version: 66.02
glider: 103
mission: 7
dive: 271
start: 1 3 108 0 26 59
data:
$ID,103
$MISSION,7
$DIVE,271
$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,-67506.727
$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
$GPS1,001938,6406.151,-1236.191,28,1.6,28,-12.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-49.7
$GPS2,002556,6406.233,-1236.249,13,1.5,30,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.158,-0.151
$KALMAN_X,-158370.3,70.3,-858.9,-54075.8,3115.9
$KALMAN_Y,-211981.1,400.9,-645.2,494165.3,2776.4
$MHEAD_RNG_PITCHd_Wd,238.6,22474,-11.1,-6.000
$D_GRID,502
$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,-146.6,0.0,0.0,0,130,0.00,0.00,-105.93,0.000,6,0.000,0.000,48,2899,3501
$GC,133,-1.10,-146.6,2.0,-2.6,5,154,11.95,2.62,0.00,0.000,4,0.159,0.059,2166,1490,3503
$GC,290,-1.10,-146.6,27.0,-8.1,12,295,0.00,2.70,0.00,0.000,6,0.000,0.079,2167,2902,3503
$GC,618,-1.10,-146.6,53.1,-8.0,28,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,926,-1.10,-146.6,73.7,-6.4,43,930,0.00,2.65,0.00,0.000,4,0.000,0.074,2166,1491,3503
$GC,958,-1.10,-146.6,76.1,-7.4,44,965,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2907,3503
$GC,1274,-1.10,-146.6,99.0,-5.8,60,1278,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1488,3503
$GC,1295,-1.10,-146.6,100.5,-6.8,61,1299,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2898,3503
$GC,1616,-1.10,-146.6,122.2,-6.7,77,1621,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1486,3503
$GC,1648,-1.10,-146.6,124.5,-6.5,78,1655,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2903,3503
$GC,1966,-1.10,-146.6,146.3,-6.9,94,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,2273,-1.10,-146.6,167.1,-6.8,109,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,2582,-1.10,-146.6,188.3,-6.8,124,2587,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1484,3503
$GC,2622,-1.10,-146.6,190.9,-6.6,126,2627,0.00,2.70,0.00,0.000,6,0.000,0.078,2167,2908,3503
$GC,2948,-1.10,-146.6,212.4,-6.6,142,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,3257,-1.10,-146.6,232.2,-6.3,157,3261,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1490,3503
$GC,3300,-1.10,-146.6,235.1,-6.5,159,3305,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2900,3503
$GC,3622,-1.10,-146.6,255.0,-6.2,175,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3930,-1.10,-146.6,274.5,-6.3,190,3935,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3503
$GC,3962,-1.10,-146.6,276.6,-6.7,191,3969,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2909,3503
$GC,4279,-1.10,-146.6,295.1,-5.6,207,4283,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1487,3503
$GC,4305,-1.10,-146.6,296.9,-6.0,208,4309,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2906,3503
$GC,4621,-1.10,-146.6,315.1,-5.9,223,4625,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3503
$GC,4642,-1.10,-146.6,316.5,-6.6,224,4646,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2901,3503
$GC,4969,-1.10,-146.6,335.8,-5.9,240,4973,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1489,3503
$GC,4996,-1.10,-146.6,337.3,-5.6,241,5000,0.00,2.65,0.00,0.000,6,0.000,0.075,2167,2900,3503
$GC,5312,-1.10,-146.6,355.3,-5.7,256,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,5621,-1.10,-146.6,372.1,-6.0,271,5625,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1486,3503
$GC,5675,-1.10,-146.6,375.7,-6.7,273,5682,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2902,3503
$GC,5991,-1.10,-146.6,397.0,-6.8,289,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,6300,-1.10,-146.6,418.6,-7.0,304,6304,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1488,3503
$GC,6326,-1.10,-146.6,420.4,-6.7,305,6331,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2899,3503
$GC,6648,-1.10,-146.6,442.6,-7.6,321,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,6958,-1.10,-146.6,467.1,-8.3,336,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,7267,-1.10,-146.6,493.7,-9.0,351,7271,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1481,3503
$STATE,7354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7354,begin apogee
$GC,7360,-0.42,0.0,502.2,9.6,355,7487,0.70,0.00,123.55,1.125,6,0.084,0.000,2313,2104,2901
$STATE,7488,end apogee,CONTROL_FINISHED_OK
$STATE,7488,begin climb
$GC,7490,1.10,146.6,510.1,0.0,361,7618,1.58,2.62,119.57,1.090,4,0.060,0.054,2649,692,2303
$GC,7816,1.10,146.6,502.1,6.4,376,7820,0.00,2.47,0.00,0.000,6,0.000,0.036,2648,2111,2302
$GC,8143,1.10,146.6,480.4,7.0,392,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2111,2302
