version: 66.02
glider: 103
mission: 7
dive: 304
start: 1 7 108 15 39 51
data:
$ID,103
$MISSION,7
$DIVE,304
$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,-68147.844
$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,20
$R_STBD_OVSHOOT,11
$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
$GPS1,153407,6416.532,-1205.942,38,0.9,38,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.66
$_SM_ANGLEo,-53.4
$GPS2,153920,6416.556,-1205.857,11,1.1,16,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6408.919,-1202.527
$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,147.0,20000,-11.1,-6.000
$D_GRID,406
$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,-146.6,0.0,0.0,0,138,0.00,0.00,-107.70,0.000,6,0.000,0.000,49,2896,3499
$GC,141,-1.10,-146.6,2.6,-3.8,5,157,11.93,1.75,0.00,0.000,4,0.158,0.087,2163,3785,3501
$GC,409,-1.10,-146.6,31.5,-8.1,16,413,0.00,1.60,0.00,0.000,6,0.000,0.058,2163,2905,3501
$GC,736,-1.10,-146.6,55.7,-8.1,32,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3501
$GC,1047,-1.10,-146.6,84.0,-6.8,47,1051,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1483,3501
$GC,1096,-1.10,-146.6,87.4,-7.1,49,1100,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2907,3501
$GC,1413,-1.10,-146.6,113.8,-10.1,64,1416,0.00,1.70,0.00,0.000,4,0.000,0.100,2163,3785,3501
$GC,1474,-1.10,-146.6,120.8,-9.6,66,1481,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2902,3501
$GC,1790,-1.10,-146.6,143.5,-8.2,82,1794,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1485,3502
$GC,1852,-1.10,-146.6,149.4,-10.0,85,1857,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2899,3501
$GC,2184,-1.10,-146.6,180.9,-7.0,101,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,2493,-1.10,-146.6,202.5,-6.9,116,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,2802,-1.10,-146.6,221.3,-6.2,131,2807,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1488,3501
$GC,2835,-1.10,-146.6,223.6,-7.0,132,2841,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2907,3501
$GC,3151,-1.10,-146.6,245.5,-8.2,148,3154,0.00,1.70,0.00,0.000,4,0.000,0.099,2163,3785,3501
$GC,3189,-1.10,-146.6,249.2,-9.8,149,3195,0.00,1.60,0.00,0.000,6,0.000,0.053,2163,2896,3501
$GC,3505,-1.10,-146.6,277.2,-8.5,165,3509,0.00,2.55,0.00,0.000,4,0.000,0.063,2163,1487,3501
$GC,3532,-1.10,-146.6,279.4,-7.9,166,3536,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2899,3501
$GC,3847,-1.10,-146.6,305.4,-8.8,181,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,4156,-1.10,-146.6,332.2,-8.5,196,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,4466,-1.10,-146.6,355.7,-7.3,211,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,4775,-1.10,-146.6,376.6,-6.9,226,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,5084,-1.10,-146.6,400.0,-7.8,241,5089,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1483,3501
$GC,5147,-1.10,-146.6,404.5,-7.4,244,5151,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2907,3501
$STATE,5182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5182,begin apogee
$GC,5189,-0.42,0.0,407.2,7.2,246,5315,0.80,0.00,122.43,1.091,6,0.106,0.000,2319,2097,2901
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5316,begin climb
