version: 66.02
glider: 103
mission: 7
dive: 345
start: 1 11 108 6 29 53
data:
$ID,103
$MISSION,7
$DIVE,345
$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,550
$T_MISSION,580
$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,-69221.688
$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,23
$R_STBD_OVSHOOT,11
$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
$GPS1,062402,6355.513,-1131.309,42,1.2,42,-11.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.55
$_SM_ANGLEo,-55.4
$GPS2,062921,6355.504,-1131.444,15,1.6,15,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6347.868,-1128.072
$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,146.5,20000,-11.1,-6.000
$D_GRID,347
$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,26,begin dive
$GC,29,-1.10,-146.6,0.0,0.0,0,96,0.00,0.00,-65.90,0.000,6,0.000,0.000,49,2901,3500
$GC,99,-1.10,-146.6,2.7,-6.7,3,121,11.90,2.65,0.00,0.000,4,0.156,0.061,2164,1488,3502
$GC,301,-1.10,-146.6,27.6,-6.6,12,306,0.00,2.70,0.00,0.000,6,0.000,0.081,2164,2899,3503
$GC,628,-1.10,-146.6,54.1,-10.2,28,632,0.00,1.73,0.00,0.000,4,0.000,0.097,2164,3787,3503
$GC,646,-1.10,-146.6,55.7,-9.3,28,652,0.00,1.60,0.00,0.000,6,0.000,0.052,2164,2909,3503
$GC,961,-1.10,-146.6,89.7,-12.4,44,966,0.00,2.65,0.00,0.000,4,0.000,0.073,2164,1482,3503
$GC,994,-1.10,-146.6,91.9,-6.9,45,1000,0.00,2.67,0.00,0.000,6,0.000,0.080,2164,2899,3503
$GC,1312,-1.10,-146.6,113.0,-7.0,61,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,1619,-1.10,-146.6,136.4,-8.9,76,1623,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1487,3504
$GC,1652,-1.10,-146.6,139.0,-7.4,77,1658,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2903,3504
$GC,1967,-1.10,-146.6,160.8,-8.5,93,1970,0.00,1.70,0.00,0.000,4,0.000,0.097,2164,3783,3504
$GC,2028,-1.10,-146.6,166.1,-8.7,95,2034,0.00,1.58,0.00,0.000,6,0.000,0.049,2164,2897,3504
$GC,2344,-1.10,-146.6,192.2,-7.7,111,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3504
$GC,2653,-1.10,-146.6,215.2,-7.7,126,2657,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1484,3504
$GC,2714,-1.10,-146.6,219.8,-7.2,129,2719,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2904,3504
$GC,3041,-1.10,-146.6,244.9,-7.8,145,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3504
$GC,3349,-1.10,-146.6,268.0,-7.5,160,3353,0.00,1.73,0.00,0.000,4,0.000,0.100,2164,3777,3505
$GC,3389,-1.10,-146.6,271.1,-8.6,161,3395,0.00,1.58,0.00,0.000,6,0.000,0.049,2164,2890,3505
$GC,3705,-1.10,-146.6,295.1,-7.5,177,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2890,3505
$STATE,3992,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3992,begin apogee
$GC,3999,-0.42,0.0,315.2,6.9,191,4124,0.75,0.00,121.85,1.048,6,0.087,0.000,2315,2093,2900
$STATE,4125,end apogee,CONTROL_FINISHED_OK
$STATE,4125,begin climb
$GC,4128,1.10,146.6,320.6,0.0,197,4254,1.58,2.62,117.60,1.012,4,0.066,0.059,2646,688,2303
$GC,4299,1.14,180.2,319.1,5.1,205,4336,0.00,2.53,28.55,0.960,6,0.000,0.039,2646,2114,2166
$GC,4645,1.17,200.0,300.5,5.5,222,4669,0.00,2.70,17.83,0.953,4,0.000,0.069,2646,3506,2085
$GC,4778,1.23,247.5,292.9,4.7,228,4824,0.15,2.50,39.38,0.983,6,0.042,0.042,2686,2093,1892
$GC,5145,1.23,247.5,264.9,8.0,246,5150,0.00,2.72,0.00,0.000,4,0.000,0.080,2687,3508,1891
$GC,5224,1.23,247.5,258.3,8.4,249,5230,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,2101,1890
$GC,5540,1.23,247.5,233.3,7.5,265,5544,0.00,2.70,0.00,0.000,4,0.000,0.079,2687,3510,1890
$GC,5606,1.23,247.5,228.1,7.6,268,5610,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2100,1889
$GC,5926,1.23,247.5,203.4,7.9,284,5930,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3507,1889
$GC,5965,1.23,247.5,200.1,8.3,286,5970,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,2099,1889
$GC,6292,1.23,247.5,173.6,8.3,302,6297,0.00,2.67,0.00,0.000,4,0.000,0.076,2686,3509,1889
$GC,6309,1.23,247.5,172.1,9.3,303,6314,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2094,1889
$GC,6636,1.23,247.5,141.0,11.1,319,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1889
$GC,6946,1.23,247.5,108.0,9.8,334,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2094,1889
$GC,7256,1.23,247.5,73.7,12.0,349,7261,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3505,1889
$GC,7289,1.23,247.5,70.2,9.3,350,7296,0.00,2.47,0.00,0.000,6,0.000,0.045,2687,2094,1889
$GC,7605,1.23,247.5,55.6,7.1,366,7610,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3506,1889
$GC,7638,1.23,247.5,53.3,6.7,367,7645,0.00,2.47,0.00,0.000,6,0.000,0.044,2687,2092,1889
$GC,7956,1.23,247.5,21.1,10.0,383,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2092,1889
$STATE,8199,end climb,SURFACE_DEPTH_REACHED
$STATE,8199,begin surface coast
$FINISH,-1.2,1.027399
$STATE,8221,end surface coast,CONTROL_FINISHED_OK
$STATE,8221,begin surface
$SM_CCo,8245,44.17,0.775,2,0,1678,300.00
$SM_GC,-0.56,0.00,0.00,44.17,0.000,0.000,0.775,44,2887,1678,-10.88,-0.37,300.00
$IRIDIUM_FIX,6332.30,-1129.14,110108,070721
$TT8_MAMPS,0.028379
$HUMID,2064
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,251.0,72.8
$24V_AH,23.4,59.405
$10V_AH,10.1,26.973
$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,26.000,75.700,325.200,44.175,0.000,40.869,33.084,145.085,1.500,0.000,0.000,17.002,763.268,6083.782,461.156,936.183,397.147,0.000,960.864,0.000,924.040,0.000,12.034
$DEVICE_MAMPS,156.468,100.477,1048.489,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,294.929,268.260,363.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19176,396
$CFSIZE,260165632,240115712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,110108,084926,6355.426,-1131.376,37,1.1,37,-11.5