8.0,13,312,0.00,1.58,0.00,0.000,6,0.000,0.058,2165,2904,3501
$GC,640,-1.10,-146.6,50.2,-7.8,29,645,0.00,2.65,0.00,0.000,4,0.000,0.074,2165,1481,3501
$GC,667,-1.10,-146.6,52.3,-7.4,30,672,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2902,3501
$GC,985,-1.10,-146.6,77.0,-8.3,45,989,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1484,3501
$GC,1033,-1.10,-146.6,81.2,-8.6,47,1038,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2900,3501
$GC,1351,-1.10,-146.6,105.2,-6.0,62,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,1659,-1.10,-146.6,127.9,-6.5,77,1663,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1479,3501
$GC,1698,-1.10,-146.6,130.5,-6.5,79,1703,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2901,3501
$GC,2024,-1.10,-146.6,158.9,-8.3,95,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,2334,-1.10,-146.6,181.5,-7.1,110,2338,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1481,3501
$GC,2383,-1.10,-146.6,184.9,-7.1,112,2387,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2905,3501
$GC,2704,-1.10,-146.6,204.9,-5.3,128,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3501
$GC,3016,-1.10,-146.6,225.1,-7.4,143,3020,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1481,3501
$GC,3054,-1.10,-146.6,228.1,-7.1,145,3059,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2900,3501
$GC,3381,-1.10,-146.6,256.1,-7.4,161,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,3690,-1.10,-146.6,276.3,-6.2,176,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,3999,-1.10,-146.6,297.5,-6.9,191,4004,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1486,3501
$GC,4049,-1.10,-146.6,301.2,-7.6,193,4053,0.00,2.65,0.00,0.000,6,0.000,0.076,2165,2901,3501
$GC,4370,-1.10,-146.6,321.8,-6.3,209,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,4679,-1.10,-146.6,340.7,-6.1,224,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,4988,-1.10,-146.6,360.0,-6.4,239,4993,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1480,3501
$GC,5039,-1.10,-146.6,363.2,-5.8,241,5043,0.00,2.70,0.00,0.000,6,0.000,0.074,2165,2909,3501
$GC,5354,-1.10,-146.6,382.9,-6.5,256,5359,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1483,3501
$GC,5416,-1.10,-146.6,386.8,-5.9,259,5421,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2900,3501
$GC,5743,-1.10,-146.6,405.9,-5.7,275,5747,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1478,3501
$GC,5770,-1.10,-146.6,407.5,-5.6,276,5774,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2901,3501
$GC,6086,-1.10,-146.6,424.2,-5.0,291,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,6395,-1.10,-146.6,439.7,-4.8,306,6400,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1480,3501
$GC,6423,-1.10,-146.6,441.1,-4.7,307,6427,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2903,3501
$GC,6738,-1.10,-146.6,457.6,-6.2,322,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3501
$STATE,7004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7004,begin apogee
$GC,7011,-0.42,0.0,476.2,7.3,335,7138,0.77,0.00,123.43,1.108,6,0.100,0.000,2317,2093,2901
$STATE,7138,end apogee,CONTROL_FINISHED_OK
$STATE,7138,begin climb
$GC,7141,1.10,146.6,480.1,0.0,341,7268,1.55,2.60,118.90,1.085,4,0.063,0.054,2647,687,2303
$GC,7421,1.12,164.7,468.3,5.5,354,7442,0.00,2.50,16.60,1.000,6,0.000,0.035,2647,2121,2229
$GC,7764,1.12,164.7,449.9,6.7,371,7768,0.00,2.55,0.00,0.000,4,0.000,0.064,2647,3505,2228
