version: 66.02
glider: 103
mission: 7
dive: 301
start: 1 7 108 5 11 57
data:
$ID,103
$MISSION,7
$DIVE,301
$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,-68097.984
$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,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
$GPS1,050556,6415.343,-1222.608,39,1.7,39,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.74
$_SM_ANGLEo,-49.3
$GPS2,051126,6415.375,-1222.617,13,1.2,13,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6407.738,-1219.285
$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,427
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.10,-146.6,0.0,0.0,0,139,0.00,0.00,-109.28,0.000,6,0.000,0.000,46,2901,3499
$GC,142,-1.10,-146.6,2.3,-3.5,5,158,11.98,1.75,0.00,0.000,4,0.159,0.089,2166,3788,3500
$GC,410,-1.10,-146.6,35.5,-9.4,16,414,0.00,1.62,0.00,0.000,6,0.000,0.061,2166,2908,3500
$GC,737,-1.10,-146.6,60.2,-6.6,32,741,0.00,1.75,0.00,0.000,4,0.000,0.100,2166,3787,3501
$GC,805,-1.10,-146.6,66.1,-8.4,35,809,0.00,1.60,0.00,0.000,6,0.000,0.059,2166,2899,3501
$GC,1138,-1.10,-146.6,91.8,-7.4,51,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,1447,-1.10,-146.6,112.8,-8.0,66,1451,0.00,2.62,0.00,0.000,4,0.000,0.074,2166,1480,3501
$GC,1496,-1.10,-146.6,117.7,-9.9,68,1500,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2898,3501
$GC,1812,-1.10,-146.6,142.5,-7.4,83,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3501
$GC,2120,-1.10,-146.6,165.8,-7.5,98,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3501
$GC,2430,-1.10,-146.6,187.4,-6.8,113,2434,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,1478,3501
$GC,2502,-1.10,-146.6,191.7,-6.0,116,2506,0.00,2.70,0.00,0.000,6,0.000,0.075,2166,2900,3501
$GC,2817,-1.10,-146.6,213.2,-7.0,131,2822,0.00,2.65,0.00,0.000,4,0.000,0.069,2166,1477,3501
$GC,2844,-1.10,-146.6,215.5,-7.9,132,2849,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2900,3501
$GC,3166,-1.10,-146.6,236.4,-6.0,148,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,3475,-1.10,-146.6,256.6,-7.4,163,3479,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1478,3501
$GC,3501,-1.10,-146.6,259.0,-8.3,164,3506,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2900,3501
$GC,3818,-1.10,-146.6,280.2,-5.9,179,3822,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3501
$GC,3850,-1.10,-146.6,282.4,-6.7,180,3857,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2905,3501
$GC,4166,-1.10,-146.6,309.8,-8.8,196,4170,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1482,3501
$GC,4209,-1.10,-146.6,313.8,-8.8,198,4214,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2903,3501
$GC,4530,-1.10,-146.6,341.3,-8.4,214,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3501
$GC,4839,-1.10,-146.6,363.8,-7.3,229,4843,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1478,3501
$GC,4879,-1.10,-146.6,366.7,-7.4,231,4883,0.00,2.70,0.00,0.000,6,0.000,0.075,2166,2909,3500
$GC,5204,-1.10,-146.6,391.5,-7.5,247,5209,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1481,3501
$GC,5248,-1.10,-146.6,394.8,-7.3,249,5253,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2900,3501
$GC,5570,-1.10,-146.6,416.1,-6.5,265,5573,0.00,1.73,0.00,0.000,4,0.000,0.102,2166,3787,3501
$GC,5642,-1.10,-146.6,421.2,-6.8,268,5646,0.00,1.60,0.00,0.000,6,0.000,0.051,2166,2893,3501
$STATE,5739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5739,begin apogee
$GC,5747,-0.42,0.0,428.2,7.1,273,5873,0.77,0.00,122.55,1.116,6,0.106,0.000,2318,2097,2901
$STATE,5874,end apogee,CONTROL_FINISHED_OK
$STATE,5874,begin climb
$GC,5876,1.10,146.6,432.6,0.0,279,6003,1.55,2.62,118.62,1.080,4,0.059,0.061,2648,688,2303
