version: 66.02
glider: 103
mission: 7
dive: 454
start: 1 31 108 9 37 0
data:
$ID,103
$MISSION,7
$DIVE,454
$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,-3
$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,-1
$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,-71244.898
$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,22
$R_STBD_OVSHOOT,16
$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
$GPS1,091307,6123.197,-914.299,75,1.5,80,-9.3
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-56.2
$GPS2,093627,6122.900,-914.796,33,2.0,45,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$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,9.1,55745,-11.1,-6.000
$D_GRID,500
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-65.35,0.000,6,0.000,0.000,43,2882,3500
$GC,95,-1.10,-146.6,2.5,-6.7,3,116,12.02,1.77,0.00,0.000,4,0.159,0.086,2164,3784,3502
$GC,307,-1.10,-146.6,28.4,-7.9,12,310,0.00,1.58,0.00,0.000,6,0.000,0.045,2164,2891,3502
$GC,628,-1.10,-146.6,65.7,-13.6,28,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2890,3502
$GC,938,-1.10,-146.6,96.5,-9.0,43,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2890,3502
$GC,1247,-1.10,-146.6,121.5,-7.4,58,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2890,3502
$GC,1556,-1.10,-146.6,148.3,-9.9,73,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2890,3502
$GC,1866,-1.10,-146.6,171.6,-4.9,88,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2889,3503
$GC,2174,-1.10,-146.6,190.0,-7.7,103,2178,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1480,3502
$GC,2201,-1.10,-146.6,192.2,-7.6,104,2206,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2899,3502
$GC,2517,-1.10,-146.6,213.4,-7.2,119,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,2826,-1.10,-146.6,236.1,-7.0,134,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,3135,-1.10,-146.6,257.2,-7.4,149,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,3445,-1.10,-146.6,281.8,-8.2,164,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,3754,-1.10,-146.6,308.6,-8.8,179,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,4063,-1.10,-146.6,333.6,-7.6,194,4067,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1480,3503
$GC,4107,-1.10,-146.6,336.8,-7.3,196,4112,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2904,3502
$GC,4429,-1.10,-146.6,360.1,-7.4,212,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,4738,-1.10,-146.6,382.8,-7.3,227,4742,0.00,2.55,0.00,0.000,4,0.000,0.057,2164,1480,3502
$GC,4771,-1.10,-146.6,385.2,-6.6,228,4777,0.00,2.62,0.00,0.000,6,0.000,0.062,2164,2909,3502
$GC,5087,-1.10,-146.6,408.0,-7.2,244,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$GC,5396,-1.10,-146.6,430.7,-7.3,259,5400,0.00,2.53,0.00,0.000,4,0.000,0.048,2164,1482,3503
$GC,5436,-1.10,-146.6,433.4,-6.1,261,5440,0.00,2.58,0.00,0.000,6,0.000,0.058,2165,2908,3502
$GC,5763,-1.10,-146.6,453.7,-5.9,277,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,6072,-1.10,-146.6,471.0,-5.7,292,6076,0.00,2.50,0.00,0.000,4,0.000,0.043,2164,1479,3502
$GC,6112,-1.10,-146.6,473.3,-6.1,294,6116,0.00,2.55,0.00,0.000,6,0.000,0.051,2164,2909,3503
$GC,6438,-1.10,-146.6,493.6,-6.4,310,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3502
$STATE,6559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6559,begin apogee
$GC,6568,-0.42,0.0,501.3,6.1,316,6696,0.75,0.00,125.15,1.128,6,0.081,0.000,2319,2079,2901
