version: 66.02
glider: 103
mission: 7
dive: 320
start: 1 9 108 1 58 11
data:
$ID,103
$MISSION,7
$DIVE,320
$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,-68503.25
$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,24
$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
$GPS1,014839,6413.162,-1152.271,12,1.7,12,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.64
$_SM_ANGLEo,-54.0
$GPS2,015739,6413.139,-1152.601,18,1.7,18,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6405.503,-1149.265
$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,352
$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,-1.70,-146.6,0.0,0.0,0,137,0.00,0.00,-107.55,0.000,6,0.000,0.000,46,2901,3500
$GC,140,-1.70,-146.6,2.8,-3.9,5,156,11.43,1.70,0.00,0.000,4,0.165,0.085,2034,3786,3501
$GC,340,-1.70,-146.6,40.0,-12.8,13,344,0.00,1.58,0.00,0.000,6,0.000,0.047,2034,2903,3502
$GC,668,-1.70,-146.6,80.8,-12.3,29,672,0.00,2.60,0.00,0.000,4,0.000,0.064,2034,1483,3502
$GC,695,-1.70,-146.6,84.3,-12.2,30,699,0.00,2.70,0.00,0.000,6,0.000,0.079,2034,2899,3502
$GC,1011,-1.70,-146.6,123.3,-12.6,45,1014,0.00,1.70,0.00,0.000,4,0.000,0.091,2034,3787,3502
$GC,1094,-1.70,-146.6,135.0,-14.2,48,1101,0.00,1.58,0.00,0.000,6,0.000,0.049,2035,2909,3502
$GC,1410,-1.70,-146.6,176.6,-13.5,64,1414,0.00,2.60,0.00,0.000,4,0.000,0.064,2034,1484,3502
$GC,1460,-1.70,-146.6,183.2,-13.2,66,1464,0.00,2.67,0.00,0.000,6,0.000,0.076,2034,2901,3502
$GC,1775,-1.70,-146.6,224.0,-11.7,81,1778,0.00,1.70,0.00,0.000,4,0.000,0.092,2034,3789,3502
$GC,1813,-1.70,-146.6,228.7,-12.2,82,1820,0.00,1.58,0.00,0.000,6,0.000,0.047,2034,2903,3502
$GC,2129,-1.70,-146.6,264.6,-11.3,98,2134,0.00,2.55,0.00,0.000,4,0.000,0.062,2034,1489,3502
$GC,2173,-1.70,-146.6,269.7,-10.9,100,2178,0.00,2.67,0.00,0.000,6,0.000,0.077,2034,2899,3502
$GC,2495,-1.70,-146.6,306.3,-13.0,116,2498,0.00,1.70,0.00,0.000,4,0.000,0.094,2034,3784,3502
$GC,2617,-1.70,-146.6,324.0,-14.4,121,2621,0.00,1.58,0.00,0.000,6,0.000,0.048,2034,2899,3502
$STATE,2854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2854,begin apogee
$GC,2861,-0.42,0.0,352.0,11.1,133,2987,1.42,0.00,121.82,1.059,6,0.100,0.000,2317,2098,2901
$STATE,2988,end apogee,CONTROL_FINISHED_OK
$STATE,2988,begin climb
$GC,2990,1.70,146.6,357.3,0.0,139,3116,2.15,2.60,117.20,1.039,4,0.061,0.053,2782,687,2303
$GC,3179,1.76,198.5,355.0,7.6,148,3229,0.00,2.50,43.10,1.014,6,0.000,0.036,2782,2110,2091
$GC,3553,1.76,198.5,315.6,12.2,166,3557,0.00,2.58,0.00,0.000,4,0.000,0.055,2782,690,2090
$GC,3734,1.76,201.7,295.7,9.9,174,3744,0.00,2.47,4.18,0.702,6,0.000,0.038,2782,2099,2078
$GC,4061,1.77,207.5,264.2,9.7,190,4074,0.00,2.65,6.43,0.835,4,0.000,0.069,2782,3507,2055
$GC,4108,1.77,207.5,259.1,10.8,192,4112,0.00,2.50,0.00,0.000,6,0.000,0.042,2782,2097,2055
$GC,4429,1.77,207.5,226.7,10.2,208,4434,0.00,2.55,0.00,0.000,4,0.000,0.061,2782,692,2055
$GC,4546,1.77,207.5,213.7,10.7,213,4551,0.00,2.50,0.00,0.000,6,0.000,0.044,2782,2101,2055
$GC,4862,1.77,209.4,180.9,9.9,228,4866,0.00,2.58,0.00,0.000,4,0.000,0.059,2781,689,2054
$GC,5048,1.77,209.4,160.8,11.1,236,5052,0.00,2.53,0.00,0.000,6,0.000,0.044,2781,2105,2053
$GC,5363,1.77,209.4,127.2,10.9,251,5368,0.00,2.58,0.00,0.000,4,0.000,0.058,2782,691,2053
$GC,5464,1.77,209.4,115.7,11.7,255,5470,0.00,2.50,0.00,0.000,6,0.000,0.044,2782,2104,2053
$GC,5780,1.78,213.7,80.7,9.8,271,5793,0.00,2.60,6.22,0.774,4,0.000,0.058,2782,688,2029
$GC,5845,1.78,213.7,73.7,10.7,274,5850,0.00,2.53,0.00,0.000,6,0.000,0.044,2782,2106,2029
$GC,6173,1.78,213.7,38.7,11.4,290,6177,0.00,2.60,0.00,0.000,4,0.000,0.059,2782,684,2029
$GC,6222,1.78,213.7,33.0,10.4,292,6226,0.00,2.50,0.00,0.000,6,0.000,0.044,2782,2101,2029
$STATE,6537,end climb,SURFACE_DEPTH_REACHED
$STATE,6537,begin surface coast
$FINISH,-0.4,1.027397
$STATE,6557,end surface coast,CONTROL_FINISHED_OK
$STATE,6558,begin surface
$SM_CCo,6581,257.40,0.819,1,0,571,571.30
$SM_GC,-0.84,0.00,0.00,257.40,0.000,0.000,0.819,49,2899,571,-10.86,-0.06,571.30
$IRIDIUM_FIX,6346.88,-1151.54,090108,050525
$TT8_MAMPS,0.029146
$HUMID,2038
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,325.6,65.0
$24V_AH,23.4,55.925
$10V_AH,10.1,25.875
$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,27.075,72.650,298.950,257.400,0.000,79.590,169.644,130.846,2.750,0.000,0.000,20.253,648.531,4666.343,672.170,891.908,530.682,0.000,1146.891,0.000,872.646,0.000,16.869
$DEVICE_MAMPS,164.905,93.574,1059.227,819.156,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.457,210.718,273.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15966,308
$CFSIZE,260165632,240963584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,090108,035331,6412.482,-1155.785,40,1.3,41,-11.9