version: 66.02
glider: 103
mission: 7
dive: 82
start: 11 24 107 19 16 14
data:
$ID,103
$MISSION,7
$DIVE,82
$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,-63728.328
$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,18
$R_STBD_OVSHOOT,8
$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
$GPS1,190755,6123.030,-901.592,53,1.4,71,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-54.8
$GPS2,191509,6123.030,-901.529,12,1.6,12,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,0.104
$KALMAN_X,-88759.6,-1151.2,-652.0,66678.3,2412.5
$KALMAN_Y,93346.3,312.2,959.4,-114938.2,-1633.5
$MHEAD_RNG_PITCHd_Wd,307.8,56736,-11.1,-6.000
$D_GRID,365
$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,-62.40,0.000,2,0.000,0.000,35,2887,3435
$GC,85,-1.10,-146.6,3.1,-6.4,3,107,12.10,1.77,-1.23,0.000,4,0.161,0.117,2163,3780,3502
$GC,252,-1.10,-146.6,25.2,-10.2,10,257,0.00,1.55,0.00,0.000,6,0.000,0.035,2163,2889,3503
$GC,575,-1.10,-146.6,45.1,-1.9,26,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2885,3503
$GC,883,-1.10,-146.6,58.0,-3.7,41,887,0.00,1.73,0.00,0.000,4,0.000,0.087,2163,3789,3503
$GC,937,-1.10,-146.6,60.9,-6.6,43,942,0.00,1.55,0.00,0.000,6,0.000,0.040,2163,2910,3503
$GC,1260,-1.10,-146.6,76.9,-4.0,59,1264,0.00,2.65,0.00,0.000,4,0.000,0.073,2163,1477,3503
$GC,1336,-1.10,-146.6,85.7,-11.8,62,1343,0.00,2.72,0.00,0.000,6,0.000,0.078,2163,2898,3503
$GC,1653,-1.10,-146.6,120.3,-11.2,78,1657,0.00,1.67,0.00,0.000,4,0.000,0.087,2163,3788,3503
$GC,1685,-1.10,-146.6,124.4,-11.3,79,1690,0.00,1.55,0.00,0.000,6,0.000,0.035,2163,2892,3503
$GC,2007,-1.10,-146.6,150.5,-7.7,95,2011,0.00,1.70,0.00,0.000,4,0.000,0.086,2164,3784,3503
$GC,2084,-1.10,-146.6,155.5,-7.4,98,2089,0.00,1.52,0.00,0.000,6,0.000,0.035,2163,2907,3503
$GC,2406,-1.10,-146.6,175.8,-8.5,114,2410,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1486,3503
$GC,2448,-1.10,-146.6,178.7,-7.1,116,2453,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2901,3503
$GC,2775,-1.10,-146.6,201.6,-6.7,132,2780,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1483,3503
$GC,2814,-1.10,-146.6,204.3,-7.2,134,2818,0.00,2.62,0.00,0.000,6,0.000,0.072,2163,2899,3503
$GC,3146,-1.10,-146.6,223.2,-5.2,150,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,3455,-1.10,-146.6,241.8,-6.6,165,3459,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1484,3503
$GC,3525,-1.10,-146.6,247.3,-7.9,168,3530,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2897,3503
$GC,3847,-1.10,-146.6,274.4,-8.4,184,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2897,3503
$GC,4156,-1.10,-146.6,299.9,-7.6,199,4160,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1483,3503
$GC,4238,-1.10,-146.6,306.8,-8.5,202,4245,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2899,3503
$GC,4553,-1.10,-146.6,330.9,-7.0,218,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,4862,-1.10,-146.6,353.2,-7.6,233,4866,0.00,2.55,0.00,0.000,4,0.000,0.064,2163,1486,3503
$GC,4900,-1.10,-146.6,356.1,-6.9,234,4907,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2897,3503
$STATE,5029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5029,begin apogee
