version: 66.02
glider: 103
mission: 7
dive: 273
start: 1 3 108 9 14 19
data:
$ID,103
$MISSION,7
$DIVE,273
$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,-67537.422
$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,23
$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
$GPS1,085438,6409.011,-1235.687,36,1.2,36,-12.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-43.4
$GPS2,091315,6409.292,-1235.558,13,1.2,13,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6400.000,-1300.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.110,-0.189
$KALMAN_X,-154535.2,407.4,770.8,-59305.6,339.7
$KALMAN_Y,-202861.7,823.9,596.5,489026.6,1815.9
$MHEAD_RNG_PITCHd_Wd,222.6,26266,-11.1,-6.000
$D_GRID,461
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,132,0.00,0.00,-106.75,0.000,6,0.000,0.000,50,2901,3499
$GC,135,-1.10,-146.6,2.7,-3.3,5,151,12.00,1.75,0.00,0.000,4,0.161,0.091,2167,3783,3500
$GC,167,-1.10,-146.6,15.9,-27.9,5,174,0.00,1.60,0.00,0.000,6,0.000,0.058,2167,2910,3501
$GC,484,-1.10,-146.6,30.6,-4.4,21,488,0.00,2.67,0.00,0.000,4,0.000,0.075,2167,1476,3501
$GC,516,-1.10,-146.6,31.6,-2.8,22,522,0.00,2.70,0.00,0.000,6,0.000,0.082,2167,2895,3501
$GC,833,-1.10,-146.6,48.4,-5.4,38,837,0.00,1.73,0.00,0.000,4,0.000,0.097,2167,3786,3501
$GC,934,-1.10,-146.6,54.1,-5.3,42,937,0.00,1.60,0.00,0.000,6,0.000,0.054,2167,2896,3501
$GC,1255,-1.10,-146.6,70.6,-4.7,58,1259,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1485,3501
$GC,1304,-1.10,-146.6,74.0,-7.5,60,1308,0.00,2.70,0.00,0.000,6,0.000,0.081,2167,2902,3501
$GC,1622,-1.10,-146.6,96.5,-7.7,75,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,1930,-1.10,-146.6,116.7,-5.8,90,1934,0.00,2.65,0.00,0.000,4,0.000,0.070,2167,1478,3501
$GC,1979,-1.10,-146.6,119.7,-7.2,92,1983,0.00,2.70,0.00,0.000,6,0.000,0.080,2167,2900,3501
$GC,2296,-1.10,-146.6,145.5,-8.3,107,2300,0.00,1.73,0.00,0.000,4,0.000,0.101,2167,3789,3501
$GC,2324,-1.10,-146.6,148.2,-9.5,108,2327,0.00,1.60,0.00,0.000,6,0.000,0.052,2167,2898,3501
$GC,2651,-1.10,-146.6,175.7,-6.6,124,2656,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1483,3501
$GC,2673,-1.10,-146.6,177.2,-6.5,125,2678,0.00,2.70,0.00,0.000,6,0.000,0.079,2167,2900,3501
$GC,2994,-1.10,-146.6,197.6,-6.6,141,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,3304,-1.10,-146.6,216.8,-6.0,156,3309,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1487,3501
$GC,3339,-1.10,-146.6,218.9,-6.1,157,3345,0.00,2.70,0.00,0.000,6,0.000,0.080,2167,2901,3501
$GC,3654,-1.10,-146.6,240.2,-6.7,173,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,3963,-1.10,-146.6,261.2,-6.6,188,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,4273,-1.10,-146.6,285.3,-8.3,203,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,4581,-1.10,-146.6,311.5,-8.0,218,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3501
$GC,4891,-1.10,-146.6,336.3,-8.2,233,4895,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1482,3501
$GC,4957,-1.10,-146.6,341.9,-8.4,236,4961,0.00,2.67,0.00,0.000,6,0.000,0.078,2167,2899,3501
$GC,5277,-1.10,-146.6,366.3,-7.6,252,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3501
$GC,5586,-1.10,-146.6,390.2,-6.9,267,5591,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1485,3501
$GC,5636,-1.10,-146.6,393.7,-6.9,269,5641,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2908,3501
$GC,5951,-1.10,-146.6,416.4,-6.8,284,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3501
$GC,6261,-1.10,-146.6,437.1,-6.6,299,6265,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3501
$GC,6293,-1.10,-146.6,439.5,-6.9,300,6300,0.00,2.65,0.00,0.000,6,0.000,0.077,2167,2900,3501
$STATE,6565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6565,begin apogee
