version: 66.02
glider: 103
mission: 7
dive: 322
start: 1 9 108 5 54 58
data:
$ID,103
$MISSION,7
$DIVE,322
$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,-68569.492
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,054923,6412.528,-1158.492,14,2.8,34,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.80
$_SM_ANGLEo,-49.9
$GPS2,055426,6412.562,-1158.588,14,1.9,31,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6404.926,-1155.250
$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,375
$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,-146.6,0.0,0.0,0,141,0.00,0.00,-109.68,0.000,6,0.000,0.000,48,2902,3499
$GC,144,-1.70,-146.6,4.3,-5.7,6,165,11.38,2.60,0.00,0.000,4,0.164,0.060,2034,1492,3501
$GC,418,-1.70,-146.6,45.2,-12.3,18,423,0.00,2.70,0.00,0.000,6,0.000,0.081,2034,2898,3501
$GC,739,-1.70,-146.6,82.7,-10.8,34,742,0.00,1.70,0.00,0.000,4,0.000,0.094,2034,3782,3501
$GC,777,-1.70,-146.6,87.3,-11.0,35,784,0.00,1.58,0.00,0.000,6,0.000,0.054,2034,2910,3501
$GC,1093,-1.70,-146.6,120.8,-10.5,51,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2910,3502
$GC,1402,-1.70,-146.6,154.9,-10.8,66,1406,0.00,1.70,0.00,0.000,4,0.000,0.092,2034,3783,3502
$GC,1470,-1.70,-146.6,162.3,-11.0,69,1474,0.00,1.60,0.00,0.000,6,0.000,0.051,2034,2898,3502
$GC,1802,-1.70,-146.6,197.3,-10.9,85,1806,0.00,1.73,0.00,0.000,4,0.000,0.091,2034,3786,3502
$GC,1863,-1.70,-146.6,204.5,-11.7,87,1869,0.00,1.60,0.00,0.000,6,0.000,0.051,2034,2897,3502
$GC,2179,-1.70,-146.6,239.9,-11.6,103,2183,0.00,2.58,0.00,0.000,4,0.000,0.066,2034,1488,3502
$GC,2218,-1.70,-146.6,244.6,-12.4,105,2222,0.00,2.70,0.00,0.000,6,0.000,0.081,2034,2899,3502
$GC,2545,-1.70,-146.6,285.6,-13.0,121,2548,0.00,1.70,0.00,0.000,4,0.000,0.092,2034,3788,3502
$GC,2623,-1.70,-146.6,296.2,-13.2,124,2626,0.00,1.58,0.00,0.000,6,0.000,0.047,2034,2899,3502
$GC,2944,-1.70,-146.6,335.4,-11.9,140,2948,0.00,2.58,0.00,0.000,4,0.000,0.063,2034,1484,3502
$GC,3066,-1.70,-146.6,350.5,-11.9,145,3073,0.00,2.70,0.00,0.000,6,0.000,0.078,2034,2912,3502
$STATE,3276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3277,begin apogee
$GC,3284,-0.42,0.0,375.1,11.5,156,3410,1.40,0.00,121.25,1.114,6,0.092,0.000,2315,2097,2901
$STATE,3410,end apogee,CONTROL_FINISHED_OK
$STATE,3410,begin climb
$GC,3413,1.70,146.6,378.7,0.0,162,3539,2.12,2.62,116.72,1.091,4,0.058,0.055,2779,692,2303
$GC,3737,1.71,161.5,359.5,9.3,177,3760,0.00,2.50,13.90,0.972,6,0.000,0.039,2778,2117,2241
$GC,4068,1.76,198.6,328.7,8.3,193,4108,0.00,2.67,31.33,1.028,4,0.000,0.057,2779,685,2091
$GC,4361,1.76,198.6,298.8,10.4,206,4365,0.00,2.50,0.00,0.000,6,0.000,0.044,2779,2094,2090
$GC,4687,1.79,221.6,269.4,8.9,222,4712,0.00,2.65,19.67,0.997,4,0.000,0.061,2779,685,1997
$GC,4774,1.80,230.3,260.9,9.6,226,4791,0.10,2.55,8.75,0.912,6,0.049,0.046,2815,2105,1962
$GC,5099,1.80,230.3,225.9,11.0,242,5104,0.00,2.60,0.00,0.000,4,0.000,0.061,2815,681,1961
$GC,5188,1.80,230.3,215.5,12.2,246,5192,0.00,2.53,0.00,0.000,6,0.000,0.048,2815,2098,1961
$GC,5508,1.80,230.3,177.7,11.9,262,5512,0.00,2.58,0.00,0.000,4,0.000,0.059,2815,688,1960
$GC,5593,1.80,230.3,167.4,13.1,266,5597,0.00,2.53,0.00,0.000,6,0.000,0.046,2815,2101,1960
$GC,5919,1.80,230.3,127.2,12.6,282,5923,0.00,2.58,0.00,0.000,4,0.000,0.058,2815,688,1960
$GC,6014,1.80,230.3,114.5,13.7,286,6018,0.00,2.53,0.00,0.000,6,0.000,0.047,2815,2106,1960
$GC,6330,1.80,230.3,73.8,12.9,301,6334,0.00,2.60,0.00,0.000,4,0.000,0.060,2815,685,1960
$GC,6415,1.80,230.3,61.9,14.9,305,6419,0.00,2.53,0.00,0.000,6,0.000,0.046,2815,2104,1959
$GC,6741,1.80,230.3,20.7,11.7,321,6745,0.00,2.58,0.00,0.000,4,0.000,0.057,2815,688,1960
$STATE,6883,end climb,SURFACE_DEPTH_REACHED
$STATE,6883,begin surface coast
$FINISH,0.9,1.027387
$STATE,6893,end surface coast,CONTROL_FINISHED_OK
$STATE,6893,begin surface
$SM_CCo,6919,249.73,0.822,2,0,572,571.30
$SM_GC,-0.92,0.00,0.00,249.73,0.000,0.000,0.822,50,2908,572,-10.85,0.23,571.30
$IRIDIUM_FIX,6346.88,-1152.56,090108,070718
$TT8_MAMPS,0.029146
$HUMID,2042
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,325.6,88.0
$24V_AH,23.4,56.251
$10V_AH,10.1,25.962
$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,27.325,73.125,311.625,249.725,0.000,37.779,36.595,116.329,2.750,0.000,0.000,32.004,683.137,4786.261,686.688,1008.045,344.337,0.000,1209.751,0.000,970.262,0.000,16.937
$DEVICE_MAMPS,164.138,94.341,1114.451,822.224,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.408,222.321,273.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15969,328
$CFSIZE,260165632,240889856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,090108,075556,6413.511,-1159.146,24,1.2,42,-11.9