version: 66.02
glider: 103
mission: 7
dive: 272
start: 1 3 108 5 4 36
data:
$ID,103
$MISSION,7
$DIVE,272
$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,-67523.164
$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,17
$R_STBD_OVSHOOT,10
$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
$GPS1,045038,6407.664,-1236.791,28,1.1,28,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-47.5
$GPS2,050332,6407.960,-1236.726,9,1.2,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.159,-0.150
$KALMAN_X,-157523.1,311.8,230.3,-56688.3,936.9
$KALMAN_Y,-207983.5,578.6,998.1,491530.8,1245.6
$MHEAD_RNG_PITCHd_Wd,239.0,23966,-11.1,-6.000
$D_GRID,479
$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,-101.68,0.000,2,0.000,0.000,47,2898,3448
$GC,129,-1.10,-146.6,4.1,-5.3,5,151,11.93,2.62,-0.88,0.000,4,0.158,0.072,2165,1486,3503
$GC,224,-1.10,-146.6,24.3,-12.0,9,228,0.00,2.70,0.00,0.000,6,0.000,0.078,2165,2900,3503
$GC,545,-1.10,-146.6,51.1,-8.9,25,549,0.00,2.65,0.00,0.000,4,0.000,0.071,2165,1489,3503
$GC,599,-1.10,-146.6,55.4,-7.5,27,606,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2908,3503
$GC,916,-1.10,-146.6,73.5,-4.5,43,920,0.00,2.67,0.00,0.000,4,0.000,0.071,2165,1477,3504
$GC,937,-1.10,-146.6,74.5,-4.5,44,942,0.00,2.72,0.00,0.000,6,0.000,0.081,2165,2903,3503
$GC,1258,-1.10,-146.6,93.7,-6.2,60,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,1568,-1.10,-146.6,113.3,-5.1,75,1573,0.00,2.65,0.00,0.000,4,0.000,0.070,2165,1484,3503
$GC,1612,-1.10,-146.6,116.0,-5.6,77,1617,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2902,3504
$GC,1933,-1.10,-146.6,138.4,-6.9,93,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,2242,-1.10,-146.6,161.3,-8.1,108,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,2551,-1.10,-146.6,184.1,-6.6,123,2555,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1487,3503
$GC,2583,-1.10,-146.6,186.3,-6.8,124,2590,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2908,3503
$GC,2899,-1.10,-146.6,206.4,-6.8,140,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3503
$GC,3208,-1.10,-146.6,227.6,-6.5,155,3212,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1489,3503
$GC,3240,-1.10,-146.6,230.2,-7.8,156,3246,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2903,3503
$GC,3556,-1.10,-146.6,249.0,-6.9,172,3560,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1485,3503
$GC,3594,-1.10,-146.6,251.9,-7.1,174,3599,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2900,3503
$GC,3921,-1.10,-146.6,275.8,-6.9,190,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,4230,-1.10,-146.6,297.0,-6.6,205,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,4539,-1.10,-146.6,319.5,-7.2,220,4543,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1486,3503
$GC,4595,-1.10,-146.6,323.6,-7.4,222,4601,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2899,3503
$GC,4910,-1.10,-146.6,345.0,-7.2,238,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,5219,-1.10,-146.6,368.5,-7.6,253,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,5528,-1.10,-146.6,391.8,-7.4,268,5533,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1480,3503
$GC,5555,-1.10,-146.6,393.9,-7.3,269,5560,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2904,3503
$GC,5871,-1.10,-146.6,417.0,-7.1,284,5875,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1484,3503
$GC,5914,-1.10,-146.6,420.1,-7.0,286,5918,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2903,3503
$GC,6241,-1.10,-146.6,441.9,-6.6,302,6245,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1480,3503
$GC,6295,-1.10,-146.6,445.7,-6.9,304,6302,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2908,3503
$GC,6611,-1.10,-146.6,465.5,-6.7,320,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3503
$STATE,6815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6815,begin apogee
$GC,6822,-0.42,0.0,479.7,6.4,330,6949,0.77,0.00,123.40,1.105,6,0.102,0.000,2319,2087,2901
$STATE,6950,end apogee,CONTROL_FINISHED_OK
$STATE,6950,begin climb
