version: 66.02
glider: 103
mission: 7
dive: 300
start: 1 7 108 1 37 35
data:
$ID,103
$MISSION,7
$DIVE,300
$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,-68083.367
$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,21
$R_STBD_OVSHOOT,12
$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
$GPS1,013202,6416.438,-1223.168,40,1.5,40,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.62
$_SM_ANGLEo,-51.8
$GPS2,013702,6416.406,-1223.178,11,1.4,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6408.770,-1219.849
$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,413
$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,-146.6,0.0,0.0,0,137,0.00,0.00,-107.72,0.000,6,0.000,0.000,48,2892,3499
$GC,140,-1.10,-146.6,2.6,-3.8,5,160,12.00,1.77,0.00,0.000,4,0.160,0.092,2166,3783,3501
$GC,413,-1.10,-146.6,34.5,-7.0,17,417,0.00,1.62,0.00,0.000,6,0.000,0.064,2166,2909,3501
$GC,741,-1.10,-146.6,61.4,-7.1,33,745,0.00,1.75,0.00,0.000,4,0.000,0.101,2166,3785,3501
$GC,847,-1.10,-146.6,69.2,-7.2,37,854,0.00,1.62,0.00,0.000,6,0.000,0.060,2166,2900,3501
$GC,1163,-1.10,-146.6,89.9,-6.9,53,1168,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1476,3501
$GC,1207,-1.10,-146.6,93.2,-7.2,55,1212,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2901,3501
$GC,1534,-1.10,-146.6,116.2,-7.2,71,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$GC,1843,-1.10,-146.6,138.8,-7.1,86,1848,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1483,3501
$GC,1888,-1.10,-146.6,142.1,-7.4,88,1892,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2900,3501
$GC,2208,-1.10,-146.6,166.5,-7.7,104,2212,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1482,3501
$GC,2257,-1.10,-146.6,170.2,-7.6,106,2262,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2906,3501
$GC,2573,-1.10,-146.6,191.6,-5.9,121,2577,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1482,3501
$GC,2612,-1.10,-146.6,193.8,-5.6,123,2617,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2901,3501
$GC,2938,-1.10,-146.6,217.4,-7.5,139,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,3247,-1.10,-146.6,239.9,-6.7,154,3251,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1482,3501
$GC,3279,-1.10,-146.6,242.1,-6.8,155,3286,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2901,3501
$GC,3596,-1.10,-146.6,264.4,-6.8,171,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,3904,-1.10,-146.6,283.1,-6.4,186,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$GC,4214,-1.10,-146.6,301.0,-6.0,201,4219,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1482,3501
$GC,4254,-1.10,-146.6,303.4,-6.3,203,4258,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2902,3501
$GC,4579,-1.10,-146.6,323.6,-6.1,219,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,4889,-1.10,-146.6,343.0,-6.3,234,4893,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1482,3501
$GC,4938,-1.10,-146.6,346.1,-6.3,236,4942,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2908,3501
$GC,5254,-1.10,-146.6,366.1,-5.9,251,5258,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1482,3501
$GC,5297,-1.10,-146.6,368.9,-6.0,253,5302,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2904,3501
$GC,5618,-1.10,-146.6,388.7,-6.4,269,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3501
$GC,5927,-1.10,-146.6,408.3,-6.5,284,5931,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1475,3501
$STATE,5991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,5998,-0.42,0.0,413.3,8.0,287,6123,0.75,0.00,122.35,1.101,6,0.104,0.000,2316,2104,2901
$STATE,6124,end apogee,CONTROL_FINISHED_OK
$STATE,6124,begin climb
