version: 66.02
glider: 103
mission: 7
dive: 299
start: 1 6 108 22 34 23
data:
$ID,103
$MISSION,7
$DIVE,299
$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,135
$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,-68066.211
$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,23
$R_STBD_OVSHOOT,15
$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
$GPS1,222855,6417.612,-1226.644,40,1.2,40,-12.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.72
$_SM_ANGLEo,-51.2
$GPS2,223350,6417.644,-1226.521,12,1.2,12,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6410.008,-1223.194
$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,147.2,20000,-11.1,-6.000
$D_GRID,370
$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,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,138,0.00,0.00,-108.65,0.000,6,0.000,0.000,47,2902,3500
$GC,141,-1.10,-146.6,2.2,-3.3,5,157,11.98,1.73,0.00,0.000,4,0.160,0.086,2163,3780,3501
$GC,409,-1.10,-146.6,35.1,-8.2,16,413,0.00,1.58,0.00,0.000,6,0.000,0.056,2163,2914,3502
$GC,736,-1.10,-146.6,58.7,-6.9,32,739,0.00,1.73,0.00,0.000,4,0.000,0.100,2163,3785,3502
$GC,830,-1.10,-146.6,65.6,-7.6,36,834,0.00,1.60,0.00,0.000,6,0.000,0.059,2164,2907,3502
$GC,1159,-1.10,-146.6,91.2,-8.3,52,1164,0.00,2.65,0.00,0.000,4,0.000,0.074,2164,1479,3502
$GC,1214,-1.10,-146.6,95.9,-8.7,54,1222,0.00,2.72,0.00,0.000,6,0.000,0.079,2164,2895,3502
$GC,1531,-1.10,-146.6,118.6,-5.7,70,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3502
$GC,1840,-1.10,-146.6,137.8,-6.0,85,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2895,3502
$GC,2149,-1.10,-146.6,155.9,-6.0,100,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2895,3502
$GC,2458,-1.10,-146.6,176.6,-7.1,115,2462,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1482,3502
$GC,2484,-1.10,-146.6,178.7,-7.6,116,2489,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2902,3502
$GC,2800,-1.10,-146.6,199.7,-6.6,131,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,3110,-1.10,-146.6,221.0,-7.0,146,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,3419,-1.10,-146.6,244.3,-7.5,161,3423,0.00,2.62,0.00,0.000,4,0.000,0.069,2164,1484,3502
$GC,3458,-1.10,-146.6,247.5,-8.4,163,3462,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2906,3502
$GC,3783,-1.10,-146.6,272.2,-7.3,179,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,4093,-1.10,-146.6,291.2,-6.9,194,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,4402,-1.10,-146.6,314.6,-7.2,209,4406,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1478,3502
$GC,4445,-1.10,-146.6,317.4,-6.6,211,4450,0.00,2.65,0.00,0.000,6,0.000,0.076,2164,2898,3501
$GC,4773,-1.10,-146.6,338.0,-5.9,227,4776,0.00,1.73,0.00,0.000,4,0.000,0.100,2164,3789,3502
$GC,4828,-1.10,-146.6,341.6,-6.3,229,4832,0.00,1.60,0.00,0.000,6,0.000,0.051,2163,2898,3502
$GC,5149,-1.10,-146.6,364.1,-7.0,245,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$STATE,5229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5229,begin apogee
$GC,5236,-0.42,0.0,370.2,7.4,249,5361,0.77,0.00,121.22,1.075,6,0.100,0.000,2317,2093,2900
$STATE,5362,end apogee,CONTROL_FINISHED_OK
$STATE,5362,begin climb
$GC,5364,1.10,146.6,375.0,0.0,255,5491,1.55,2.62,116.68,1.054,4,0.063,0.057,2646,691,2303
