version: 66.02
glider: 103
mission: 7
dive: 78
start: 11 24 107 8 54 4
data:
$ID,103
$MISSION,7
$DIVE,78
$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,120
$USE_BATHY,-3
$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,300
$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,-63591.801
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,084855,6125.345,-853.977,31,1.4,49,-9.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-52.8
$GPS2,085258,6125.356,-853.842,14,1.9,15,-9.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.034
$KALMAN_X,-91057.0,78.0,773.6,73048.2,1734.1
$KALMAN_Y,97526.5,-165.1,792.8,-114161.7,-776.4
$MHEAD_RNG_PITCHd_Wd,270.2,11328,-11.1,-6.000
$D_GRID,328
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-62.58,0.000,3,0.000,0.000,46,2885,3499
$GC,85,-1.10,-146.6,5.0,-12.3,3,99,11.98,0.00,0.00,0.000,6,0.160,0.000,2163,2885,3501
$GC,411,-1.10,-146.6,47.0,-9.7,18,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2885,3503
$GC,720,-1.10,-146.6,67.2,-5.9,33,723,0.00,1.75,0.00,0.000,4,0.000,0.094,2163,3794,3503
$GC,791,-1.10,-146.6,71.2,-5.4,36,796,0.00,1.58,0.00,0.000,6,0.000,0.044,2163,2907,3503
$GC,1118,-1.10,-146.6,105.5,-13.5,52,1122,0.00,2.65,0.00,0.000,4,0.000,0.076,2164,1483,3503
$GC,1134,-1.10,-146.6,107.1,-13.1,53,1138,0.00,2.70,0.00,0.000,6,0.000,0.080,2164,2903,3503
$GC,1459,-1.10,-146.6,123.3,-5.7,69,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,1768,-1.10,-146.6,155.1,-10.0,84,1772,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1479,3503
$GC,1799,-1.10,-146.6,159.3,-12.6,85,1806,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2895,3503
$GC,2115,-1.10,-146.6,189.3,-8.5,101,2118,0.00,1.70,0.00,0.000,4,0.000,0.091,2164,3790,3503
$GC,2164,-1.10,-146.6,194.2,-9.5,103,2169,0.00,1.58,0.00,0.000,6,0.000,0.038,2163,2894,3503
$GC,2491,-1.10,-146.6,222.3,-8.1,119,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2894,3503
$GC,2800,-1.10,-146.6,248.5,-8.5,134,2804,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1480,3503
$GC,2825,-1.10,-146.6,250.6,-8.4,135,2830,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2892,3503
$GC,3148,-1.10,-146.6,276.1,-7.9,151,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2892,3503
$GC,3461,-1.10,-146.6,300.4,-8.0,166,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2892,3503
$GC,3766,-1.10,-146.6,324.7,-8.0,181,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2892,3503
$STATE,3825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3826,begin apogee
$GC,3831,-0.42,0.0,329.5,8.0,184,3956,0.75,0.00,120.82,0.973,6,0.086,0.000,2316,1771,2901
$STATE,3956,end apogee,CONTROL_FINISHED_OK
$STATE,3956,begin climb
$GC,3958,1.10,146.6,335.0,0.0,190,4084,1.55,2.67,117.43,0.949,4,0.058,0.066,2646,367,2302
$GC,4218,1.16,190.5,329.6,4.8,202,4260,0.00,2.50,36.47,0.884,6,0.000,0.038,2646,1784,2124
$GC,4581,1.19,215.1,310.7,5.3,220,4608,0.10,2.60,21.23,0.895,4,0.048,0.063,2687,3175,2024
$GC,4735,1.19,215.1,299.8,7.6,227,4740,0.00,2.53,0.00,0.000,6,0.000,0.045,2687,1774,2024
$GC,5062,1.19,215.1,276.4,7.3,243,5067,0.00,2.60,0.00,0.000,4,0.000,0.067,2687,3179,2024
$GC,5201,1.19,215.1,265.5,7.7,249,5206,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,1776,2024
$GC,5522,1.19,215.1,239.5,8.8,265,5526,0.00,2.62,0.00,0.000,4,0.000,0.073,2687,3178,2024
$GC,5638,1.19,215.1,228.9,8.9,270,5643,0.00,2.55,0.00,0.000,6,0.000,0.054,2687,1778,2024
$GC,5960,1.19,215.1,200.5,7.6,286,5964,0.00,2.62,0.00,0.000,4,0.000,0.071,2687,3181,2023
$GC,6081,1.19,215.1,191.1,7.8,291,6088,0.00,2.55,0.00,0.000,6,0.000,0.054,2687,1780,2023
$GC,6397,1.19,215.1,165.5,8.5,307,6401,0.00,2.60,0.00,0.000,4,0.000,0.072,2687,3174,2023
$GC,6502,1.19,215.1,156.1,8.8,312,6506,0.00,2.53,0.00,0.000,6,0.000,0.057,2687,1776,2023
$GC,6828,1.19,215.1,131.0,7.1,328,6833,0.00,2.62,0.00,0.000,4,0.000,0.070,2688,3182,2023
$GC,6935,1.19,215.1,121.6,8.9,333,6939,0.00,2.58,0.00,0.000,6,0.000,0.059,2687,1770,2023
$GC,7260,1.19,215.1,93.0,9.1,349,7264,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3178,2023
$GC,7366,1.19,215.1,82.6,11.1,354,7370,0.00,2.55,0.00,0.000,6,0.000,0.060,2687,1776,2023
$GC,7691,1.19,220.4,61.0,5.9,370,7702,0.00,2.65,6.05,0.696,4,0.000,0.070,2687,3181,2002
$GC,7802,1.22,245.6,53.6,5.3,375,7828,0.00,2.55,20.88,0.775,6,0.000,0.053,2688,1773,1899
$GC,8143,1.22,245.6,25.3,9.0,392,8148,0.00,2.62,0.00,0.000,4,0.000,0.070,2687,3175,1899
$GC,8227,1.22,245.6,17.6,10.6,396,8232,0.00,2.53,0.00,0.000,6,0.000,0.056,2687,1776,1899
$STATE,8408,end climb,SURFACE_DEPTH_REACHED
$STATE,8408,begin surface coast
$FINISH,-0.5,1.027237
$STATE,8429,end surface coast,CONTROL_FINISHED_OK
$STATE,8429,begin surface
$SM_CCo,8450,44.40,0.726,1,0,1678,300.00
$SM_GC,-0.17,0.00,0.00,44.40,0.000,0.000,0.726,52,2888,1678,-10.85,-0.34,300.00
$IRIDIUM_FIX,6059.36,-852.28,241107,101041
$TT8_MAMPS,0.029146
$HUMID,2054
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.4,72.7
$24V_AH,23.6,18.361
$10V_AH,10.2,7.291
$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,25.950,78.550,322.875,44.400,0.000,38.668,30.299,97.806,2.500,0.000,0.000,15.382,800.313,6196.203,442.530,1070.073,259.868,33.362,988.164,0.000,1050.891,0.000,15.611
$DEVICE_MAMPS,159.536,93.574,972.556,726.349,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,292.717,278.659,372.979,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19118,406
$CFSIZE,260165632,254492672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,241107,111647,6124.352,-854.711,10,2.1,29,-9.1