$STATE,6697,end apogee,CONTROL_FINISHED_OK
$STATE,6697,begin climb
$GC,6700,1.10,146.6,505.1,0.0,322,6831,1.52,2.55,120.70,1.104,4,0.054,0.048,2649,700,2303
$GC,7026,1.15,183.9,494.0,5.0,337,7067,0.00,2.42,32.28,1.063,6,0.000,0.030,2649,2120,2151
$GC,7377,1.17,200.4,473.2,5.5,354,7398,0.00,2.53,15.45,1.024,4,0.000,0.052,2649,3493,2084
$GC,7506,1.22,242.5,466.6,4.8,359,7548,0.12,2.42,35.95,1.069,6,0.043,0.031,2688,2093,1912
$GC,7862,1.22,242.5,441.6,7.1,376,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2093,1911
$GC,8167,1.22,242.5,419.9,7.3,391,8172,0.00,2.58,0.00,0.000,4,0.000,0.058,2688,3496,1911
$GC,8195,1.22,242.5,417.5,8.2,392,8200,0.00,2.42,0.00,0.000,6,0.000,0.033,2689,2098,1911
$GC,8511,1.22,242.5,391.0,8.9,407,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1911
$GC,8820,1.22,242.5,364.6,7.9,422,8825,0.00,2.60,0.00,0.000,4,0.000,0.068,2689,3492,1911
$GC,8861,1.22,242.5,361.4,7.8,424,8865,0.00,2.42,0.00,0.000,6,0.000,0.040,2689,2107,1910
$GC,9187,1.22,242.5,337.2,7.0,440,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2107,1910
$GC,9496,1.22,242.5,317.1,6.6,455,9501,0.00,2.60,0.00,0.000,4,0.000,0.070,2689,3497,1910
$GC,9529,1.22,242.5,314.6,7.4,456,9535,0.00,2.47,0.00,0.000,6,0.000,0.041,2688,2097,1910
$GC,9845,1.22,242.5,292.4,7.5,472,9847,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1910
$GC,10154,1.22,242.5,269.2,7.8,487,10159,0.00,2.60,0.00,0.000,4,0.000,0.071,2688,3495,1910
$GC,10205,1.22,242.5,265.2,7.4,489,10209,0.00,2.47,0.00,0.000,6,0.000,0.044,2688,2101,1910
$GC,10521,1.22,242.5,237.7,10.9,504,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1910
$GC,10830,1.22,242.5,209.2,8.5,519,10834,0.00,2.62,0.00,0.000,4,0.000,0.074,2688,3498,1910
$GC,10886,1.22,242.5,204.3,9.3,521,10892,0.00,2.47,0.00,0.000,6,0.000,0.044,2689,2102,1910
$GC,11202,1.22,242.5,178.0,6.1,537,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1910
$GC,11511,1.22,242.5,156.4,9.7,552,11515,0.00,2.55,0.00,0.000,4,0.000,0.060,2688,692,1910
$GC,11583,1.22,242.5,146.5,14.1,555,11587,0.00,2.47,0.00,0.000,6,0.000,0.046,2688,2082,1910
$GC,11900,1.22,242.5,108.3,11.7,570,11904,0.00,2.67,0.00,0.000,4,0.000,0.074,2689,3514,1910
$GC,11949,1.22,242.5,102.8,10.4,572,11954,0.00,2.50,0.00,0.000,6,0.000,0.040,2688,2093,1910
$GC,12266,1.74,665.1,79.3,-5.7,587,12535,0.43,2.62,260.02,0.838,4,0.043,0.057,2792,692,571
$STATE,12684,end climb,SURFACE_DEPTH_REACHED
$STATE,12684,begin surface coast
$FINISH,-0.1,1.027333
$STATE,12692,end surface coast,CONTROL_FINISHED_OK
$STATE,12692,begin surface
$SM_CCo,12780,0.00,0.000,0,0,569,572.04
$SM_GC,-0.83,12.20,0.00,0.00,0.031,0.000,0.000,48,2896,569,-10.79,-0.11,572.04
$IRIDIUM_FIX,6059.36,-910.03,260497,090912
$TT8_MAMPS,0.028379
$HUMID,2032
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,451.3,89.2
$24V_AH,23.2,75.527
$10V_AH,10.1,35.156
$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,27.050,82.950,589.550,0.000,0.000,188.123,201.303,587.492,4.000,0.000,0.000,45.732,1086.117,9839.249,592.149,1410.683,1266.137,0.000,1340.801,0.000,1357.132,0.000,25.036
$DEVICE_MAMPS,158.769,88.972,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.104,415.326,378.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28576,607
$CFSIZE,260165632,234065920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,310108,131158,6124.960,-914.559,64,2.3,83,-9.3