version: 66.02
glider: 103
mission: 7
dive: 283
start: 1 4 108 22 11 16
data:
$ID,103
$MISSION,7
$DIVE,283
$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,270
$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,571.30371
$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,-67691.789
$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,15
$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
$GPS1,220538,6408.986,-1221.228,41,1.0,41,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.74
$_SM_ANGLEo,-39.9
$GPS2,221045,6409.000,-1221.327,14,1.2,14,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6409.000,-1226.035
$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,282.1,20000,-11.1,-6.000
$D_GRID,458
$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,-146.6,0.0,0.0,0,139,0.00,0.00,-109.32,0.000,6,0.000,0.000,50,2903,3499
$GC,142,-1.10,-146.6,2.2,-3.2,5,158,12.02,1.70,0.00,0.000,4,0.162,0.082,2164,3780,3501
$GC,411,-1.10,-146.6,45.9,-18.7,16,414,0.00,1.60,0.00,0.000,6,0.000,0.058,2164,2905,3502
$GC,737,-1.10,-146.6,85.3,-9.2,32,741,0.00,1.75,0.00,0.000,4,0.000,0.102,2164,3782,3501
$GC,995,-1.10,-146.6,113.2,-6.7,43,999,0.00,1.60,0.00,0.000,6,0.000,0.060,2164,2910,3502
$GC,1316,-1.10,-146.6,144.1,-9.1,59,1321,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1480,3501
$GC,1371,-1.10,-146.6,148.8,-8.0,61,1378,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2899,3502
$GC,1687,-1.10,-146.6,172.8,-7.3,77,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,1997,-1.10,-146.6,192.2,-5.8,92,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,2306,-1.10,-146.6,214.4,-8.6,107,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,2615,-1.10,-146.6,241.6,-9.1,122,2619,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1478,3501
$GC,2641,-1.10,-146.6,244.0,-8.4,123,2646,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2903,3501
$GC,2963,-1.10,-146.6,267.2,-6.0,139,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,3272,-1.10,-146.6,285.0,-5.8,154,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3501
$GC,3581,-1.10,-146.6,304.3,-6.8,169,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3501
$GC,3890,-1.10,-146.6,324.5,-6.5,184,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3501
$GC,4199,-1.10,-146.6,347.4,-7.6,199,4204,0.00,2.62,0.00,0.000,4,0.000,0.064,2164,1472,3502
$GC,4232,-1.10,-146.6,349.9,-7.6,200,4243,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2908,3501
$GC,4548,-1.10,-146.6,373.7,-6.9,216,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3501
$GC,4857,-1.10,-146.6,397.4,-8.7,231,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3501
$GC,5167,-1.10,-146.6,416.7,-5.7,246,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3501
$GC,5476,-1.10,-146.6,439.3,-7.5,261,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3502
$STATE,5741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5741,begin apogee
$GC,5748,-0.42,0.0,459.0,7.3,274,5875,0.75,0.00,123.15,1.114,6,0.088,0.000,2316,2082,2901
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5878,1.10,146.6,464.0,0.0,280,6005,1.58,2.60,119.10,1.082,4,0.061,0.057,2650,687,2303
$GC,6152,1.13,167.7,456.0,5.4,293,6176,0.00,2.50,18.90,1.012,6,0.000,0.035,2650,2119,2217
$GC,6504,1.13,167.7,434.5,6.3,310,6508,0.00,2.58,0.00,0.000,4,0.000,0.069,2650,3504,2216
$GC,6587,1.13,167.7,429.2,6.4,314,6592,0.00,2.50,0.00,0.000,6,0.000,0.042,2650,2090,2216
$GC,6913,1.15,188.8,411.9,5.4,330,6938,0.00,2.72,18.55,1.043,4,0.000,0.070,2650,3501,2131