$GC,6201,1.10,146.6,418.3,7.2,294,6205,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2109,2302
$GC,6521,1.15,182.3,400.3,5.0,310,6557,0.00,2.70,30.23,1.055,4,0.000,0.074,2648,3507,2157
$GC,6603,1.15,182.3,395.6,6.6,313,6607,0.00,2.53,0.00,0.000,6,0.000,0.046,2648,2095,2157
$GC,6929,1.15,182.3,375.4,6.7,329,6933,0.00,2.67,0.00,0.000,4,0.000,0.073,2648,3508,2156
$GC,7000,1.15,182.3,370.6,6.6,332,7004,0.00,2.50,0.00,0.000,6,0.000,0.048,2648,2101,2156
$GC,7321,1.15,182.3,349.6,6.0,348,7326,0.00,2.58,0.00,0.000,4,0.000,0.064,2648,694,2156
$GC,7384,1.15,182.3,345.6,6.3,351,7388,0.00,2.50,0.00,0.000,6,0.000,0.046,2648,2100,2155
$GC,7710,1.17,205.2,326.7,5.4,367,7735,0.00,2.70,20.00,1.040,4,0.000,0.075,2648,3507,2064
$GC,7808,1.22,244.0,321.8,4.9,371,7848,0.12,2.53,32.50,1.041,6,0.050,0.047,2685,2100,1906
$GC,8165,1.22,244.0,294.5,7.9,389,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1905
$GC,8473,1.22,244.0,270.8,7.7,404,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1904
$GC,8782,1.22,244.0,244.5,8.8,419,8786,0.00,2.67,0.00,0.000,4,0.000,0.076,2685,3511,1904
$GC,8825,1.22,244.0,240.3,9.9,421,8829,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2097,1905
$GC,9153,1.22,244.0,211.7,8.7,437,9157,0.00,2.67,0.00,0.000,4,0.000,0.076,2685,3511,1905
$GC,9173,1.22,244.0,209.8,8.5,438,9178,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2095,1904
$GC,9500,1.22,244.0,186.7,6.9,454,9505,0.00,2.67,0.00,0.000,4,0.000,0.074,2685,3514,1905
$GC,9533,1.22,244.0,184.3,7.2,455,9540,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2097,1905
$GC,9849,1.22,244.0,157.8,8.1,471,9854,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3508,1905
$GC,9889,1.22,244.0,154.5,8.1,473,9893,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2094,1905
$GC,10221,1.22,244.0,127.5,8.9,489,10225,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3508,1905
$GC,10248,1.22,244.0,125.0,9.1,490,10252,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2103,1905
$GC,10563,1.22,244.0,97.0,9.0,505,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2103,1905
$GC,10873,1.22,244.0,67.9,8.6,520,10877,0.00,2.65,0.00,0.000,4,0.000,0.073,2685,3512,1905
$GC,10899,1.22,244.0,65.2,10.3,521,10904,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2096,1905
$GC,11217,1.26,270.9,42.0,5.3,536,11241,0.00,0.00,22.73,0.854,6,0.000,0.000,2685,2096,1796
$GC,11546,1.26,270.9,13.9,7.6,552,11550,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3508,1795
$GC,11578,1.26,270.9,10.7,9.1,553,11585,0.00,2.50,0.00,0.000,6,0.000,0.051,2685,2107,1795
$STATE,11685,end climb,SURFACE_DEPTH_REACHED
$STATE,11686,begin surface coast
$FINISH,-0.6,1.027395
$STATE,11708,end surface coast,CONTROL_FINISHED_OK
$STATE,11708,begin surface
$SM_CCo,11730,223.00,0.798,1,0,572,571.30
$SM_GC,-0.81,0.00,0.00,223.00,0.000,0.000,0.798,47,2896,572,-10.87,-0.11,571.30
$IRIDIUM_FIX,6346.88,-1217.78,070108,050550
$TT8_MAMPS,0.029146
$HUMID,2017
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,401.0,73.2
$24V_AH,23.4,52.963
$10V_AH,10.1,25.002
$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,26.075,117.500,346.625,223.000,0.000,39.674,38.842,143.642,3.500,0.000,0.000,13.993,1073.205,8757.926,703.752,1331.767,441.588,0.000,1401.091,0.000,1314.081,0.000,21.751
$DEVICE_MAMPS,158.769,102.011,1115.985,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.771,384.848,426.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28531,560
$CFSIZE,260165632,241594368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
$GPS,070108,083231,6416.842,-1217.799,39,1.7,39,-12.1