$GC,5599,1.19,218.8,370.5,4.0,266,5664,0.12,2.50,59.17,1.022,6,0.049,0.036,2677,2120,2009
$GC,5985,1.19,218.8,342.1,7.8,285,5990,0.00,2.62,0.00,0.000,4,0.000,0.077,2678,3507,2008
$GC,6074,1.19,218.8,334.1,9.1,289,6079,0.00,2.53,0.00,0.000,6,0.000,0.047,2678,2092,2008
$GC,6395,1.19,218.8,308.6,6.9,305,6400,0.00,2.67,0.00,0.000,4,0.000,0.074,2678,3508,2008
$GC,6434,1.19,218.8,305.9,7.3,307,6438,0.00,2.53,0.00,0.000,6,0.000,0.049,2678,2097,2007
$GC,6760,1.19,218.8,279.7,8.1,323,6764,0.00,2.65,0.00,0.000,4,0.000,0.073,2678,3502,2007
$GC,6809,1.19,218.8,275.5,8.0,325,6813,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2099,2007
$GC,7131,1.19,218.8,250.8,8.1,341,7135,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3505,2007
$GC,7151,1.19,218.8,249.0,7.8,342,7156,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2097,2007
$GC,7478,1.19,218.8,224.8,7.4,358,7482,0.00,2.65,0.00,0.000,4,0.000,0.073,2678,3502,2007
$GC,7505,1.19,218.8,222.8,7.9,359,7509,0.00,2.47,0.00,0.000,6,0.000,0.049,2678,2100,2007
$GC,7826,1.19,218.8,197.4,8.4,375,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2100,2007
$GC,8135,1.19,218.8,172.4,7.7,390,8139,0.00,2.62,0.00,0.000,4,0.000,0.072,2678,3500,2007
$GC,8167,1.19,218.8,170.0,6.9,391,8173,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2093,2007
$GC,8484,1.19,218.8,146.0,8.1,407,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2093,2007
$GC,8793,1.19,218.8,122.0,7.6,422,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2093,2007
$GC,9101,1.19,218.8,100.8,6.7,437,9106,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3500,2007
$GC,9134,1.19,218.8,98.4,6.7,438,9140,0.00,2.50,0.00,0.000,6,0.000,0.052,2678,2094,2007
$GC,9451,1.19,218.8,74.1,8.5,454,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2094,2007
$GC,9759,1.29,298.9,53.6,3.8,469,9830,0.00,2.80,63.20,0.871,4,0.000,0.077,2678,3507,1681
$GC,9858,1.29,298.9,46.2,9.8,473,9865,0.00,2.53,0.00,0.000,6,0.000,0.051,2678,2101,1681
$GC,10176,1.29,298.9,16.2,8.7,489,10180,0.00,2.65,0.00,0.000,4,0.000,0.073,2678,3503,1680
$GC,10198,1.29,298.9,13.6,10.9,490,10202,0.00,2.55,0.00,0.000,6,0.000,0.053,2678,2096,1680
$STATE,10330,end climb,SURFACE_DEPTH_REACHED
$STATE,10331,begin surface coast
$FINISH,-0.7,1.027361
$STATE,10353,end surface coast,CONTROL_FINISHED_OK
$STATE,10353,begin surface
$SM_CCo,10376,202.02,0.789,1,0,572,571.30
$SM_GC,-0.80,0.00,0.00,202.02,0.000,0.000,0.789,48,2891,572,-10.87,-0.25,571.30
$IRIDIUM_FIX,6332.30,-721.46,060108,232347
$TT8_MAMPS,0.029146
$HUMID,2010
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,15.90
$XPDR_PINGS,1
$24V_AH,23.4,52.633
$10V_AH,10.1,24.876
$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,25.975,85.950,360.275,202.025,0.000,38.635,33.443,129.771,2.500,0.000,0.000,12.028,939.150,7754.729,674.267,1156.932,377.376,0.000,1280.583,0.000,1141.677,0.000,15.511
$DEVICE_MAMPS,159.536,100.477,1075.334,789.243,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.152,343.905,426.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25412,498
$CFSIZE,260165632,241688576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,070108,013202,6416.438,-1223.168,40,1.5,40,-12.2