$GC,5035,-0.42,0.0,365.3,6.9,241,5158,0.77,0.00,120.10,1.021,6,0.089,0.000,2320,1768,2901
$STATE,5159,end apogee,CONTROL_FINISHED_OK
$STATE,5159,begin climb
$GC,5161,1.10,146.6,370.0,0.0,247,5288,1.52,2.65,119.05,0.979,4,0.059,0.066,2646,365,2302
$GC,5450,1.15,184.9,362.1,4.9,260,5488,0.00,2.50,32.17,0.936,6,0.000,0.038,2646,1781,2147
$GC,5802,1.15,184.9,341.7,6.4,278,5807,0.00,2.58,0.00,0.000,4,0.000,0.067,2646,3172,2147
$GC,5988,1.15,184.9,329.0,6.8,286,5993,0.00,2.53,0.00,0.000,6,0.000,0.051,2646,1776,2146
$GC,6303,1.15,184.9,306.5,7.0,301,6307,0.00,2.65,0.00,0.000,4,0.000,0.077,2646,3172,2146
$GC,6463,1.15,184.9,295.8,6.4,308,6468,0.00,2.55,0.00,0.000,6,0.000,0.057,2646,1783,2146
$GC,6784,1.15,184.9,275.0,7.0,324,6789,0.00,2.65,0.00,0.000,4,0.000,0.082,2646,3171,2146
$GC,6894,1.15,184.9,266.8,7.6,329,6899,0.00,2.60,0.00,0.000,6,0.000,0.063,2646,1776,2146
$GC,7221,1.15,184.9,243.9,6.5,345,7226,0.00,2.67,0.00,0.000,4,0.000,0.082,2646,3178,2146
$GC,7360,1.15,184.9,234.9,6.2,351,7365,0.00,2.60,0.00,0.000,6,0.000,0.063,2646,1776,2146
$GC,7681,1.15,187.1,214.5,5.9,367,7686,0.00,2.67,0.00,0.000,4,0.000,0.084,2646,3172,2146
$GC,7825,1.20,225.0,206.9,5.0,373,7866,0.05,2.58,33.08,0.907,6,0.018,0.064,2686,1782,1983
$GC,8182,1.20,225.0,182.8,6.5,391,8186,0.00,2.58,0.00,0.000,4,0.000,0.064,2687,3174,1982
$GC,8298,1.29,302.3,178.0,3.9,396,8365,0.00,2.53,61.97,0.883,6,0.000,0.049,2687,1776,1668
$GC,8673,1.29,302.3,151.7,8.7,414,8678,0.00,2.60,0.00,0.000,4,0.000,0.069,2687,3179,1667
$GC,8790,1.29,302.3,142.2,6.9,419,8795,0.00,2.55,0.00,0.000,6,0.000,0.050,2687,1774,1667
$GC,9117,1.29,302.3,119.1,6.4,435,9121,0.00,2.62,0.00,0.000,4,0.000,0.071,2687,3173,1667
$GC,9233,1.30,306.2,114.2,5.9,440,9245,0.00,2.53,5.15,0.695,6,0.000,0.055,2687,1773,1651
$GC,9555,1.30,306.2,87.1,9.9,456,9559,0.00,2.65,0.00,0.000,4,0.000,0.076,2687,3172,1651
$GC,9626,1.30,306.2,79.6,9.2,459,9630,0.00,2.55,0.00,0.000,6,0.000,0.054,2687,1772,1651
$GC,9947,1.30,306.2,43.2,11.9,475,9951,0.00,2.62,0.00,0.000,4,0.000,0.073,2687,3171,1651
$GC,10012,1.30,306.2,35.9,10.0,478,10017,0.00,2.55,0.00,0.000,6,0.000,0.055,2687,1775,1651
$STATE,10317,end climb,SURFACE_DEPTH_REACHED
$STATE,10317,begin surface coast
$FINISH,-0.7,1.014019
$STATE,10339,end surface coast,CONTROL_FINISHED_OK
$STATE,10339,begin surface
$SM_CCo,10420,0.00,0.000,0,0,1650,306.87
$SM_GC,0.21,11.45,0.00,0.00,0.023,0.000,0.000,32,2887,1650,-10.78,-0.37,306.87
$IRIDIUM_FIX,6054.92,-856.03,241107,232327
$TT8_MAMPS,0.028379
$HUMID,2063
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,325.0,71.1
$24V_AH,23.6,18.814
$10V_AH,10.2,7.502
$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,25.900,105.950,371.525,0.000,0.000,79.338,75.409,142.840,2.750,0.000,0.000,12.745,977.758,7675.603,452.186,1359.561,412.807,33.357,1152.208,0.000,1338.349,0.000,16.902
$DEVICE_MAMPS,161.070,116.584,1020.877,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.867,343.434,405.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25394,494
$CFSIZE,260165632,254320640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$GPS,241107,221108,6123.496,-902.743,43,1.4,43,-9.2