$GC,6952,1.10,146.6,484.5,0.0,336,7079,1.55,2.60,119.15,1.078,4,0.064,0.056,2646,688,2302
$GC,7238,1.12,163.6,475.8,5.5,349,7259,0.00,2.50,15.60,0.989,6,0.000,0.037,2647,2118,2234
$GC,7575,1.13,170.2,457.4,5.8,366,7589,0.00,2.65,7.03,0.888,4,0.000,0.065,2647,3502,2207
$GC,7799,1.16,190.9,444.6,5.4,376,7823,0.00,2.47,18.62,1.026,6,0.000,0.038,2646,2088,2122
$GC,8150,1.16,190.9,422.4,6.8,393,8155,0.00,2.67,0.00,0.000,4,0.000,0.070,2647,3510,2121
$GC,8172,1.16,190.9,420.8,7.3,394,8176,0.00,2.47,0.00,0.000,6,0.000,0.039,2646,2098,2121
$GC,8493,1.16,190.9,399.7,6.3,410,8497,0.00,2.62,0.00,0.000,4,0.000,0.070,2647,3502,2120
$GC,8531,1.16,190.9,397.0,7.2,412,8536,0.00,2.47,0.00,0.000,6,0.000,0.043,2647,2097,2120
$GC,8857,1.16,190.9,376.2,6.3,428,8862,0.00,2.65,0.00,0.000,4,0.000,0.072,2646,3504,2120
$GC,8901,1.16,190.9,373.1,6.9,430,8905,0.00,2.47,0.00,0.000,6,0.000,0.044,2646,2102,2120
$GC,9229,1.16,190.9,350.8,6.9,446,9233,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3502,2119
$GC,9278,1.16,190.9,347.2,7.6,448,9282,0.00,2.47,0.00,0.000,6,0.000,0.045,2647,2100,2119
$GC,9593,1.20,224.3,329.3,5.1,463,9628,0.12,2.75,27.85,1.006,4,0.045,0.077,2686,3502,1986
$GC,9657,1.20,224.3,325.6,6.7,466,9662,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2099,1986
$GC,9984,1.20,224.3,301.8,7.8,482,9988,0.00,2.58,0.00,0.000,4,0.000,0.061,2687,681,1986
$GC,10023,1.20,224.3,298.5,8.8,484,10028,0.00,2.50,0.00,0.000,6,0.000,0.045,2686,2094,1985
$GC,10349,1.20,224.3,272.5,7.9,500,10354,0.00,2.65,0.00,0.000,4,0.000,0.075,2687,3508,1985
$GC,10393,1.20,224.3,268.7,8.9,502,10398,0.00,2.47,0.00,0.000,6,0.000,0.044,2687,2096,1985
$GC,10719,1.20,224.3,242.1,8.3,518,10724,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3508,1985
$GC,10746,1.20,224.3,239.8,9.1,519,10751,0.00,2.50,0.00,0.000,6,0.000,0.048,2686,2102,1985
$GC,11061,1.20,224.3,213.9,8.2,534,11066,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3508,1985
$GC,11078,1.20,224.3,212.5,7.6,535,11082,0.00,2.50,0.00,0.000,6,0.000,0.048,2686,2100,1985
$GC,11404,1.20,224.3,188.0,7.6,551,11409,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3515,1985
$GC,11421,1.20,224.3,186.5,8.1,552,11425,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2094,1985
$GC,11746,1.20,224.3,160.2,8.9,568,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1985
$GC,12056,1.20,224.3,134.5,8.0,583,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1985
$GC,12365,1.20,224.3,103.5,10.3,598,12369,0.00,2.67,0.00,0.000,4,0.000,0.074,2687,3509,1986
$GC,12404,1.20,224.3,99.6,9.7,600,12409,0.00,2.53,0.00,0.000,6,0.000,0.051,2687,2094,1985
$GC,12731,1.20,224.3,68.4,9.5,616,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1986
$GC,13040,1.20,224.3,38.2,9.5,631,13044,0.00,2.67,0.00,0.000,4,0.000,0.074,2687,3512,1986
$GC,13061,1.20,224.3,36.0,9.6,632,13065,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2089,1986
$GC,13389,1.20,224.3,5.9,9.3,648,13393,0.00,2.55,0.00,0.000,4,0.000,0.068,2687,697,1986
$STATE,13419,end climb,SURFACE_DEPTH_REACHED
$STATE,13419,begin surface coast
$FINISH,1.1,1.027350
$STATE,13427,end surface coast,CONTROL_FINISHED_OK
$STATE,13427,begin surface
$SM_CCo,13452,267.73,0.759,2,0,572,571.30
$SM_GC,-0.56,0.00,0.00,267.73,0.000,0.000,0.759,50,2900,572,-10.85,0.00,571.30
$IRIDIUM_FIX,6342.00,-1244.55,030108,080841
$TT8_MAMPS,0.029146
$HUMID,1996
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.8,57.8
$24V_AH,23.5,48.190
$10V_AH,10.1,23.244
$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,26.175,138.525,311.650,267.725,0.000,76.967,77.560,442.716,4.500,0.000,0.000,15.808,1208.926,10290.922,743.304,1453.430,823.113,33.369,1493.468,0.000,1429.064,0.000,29.530
$DEVICE_MAMPS,158.002,80.535,1105.247,758.563,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.351,452.962,462.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31684,650
$CFSIZE,260165632,242782208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,30,2,0
$GPS,030108,085438,6409.011,-1235.687,36,1.2,36,-12.3