version: 66.02
glider: 103
mission: 7
dive: 285
start: 1 5 108 5 42 54
data:
$ID,103
$MISSION,7
$DIVE,285
$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,-67745.734
$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,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
$GPS1,052507,6408.015,-1232.743,25,1.9,25,-12.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.75
$_SM_ANGLEo,-48.2
$GPS2,054223,6408.079,-1233.100,14,4.6,33,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6408.079,-1237.811
$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,478
$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,-146.6,0.0,0.0,0,139,0.00,0.00,-109.85,0.000,6,0.000,0.000,44,2899,3499
$GC,142,-1.10,-146.6,2.1,-3.3,5,158,11.98,1.77,0.00,0.000,4,0.159,0.093,2165,3789,3500
$GC,411,-1.10,-146.6,34.3,-10.6,16,414,0.00,1.65,0.00,0.000,6,0.000,0.064,2165,2903,3501
$GC,738,-1.10,-146.6,66.8,-9.3,32,741,0.00,1.75,0.00,0.000,4,0.000,0.100,2165,3789,3501
$GC,996,-1.10,-146.6,80.6,-5.3,43,999,0.00,1.62,0.00,0.000,6,0.000,0.060,2165,2896,3501
$GC,1317,-1.10,-146.6,97.0,-6.0,59,1321,0.00,1.75,0.00,0.000,4,0.000,0.099,2165,3785,3501
$GC,1423,-1.10,-146.6,104.1,-6.6,63,1430,0.00,1.60,0.00,0.000,6,0.000,0.057,2165,2902,3501
$GC,1740,-1.10,-146.6,127.3,-8.8,79,1745,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1479,3501
$GC,1773,-1.10,-146.6,131.0,-10.1,80,1780,0.00,2.67,0.00,0.000,6,0.000,0.079,2165,2900,3501
$GC,2089,-1.10,-146.6,160.9,-9.5,96,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,2398,-1.10,-146.6,186.7,-6.5,111,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,2707,-1.10,-146.6,208.6,-6.6,126,2712,0.00,2.60,0.00,0.000,4,0.000,0.069,2165,1487,3501
$GC,2734,-1.10,-146.6,210.6,-7.1,127,2739,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2902,3501
$GC,3050,-1.10,-146.6,232.9,-7.5,142,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,3359,-1.10,-146.6,254.3,-6.4,157,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,3669,-1.10,-146.6,272.8,-5.8,172,3673,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1482,3501
$GC,3708,-1.10,-146.6,275.1,-6.3,174,3713,0.00,2.67,0.00,0.000,6,0.000,0.076,2165,2902,3501
$GC,4034,-1.10,-146.6,295.3,-6.7,190,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,4343,-1.10,-146.6,318.5,-7.8,205,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,4652,-1.10,-146.6,342.6,-7.8,220,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,4962,-1.10,-146.6,366.2,-7.1,235,4966,0.00,1.73,0.00,0.000,4,0.000,0.097,2165,3783,3501
$GC,5007,-1.10,-146.6,369.4,-7.9,237,5010,0.00,1.58,0.00,0.000,6,0.000,0.048,2165,2883,3501
$GC,5339,-1.10,-146.6,390.5,-6.0,253,5343,0.00,2.50,0.00,0.000,4,0.000,0.062,2165,1487,3501
$GC,5383,-1.10,-146.6,393.1,-5.9,255,5387,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2902,3501
$GC,5703,-1.10,-146.6,411.6,-6.4,271,5708,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1482,3501
$GC,5747,-1.10,-146.6,414.7,-6.9,273,5751,0.00,2.65,0.00,0.000,6,0.000,0.074,2165,2900,3501
$GC,6069,-1.10,-146.6,435.8,-5.9,289,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,6377,-1.10,-146.6,454.1,-6.4,304,6382,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1479,3501
$GC,6410,-1.10,-146.6,456.6,-7.2,305,6417,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2901,3501
$STATE,6724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6724,begin apogee
