version: 66.02
glider: 103
mission: 7
dive: 323
start: 1 9 108 8 1 34
data:
$ID,103
$MISSION,7
$DIVE,323
$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,-68602.32
$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,18
$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
$GPS1,075556,6413.511,-1159.146,24,1.2,42,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.81
$_SM_ANGLEo,-53.1
$GPS2,080102,6413.576,-1159.165,15,1.2,32,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6405.940,-1155.829
$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,378
$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,-146.6,0.0,0.0,0,139,0.00,0.00,-109.40,0.000,6,0.000,0.000,50,2909,3499
$GC,142,-1.70,-146.6,2.2,-3.6,5,163,11.32,2.62,0.00,0.000,4,0.163,0.059,2032,1486,3502
$GC,416,-1.70,-146.6,45.7,-13.1,17,420,0.00,2.70,0.00,0.000,6,0.000,0.078,2032,2902,3502
$GC,736,-1.70,-146.6,85.1,-12.4,33,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2902,3502
$GC,1047,-1.70,-146.6,119.3,-10.6,48,1052,0.00,2.62,0.00,0.000,4,0.000,0.064,2032,1484,3502
$GC,1080,-1.70,-146.6,123.7,-12.0,49,1087,0.00,2.67,0.00,0.000,6,0.000,0.078,2032,2900,3502
$GC,1396,-1.70,-146.6,164.5,-13.3,65,1399,0.00,1.70,0.00,0.000,4,0.000,0.093,2032,3786,3502
$GC,1474,-1.70,-146.6,175.4,-14.3,68,1478,0.00,1.58,0.00,0.000,6,0.000,0.046,2032,2894,3502
$GC,1795,-1.70,-146.6,217.5,-12.5,84,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2894,3502
$GC,2104,-1.70,-146.6,256.7,-12.6,99,2108,0.00,1.75,0.00,0.000,4,0.000,0.094,2032,3790,3502
$GC,2154,-1.70,-146.6,263.3,-12.9,101,2158,0.00,1.60,0.00,0.000,6,0.000,0.050,2032,2897,3502
$GC,2482,-1.70,-146.6,301.4,-11.3,117,2485,0.00,1.73,0.00,0.000,4,0.000,0.093,2032,3790,3502
$GC,2556,-1.70,-146.6,310.1,-11.6,120,2559,0.00,1.60,0.00,0.000,6,0.000,0.052,2032,2892,3502
$GC,2882,-1.70,-146.6,345.2,-10.7,136,2887,0.00,2.55,0.00,0.000,4,0.000,0.067,2032,1490,3502
$GC,2904,-1.70,-146.6,347.7,-10.6,137,2909,0.00,2.70,0.00,0.000,6,0.000,0.080,2032,2908,3502
$STATE,3202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3202,begin apogee
$GC,3209,-0.42,0.0,379.9,11.1,152,3335,1.42,0.00,121.12,1.122,6,0.094,0.000,2317,2098,2901
$STATE,3335,end apogee,CONTROL_FINISHED_OK
$STATE,3335,begin climb
$GC,3338,1.70,146.6,385.1,0.0,158,3464,2.15,2.62,117.00,1.093,4,0.059,0.054,2779,698,2303
$GC,3719,1.70,150.3,362.3,9.8,175,3731,0.00,2.50,4.75,0.775,6,0.000,0.041,2779,2110,2288
$GC,4039,1.73,177.3,330.8,8.8,191,4069,0.00,2.70,23.17,1.037,4,0.000,0.071,2779,3504,2178
$GC,4323,1.83,256.3,309.9,6.4,203,4393,0.12,2.53,64.00,1.061,6,0.048,0.043,2816,2093,1855
$GC,4720,1.83,256.3,264.7,12.4,223,4721,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2093,1854
$GC,5029,1.83,256.3,225.7,12.5,238,5034,0.00,2.58,0.00,0.000,4,0.000,0.064,2817,693,1853
$GC,5101,1.83,256.3,216.2,13.2,241,5106,0.00,2.50,0.00,0.000,6,0.000,0.046,2816,2094,1853
$GC,5417,1.83,256.3,177.3,12.6,256,5422,0.00,2.58,0.00,0.000,4,0.000,0.061,2817,688,1853
$GC,5479,1.83,256.3,169.2,12.8,259,5484,0.00,2.50,0.00,0.000,6,0.000,0.048,2816,2100,1853
$GC,5806,1.83,256.3,128.0,13.1,275,5810,0.00,2.58,0.00,0.000,4,0.000,0.060,2817,692,1853
$GC,5891,1.83,256.3,116.0,14.4,279,5896,0.00,2.53,0.00,0.000,6,0.000,0.048,2816,2109,1853
$GC,6218,1.83,256.3,71.3,13.0,295,6223,0.00,2.60,0.00,0.000,4,0.000,0.060,2816,685,1853
$GC,6364,1.83,256.3,50.3,14.5,301,6370,0.00,2.50,0.00,0.000,6,0.000,0.046,2817,2106,1852
$GC,6681,1.83,256.3,4.9,13.7,317,6686,0.00,2.60,0.00,0.000,4,0.000,0.064,2816,691,1852
$STATE,6702,end climb,SURFACE_DEPTH_REACHED
$STATE,6702,begin surface coast
$FINISH,0.8,1.027399
$STATE,6707,end surface coast,CONTROL_FINISHED_OK
$STATE,6707,begin surface
$SM_CCo,6734,233.68,0.836,2,0,572,571.30
$SM_GC,-0.98,0.00,0.00,233.68,0.000,0.000,0.836,48,2904,572,-10.87,0.11,571.30
$IRIDIUM_FIX,6346.88,-1201.20,090108,090908
$TT8_MAMPS,0.029146
$HUMID,2050
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,18.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,325.6,87.5
$24V_AH,23.4,56.417
$10V_AH,10.1,26.005
$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,27.450,64.725,330.050,233.675,0.000,37.924,36.930,118.098,2.500,0.000,0.000,32.207,657.208,4701.364,675.201,936.458,339.032,0.000,1160.630,0.000,900.166,0.000,16.934
$DEVICE_MAMPS,162.604,93.574,1122.121,836.030,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.350,215.709,261.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15987,318
$CFSIZE,260165632,240865280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,090108,095927,6415.029,-1157.593,39,2.8,59,-11.9