$GC,6572,-0.42,0.0,461.6,8.7,314,6699,0.75,0.00,123.30,1.089,6,0.100,0.000,2315,2094,2901
$STATE,6699,end apogee,CONTROL_FINISHED_OK
$STATE,6699,begin climb
$GC,6702,1.10,146.6,469.0,0.0,320,6830,1.58,2.60,119.55,1.060,4,0.065,0.054,2647,687,2303
$GC,7010,1.10,146.6,458.4,6.3,334,7015,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2113,2302
$GC,7332,1.17,202.2,441.5,4.5,350,7386,0.00,2.67,46.72,1.049,4,0.000,0.062,2647,3508,2076
$GC,7521,1.20,225.1,431.8,5.4,358,7549,0.10,2.47,20.02,1.006,6,0.052,0.038,2675,2093,1983
$GC,7857,1.20,225.1,409.0,6.5,375,7861,0.00,2.67,0.00,0.000,4,0.000,0.074,2675,3505,1982
$GC,7896,1.20,225.1,406.5,6.5,377,7900,0.00,2.50,0.00,0.000,6,0.000,0.043,2674,2089,1982
$GC,8222,1.20,225.1,384.5,7.2,393,8226,0.00,2.65,0.00,0.000,4,0.000,0.071,2674,3507,1982
$GC,8242,1.20,225.1,382.7,8.1,394,8246,0.00,2.47,0.00,0.000,6,0.000,0.044,2675,2100,1982
$GC,8569,1.20,225.1,358.1,7.3,410,8573,0.00,2.62,0.00,0.000,4,0.000,0.070,2675,3502,1981
$GC,8601,1.20,225.1,355.6,7.2,411,8607,0.00,2.47,0.00,0.000,6,0.000,0.045,2675,2100,1981
$GC,8917,1.20,225.1,332.3,7.5,427,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2100,1981
$GC,9226,1.20,225.1,308.0,8.2,442,9230,0.00,2.62,0.00,0.000,4,0.000,0.072,2674,3505,1981
$GC,9275,1.20,225.1,303.7,8.7,444,9279,0.00,2.47,0.00,0.000,6,0.000,0.045,2675,2102,1981
$GC,9590,1.20,225.1,277.5,8.5,459,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2102,1981
$GC,9899,1.20,225.1,252.4,7.9,474,9904,0.00,2.62,0.00,0.000,4,0.000,0.071,2675,3502,1981
$GC,9956,1.20,225.1,247.7,8.9,476,9962,0.00,2.50,0.00,0.000,6,0.000,0.046,2675,2094,1981
$GC,10271,1.20,225.1,224.3,7.4,492,10272,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2094,1981
$GC,10580,1.20,225.1,198.5,8.5,507,10585,0.00,2.62,0.00,0.000,4,0.000,0.072,2675,3502,1981
$GC,10606,1.20,225.1,196.1,9.0,508,10611,0.00,2.47,0.00,0.000,6,0.000,0.046,2675,2096,1981
$GC,10927,1.20,225.1,168.8,9.0,524,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2096,1981
$GC,11237,1.20,225.1,142.3,9.0,539,11241,0.00,2.65,0.00,0.000,4,0.000,0.073,2675,3505,1981
$GC,11276,1.20,225.1,138.6,9.4,541,11280,0.00,2.47,0.00,0.000,6,0.000,0.047,2675,2096,1981
$GC,11608,1.20,225.1,108.5,8.6,557,11612,0.00,2.62,0.00,0.000,4,0.000,0.072,2675,3500,1982
$GC,11647,1.20,225.1,105.1,8.9,559,11651,0.00,2.50,0.00,0.000,6,0.000,0.051,2675,2099,1982
$GC,11979,1.20,225.1,71.0,10.3,575,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2099,1981
$GC,12290,1.20,225.1,41.3,9.0,590,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2099,1981
$GC,12597,1.20,225.1,10.2,6.5,605,12598,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2098,1982
$STATE,12698,end climb,SURFACE_DEPTH_REACHED
$STATE,12699,begin surface coast
$FINISH,0.1,1.027351
$STATE,12720,end surface coast,CONTROL_FINISHED_OK
$STATE,12720,begin surface
$SM_CCo,12742,263.12,0.762,1,0,572,571.30
$SM_GC,-0.50,0.00,0.00,263.12,0.000,0.000,0.762,43,2888,572,-10.89,-0.34,571.30
$IRIDIUM_FIX,6342.00,-1239.74,030108,131353
$TT8_MAMPS,0.029146
$HUMID,2000
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,426.1,102.9
$24V_AH,23.5,48.377
$10V_AH,10.1,23.316
$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,26.025,106.700,309.600,263.125,0.000,193.320,171.567,379.773,3.750,0.000,0.000,13.623,1130.579,9979.782,716.362,1336.279,981.495,33.368,1405.845,0.000,1322.884,0.000,23.455
$DEVICE_MAMPS,161.070,101.244,1089.140,762.398,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.559,425.200,462.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31673,611
$CFSIZE,260165632,242741248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,030108,125226,6408.955,-1235.413,40,1.1,40,-12.3