$GC,6127,1.10,146.6,419.0,0.0,293,6253,1.55,2.65,118.45,1.065,4,0.060,0.058,2646,685,2303
$GC,6395,1.19,219.7,415.7,4.0,305,6464,0.12,2.47,60.38,1.048,6,0.048,0.038,2678,2113,2005
$GC,6773,1.19,219.7,393.2,6.8,324,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2113,2004
$GC,7081,1.19,219.7,372.4,6.5,339,7085,0.00,2.62,0.00,0.000,4,0.000,0.077,2678,3504,2003
$GC,7120,1.19,219.7,369.3,8.1,341,7125,0.00,2.53,0.00,0.000,6,0.000,0.047,2679,2086,2004
$GC,7447,1.19,219.7,344.6,7.2,357,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2086,2003
$GC,7756,1.19,219.7,323.2,6.4,372,7761,0.00,2.67,0.00,0.000,4,0.000,0.075,2679,3504,2003
$GC,7811,1.19,219.7,319.5,7.0,374,7817,0.00,2.50,0.00,0.000,6,0.000,0.047,2679,2100,2003
$GC,8126,1.19,219.7,300.0,6.4,390,8130,0.00,2.65,0.00,0.000,4,0.000,0.074,2679,3502,2002
$GC,8165,1.19,219.7,297.4,6.8,392,8169,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2100,2003
$GC,8491,1.19,219.7,274.8,7.2,408,8496,0.00,2.67,0.00,0.000,4,0.000,0.076,2679,3508,2002
$GC,8524,1.19,219.7,272.4,6.6,409,8531,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2096,2002
$GC,8840,1.19,219.7,249.9,7.0,425,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2096,2002
$GC,9149,1.19,219.7,227.4,7.8,440,9153,0.00,2.65,0.00,0.000,4,0.000,0.075,2679,3501,2002
$GC,9205,1.19,219.7,222.6,9.2,442,9211,0.00,2.50,0.00,0.000,6,0.000,0.049,2679,2103,2002
$GC,9520,1.19,219.7,198.3,7.9,458,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2103,2002
$GC,9829,1.19,219.7,175.1,7.0,473,9834,0.00,2.62,0.00,0.000,4,0.000,0.074,2679,3502,2002
$GC,9850,1.19,219.7,173.3,8.2,474,9854,0.00,2.47,0.00,0.000,6,0.000,0.046,2679,2098,2002
$GC,10177,1.23,252.0,150.4,5.1,490,10206,0.00,0.00,26.73,0.920,6,0.000,0.000,2679,2097,1872
$GC,10508,1.23,252.0,125.5,8.3,506,10512,0.00,2.67,0.00,0.000,4,0.000,0.074,2679,3505,1872
$GC,10551,1.23,252.0,122.3,7.6,508,10555,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2102,1871
$GC,10879,1.23,252.0,95.5,8.2,524,10883,0.00,2.65,0.00,0.000,4,0.000,0.074,2679,3504,1872
$GC,10905,1.23,252.0,93.2,9.6,525,10909,0.00,2.50,0.00,0.000,6,0.000,0.048,2679,2101,1872
$GC,11228,1.23,252.0,68.7,6.5,541,11233,0.00,2.58,0.00,0.000,4,0.000,0.064,2679,691,1872
$GC,11273,1.23,252.0,65.6,8.3,543,11277,0.00,2.47,0.00,0.000,6,0.000,0.044,2679,2093,1872
$GC,11593,1.23,252.0,47.2,6.7,559,11598,0.00,2.67,0.00,0.000,4,0.000,0.077,2679,3515,1872
$GC,11642,1.23,252.0,43.8,6.9,561,11647,0.00,2.55,0.00,0.000,6,0.000,0.053,2679,2093,1872
$GC,11960,1.23,252.0,17.3,9.5,576,11965,0.00,2.70,0.00,0.000,4,0.000,0.079,2679,3511,1872
$GC,11982,1.23,252.0,15.3,8.2,577,11986,0.00,2.50,0.00,0.000,6,0.000,0.047,2679,2099,1872
$STATE,12136,end climb,SURFACE_DEPTH_REACHED
$STATE,12136,begin surface coast
$FINISH,0.2,1.027404
$STATE,12157,end surface coast,CONTROL_FINISHED_OK
$STATE,12157,begin surface
$SM_CCo,12180,235.05,0.793,2,0,572,571.30
$SM_GC,-0.78,0.00,0.00,235.05,0.000,0.000,0.793,45,2900,572,-10.87,0.00,571.30
$IRIDIUM_FIX,6351.77,-1229.58,070108,020242
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.2,81.5
$24V_AH,23.4,52.796
$10V_AH,10.1,24.940
$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,26.125,116.225,327.900,235.050,0.000,40.063,40.372,121.849,3.500,0.000,0.000,16.532,1108.401,9165.090,715.798,1355.830,404.074,0.000,1412.646,0.000,1334.453,0.000,21.771
$DEVICE_MAMPS,159.536,101.244,1100.645,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.137,401.543,458.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28485,586
$CFSIZE,260165632,241635328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,2,0
$GPS,070108,050556,6415.343,-1222.608,39,1.7,39,-12.2