$GC,8452,1.10,146.6,460.0,6.3,407,8456,0.00,2.60,0.00,0.000,4,0.000,0.070,2649,3508,2302
$GC,8495,1.10,146.6,457.1,6.5,409,8500,0.00,2.47,0.00,0.000,6,0.000,0.039,2649,2089,2302
$GC,8822,1.12,163.2,438.3,5.5,425,8844,0.00,2.70,15.10,1.016,4,0.000,0.069,2649,3504,2235
$GC,8917,1.12,163.2,432.5,6.2,429,8921,0.00,2.47,0.00,0.000,6,0.000,0.043,2649,2102,2235
$GC,9244,1.13,165.2,413.2,5.9,445,9248,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3504,2235
$GC,9310,1.13,165.2,409.2,6.0,448,9314,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2101,2235
$GC,9630,1.14,172.9,390.9,5.8,464,9645,0.00,2.67,9.55,0.953,4,0.000,0.072,2649,3508,2195
$GC,9674,1.14,172.9,388.2,6.0,466,9679,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2099,2195
$GC,10001,1.14,172.9,367.4,6.1,482,10005,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3504,2195
$GC,10055,1.14,172.9,363.7,6.7,484,10062,0.00,2.47,0.00,0.000,6,0.000,0.043,2649,2101,2195
$GC,10371,1.14,172.9,344.1,6.1,500,10375,0.00,2.55,0.00,0.000,4,0.000,0.061,2649,692,2195
$GC,10397,1.14,172.9,342.3,6.6,501,10402,0.00,2.47,0.00,0.000,6,0.000,0.043,2649,2101,2195
$GC,10713,1.14,172.9,323.6,6.1,516,10717,0.00,2.62,0.00,0.000,4,0.000,0.073,2649,3513,2195
$GC,10774,1.14,176.7,319.8,5.9,519,10784,0.00,2.50,4.75,0.763,6,0.000,0.044,2649,2096,2180
$GC,11099,1.14,176.7,300.2,6.1,535,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2096,2180
$GC,11409,1.14,178.5,281.5,5.9,550,11413,0.00,2.65,0.00,0.000,4,0.000,0.072,2649,3507,2180
$GC,11447,1.14,178.5,279.2,6.5,552,11452,0.00,2.47,0.00,0.000,6,0.000,0.044,2649,2101,2180
$GC,11774,1.14,179.5,260.1,6.0,568,11783,0.00,2.65,4.00,0.678,4,0.000,0.072,2649,3507,2169
$GC,11811,1.14,179.5,257.7,6.7,569,11818,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2093,2169
$GC,12127,1.18,210.9,240.6,5.1,585,12161,0.00,2.72,26.90,0.941,4,0.000,0.071,2649,3506,2041
$GC,12184,1.19,215.8,237.3,5.9,587,12194,0.00,2.53,5.60,0.754,6,0.000,0.044,2648,2097,2021
$GC,12515,1.19,215.8,218.0,6.1,604,12520,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3505,2021
$GC,12560,1.19,218.0,215.4,5.9,606,12564,0.00,2.53,0.00,0.000,6,0.000,0.046,2649,2093,2020
$GC,12880,1.21,230.3,197.7,5.7,622,12902,0.12,2.75,13.27,0.873,4,0.047,0.074,2687,3506,1962
$GC,12940,1.21,230.3,193.5,7.2,624,12947,0.00,2.50,0.00,0.000,6,0.000,0.041,2687,2094,1962
$GC,13256,1.21,230.3,167.4,7.6,640,13260,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3511,1962
$GC,13295,1.21,230.3,164.5,7.2,642,13299,0.00,2.50,0.00,0.000,6,0.000,0.047,2687,2103,1962
$GC,13621,1.21,230.3,142.3,7.7,658,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2103,1962
$GC,13930,1.21,230.3,118.1,8.2,673,13935,0.00,2.55,0.00,0.000,4,0.000,0.061,2687,693,1962
$GC,13957,1.21,230.3,116.1,6.8,674,13961,0.00,2.47,0.00,0.000,6,0.000,0.045,2687,2097,1962
$GC,14280,1.22,238.0,97.3,5.8,690,14294,0.00,2.72,7.75,0.767,4,0.000,0.077,2687,3511,1930
$GC,14329,1.22,238.0,94.3,7.0,692,14333,0.00,2.53,0.00,0.000,6,0.000,0.049,2687,2093,1930
$GC,14656,1.22,238.0,70.2,8.3,708,14660,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3508,1930
$GC,14699,1.22,238.0,65.9,10.3,710,14704,0.00,2.50,0.00,0.000,6,0.000,0.050,2687,2105,1930
$GC,15021,1.22,238.0,39.7,8.8,726,15025,0.00,2.58,0.00,0.000,4,0.000,0.063,2687,688,1930
$GC,15047,1.22,238.0,37.1,9.0,727,15051,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2100,1930
$GC,15369,1.22,238.0,6.2,12.2,743,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1930
$STATE,15449,end climb,SURFACE_DEPTH_REACHED
$STATE,15449,begin surface coast
$FINISH,-0.8,1.027415
$STATE,15471,end surface coast,CONTROL_FINISHED_OK
$STATE,15471,begin surface
$SM_CCo,15493,256.73,0.763,1,0,572,571.30
$SM_GC,-0.58,0.00,0.00,256.73,0.000,0.000,0.763,47,2899,572,-10.87,-0.06,571.30
$IRIDIUM_FIX,6337.14,-1213.59,030108,000059
$TT8_MAMPS,0.027612
$HUMID,1990
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.0,49.9
$24V_AH,23.4,48.004
$10V_AH,10.1,23.171
$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,25.825,161.250,330.050,256.725,0.000,37.072,36.939,159.478,4.750,0.000,0.000,30.568,1394.893,11817.576,756.897,1695.285,484.090,33.369,1626.470,0.000,1648.120,0.000,31.447
$DEVICE_MAMPS,158.769,95.108,1125.189,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,538.123,521.070,514.850,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38050,748
$CFSIZE,260165632,242823168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,36,1,0
$GPS,030108,045038,6407.664,-1236.791,28,1.1,28,-12.3