version: 66.02
glider: 103
mission: 7
dive: 314
start: 1 8 108 14 2 14
data:
$ID,103
$MISSION,7
$DIVE,314
$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,-68389.156
$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,26
$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
$GPS1,135630,6413.023,-1148.682,8,2.5,28,-11.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.63
$_SM_ANGLEo,-49.0
$GPS2,140140,6413.011,-1148.832,14,1.8,15,-11.8
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6405.375,-1145.495
$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,146.8,20000,-18.2,-10.000
$D_GRID,340
$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,-1.70,-146.6,0.0,0.0,0,138,0.00,0.00,-108.50,0.000,6,0.000,0.000,40,2901,3499
$GC,141,-1.70,-146.6,2.3,-3.3,5,162,11.52,2.62,0.00,0.000,4,0.168,0.059,2037,1492,3501
$GC,230,-1.70,-146.6,22.9,-14.6,9,235,0.00,2.70,0.00,0.000,6,0.000,0.079,2038,2899,3501
$GC,557,-1.70,-146.6,63.4,-13.7,25,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2899,3501
$GC,865,-1.70,-146.6,103.7,-12.4,40,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2899,3501
$GC,1175,-1.70,-146.6,137.4,-11.2,55,1178,0.00,1.70,0.00,0.000,4,0.000,0.092,2038,3786,3501
$GC,1198,-1.70,-146.6,140.3,-12.7,56,1202,0.00,1.58,0.00,0.000,6,0.000,0.054,2038,2900,3501
$GC,1529,-1.70,-146.6,179.6,-10.9,72,1534,0.00,2.58,0.00,0.000,4,0.000,0.065,2038,1488,3501
$GC,1569,-1.70,-146.6,183.9,-10.4,74,1573,0.00,2.67,0.00,0.000,6,0.000,0.076,2038,2900,3501
$GC,1895,-1.70,-146.6,218.6,-12.2,90,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2900,3501
$GC,2204,-1.70,-146.6,253.6,-11.2,105,2208,0.00,1.70,0.00,0.000,4,0.000,0.091,2038,3792,3501
$GC,2276,-1.70,-146.6,261.3,-10.2,108,2280,0.00,1.60,0.00,0.000,6,0.000,0.049,2038,2896,3501
$GC,2603,-1.70,-146.6,294.3,-9.8,124,2608,0.00,2.55,0.00,0.000,4,0.000,0.062,2038,1480,3501
$GC,2648,-1.70,-146.6,299.2,-10.3,126,2652,0.00,2.70,0.00,0.000,6,0.000,0.077,2038,2908,3501
$GC,2968,-1.70,-146.6,336.6,-11.2,142,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2908,3501
$STATE,3007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3007,begin apogee
$GC,3014,-0.42,0.0,341.5,11.5,144,3139,1.42,0.00,121.28,1.022,6,0.104,0.000,2318,2093,2901
$STATE,3140,end apogee,CONTROL_FINISHED_OK
$STATE,3140,begin climb
$GC,3142,1.70,146.6,346.2,0.0,150,3269,2.12,2.58,117.62,0.990,4,0.061,0.051,2779,685,2303
$GC,3354,1.76,199.2,339.4,7.6,160,3404,0.00,2.50,43.80,0.957,6,0.000,0.035,2779,2116,2089
$GC,3727,1.76,199.2,301.8,11.1,178,3732,0.00,2.58,0.00,0.000,4,0.000,0.052,2779,689,2088
$GC,3879,1.76,199.2,284.8,11.2,185,3883,0.00,2.47,0.00,0.000,6,0.000,0.039,2779,2096,2088
$GC,4205,1.76,199.2,250.5,11.1,201,4210,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,688,2088
$GC,4255,1.76,199.2,244.5,11.9,203,4260,0.00,2.47,0.00,0.000,6,0.000,0.040,2779,2100,2088
$GC,4570,1.76,199.2,210.3,10.2,218,4575,0.00,2.58,0.00,0.000,4,0.000,0.054,2779,681,2088
$GC,4626,1.76,199.2,204.0,12.0,220,4632,0.00,2.47,0.00,0.000,6,0.000,0.041,2779,2100,2088
$GC,4942,1.76,199.2,167.7,11.6,236,4946,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,688,2088
$GC,5030,1.76,199.2,157.8,10.7,240,5035,0.00,2.47,0.00,0.000,6,0.000,0.041,2779,2097,2088
$GC,5352,1.76,199.2,123.9,10.0,256,5356,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,687,2087
$GC,5446,1.76,199.2,113.4,10.7,260,5451,0.00,2.50,0.00,0.000,6,0.000,0.041,2779,2101,2087
$GC,5762,1.76,199.2,78.6,11.1,275,5766,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,688,2087
$GC,5811,1.76,199.2,73.2,11.3,277,5815,0.00,2.47,0.00,0.000,6,0.000,0.042,2779,2102,2087
$GC,6129,1.84,261.3,45.7,7.2,292,6184,0.15,2.65,49.33,0.836,4,0.045,0.059,2821,682,1834
$GC,6307,1.84,261.3,20.0,17.4,300,6312,0.00,2.53,0.00,0.000,6,0.000,0.043,2821,2106,1834
$STATE,6420,end climb,SURFACE_DEPTH_REACHED
$STATE,6421,begin surface coast
$FINISH,-1.1,1.027404
$STATE,6442,end surface coast,CONTROL_FINISHED_OK
$STATE,6443,begin surface
$SM_CCo,6466,221.45,0.785,1,0,572,571.30
$SM_GC,-0.72,0.00,0.00,221.45,0.000,0.000,0.785,43,2901,572,-10.89,0.03,571.30
$IRIDIUM_FIX,6346.88,-1146.70,080108,161627
$TT8_MAMPS,0.029146
$HUMID,2008
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.2,76.0
$24V_AH,23.5,54.990
$10V_AH,10.1,25.623
$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,27.325,65.950,332.025,221.450,0.000,38.872,37.312,139.256,2.750,0.000,0.000,15.888,626.794,4571.303,653.648,817.004,363.294,0.000,1101.556,0.000,801.007,0.000,18.224
$DEVICE_MAMPS,167.973,95.875,1021.644,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,224.872,210.411,271.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15914,307
$CFSIZE,260165632,241160192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,080108,155502,6411.989,-1151.112,39,1.3,40,-11.8