version: 66.02
glider: 103
mission: 7
dive: 302
start: 1 7 108 8 41 47
data:
$ID,103
$MISSION,7
$DIVE,302
$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,-68116.031
$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,17
$R_STBD_OVSHOOT,14
$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
$GPS1,083231,6416.842,-1217.799,39,1.7,39,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.70
$_SM_ANGLEo,-53.5
$GPS2,084114,6416.976,-1217.555,12,1.2,17,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6409.340,-1214.226
$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,147.1,20000,-11.1,-6.000
$D_GRID,421
$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,-109.12,0.000,6,0.000,0.000,47,2898,3499
$GC,141,-1.10,-146.6,2.0,-3.3,5,158,11.98,1.77,0.00,0.000,4,0.159,0.095,2166,3783,3500
$GC,410,-1.10,-146.6,31.0,-7.3,16,414,0.00,1.60,0.00,0.000,6,0.000,0.054,2166,2906,3501
$GC,737,-1.10,-146.6,58.0,-8.1,32,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,1048,-1.10,-146.6,77.6,-6.3,47,1052,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1478,3501
$GC,1111,-1.10,-146.6,81.4,-6.1,50,1115,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2898,3501
$GC,1439,-1.10,-146.6,105.7,-6.9,66,1443,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1484,3501
$GC,1478,-1.10,-146.6,108.8,-7.7,68,1482,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2900,3501
$GC,1804,-1.10,-146.6,141.7,-10.4,84,1807,0.00,1.73,0.00,0.000,4,0.000,0.098,2166,3790,3501
$GC,1876,-1.10,-146.6,149.0,-8.6,87,1880,0.00,1.62,0.00,0.000,6,0.000,0.054,2166,2894,3501
$GC,2203,-1.10,-146.6,179.6,-7.1,103,2207,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1487,3501
$GC,2246,-1.10,-146.6,183.2,-7.5,105,2250,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2899,3501
$GC,2568,-1.10,-146.6,207.2,-7.2,121,2572,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1481,3501
$GC,2594,-1.10,-146.6,209.1,-6.8,122,2599,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2900,3501
$GC,2910,-1.10,-146.6,231.7,-7.3,137,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,3219,-1.10,-146.6,253.6,-6.6,152,3224,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1486,3501
$GC,3269,-1.10,-146.6,257.3,-7.2,154,3273,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2908,3501
$GC,3584,-1.10,-146.6,279.0,-6.7,169,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3501
$GC,3894,-1.10,-146.6,302.1,-8.3,184,3899,0.00,2.65,0.00,0.000,4,0.000,0.069,2166,1480,3501
$GC,3944,-1.10,-146.6,306.3,-8.2,186,3948,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2905,3501
$GC,4260,-1.10,-146.6,330.5,-8.2,201,4264,0.00,1.70,0.00,0.000,4,0.000,0.099,2166,3785,3501
$GC,4293,-1.10,-146.6,333.6,-9.4,202,4297,0.00,1.58,0.00,0.000,6,0.000,0.050,2166,2901,3501
$GC,4614,-1.10,-146.6,361.5,-7.4,218,4618,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1481,3501
$GC,4743,-1.10,-146.6,369.7,-5.7,224,4747,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2900,3501
$GC,5069,-1.10,-146.6,387.2,-6.0,240,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,5378,-1.10,-146.6,409.4,-7.0,255,5381,0.00,1.73,0.00,0.000,4,0.000,0.100,2166,3790,3501
$GC,5468,-1.10,-146.6,416.5,-6.9,259,5472,0.00,1.58,0.00,0.000,6,0.000,0.050,2166,2894,3501
$STATE,5530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5530,begin apogee
$GC,5537,-0.42,0.0,421.5,8.2,262,5662,0.75,0.00,122.32,1.119,6,0.080,0.000,2320,2096,2900
$STATE,5663,end apogee,CONTROL_FINISHED_OK
$STATE,5663,begin climb
$GC,5666,1.10,146.6,428.4,0.0,268,5792,1.52,2.62,118.65,1.079,4,0.061,0.058,2646,682,2303
