version: 66.02
glider: 103
mission: 7
dive: 286
start: 1 5 108 9 28 29
data:
$ID,103
$MISSION,7
$DIVE,286
$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,-67778.93
$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,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
$GPS1,091837,6409.044,-1236.611,37,1.7,37,-12.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.85
$_SM_ANGLEo,-44.2
$GPS2,092759,6409.076,-1236.761,12,2.8,31,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6409.076,-1241.470
$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,282.3,20000,-11.1,-6.000
$D_GRID,451
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.10,-146.6,0.0,0.0,0,140,0.00,0.00,-109.62,0.000,6,0.000,0.000,52,2895,3499
$GC,143,-1.10,-146.6,2.3,-3.5,5,159,11.90,1.77,0.00,0.000,4,0.158,0.092,2166,3789,3501
$GC,412,-1.10,-146.6,39.8,-13.5,16,415,0.00,1.62,0.00,0.000,6,0.000,0.063,2167,2911,3502
$GC,738,-1.10,-146.6,64.2,-7.9,32,742,0.00,1.75,0.00,0.000,4,0.000,0.101,2167,3789,3502
$GC,996,-1.10,-146.6,91.4,-10.8,43,1000,0.00,1.60,0.00,0.000,6,0.000,0.056,2167,2899,3502
$GC,1317,-1.10,-146.6,124.2,-7.4,59,1321,0.00,1.77,0.00,0.000,4,0.000,0.101,2167,3794,3502
$GC,1417,-1.10,-146.6,130.7,-6.2,63,1421,0.00,1.62,0.00,0.000,6,0.000,0.055,2167,2899,3502
$GC,1742,-1.10,-146.6,151.7,-6.7,79,1746,0.00,2.62,0.00,0.000,4,0.000,0.072,2167,1479,3502
$GC,1775,-1.10,-146.6,154.5,-8.2,80,1782,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2902,3502
$GC,2091,-1.10,-146.6,178.7,-6.8,96,2094,0.00,1.73,0.00,0.000,4,0.000,0.100,2167,3780,3502
$GC,2136,-1.10,-146.6,182.0,-7.8,98,2140,0.00,1.60,0.00,0.000,6,0.000,0.054,2167,2898,3502
$GC,2468,-1.10,-146.6,204.7,-6.1,114,2472,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1482,3502
$GC,2516,-1.10,-146.6,208.5,-8.1,116,2521,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2902,3502
$GC,2838,-1.10,-146.6,231.6,-7.6,132,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,3147,-1.10,-146.6,254.3,-7.7,147,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,3456,-1.10,-146.6,276.7,-7.2,162,3461,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1480,3502
$GC,3490,-1.10,-146.6,278.9,-6.5,163,3495,0.00,2.70,0.00,0.000,6,0.000,0.077,2167,2901,3501
$GC,3805,-1.10,-146.6,300.1,-6.6,179,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3502
$GC,4114,-1.10,-146.6,320.1,-6.7,194,4118,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1477,3502
$GC,4140,-1.10,-146.6,321.9,-7.1,195,4145,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2903,3502
$GC,4456,-1.10,-146.6,342.2,-6.0,210,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3501
$GC,4765,-1.10,-146.6,357.9,-4.7,225,4770,0.00,2.62,0.00,0.000,4,0.000,0.065,2167,1477,3502
$GC,4828,-1.10,-146.6,361.0,-5.3,228,4832,0.00,2.70,0.00,0.000,6,0.000,0.077,2167,2906,3502
$GC,5154,-1.10,-146.6,378.5,-5.8,244,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3502
$GC,5464,-1.10,-146.6,400.4,-7.2,259,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3502
$GC,5772,-1.10,-146.6,421.6,-6.2,274,5777,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1480,3502
$GC,5835,-1.10,-146.6,425.7,-6.4,277,5839,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2905,3502
$GC,6161,-1.10,-146.6,447.7,-7.0,293,6165,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1482,3502
$GC,6193,-1.10,-146.6,449.9,-7.3,294,6200,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2904,3502
$STATE,6218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6218,begin apogee
