version: 66.02
glider: 103
mission: 7
dive: 347
start: 1 11 108 11 38 18
data:
$ID,103
$MISSION,7
$DIVE,347
$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,225
$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,-69250.781
$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,20
$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
$GPS1,112708,6355.822,-1129.659,26,1.7,26,-11.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.46
$_SM_ANGLEo,-50.5
$GPS2,113745,6355.817,-1129.424,14,1.6,14,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6348.181,-1132.795
$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,236.5,20000,-11.1,-6.000
$D_GRID,345
$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,-1.10,-146.6,0.0,0.0,0,99,0.00,0.00,-68.45,0.000,6,0.000,0.000,48,2901,3500
$GC,102,-1.10,-146.6,2.2,-6.2,3,118,11.98,1.75,0.00,0.000,4,0.159,0.095,2166,3781,3502
$GC,371,-1.10,-146.6,33.6,-5.9,14,374,0.00,1.60,0.00,0.000,6,0.000,0.062,2166,2904,3502
$GC,698,-1.10,-146.6,53.8,-6.6,30,701,0.00,1.73,0.00,0.000,4,0.000,0.097,2166,3780,3503
$GC,888,-1.10,-146.6,68.3,-10.2,38,892,0.00,1.60,0.00,0.000,6,0.000,0.058,2166,2905,3502
$GC,1211,-1.10,-146.6,97.4,-7.2,54,1215,0.00,2.62,0.00,0.000,4,0.000,0.074,2166,1482,3502
$GC,1300,-1.10,-146.6,103.0,-6.0,58,1304,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2901,3502
$GC,1620,-1.10,-146.6,124.0,-7.3,74,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,1930,-1.10,-146.6,146.9,-9.3,89,1934,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1481,3503
$GC,1951,-1.10,-146.6,148.8,-7.8,90,1956,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2900,3502
$GC,2273,-1.10,-146.6,179.6,-10.2,106,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,2582,-1.10,-146.6,205.8,-7.8,121,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,2891,-1.10,-146.6,229.3,-7.7,136,2895,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1481,3503
$GC,2930,-1.10,-146.6,232.7,-8.9,138,2935,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2901,3503
$GC,3256,-1.10,-146.6,258.7,-8.0,154,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,3565,-1.10,-146.6,283.0,-8.1,169,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,3874,-1.10,-146.6,307.8,-6.8,184,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$STATE,3975,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3975,begin apogee
$GC,3983,-0.42,0.0,315.0,6.9,189,4108,0.75,0.00,121.97,1.033,6,0.090,0.000,2318,2094,2901
$STATE,4109,end apogee,CONTROL_FINISHED_OK
$STATE,4109,begin climb
$GC,4112,1.10,146.6,319.8,0.0,195,4238,1.55,2.65,117.35,1.009,4,0.061,0.060,2647,688,2302
$GC,4493,1.10,146.6,303.6,8.5,212,4497,0.00,2.53,0.00,0.000,6,0.000,0.038,2647,2118,2302
$GC,4808,1.12,161.7,282.2,5.6,227,4828,0.00,0.00,13.90,0.946,6,0.000,0.000,2647,2118,2241
$GC,5138,1.14,174.7,265.3,5.6,243,5159,0.00,2.70,12.12,0.936,4,0.000,0.068,2647,3510,2189
$GC,5249,1.14,174.7,257.7,6.5,248,5254,0.00,2.53,0.00,0.000,6,0.000,0.042,2647,2086,2188
$GC,5576,1.24,261.3,243.6,3.6,264,5652,0.15,2.78,69.97,1.003,4,0.045,0.077,2692,3510,1835
$GC,5712,1.24,261.3,235.3,7.4,269,5716,0.00,2.55,0.00,0.000,6,0.000,0.047,2693,2097,1834
$GC,6027,1.24,261.3,212.0,7.3,284,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2097,1834
$GC,6337,1.25,264.0,193.2,5.9,299,6346,0.00,2.67,3.72,0.647,4,0.000,0.071,2692,3508,1824
$GC,6374,1.25,264.0,190.4,7.2,300,6381,0.00,2.50,0.00,0.000,6,0.000,0.049,2693,2103,1824
$GC,6690,1.25,264.0,171.0,6.9,316,6694,0.00,2.58,0.00,0.000,4,0.000,0.062,2692,685,1824
$GC,6718,1.25,264.0,168.5,9.7,317,6722,0.00,2.50,0.00,0.000,6,0.000,0.044,2692,2094,1824
$GC,7038,1.25,264.0,142.5,8.2,333,7043,0.00,2.67,0.00,0.000,4,0.000,0.077,2692,3515,1823
$GC,7071,1.25,264.0,139.6,7.6,334,7078,0.00,2.53,0.00,0.000,6,0.000,0.050,2692,2096,1823
$GC,7389,1.25,264.0,114.3,9.0,350,7394,0.00,2.58,0.00,0.000,4,0.000,0.064,2693,688,1823
$GC,7422,1.25,264.0,111.3,8.4,351,7429,0.00,2.50,0.00,0.000,6,0.000,0.046,2693,2105,1823
$GC,7738,1.25,264.0,82.2,9.1,367,7742,0.00,2.65,0.00,0.000,4,0.000,0.077,2692,3514,1823
$GC,7793,1.25,264.0,76.6,10.2,369,7799,0.00,2.50,0.00,0.000,6,0.000,0.048,2692,2097,1823
$GC,8109,1.25,264.0,44.6,10.7,385,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2098,1823
$GC,8419,1.25,264.0,13.0,9.4,400,8424,0.00,2.67,0.00,0.000,4,0.000,0.075,2692,3510,1824
$GC,8459,1.25,264.0,8.8,9.9,402,8464,0.00,2.50,0.00,0.000,6,0.000,0.046,2692,2097,1823
$STATE,8557,end climb,SURFACE_DEPTH_REACHED
$STATE,8557,begin surface coast
$FINISH,-0.7,1.027405
$STATE,8579,end surface coast,CONTROL_FINISHED_OK
$STATE,8579,begin surface
$SM_CCo,8602,31.00,0.785,1,0,1678,300.00
$SM_GC,-0.08,0.00,0.00,31.00,0.000,0.000,0.785,50,2893,1678,-10.85,-0.20,300.00
$IRIDIUM_FIX,6327.46,-1124.35,110108,151511
$TT8_MAMPS,0.029146
$HUMID,2086
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,226.0,98.4
$24V_AH,23.4,59.646
$10V_AH,10.1,27.074
$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,26.075,72.325,339.050,31.000,0.000,103.060,116.458,191.384,1.750,0.000,0.000,14.642,799.040,6421.718,450.521,1035.321,593.572,0.000,986.188,0.000,1021.680,0.000,10.484
$DEVICE_MAMPS,158.769,96.642,1033.149,784.641,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.787,277.405,372.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19095,408
$CFSIZE,260165632,240041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,110108,140331,6354.237,-1127.657,38,1.3,38,-11.5