version: 66.02
glider: 103
mission: 7
dive: 287
start: 1 5 108 13 8 58
data:
$ID,103
$MISSION,7
$DIVE,287
$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,-67793.57
$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,12
$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
$GPS1,130308,6408.377,-1241.036,36,1.5,36,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.78
$_SM_ANGLEo,-42.4
$GPS2,130826,6408.368,-1241.199,8,1.5,13,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6408.368,-1245.909
$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,282.3,20000,-11.1,-6.000
$D_GRID,448
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,138,0.00,0.00,-108.50,0.000,6,0.000,0.000,47,2903,3499
$GC,141,-1.10,-146.6,2.3,-3.6,5,157,11.98,1.75,0.00,0.000,4,0.159,0.091,2167,3784,3500
$GC,409,-1.10,-146.6,40.0,-9.6,16,413,0.00,1.62,0.00,0.000,6,0.000,0.060,2167,2903,3501
$GC,736,-1.10,-146.6,65.6,-6.8,32,740,0.00,1.73,0.00,0.000,4,0.000,0.100,2167,3782,3501
$GC,994,-1.10,-146.6,82.7,-6.5,43,997,0.00,1.60,0.00,0.000,6,0.000,0.057,2167,2901,3501
$GC,1315,-1.10,-146.6,98.0,-5.9,59,1319,0.00,1.73,0.00,0.000,4,0.000,0.098,2167,3782,3501
$GC,1528,-1.10,-146.6,111.1,-8.9,68,1532,0.00,1.60,0.00,0.000,6,0.000,0.057,2167,2903,3501
$GC,1849,-1.10,-146.6,143.3,-12.8,84,1853,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1481,3501
$GC,1911,-1.10,-146.6,149.4,-6.6,87,1916,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2899,3501
$GC,2237,-1.10,-146.6,168.3,-6.7,103,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3501
$GC,2546,-1.10,-146.6,189.8,-6.5,118,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3501
$GC,2856,-1.10,-146.6,210.9,-6.3,133,2860,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1484,3501
$GC,2917,-1.10,-146.6,214.9,-6.7,136,2922,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2902,3501
$GC,3243,-1.10,-146.6,235.2,-6.9,152,3247,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1482,3501
$GC,3275,-1.10,-146.6,237.5,-7.0,153,3281,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2900,3501
$GC,3591,-1.10,-146.6,261.1,-7.5,169,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,3900,-1.10,-146.6,285.1,-7.9,184,3904,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1487,3501
$GC,3943,-1.10,-146.6,288.6,-8.1,186,3948,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2900,3501
$GC,4265,-1.10,-146.6,310.1,-6.5,202,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3501
$GC,4574,-1.10,-146.6,331.4,-6.9,217,4578,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3501
$GC,4600,-1.10,-146.6,333.4,-6.7,218,4605,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2909,3501
$GC,4916,-1.10,-146.6,355.2,-7.2,233,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2909,3501
$GC,5226,-1.10,-146.6,379.7,-8.0,248,5230,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,1478,3501
$GC,5258,-1.10,-146.6,382.5,-8.4,249,5264,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2908,3501
$GC,5574,-1.10,-146.6,405.3,-6.7,265,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3501
$GC,5883,-1.10,-146.6,426.9,-6.8,280,5887,0.00,2.60,0.00,0.000,4,0.000,0.063,2167,1483,3501
$GC,5960,-1.10,-146.6,431.3,-5.5,283,5966,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2902,3501
$GC,6276,-1.10,-146.6,447.5,-5.5,299,6279,0.00,1.70,0.00,0.000,4,0.000,0.097,2167,3787,3501