$GC,5318,1.10,146.6,412.3,0.0,252,5444,1.55,2.62,117.78,1.069,4,0.061,0.061,2649,687,2303
$GC,5642,1.14,179.9,403.2,5.1,267,5676,0.00,2.50,28.15,1.060,6,0.000,0.039,2649,2110,2167
$GC,5992,1.19,213.6,385.1,5.1,284,6027,0.00,2.72,28.30,1.065,4,0.000,0.074,2649,3504,2030
$GC,6057,1.21,233.2,381.8,5.5,287,6082,0.10,2.50,17.42,1.019,6,0.048,0.040,2683,2093,1950
$GC,6410,1.21,233.2,356.8,7.5,304,6414,0.00,2.70,0.00,0.000,4,0.000,0.076,2683,3511,1948
$GC,6465,1.21,233.2,352.1,8.4,306,6471,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2097,1948
$GC,6780,1.21,233.2,328.5,7.0,322,6785,0.00,2.67,0.00,0.000,4,0.000,0.077,2683,3512,1948
$GC,6830,1.21,233.2,325.0,6.4,324,6834,0.00,2.55,0.00,0.000,6,0.000,0.049,2683,2096,1948
$GC,7145,1.21,233.2,301.3,8.3,339,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2096,1946
$GC,7454,1.21,233.2,276.2,7.7,354,7458,0.00,2.67,0.00,0.000,4,0.000,0.074,2683,3511,1946
$GC,7486,1.21,233.2,273.5,8.0,355,7493,0.00,2.53,0.00,0.000,6,0.000,0.049,2683,2093,1947
$GC,7802,1.21,233.2,247.4,8.7,371,7807,0.00,2.65,0.00,0.000,4,0.000,0.073,2683,3505,1946
$GC,7848,1.21,233.2,243.2,9.2,373,7852,0.00,2.53,0.00,0.000,6,0.000,0.048,2683,2097,1946
$GC,8168,1.21,233.2,215.6,8.0,389,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2097,1946
$GC,8477,1.21,233.2,189.1,8.1,404,8482,0.00,2.65,0.00,0.000,4,0.000,0.071,2683,3510,1946
$GC,8504,1.21,233.2,186.7,8.1,405,8508,0.00,2.50,0.00,0.000,6,0.000,0.048,2683,2099,1946
$GC,8826,1.23,250.4,164.7,5.5,421,8845,0.00,0.00,14.75,0.913,6,0.000,0.000,2683,2099,1880
$GC,9155,1.23,250.4,137.0,8.5,437,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2099,1880
$GC,9466,1.23,250.4,116.7,7.0,452,9470,0.00,2.67,0.00,0.000,4,0.000,0.074,2683,3512,1880
$GC,9492,1.23,250.4,114.5,7.6,453,9497,0.00,2.50,0.00,0.000,6,0.000,0.045,2683,2093,1880
$GC,9808,1.23,250.4,87.8,8.5,468,9812,0.00,2.55,0.00,0.000,4,0.000,0.064,2683,691,1880
$GC,9852,1.23,250.4,83.4,9.9,470,9857,0.00,2.47,0.00,0.000,6,0.000,0.046,2683,2094,1880
$GC,10179,1.23,250.4,57.6,8.2,486,10184,0.00,2.65,0.00,0.000,4,0.000,0.077,2683,3511,1880
$GC,10229,1.23,250.4,52.6,9.6,488,10233,0.00,2.50,0.00,0.000,6,0.000,0.049,2683,2104,1880
$GC,10545,1.23,250.4,22.9,9.2,503,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2104,1880
$STATE,10831,end climb,SURFACE_DEPTH_REACHED
$STATE,10831,begin surface coast
$FINISH,-1.2,1.027371
$STATE,10853,end surface coast,CONTROL_FINISHED_OK
$STATE,10853,begin surface
$SM_CCo,10876,236.10,0.802,1,0,572,571.30
$SM_GC,-0.65,0.00,0.00,236.10,0.000,0.000,0.802,40,2901,572,-10.90,0.03,571.30
$IRIDIUM_FIX,6351.77,-1209.15,070108,161643
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,351.1,74.1
$24V_AH,23.4,53.466
$10V_AH,10.1,25.188
$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,25.875,90.950,328.825,236.100,0.000,40.362,36.591,130.245,2.750,0.000,0.000,16.164,978.894,8174.747,696.406,1203.929,394.557,0.000,1317.628,0.000,1183.250,0.000,18.521
$DEVICE_MAMPS,158.002,100.477,1090.674,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.843,354.930,412.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25467,518
$CFSIZE,260165632,241467392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,070108,184626,6416.683,-1201.316,41,1.2,41,-12.0