$GC,5907,1.20,223.9,429.6,3.9,279,5979,0.12,2.53,63.90,1.068,6,0.053,0.039,2676,2109,1987
$GC,6289,1.20,223.9,403.6,8.7,298,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2110,1986
$GC,6597,1.20,223.9,380.1,7.2,313,6601,0.00,2.65,0.00,0.000,4,0.000,0.077,2676,3510,1985
$GC,6680,1.20,223.9,373.4,8.1,317,6685,0.00,2.53,0.00,0.000,6,0.000,0.047,2676,2093,1985
$GC,7007,1.20,223.9,352.0,6.2,333,7011,0.00,2.67,0.00,0.000,4,0.000,0.074,2676,3508,1985
$GC,7033,1.20,223.9,350.0,7.3,334,7037,0.00,2.50,0.00,0.000,6,0.000,0.045,2676,2096,1985
$GC,7354,1.20,223.9,328.0,6.4,350,7359,0.00,2.67,0.00,0.000,4,0.000,0.076,2676,3511,1985
$GC,7398,1.20,223.9,325.2,6.6,352,7402,0.00,2.50,0.00,0.000,6,0.000,0.049,2676,2101,1985
$GC,7724,1.20,223.9,300.4,8.6,368,7729,0.00,2.67,0.00,0.000,4,0.000,0.076,2676,3511,1984
$GC,7763,1.20,223.9,296.6,9.7,370,7767,0.00,2.53,0.00,0.000,6,0.000,0.050,2676,2098,1984
$GC,8089,1.20,223.9,267.9,8.4,386,8094,0.00,2.65,0.00,0.000,4,0.000,0.074,2676,3507,1984
$GC,8133,1.20,223.9,264.4,8.4,388,8137,0.00,2.50,0.00,0.000,6,0.000,0.049,2676,2100,1983
$GC,8460,1.20,223.9,243.7,6.5,404,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2100,1983
$GC,8769,1.20,223.9,221.6,7.2,419,8774,0.00,2.62,0.00,0.000,4,0.000,0.073,2676,3507,1983
$GC,8796,1.20,223.9,219.5,7.9,420,8800,0.00,2.50,0.00,0.000,6,0.000,0.048,2676,2096,1983
$GC,9118,1.20,223.9,195.9,7.7,436,9122,0.00,2.65,0.00,0.000,4,0.000,0.074,2676,3507,1984
$GC,9150,1.20,223.9,193.3,7.9,437,9156,0.00,2.50,0.00,0.000,6,0.000,0.047,2676,2093,1983
$GC,9466,1.20,223.9,168.0,8.3,453,9470,0.00,2.67,0.00,0.000,4,0.000,0.074,2676,3511,1983
$GC,9531,1.20,223.9,162.1,8.5,456,9536,0.00,2.50,0.00,0.000,6,0.000,0.048,2676,2099,1983
$GC,9859,1.20,223.9,135.2,8.1,472,9863,0.00,2.67,0.00,0.000,4,0.000,0.076,2676,3511,1983
$GC,9903,1.20,223.9,131.8,7.7,474,9907,0.00,2.53,0.00,0.000,6,0.000,0.048,2676,2097,1983
$GC,10223,1.20,223.9,106.0,8.0,490,10228,0.00,2.67,0.00,0.000,4,0.000,0.075,2676,3514,1984
$GC,10267,1.20,223.9,102.4,8.6,492,10271,0.00,2.50,0.00,0.000,6,0.000,0.047,2677,2099,1984
$GC,10588,1.20,223.9,77.7,7.3,508,10592,0.00,2.65,0.00,0.000,4,0.000,0.074,2676,3507,1984
$GC,10631,1.20,223.9,74.2,7.8,510,10636,0.00,2.47,0.00,0.000,6,0.000,0.047,2676,2100,1984
$GC,10953,1.20,223.9,47.5,7.4,526,10957,0.00,2.67,0.00,0.000,4,0.000,0.076,2676,3514,1985
$GC,10974,1.20,223.9,45.9,7.4,527,10978,0.00,2.50,0.00,0.000,6,0.000,0.047,2676,2099,1984
$GC,11295,1.20,223.9,22.3,7.5,543,11299,0.00,2.65,0.00,0.000,4,0.000,0.076,2676,3506,1985
$GC,11316,1.20,227.8,21.0,5.9,544,11326,0.00,2.50,4.43,0.661,6,0.000,0.046,2676,2098,1972
$STATE,11614,end climb,SURFACE_DEPTH_REACHED
$STATE,11614,begin surface coast
$FINISH,-0.4,1.027381
$STATE,11637,end surface coast,CONTROL_FINISHED_OK
$STATE,11639,begin surface
$SM_CCo,11662,252.88,0.799,0,0,572,571.30
$SM_GC,-0.74,0.00,0.00,252.88,0.000,0.000,0.799,38,2889,572,-10.91,-0.31,571.30
$IRIDIUM_FIX,6351.77,-1218.83,070108,121228
$TT8_MAMPS,0.029146
$HUMID,2006
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,375.1,84.8
$24V_AH,23.4,53.134
$10V_AH,10.1,25.066
$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,25.850,125.650,309.300,252.875,0.000,80.038,68.662,200.302,3.250,0.000,0.000,17.415,1088.606,8745.313,700.832,1362.420,561.135,0.000,1401.118,0.000,1338.574,0.000,20.160
$DEVICE_MAMPS,158.769,100.477,1119.053,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.181,383.983,440.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28490,559
$CFSIZE,260165632,241545216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,070108,120138,6417.658,-1210.282,40,1.2,40,-12.1