$GC,7951,1.12,164.7,433.7,9.2,379,7955,0.00,2.50,0.00,0.000,6,0.000,0.037,2647,2083,2227
$GC,8266,1.12,164.7,410.6,6.3,394,8270,0.00,2.65,0.00,0.000,4,0.000,0.066,2647,3506,2227
$GC,8305,1.15,185.1,408.5,5.4,396,8329,0.00,2.45,17.88,1.017,6,0.000,0.038,2647,2099,2146
$GC,8657,1.25,268.5,393.2,3.7,413,8732,0.17,2.72,68.65,1.055,4,0.044,0.075,2690,3500,1806
$GC,8754,1.25,268.5,388.3,6.2,417,8760,0.00,2.53,0.00,0.000,6,0.000,0.047,2690,2100,1805
$GC,9070,1.25,268.5,364.8,8.0,433,9074,0.00,2.67,0.00,0.000,4,0.000,0.074,2690,3508,1805
$GC,9086,1.25,268.5,363.3,8.4,434,9090,0.00,2.50,0.00,0.000,6,0.000,0.045,2689,2099,1805
$GC,9411,1.25,268.5,336.6,7.7,450,9416,0.00,2.55,0.00,0.000,4,0.000,0.060,2690,692,1804
$GC,9484,1.25,268.5,330.5,8.6,453,9488,0.00,2.47,0.00,0.000,6,0.000,0.044,2690,2090,1804
$GC,9799,1.25,268.5,304.5,8.3,468,9803,0.00,2.67,0.00,0.000,4,0.000,0.078,2690,3509,1804
$GC,9860,1.25,268.5,299.2,8.7,471,9865,0.00,2.53,0.00,0.000,6,0.000,0.049,2690,2096,1804
$GC,10187,1.25,268.5,272.6,7.8,487,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2095,1804
$GC,10496,1.25,268.5,250.7,6.9,502,10500,0.00,2.70,0.00,0.000,4,0.000,0.077,2690,3512,1804
$GC,10535,1.25,268.5,248.0,7.2,504,10539,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2096,1804
$GC,10861,1.25,268.5,222.7,8.2,520,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2096,1804
$GC,11170,1.25,268.5,195.1,9.1,535,11174,0.00,2.70,0.00,0.000,4,0.000,0.077,2690,3516,1804
$GC,11213,1.25,268.5,191.1,9.7,537,11217,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2100,1804
$GC,11540,1.25,268.5,163.4,8.5,553,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2100,1805
$GC,11850,1.25,268.5,137.2,8.6,568,11854,0.00,2.67,0.00,0.000,4,0.000,0.077,2690,3510,1805
$GC,11882,1.25,268.5,134.2,8.7,569,11888,0.00,2.50,0.00,0.000,6,0.000,0.051,2690,2101,1805
$GC,12199,1.25,268.5,107.5,8.4,585,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2102,1805
$GC,12507,1.25,268.5,81.7,8.2,600,12511,0.00,2.67,0.00,0.000,4,0.000,0.075,2690,3516,1805
$GC,12533,1.25,268.5,79.2,8.6,601,12538,0.00,2.53,0.00,0.000,6,0.000,0.051,2690,2100,1805
$GC,12855,1.25,268.5,52.6,8.5,617,12856,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2100,1805
$GC,13166,1.25,268.5,26.1,8.4,632,13170,0.00,2.67,0.00,0.000,4,0.000,0.075,2690,3514,1805
$GC,13205,1.25,268.5,22.7,8.8,634,13209,0.00,2.53,0.00,0.000,6,0.000,0.051,2690,2099,1805
$STATE,13446,end climb,SURFACE_DEPTH_REACHED
$STATE,13446,begin surface coast
$FINISH,-0.7,1.027349
$STATE,13468,end surface coast,CONTROL_FINISHED_OK
$STATE,13468,begin surface
$SM_CCo,13491,232.40,0.756,1,0,571,571.30
$SM_GC,-0.53,0.00,0.00,232.40,0.000,0.000,0.756,48,2900,571,-10.86,0.00,571.30
$IRIDIUM_FIX,6337.14,-1228.00,020108,040415
$TT8_MAMPS,0.029146
$HUMID,2009
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.0,93.9
$24V_AH,23.5,47.165
$10V_AH,10.1,22.817
$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,26.000,121.425,345.450,232.400,0.000,37.176,34.536,130.968,3.500,0.000,0.000,16.326,1205.326,10273.367,719.022,1448.932,407.821,33.369,1459.968,0.000,1427.663,0.000,22.149
$DEVICE_MAMPS,157.235,120.419,1107.548,756.262,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.199,452.338,461.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31689,647
$CFSIZE,260165632,243101696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,020108,081826,6404.996,-1225.005,41,1.7,41,-12.1