version: 66.02
glider: 103
mission: 7
dive: 284
start: 1 5 108 1 56 16
data:
$ID,103
$MISSION,7
$DIVE,284
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,270
$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,-67710.68
$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,19
$R_STBD_OVSHOOT,9
$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
$GPS1,015007,6407.992,-1226.597,40,1.8,51,-12.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.71
$_SM_ANGLEo,-47.0
$GPS2,015545,6408.006,-1226.797,12,1.8,18,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6408.006,-1231.509
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.020,-0.218
$KALMAN_X,-132816.5,336.3,-67.9,-69746.9,3448.5
$KALMAN_Y,-172894.2,-517.8,223.0,462266.0,3982.7
$MHEAD_RNG_PITCHd_Wd,282.2,20000,-11.1,-6.000
$D_GRID,476
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,137,0.00,0.00,-107.97,0.000,6,0.000,0.000,38,2899,3500
$GC,140,-1.10,-146.6,2.5,-3.8,5,162,12.15,2.62,0.00,0.000,4,0.163,0.060,2165,1490,3502
$GC,414,-1.10,-146.6,35.4,-9.6,17,419,0.00,2.70,0.00,0.000,6,0.000,0.079,2165,2908,3502
$GC,736,-1.10,-146.6,61.2,-4.0,33,740,0.00,2.65,0.00,0.000,4,0.000,0.068,2165,1482,3502
$GC,808,-1.10,-146.6,64.7,-5.4,36,812,0.00,2.70,0.00,0.000,6,0.000,0.075,2165,2902,3502
$GC,1125,-1.10,-146.6,90.1,-9.4,51,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,1433,-1.10,-146.6,128.9,-12.4,66,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3503
$GC,1742,-1.10,-146.6,174.4,-14.1,81,1750,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1484,3502
$GC,1794,-1.10,-146.6,182.4,-15.1,83,1799,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2909,3503
$GC,2116,-1.10,-146.6,227.4,-10.4,99,2120,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1484,3503
$GC,2132,-1.10,-146.6,229.0,-11.8,100,2137,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2900,3503
$GC,2459,-1.10,-146.6,248.3,-6.6,116,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,2768,-1.10,-146.6,268.4,-6.9,131,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,3078,-1.10,-146.6,292.6,-8.2,146,3082,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1488,3503
$GC,3104,-1.10,-146.6,294.8,-8.3,147,3109,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2906,3503
$GC,3420,-1.10,-146.6,318.7,-6.9,162,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,3730,-1.10,-146.6,337.4,-5.2,177,3734,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1485,3503
$GC,3778,-1.10,-146.6,340.4,-6.2,179,3783,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2901,3502
$GC,4094,-1.10,-146.6,358.6,-6.0,194,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,4404,-1.10,-146.6,378.7,-6.1,209,4408,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1480,3502
$GC,4452,-1.10,-146.6,382.0,-6.5,211,4457,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2909,3502
$GC,4769,-1.10,-146.6,404.5,-7.9,226,4772,0.00,1.70,0.00,0.000,4,0.000,0.100,2165,3787,3502
$GC,4852,-1.10,-146.6,411.4,-8.4,229,4858,0.00,1.58,0.00,0.000,6,0.000,0.050,2165,2903,3502
$GC,5168,-1.10,-146.6,431.3,-5.7,245,5172,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1478,3502
$GC,5207,-1.10,-146.6,433.6,-5.8,247,5211,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2901,3502
$GC,5532,-1.10,-146.6,455.3,-8.2,263,5536,0.00,1.73,0.00,0.000,4,0.000,0.100,2165,3793,3502
$GC,5582,-1.10,-146.6,459.9,-9.1,265,5586,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2903,3502
$STATE,5824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5824,begin apogee
$GC,5831,-0.42,0.0,476.3,5.9,277,5958,0.77,0.00,123.28,1.125,6,0.104,0.000,2317,2092,2901
$STATE,5959,end apogee,CONTROL_FINISHED_OK
$STATE,5959,begin climb