$GC,7017,1.15,188.8,405.0,7.3,334,7023,0.00,2.50,0.00,0.000,6,0.000,0.046,2650,2097,2130
$GC,7332,1.17,201.7,385.9,5.6,350,7354,0.00,2.75,11.90,1.000,4,0.000,0.071,2650,3508,2078
$GC,7410,1.17,201.7,381.5,6.2,353,7414,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,2095,2078
$GC,7731,1.19,214.0,364.6,5.7,369,7752,0.00,2.70,11.65,0.991,4,0.000,0.071,2650,3501,2028
$GC,7803,1.19,214.0,359.6,6.9,372,7808,0.00,2.53,0.00,0.000,6,0.000,0.048,2650,2100,2027
$GC,8124,1.19,214.0,340.6,6.2,388,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2028
$GC,8433,1.19,214.0,318.8,6.2,403,8438,0.00,2.62,0.00,0.000,4,0.000,0.069,2650,3508,2027
$GC,8496,1.19,214.0,314.7,7.1,406,8500,0.00,2.50,0.00,0.000,6,0.000,0.046,2650,2098,2027
$GC,8822,1.19,214.0,293.1,6.5,422,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2098,2027
$GC,9131,1.19,214.0,271.7,7.5,437,9135,0.00,2.62,0.00,0.000,4,0.000,0.070,2650,3502,2027
$GC,9192,1.19,214.0,266.3,8.8,440,9196,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2097,2027
$GC,9518,1.19,214.0,240.5,8.6,456,9522,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3504,2027
$GC,9567,1.19,214.0,235.6,10.1,458,9571,0.00,2.47,0.00,0.000,6,0.000,0.045,2650,2100,2027
$GC,9888,1.19,214.0,206.8,9.3,474,9892,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3507,2027
$GC,9922,1.19,214.0,203.7,9.0,475,9928,0.00,2.47,0.00,0.000,6,0.000,0.044,2650,2100,2027
$GC,10237,1.19,214.0,181.7,6.6,491,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2027
$GC,10546,1.19,214.0,161.1,6.4,506,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2027
$GC,10856,1.27,279.8,148.7,4.2,521,10919,0.15,2.72,53.08,0.916,4,0.043,0.071,2696,3502,1759
$GC,10969,1.27,279.8,139.9,8.9,526,10974,0.00,2.50,0.00,0.000,6,0.000,0.047,2696,2103,1759
$GC,11298,1.31,317.6,120.6,5.0,542,11339,0.00,2.65,31.52,0.871,4,0.000,0.063,2696,687,1606
$GC,11395,1.31,317.6,115.1,6.9,546,11400,0.00,2.53,0.00,0.000,6,0.000,0.049,2696,2092,1606
$GC,11711,1.31,317.6,92.4,9.0,561,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2093,1605
$GC,12021,1.33,328.3,71.1,5.7,576,12036,0.00,2.65,10.35,0.788,4,0.000,0.067,2696,689,1562
$GC,12075,1.33,328.3,67.5,6.7,577,12082,0.00,2.58,0.00,0.000,6,0.000,0.053,2696,2101,1562
$GC,12391,1.33,328.3,49.0,7.6,593,12395,0.00,2.65,0.00,0.000,4,0.000,0.074,2696,3515,1561
$GC,12431,1.33,328.3,45.4,8.3,595,12435,0.00,2.55,0.00,0.000,6,0.000,0.050,2696,2093,1561
$GC,12757,1.33,328.3,7.1,12.1,611,12758,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2091,1561
$STATE,12816,end climb,SURFACE_DEPTH_REACHED
$STATE,12816,begin surface coast
$FINISH,-1.2,1.013917
$STATE,12840,end surface coast,CONTROL_FINISHED_OK
$STATE,12840,begin surface
$SM_CCo,12862,180.82,0.785,0,0,572,571.30
$SM_GC,-0.97,0.00,0.00,180.82,0.000,0.000,0.785,38,2899,572,-10.91,-0.03,571.30
$IRIDIUM_FIX,6342.00,-1220.50,040108,222252
$TT8_MAMPS,0.029146
$HUMID,2024
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,401.0,89.8
$24V_AH,23.4,50.086
$10V_AH,10.1,23.966
$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,26.100,92.825,398.200,180.825,0.000,37.990,34.950,132.029,3.250,0.000,0.000,15.876,1141.643,9693.579,695.539,1437.667,401.325,0.000,1438.443,0.000,1414.954,0.000,21.805
$DEVICE_MAMPS,161.837,102.011,1114.451,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.372,421.399,425.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31645,615
$CFSIZE,260165632,242290688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,050108,015007,6407.992,-1226.597,40,1.8,51,-12.2