version: 66.02
glider: 103
mission: 7
dive: 309
start: 1 8 108 4 6 5
data:
$ID,103
$MISSION,7
$DIVE,309
$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,330
$T_MISSION,350
$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,-68271.531
$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,19
$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
$GPS1,035701,6414.086,-1151.425,33,1.2,38,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.63
$_SM_ANGLEo,-45.8
$GPS2,040533,6414.089,-1151.610,16,1.2,16,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6406.453,-1148.275
$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,146.9,20000,-18.2,-10.000
$D_GRID,354
$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,27,-1.70,-146.6,0.0,0.0,0,138,0.00,0.00,-108.72,0.000,6,0.000,0.000,47,2909,3499
$GC,141,-1.70,-146.6,2.2,-3.3,5,162,11.30,2.62,0.00,0.000,4,0.160,0.061,2034,1489,3501
$GC,240,-1.70,-146.6,25.4,-12.4,9,245,0.00,2.67,0.00,0.000,6,0.000,0.081,2034,2892,3501
$GC,558,-1.70,-146.6,59.8,-11.1,24,561,0.00,1.73,0.00,0.000,4,0.000,0.097,2034,3783,3501
$GC,671,-1.70,-146.6,72.4,-10.6,29,674,0.00,1.58,0.00,0.000,6,0.000,0.058,2034,2899,3501
$GC,1005,-1.70,-146.6,111.1,-12.3,45,1009,0.00,1.75,0.00,0.000,4,0.000,0.097,2034,3789,3501
$GC,1043,-1.70,-146.6,116.6,-12.8,46,1050,0.00,1.62,0.00,0.000,6,0.000,0.057,2034,2894,3501
$GC,1359,-1.70,-146.6,155.7,-12.6,62,1363,0.00,1.73,0.00,0.000,4,0.000,0.093,2034,3785,3501
$GC,1431,-1.70,-146.6,164.4,-12.4,65,1435,0.00,1.58,0.00,0.000,6,0.000,0.053,2034,2909,3501
$GC,1759,-1.70,-146.6,206.2,-13.2,81,1763,0.00,1.73,0.00,0.000,4,0.000,0.093,2034,3792,3501
$GC,1809,-1.70,-146.6,212.8,-13.0,83,1813,0.00,1.60,0.00,0.000,6,0.000,0.054,2034,2901,3501
$GC,2136,-1.70,-146.6,252.9,-12.1,99,2140,0.00,2.55,0.00,0.000,4,0.000,0.064,2034,1488,3501
$GC,2185,-1.70,-146.6,259.0,-12.1,101,2189,0.00,2.67,0.00,0.000,6,0.000,0.077,2034,2902,3501
$GC,2501,-1.70,-146.6,295.3,-12.1,116,2504,0.00,1.67,0.00,0.000,4,0.000,0.091,2034,3785,3501
$GC,2586,-1.70,-146.6,305.8,-12.6,119,2592,0.00,1.58,0.00,0.000,6,0.000,0.049,2034,2894,3501
$GC,2901,-1.70,-146.6,342.2,-11.6,135,2904,0.00,1.73,0.00,0.000,4,0.000,0.092,2034,3786,3501
$GC,2946,-1.70,-146.6,347.6,-11.6,137,2950,0.00,1.58,0.00,0.000,6,0.000,0.050,2034,2883,3501
$STATE,3007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3008,begin apogee
$GC,3015,-0.42,0.0,355.3,11.9,140,3141,1.42,0.00,121.45,1.035,6,0.104,0.000,2315,2099,2901
$STATE,3141,end apogee,CONTROL_FINISHED_OK
$STATE,3142,begin climb
$GC,3144,1.70,146.6,360.2,0.0,146,3270,2.17,2.58,117.55,1.006,4,0.064,0.051,2781,688,2303
$GC,3495,1.73,175.6,341.1,8.7,162,3525,0.00,2.47,24.95,0.960,6,0.000,0.035,2781,2112,2184
$GC,3835,1.73,175.6,308.0,10.4,178,3839,0.00,2.55,0.00,0.000,4,0.000,0.051,2781,687,2183
$GC,3886,1.73,175.6,302.7,10.6,180,3890,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,2100,2184
$GC,4201,1.73,175.6,270.4,10.3,195,4205,0.00,2.55,0.00,0.000,4,0.000,0.052,2781,687,2183
$GC,4240,1.73,175.6,266.3,10.5,197,4244,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2107,2183
$GC,4566,1.73,175.6,233.4,10.4,213,4570,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,681,2183
$GC,4717,1.77,204.0,219.5,8.7,220,4747,0.00,2.47,23.80,0.925,6,0.000,0.040,2781,2097,2069
$GC,5069,1.77,204.0,184.7,10.1,237,5073,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,687,2068
$GC,5141,1.77,204.0,176.7,11.0,240,5145,0.00,2.47,0.00,0.000,6,0.000,0.041,2781,2098,2068
$GC,5462,1.77,204.0,142.8,10.1,256,5466,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,685,2068
$GC,5502,1.77,204.0,138.5,11.6,258,5506,0.00,2.50,0.00,0.000,6,0.000,0.041,2781,2106,2068
$GC,5828,1.79,225.0,104.5,9.0,274,5853,0.00,2.65,17.77,0.857,4,0.000,0.055,2781,687,1983
$GC,5871,1.79,225.0,100.3,10.3,276,5876,0.00,2.50,0.00,0.000,6,0.000,0.042,2781,2098,1983
$GC,6199,1.79,225.0,64.1,11.7,292,6203,0.00,2.58,0.00,0.000,4,0.000,0.056,2782,680,1983
$GC,6276,1.79,225.0,55.1,11.5,295,6283,0.00,2.50,0.00,0.000,6,0.000,0.044,2781,2105,1983
$GC,6592,1.79,225.0,19.4,10.0,311,6596,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,687,1982
$GC,6714,1.79,225.0,5.9,12.6,316,6721,0.00,2.45,0.00,0.000,6,0.000,0.039,2781,2106,1982
$STATE,6760,end climb,SURFACE_DEPTH_REACHED
$STATE,6760,begin surface coast
$FINISH,-1.1,1.027357
$STATE,6781,end surface coast,CONTROL_FINISHED_OK
$STATE,6782,begin surface
$SM_CCo,6805,241.90,0.771,1,0,572,571.30
$SM_GC,-0.64,0.00,0.00,241.90,0.000,0.000,0.771,45,2890,572,-10.87,-0.28,571.30
$IRIDIUM_FIX,6346.88,-1147.71,080108,070759
$TT8_MAMPS,0.029146
$HUMID,1991
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,276.0,108.3
$24V_AH,23.5,54.234
$10V_AH,10.1,25.417
$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,26.975,78.850,305.525,241.900,0.000,80.226,159.702,115.378,2.250,0.000,0.000,16.030,672.949,4823.035,666.647,916.563,512.224,0.000,1164.733,0.000,900.521,0.000,13.753
$DEVICE_MAMPS,160.303,103.545,1034.683,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.682,217.614,283.012,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15915,320
$CFSIZE,260165632,241311744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,080108,060455,6413.667,-1152.208,41,1.2,41,-11.9