$GC,6731,-0.42,0.0,479.2,6.7,321,6857,0.77,0.00,122.88,1.131,6,0.097,0.000,2319,2096,2901
$STATE,6858,end apogee,CONTROL_FINISHED_OK
$STATE,6858,begin climb
$GC,6861,1.10,146.6,484.0,0.0,327,6988,1.55,2.62,119.28,1.094,4,0.062,0.057,2648,685,2303
$GC,7017,1.15,183.9,481.5,5.0,334,7055,0.00,2.50,31.73,1.048,6,0.000,0.036,2648,2116,2151
$GC,7371,1.25,270.0,465.3,3.6,352,7454,0.15,2.67,71.12,1.086,4,0.045,0.075,2697,3506,1800
$GC,7483,1.25,270.0,458.3,7.3,357,7487,0.00,2.55,0.00,0.000,6,0.000,0.044,2697,2093,1799
$GC,7803,1.25,270.0,431.2,8.8,373,7807,0.00,2.55,0.00,0.000,4,0.000,0.061,2697,693,1798
$GC,7835,1.25,270.0,428.3,9.0,374,7841,0.00,2.47,0.00,0.000,6,0.000,0.044,2697,2092,1798
$GC,8150,1.25,270.0,403.3,7.8,390,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2092,1797
$GC,8460,1.25,270.0,377.4,9.1,405,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2092,1797
$GC,8769,1.25,270.0,347.0,9.8,420,8773,0.00,2.65,0.00,0.000,4,0.000,0.077,2697,3508,1797
$GC,8808,1.25,270.0,343.2,9.7,422,8813,0.00,2.53,0.00,0.000,6,0.000,0.051,2697,2099,1796
$GC,9135,1.25,270.0,313.9,8.5,438,9139,0.00,2.67,0.00,0.000,4,0.000,0.077,2697,3515,1797
$GC,9173,1.25,270.0,310.3,9.7,440,9178,0.00,2.55,0.00,0.000,6,0.000,0.051,2697,2095,1796
$GC,9500,1.25,270.0,281.1,9.3,456,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2095,1796
$GC,9809,1.25,270.0,253.4,9.3,471,9813,0.00,2.67,0.00,0.000,4,0.000,0.077,2697,3508,1796
$GC,9852,1.25,270.0,249.0,10.0,473,9857,0.00,2.53,0.00,0.000,6,0.000,0.051,2697,2094,1796
$GC,10179,1.25,270.0,218.4,9.5,489,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2094,1796
$GC,10488,1.25,270.0,186.5,10.7,504,10493,0.00,2.70,0.00,0.000,4,0.000,0.077,2697,3514,1796
$GC,10532,1.25,270.0,181.5,10.7,506,10537,0.00,2.55,0.00,0.000,6,0.000,0.054,2697,2100,1796
$GC,10854,1.25,270.0,146.5,10.6,522,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2100,1797
$GC,11163,1.25,270.0,115.0,7.7,537,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2100,1797
$GC,11472,1.25,270.0,96.2,8.1,552,11477,0.00,2.58,0.00,0.000,4,0.000,0.067,2697,692,1797
$GC,11544,1.25,270.0,88.6,8.0,555,11549,0.00,2.50,0.00,0.000,6,0.000,0.048,2697,2102,1797
$GC,11861,1.25,270.0,61.0,9.1,570,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2102,1797
$GC,12170,1.25,270.0,36.9,11.4,585,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2102,1797
$GC,12478,1.32,323.9,19.7,4.5,600,12524,0.00,0.00,42.95,0.808,6,0.000,0.000,2697,2103,1580
$STATE,12643,end climb,SURFACE_DEPTH_REACHED
$STATE,12643,begin surface coast
$FINISH,-0.3,1.027362
$STATE,12664,end surface coast,CONTROL_FINISHED_OK
$STATE,12664,begin surface
$SM_CCo,12686,183.30,0.775,0,0,572,571.30
$SM_GC,-0.94,0.00,0.00,183.30,0.000,0.000,0.775,52,2896,572,-10.85,-0.11,571.30
$IRIDIUM_FIX,6346.88,-1231.19,050108,090944
$TT8_MAMPS,0.029146
$HUMID,2011
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,476.5,57.8
$24V_AH,23.4,50.445
$10V_AH,10.1,24.100
$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,26.075,89.325,387.950,183.300,0.000,153.063,437.225,141.342,4.250,0.000,0.000,34.421,1122.116,9801.961,678.307,1391.403,930.618,0.000,1385.100,0.000,1348.199,0.000,26.568
$DEVICE_MAMPS,158.769,99.710,1130.558,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.814,420.418,451.985,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31783,609
$CFSIZE,260165632,242200576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,050108,091837,6409.044,-1236.611,37,1.7,37,-12.3