$GC,6225,-0.42,0.0,451.3,5.9,296,6351,0.77,0.00,123.12,1.098,6,0.101,0.000,2318,2088,2901
$STATE,6352,end apogee,CONTROL_FINISHED_OK
$STATE,6352,begin climb
$GC,6354,1.10,146.6,456.3,0.0,302,6481,1.55,2.60,118.93,1.065,4,0.058,0.059,2650,690,2303
$GC,6612,1.13,169.9,450.4,5.4,314,6638,0.00,2.50,20.60,1.024,6,0.000,0.039,2650,2111,2208
$GC,6954,1.15,185.4,431.6,5.6,331,6976,0.00,2.70,14.15,1.001,4,0.000,0.076,2650,3508,2145
$GC,7021,1.15,185.4,427.4,6.5,334,7025,0.00,2.53,0.00,0.000,6,0.000,0.045,2650,2094,2145
$GC,7347,1.15,185.4,407.0,6.6,350,7351,0.00,2.55,0.00,0.000,4,0.000,0.061,2650,694,2143
$GC,7514,1.15,185.4,395.0,8.2,357,7520,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2098,2143
$GC,7829,1.15,185.4,373.4,6.5,373,7833,0.00,2.62,0.00,0.000,4,0.000,0.073,2650,3508,2143
$GC,7917,1.15,185.4,367.5,6.7,377,7922,0.00,2.50,0.00,0.000,6,0.000,0.048,2650,2099,2143
$GC,8244,1.19,217.1,349.3,5.1,393,8278,0.00,2.78,26.77,1.033,4,0.000,0.073,2650,3511,2015
$GC,8317,1.19,217.1,344.8,6.3,396,8322,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,2100,2015
$GC,8639,1.19,217.1,325.0,6.4,412,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2014
$GC,8948,1.19,217.1,305.9,6.2,427,8952,0.00,2.65,0.00,0.000,4,0.000,0.074,2650,3508,2014
$GC,8991,1.19,217.1,303.0,6.2,429,8995,0.00,2.50,0.00,0.000,6,0.000,0.045,2650,2095,2014
$GC,9318,1.19,217.1,282.5,6.6,445,9322,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3515,2014
$GC,9379,1.19,217.1,278.1,7.7,448,9384,0.00,2.50,0.00,0.000,6,0.000,0.046,2650,2100,2014
$GC,9705,1.19,217.1,254.1,7.6,464,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2014
$GC,10015,1.19,217.1,231.7,7.4,479,10020,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3508,2015
$GC,10059,1.19,217.1,228.4,7.7,481,10063,0.00,2.50,0.00,0.000,6,0.000,0.046,2650,2093,2015
$GC,10386,1.21,236.9,208.4,5.5,497,10409,0.12,2.75,16.95,0.910,4,0.045,0.070,2693,3509,1935
$GC,10448,1.21,236.9,203.7,8.6,499,10454,0.00,2.53,0.00,0.000,6,0.000,0.047,2694,2093,1935
$GC,10763,1.21,236.9,178.4,6.1,515,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2093,1934
$GC,11073,1.21,236.9,146.7,12.3,530,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2093,1934
$GC,11382,1.21,236.9,118.7,9.1,545,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2092,1934
$GC,11691,1.21,236.9,89.6,9.3,560,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2093,1934
$GC,12001,1.21,236.9,61.0,8.8,575,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2093,1935
$GC,12310,1.21,236.9,25.7,12.5,590,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2092,1935
$STATE,12514,end climb,SURFACE_DEPTH_REACHED
$STATE,12514,begin surface coast
$FINISH,0.1,1.027358
$STATE,12536,end surface coast,CONTROL_FINISHED_OK
$STATE,12536,begin surface
$SM_CCo,12559,237.75,0.778,2,0,572,571.30
$SM_GC,-0.76,0.00,0.00,237.75,0.000,0.000,0.778,47,2902,572,-10.87,0.06,571.30
$IRIDIUM_FIX,6342.00,-1236.01,050108,131329
$TT8_MAMPS,0.029146
$HUMID,2008
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.4,50.613
$10V_AH,10.1,24.166
$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,26.175,100.125,320.525,237.750,0.000,76.307,71.716,226.988,4.000,0.000,0.000,32.568,1135.641,9525.773,700.857,1441.516,583.484,0.000,1424.388,0.000,1401.365,0.000,24.943
$DEVICE_MAMPS,158.002,101.244,1098.344,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,439.520,417.382,410.930,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28494,601
$CFSIZE,260165632,242155520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,050108,130308,6408.377,-1241.036,36,1.5,36,-12.3