version: 66.02
glider: 103
mission: 7
dive: 334
start: 1 10 108 6 47 49
data:
$ID,103
$MISSION,7
$DIVE,334
$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,300
$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,-68950.852
$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,16
$R_STBD_OVSHOOT,13
$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
$GPS1,064123,6410.101,-1202.146,12,6.2,31,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.81
$_SM_ANGLEo,-55.4
$GPS2,064717,6410.071,-1202.013,36,2.6,55,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6402.436,-1158.671
$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,384
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-69.07,0.000,6,0.000,0.000,45,2901,3499
$GC,102,-1.70,-146.6,2.0,-6.5,3,122,11.30,2.60,0.00,0.000,4,0.162,0.060,2031,1489,3501
$GC,285,-1.70,-146.6,34.0,-12.1,11,289,0.00,2.67,0.00,0.000,6,0.000,0.077,2031,2898,3502
$GC,606,-1.70,-146.6,75.0,-13.5,27,609,0.00,1.70,0.00,0.000,4,0.000,0.093,2031,3785,3502
$GC,835,-1.70,-146.6,104.8,-12.0,37,839,0.00,1.58,0.00,0.000,6,0.000,0.044,2032,2897,3502
$GC,1162,-1.70,-146.6,145.6,-13.0,53,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2897,3503
$GC,1471,-1.70,-146.6,186.3,-12.8,68,1475,0.00,1.73,0.00,0.000,4,0.000,0.094,2032,3784,3503
$GC,1606,-1.70,-146.6,203.5,-12.3,74,1609,0.00,1.58,0.00,0.000,6,0.000,0.050,2031,2890,3503
$GC,1938,-1.70,-146.6,241.8,-11.2,90,1942,0.00,2.58,0.00,0.000,4,0.000,0.069,2032,1482,3504
$GC,1981,-1.70,-146.6,246.5,-10.5,92,1986,0.00,2.70,0.00,0.000,6,0.000,0.081,2032,2900,3504
$GC,2303,-1.70,-146.6,286.3,-11.8,108,2306,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3786,3504
$GC,2397,-1.70,-146.6,296.8,-10.4,112,2401,0.00,1.58,0.00,0.000,6,0.000,0.048,2032,2899,3504
$GC,2724,-1.70,-146.6,335.2,-13.0,128,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2899,3504
$GC,3033,-1.70,-146.6,370.7,-10.4,143,3038,0.00,2.58,0.00,0.000,4,0.000,0.067,2032,1489,3504
$GC,3066,-1.70,-146.6,374.2,-10.3,144,3072,0.00,2.70,0.00,0.000,6,0.000,0.081,2032,2903,3504
$STATE,3173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3173,begin apogee
$GC,3181,-0.42,0.0,385.6,10.5,150,3309,1.42,0.00,124.22,1.115,6,0.094,0.000,2317,2101,2901
$STATE,3310,end apogee,CONTROL_FINISHED_OK
$STATE,3310,begin climb
$GC,3312,1.70,146.6,390.9,0.0,156,3442,2.12,2.65,119.50,1.081,4,0.055,0.057,2781,687,2302
$GC,3699,1.72,163.9,370.5,9.2,173,3720,0.00,2.53,15.82,1.017,6,0.000,0.041,2781,2110,2232
$GC,4029,1.77,208.2,343.0,8.0,189,4072,0.00,2.72,37.30,1.075,4,0.000,0.060,2781,687,2052
$GC,4324,1.77,208.2,312.7,10.8,202,4329,0.00,2.50,0.00,0.000,6,0.000,0.043,2781,2096,2051
$GC,4646,1.79,224.8,279.8,9.2,218,4665,0.00,0.00,14.77,1.025,6,0.000,0.000,2781,2096,1984
$GC,4975,1.79,224.8,247.3,11.0,234,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2096,1982
$GC,5284,1.80,229.2,216.4,9.8,249,5294,0.00,2.62,5.10,0.828,4,0.000,0.063,2781,686,1966
$GC,5378,1.80,229.2,206.6,10.0,253,5383,0.00,2.55,0.00,0.000,6,0.000,0.047,2781,2101,1966
$GC,5694,1.85,272.1,180.6,8.0,268,5734,0.15,0.00,35.90,1.005,6,0.044,0.000,2818,2101,1791
$GC,6043,1.85,272.1,143.4,11.3,285,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2101,1790
$GC,6353,1.85,272.1,107.4,11.6,300,6357,0.00,2.62,0.00,0.000,4,0.000,0.065,2819,685,1789
$GC,6439,1.85,272.1,96.3,13.4,304,6443,0.00,2.55,0.00,0.000,6,0.000,0.050,2819,2103,1789
$GC,6765,1.85,272.1,52.2,13.7,320,6769,0.00,2.60,0.00,0.000,4,0.000,0.061,2819,685,1789
$GC,6842,1.85,272.1,40.4,15.3,323,6849,0.00,2.53,0.00,0.000,6,0.000,0.051,2819,2098,1789
$STATE,7114,end climb,SURFACE_DEPTH_REACHED
$STATE,7114,begin surface coast
$FINISH,-1.7,1.014975
$STATE,7138,end surface coast,CONTROL_FINISHED_OK
$STATE,7138,begin surface
$SM_CCo,7161,23.40,0.805,1,0,1677,300.00
$SM_GC,-0.67,0.00,0.00,23.40,0.000,0.000,0.805,48,2899,1677,-10.87,-0.03,300.00
$IRIDIUM_FIX,6346.88,-1156.37,100108,080813
$TT8_MAMPS,0.029146
$HUMID,2155
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.4,112.4
$24V_AH,23.3,58.080
$10V_AH,10.1,26.483
$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,27.300,54.650,352.625,23.400,0.000,40.521,44.424,131.996,2.000,0.000,0.000,56.153,687.791,5081.905,447.745,987.756,364.240,0.000,936.307,0.000,927.742,0.000,15.379
$DEVICE_MAMPS,161.837,101.244,1115.218,804.583,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,249.605,229.199,266.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15980,338
$CFSIZE,260165632,240504832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,100108,084827,6409.623,-1157.692,11,1.4,11,-11.9