$GC,5961,1.10,146.6,480.3,0.0,283,6087,1.58,2.60,118.22,1.113,4,0.062,0.058,2650,690,2303
$GC,6195,1.20,223.2,476.8,3.9,294,6266,0.00,2.50,63.17,1.096,6,0.000,0.038,2650,2112,1990
$GC,6588,1.20,223.2,451.8,6.6,313,6592,0.00,2.62,0.00,0.000,4,0.000,0.074,2650,3507,1989
$GC,6698,1.20,223.2,444.8,6.4,318,6703,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2094,1988
$GC,7019,1.22,242.2,428.1,5.5,334,7042,0.12,2.78,16.45,1.046,4,0.048,0.074,2686,3504,1913
$GC,7110,1.22,242.2,421.7,7.8,338,7114,0.00,2.50,0.00,0.000,6,0.000,0.045,2686,2102,1912
$GC,7435,1.22,242.2,396.4,7.4,354,7440,0.00,2.67,0.00,0.000,4,0.000,0.076,2686,3508,1911
$GC,7492,1.22,242.2,392.3,7.0,356,7498,0.00,2.50,0.00,0.000,6,0.000,0.046,2686,2104,1911
$GC,7806,1.22,242.2,369.3,7.6,372,7811,0.00,2.55,0.00,0.000,4,0.000,0.057,2686,690,1911
$GC,7834,1.22,242.2,367.1,8.1,373,7838,0.00,2.47,0.00,0.000,6,0.000,0.040,2686,2100,1911
$GC,8149,1.22,242.2,344.9,7.0,388,8153,0.00,2.65,0.00,0.000,4,0.000,0.077,2686,3508,1911
$GC,8203,1.22,242.2,340.9,7.2,390,8210,0.00,2.47,0.00,0.000,6,0.000,0.045,2686,2100,1911
$GC,8520,1.22,242.2,318.4,7.5,406,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1911
$GC,8829,1.22,242.2,292.4,8.6,421,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1911
$GC,9138,1.22,242.2,263.4,9.7,436,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2100,1911
$GC,9448,1.22,242.2,236.3,8.3,451,9452,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3511,1911
$GC,9492,1.22,242.2,232.5,8.1,453,9497,0.00,2.53,0.00,0.000,6,0.000,0.048,2686,2103,1911
$GC,9813,1.22,242.2,206.5,8.1,469,9817,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3510,1911
$GC,9840,1.22,242.2,203.8,10.0,470,9844,0.00,2.50,0.00,0.000,6,0.000,0.049,2686,2100,1911
$GC,10155,1.22,242.2,171.0,9.8,485,10159,0.00,2.67,0.00,0.000,4,0.000,0.075,2686,3515,1911
$GC,10204,1.22,242.2,166.2,9.9,487,10208,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2092,1911
$GC,10526,1.22,242.2,136.6,9.8,503,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,1911
$GC,10834,1.22,242.2,106.6,10.2,518,10839,0.00,2.67,0.00,0.000,4,0.000,0.074,2686,3509,1911
$GC,10861,1.22,242.2,104.2,9.7,519,10865,0.00,2.53,0.00,0.000,6,0.000,0.050,2686,2089,1911
$GC,11185,1.22,242.2,81.1,7.8,535,11189,0.00,2.67,0.00,0.000,4,0.000,0.076,2686,3508,1911
$GC,11207,1.22,242.2,79.1,8.3,536,11212,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2103,1911
$GC,11529,1.26,276.8,60.0,5.0,552,11563,0.00,2.65,28.08,0.865,4,0.000,0.062,2686,700,1772
$GC,11597,1.27,284.1,55.7,5.8,555,11614,0.00,2.53,7.50,0.769,6,0.000,0.048,2686,2104,1742
$GC,11925,1.27,284.1,26.5,10.6,571,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2104,1742
$STATE,12209,end climb,SURFACE_DEPTH_REACHED
$STATE,12209,begin surface coast
$FINISH,-0.1,1.027365
$STATE,12232,end surface coast,CONTROL_FINISHED_OK
$STATE,12232,begin surface
$SM_CCo,12255,210.12,0.785,1,0,572,571.30
$SM_GC,-0.85,0.00,0.00,210.12,0.000,0.000,0.785,44,2899,572,-10.88,-0.03,571.30
$IRIDIUM_FIX,6342.00,-1220.50,050108,020231
$TT8_MAMPS,0.028379
$HUMID,2015
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,15.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.1,70.1
$24V_AH,23.4,50.255
$10V_AH,10.1,24.029
$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,26.250,113.875,356.700,210.125,0.000,37.793,38.184,155.086,4.250,0.000,0.000,18.261,1108.490,9221.348,702.396,1358.876,436.017,0.000,1412.715,0.000,1333.477,0.000,27.920
$DEVICE_MAMPS,163.371,99.710,1125.189,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.691,402.944,423.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28567,586
$CFSIZE,260165632,242249728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,050108,052507,6408.015,-1232.743,25,1.9,25,-12.2