version: 66.02
glider: 103
mission: 7
dive: 335
start: 1 10 108 9 1 18
data:
$ID,103
$MISSION,7
$DIVE,335
$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,-68963.391
$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,15
$R_STBD_OVSHOOT,10
$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
$GPS1,084827,6409.623,-1157.692,11,1.4,11,-11.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.81
$_SM_ANGLEo,-55.0
$GPS2,090044,6409.628,-1157.030,11,1.4,11,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6401.993,-1153.687
$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,363
$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,25,begin dive
$GC,27,-1.70,-146.6,0.0,0.0,0,97,0.00,0.00,-68.03,0.000,6,0.000,0.000,48,2902,3500
$GC,101,-1.70,-146.6,2.3,-6.9,3,121,11.40,2.60,0.00,0.000,4,0.164,0.060,2033,1487,3502
$GC,340,-1.70,-146.6,43.2,-11.6,13,346,0.00,2.67,0.00,0.000,6,0.000,0.079,2033,2901,3503
$GC,656,-1.70,-146.6,83.1,-12.7,29,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2901,3503
$GC,967,-1.70,-146.6,122.7,-13.0,44,970,0.00,1.70,0.00,0.000,4,0.000,0.094,2033,3786,3504
$GC,1084,-1.70,-146.6,138.6,-12.4,49,1088,0.00,1.60,0.00,0.000,6,0.000,0.053,2033,2881,3504
$GC,1410,-1.70,-146.6,179.4,-12.9,65,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2881,3504
$GC,1720,-1.70,-146.6,219.1,-12.8,80,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2882,3505
$GC,2029,-1.70,-146.6,258.2,-12.8,95,2033,0.00,1.77,0.00,0.000,4,0.000,0.094,2033,3790,3506
$GC,2068,-1.70,-146.6,263.2,-13.6,96,2074,0.00,1.60,0.00,0.000,6,0.000,0.054,2033,2903,3505
$GC,2383,-1.70,-146.6,301.6,-12.5,112,2387,0.00,2.60,0.00,0.000,4,0.000,0.069,2033,1490,3505
$GC,2433,-1.70,-146.6,308.2,-12.6,114,2438,0.00,2.70,0.00,0.000,6,0.000,0.081,2033,2906,3505
$GC,2748,-1.70,-146.6,346.5,-12.1,129,2752,0.00,1.70,0.00,0.000,4,0.000,0.094,2033,3792,3505
$STATE,2881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2881,begin apogee
$GC,2891,-0.42,0.0,363.2,12.3,135,3018,1.42,0.00,123.70,1.093,6,0.094,0.000,2319,2098,2901
$STATE,3019,end apogee,CONTROL_FINISHED_OK
$STATE,3019,begin climb
$GC,3021,1.70,146.6,370.0,0.0,141,3149,2.12,2.70,118.65,1.065,4,0.055,0.061,2783,3525,2303
$GC,3177,1.77,206.6,366.7,7.3,148,3232,0.00,2.55,49.55,1.065,6,0.000,0.037,2783,2089,2058
$GC,3556,1.77,206.6,324.4,10.3,167,3560,0.00,2.67,0.00,0.000,4,0.000,0.067,2783,3517,2057
$GC,3617,1.77,206.6,317.2,11.4,170,3622,0.00,2.50,0.00,0.000,6,0.000,0.041,2783,2104,2057
$GC,3944,1.77,206.6,281.8,10.9,186,3948,0.00,2.58,0.00,0.000,4,0.000,0.061,2784,697,2056
$GC,4054,1.77,206.6,268.3,12.0,191,4059,0.00,2.50,0.00,0.000,6,0.000,0.043,2783,2108,2056
$GC,4375,1.77,206.6,233.2,10.7,207,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2108,2056
$GC,4684,1.77,206.6,200.1,11.0,222,4689,0.00,2.60,0.00,0.000,4,0.000,0.061,2783,695,2056
$GC,4762,1.77,206.6,191.6,10.6,225,4769,0.00,2.47,0.00,0.000,6,0.000,0.044,2783,2099,2056
$GC,5078,1.77,206.6,159.7,10.1,241,5083,0.00,2.58,0.00,0.000,4,0.000,0.061,2783,695,2055
$GC,5134,1.77,206.6,154.0,10.2,243,5140,0.00,2.50,0.00,0.000,6,0.000,0.044,2783,2102,2055
$GC,5450,1.78,213.8,123.8,9.7,259,5463,0.00,2.60,6.80,0.836,4,0.000,0.058,2783,694,2029
$GC,5498,1.78,213.8,118.8,10.3,261,5502,0.00,2.53,0.00,0.000,6,0.000,0.046,2783,2101,2029
$GC,5824,1.78,213.8,83.9,10.8,277,5829,0.00,2.58,0.00,0.000,4,0.000,0.059,2783,694,2028
$GC,5910,1.78,213.8,75.1,10.6,281,5914,0.00,2.50,0.00,0.000,6,0.000,0.044,2783,2101,2028
$GC,6236,1.78,213.8,39.9,11.1,297,6240,0.00,2.58,0.00,0.000,4,0.000,0.059,2783,691,2028
$GC,6404,1.78,213.8,20.1,10.2,304,6410,0.00,2.47,0.00,0.000,6,0.000,0.045,2783,2101,2028
$STATE,6573,end climb,SURFACE_DEPTH_REACHED
$STATE,6573,begin surface coast
$FINISH,-1.4,1.027408
$STATE,6595,end surface coast,CONTROL_FINISHED_OK
$STATE,6595,begin surface
$SM_CCo,6619,71.32,0.813,2,0,1678,300.00
$SM_GC,-0.93,0.00,0.00,71.32,0.000,0.000,0.813,52,2903,1678,-10.85,0.08,300.00
$IRIDIUM_FIX,6342.00,-1155.35,100108,121209
$TT8_MAMPS,0.029146
$HUMID,2100
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,276.4,105.9
$24V_AH,23.3,58.213
$10V_AH,10.1,26.526
$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,27.050,64.550,298.700,71.325,0.000,116.488,104.909,285.581,2.250,0.000,0.000,11.915,643.381,4839.110,462.574,849.828,669.839,0.000,909.843,0.000,837.666,0.000,13.744
$DEVICE_MAMPS,164.138,98.943,1092.975,813.020,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.635,212.974,275.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15946,314
$CFSIZE,260165632,240467968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,100108,105408,6409.633,-1149.654,33,1.2,33,-11.8