version: 66.02
glider: 103
mission: 7
dive: 350
start: 1 11 108 19 35 7
data:
$ID,103
$MISSION,7
$DIVE,350
$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,-69331.75
$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,8
$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
$GPS1,192532,6348.522,-1135.633,39,1.8,39,-11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-57.7
$GPS2,193437,6348.462,-1135.780,12,1.9,28,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6340.826,-1139.165
$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,349
$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,-146.6,0.0,0.0,0,91,0.00,0.00,-61.30,0.000,2,0.000,0.000,47,2886,3347
$GC,94,-1.10,-146.6,3.2,-8.6,3,117,11.95,1.80,-2.90,0.000,4,0.159,0.118,2164,3781,3501
$GC,369,-1.10,-146.6,29.8,-7.5,15,373,0.00,1.60,0.00,0.000,6,0.000,0.059,2164,2893,3501
$GC,696,-1.10,-146.6,54.0,-8.1,31,700,0.00,1.75,0.00,0.000,4,0.000,0.095,2164,3787,3502
$GC,955,-1.10,-146.6,68.2,-5.2,42,958,0.00,1.60,0.00,0.000,6,0.000,0.054,2164,2899,3502
$GC,1276,-1.10,-146.6,99.4,-10.6,58,1280,0.00,1.75,0.00,0.000,4,0.000,0.097,2164,3790,3502
$GC,1348,-1.10,-146.6,107.3,-8.2,61,1352,0.00,1.60,0.00,0.000,6,0.000,0.052,2164,2903,3502
$GC,1675,-1.10,-146.6,135.5,-8.9,77,1680,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1481,3502
$GC,1770,-1.10,-146.6,142.0,-7.2,81,1774,0.00,2.70,0.00,0.000,6,0.000,0.075,2165,2906,3502
$GC,2085,-1.10,-146.6,171.0,-10.1,96,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,2395,-1.10,-146.6,195.3,-6.9,111,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,2704,-1.10,-146.6,215.7,-6.5,126,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,3013,-1.10,-146.6,235.6,-6.3,141,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,3323,-1.10,-146.6,256.6,-7.0,156,3327,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1478,3502
$GC,3355,-1.10,-146.6,258.9,-7.0,157,3361,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2908,3502
$GC,3671,-1.10,-146.6,280.7,-7.3,173,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,3980,-1.10,-146.6,301.8,-7.2,188,3985,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1481,3502
$GC,4030,-1.10,-146.6,306.0,-8.1,190,4034,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2903,3502
$GC,4345,-1.10,-146.6,328.6,-6.1,205,4350,0.00,2.62,0.00,0.000,4,0.000,0.070,2165,1479,3502
$GC,4395,-1.10,-146.6,331.9,-6.8,207,4399,0.00,2.70,0.00,0.000,6,0.000,0.077,2164,2908,3502
$STATE,4666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4666,begin apogee
$GC,4675,-0.42,0.0,349.6,7.2,220,4800,0.77,0.00,122.65,1.050,6,0.097,0.000,2318,2089,2901
$STATE,4801,end apogee,CONTROL_FINISHED_OK
$STATE,4801,begin climb
$GC,4804,1.10,146.6,354.8,0.0,226,4930,1.58,2.60,118.50,1.020,4,0.066,0.060,2650,687,2303
$GC,5041,1.12,164.5,350.4,5.5,237,5064,0.00,2.53,16.38,0.943,6,0.000,0.038,2650,2120,2230
$GC,5387,1.13,165.5,330.2,6.0,254,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2120,2229
$GC,5696,1.15,188.4,313.0,5.4,269,5722,0.00,2.70,20.85,0.989,4,0.000,0.060,2649,684,2133
$GC,5744,1.15,188.4,310.2,6.7,271,5749,0.00,2.50,0.00,0.000,6,0.000,0.040,2650,2096,2133
$GC,6061,1.15,188.5,292.1,6.0,286,6065,0.00,2.58,0.00,0.000,4,0.000,0.062,2650,687,2132
$GC,6104,1.15,188.5,288.9,7.0,288,6109,0.00,2.50,0.00,0.000,6,0.000,0.043,2649,2103,2132
$GC,6431,1.24,259.4,272.2,4.0,304,6497,0.15,2.78,57.88,1.012,4,0.045,0.080,2696,3507,1842
$GC,6562,1.24,259.4,263.7,7.6,310,6567,0.00,2.55,0.00,0.000,6,0.000,0.048,2696,2093,1842
$GC,6888,1.24,259.4,241.4,6.7,326,6893,0.00,2.70,0.00,0.000,4,0.000,0.077,2696,3513,1841
$GC,6934,1.24,259.4,238.4,7.1,328,6938,0.00,2.55,0.00,0.000,6,0.000,0.047,2696,2093,1841
$GC,7254,1.24,259.4,211.4,9.6,344,7259,0.00,2.70,0.00,0.000,4,0.000,0.075,2696,3514,1841
$GC,7286,1.24,259.4,207.9,10.6,345,7293,0.00,2.53,0.00,0.000,6,0.000,0.050,2696,2096,1841
$GC,7602,1.24,259.4,180.4,8.7,361,7607,0.00,2.55,0.00,0.000,4,0.000,0.063,2696,690,1841
$GC,7630,1.24,259.4,177.8,9.2,362,7634,0.00,2.53,0.00,0.000,6,0.000,0.046,2696,2102,1841
$GC,7945,1.24,259.4,151.9,7.6,377,7949,0.00,2.65,0.00,0.000,4,0.000,0.077,2696,3512,1841
$GC,7972,1.24,259.4,149.4,9.3,378,7976,0.00,2.50,0.00,0.000,6,0.000,0.044,2696,2097,1841
$GC,8290,1.24,259.4,121.4,9.6,393,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2097,1841
$GC,8597,1.24,259.4,91.4,6.6,408,8601,0.00,2.67,0.00,0.000,4,0.000,0.077,2696,3511,1840
$GC,8624,1.24,259.4,89.4,7.6,409,8628,0.00,2.50,0.00,0.000,6,0.000,0.043,2696,2093,1840
$GC,8940,1.24,259.4,63.0,9.9,424,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2093,1840
$GC,9249,1.24,259.4,34.9,7.9,439,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2093,1841
$GC,9560,1.24,259.4,3.4,10.4,454,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2093,1841
$STATE,9576,end climb,SURFACE_DEPTH_REACHED
$STATE,9576,begin surface coast
$FINISH,-0.2,1.027394
$STATE,9598,end surface coast,CONTROL_FINISHED_OK
$STATE,9598,begin surface
$SM_CCo,9622,35.25,0.769,2,0,1678,300.00
$SM_GC,-0.19,0.00,0.00,35.25,0.000,0.000,0.769,46,2901,1678,-10.87,0.03,300.00
$IRIDIUM_FIX,6322.64,-1131.01,110108,232330
$TT8_MAMPS,0.029146
$HUMID,2061
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.3,79.3
$24V_AH,23.4,60.001
$10V_AH,10.1,27.230
$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,26.175,81.075,336.250,35.250,0.000,81.936,82.098,201.631,2.500,0.000,0.000,28.063,881.720,7216.526,447.349,1128.443,558.853,0.000,1027.231,0.000,1097.214,0.000,15.289
$DEVICE_MAMPS,158.769,118.118,1050.023,768.534,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,338.177,311.165,378.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22172,456
$CFSIZE,260165632,239919104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,110108,221731,6347.820,-1136.842,40,1.6,40,-11.5