$STATE,6284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6284,begin apogee
$GC,6293,-0.42,0.0,448.2,5.7,299,6418,0.75,0.00,122.38,1.103,6,0.107,0.000,2316,2097,2901
$STATE,6419,end apogee,CONTROL_FINISHED_OK
$STATE,6419,begin climb
$GC,6421,1.10,146.6,451.8,0.0,305,6548,1.55,2.60,118.60,1.067,4,0.060,0.057,2647,689,2303
$GC,6729,1.10,146.6,438.3,6.6,319,6733,0.00,2.50,0.00,0.000,6,0.000,0.036,2647,2115,2303
$GC,7051,1.13,167.3,421.5,5.4,335,7076,0.00,2.67,18.48,1.014,4,0.000,0.066,2647,3504,2218
$GC,7208,1.13,167.3,410.9,7.6,342,7212,0.00,2.50,0.00,0.000,6,0.000,0.040,2647,2088,2218
$GC,7534,1.13,172.0,389.9,5.9,358,7545,0.00,2.55,5.53,0.829,4,0.000,0.059,2647,695,2199
$GC,7651,1.16,190.5,383.1,5.5,363,7673,0.00,2.47,16.45,1.009,6,0.000,0.040,2647,2094,2124
$GC,7988,1.16,190.5,362.4,6.3,380,7993,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3513,2123
$GC,8100,1.16,190.5,354.4,7.2,385,8104,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2095,2123
$GC,8427,1.16,190.5,332.1,6.4,401,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2095,2123
$GC,8737,1.21,233.8,316.1,4.8,416,8779,0.12,2.72,36.08,1.018,4,0.050,0.073,2681,3508,1947
$GC,8835,1.21,233.8,310.5,6.4,420,8839,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2099,1946
$GC,9157,1.21,233.8,290.5,6.5,436,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2099,1946
$GC,9466,1.21,233.8,269.4,7.1,451,9470,0.00,2.65,0.00,0.000,4,0.000,0.070,2681,3510,1946
$GC,9515,1.21,233.8,265.7,7.7,453,9519,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2094,1946
$GC,9830,1.21,233.8,241.5,8.2,468,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2094,1946
$GC,10142,1.21,233.8,216.1,8.2,483,10146,0.00,2.55,0.00,0.000,4,0.000,0.062,2681,690,1946
$GC,10186,1.21,233.8,211.8,8.7,485,10190,0.00,2.47,0.00,0.000,6,0.000,0.043,2681,2098,1946
$GC,10513,1.21,233.8,182.0,10.2,501,10518,0.00,2.62,0.00,0.000,4,0.000,0.073,2681,3515,1946
$GC,10553,1.21,233.8,177.7,10.6,503,10557,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2096,1946
$GC,10879,1.21,233.8,146.7,9.6,519,10883,0.00,2.65,0.00,0.000,4,0.000,0.071,2681,3511,1946
$GC,10911,1.21,233.8,143.3,9.8,520,10918,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2094,1946
$GC,11229,1.21,233.8,115.7,9.0,536,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2094,1946
$GC,11536,1.21,233.8,85.9,9.7,551,11541,0.00,2.65,0.00,0.000,4,0.000,0.073,2681,3510,1946
$GC,11569,1.21,233.8,82.5,9.5,552,11576,0.00,2.50,0.00,0.000,6,0.000,0.052,2681,2100,1946
$GC,11887,1.21,233.8,56.5,6.5,568,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2099,1946
$GC,12194,1.21,233.8,31.4,7.2,583,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2099,1946
$GC,12504,1.25,267.4,9.3,5.1,598,12533,0.00,0.00,27.70,0.802,6,0.000,0.000,2681,2098,1810
$STATE,12605,end climb,SURFACE_DEPTH_REACHED
$STATE,12605,begin surface coast
$FINISH,-0.3,1.027354
$STATE,12627,end surface coast,CONTROL_FINISHED_OK
$STATE,12627,begin surface
$SM_CCo,12650,219.12,0.775,0,0,572,571.30
$SM_GC,-0.74,0.00,0.00,219.12,0.000,0.000,0.775,44,2906,572,-10.88,0.17,571.30
$IRIDIUM_FIX,6342.00,-1234.93,050108,131321
$TT8_MAMPS,0.029146
$HUMID,2014
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.4,50.775
$10V_AH,10.1,24.232
$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,25.925,104.425,345.200,219.125,0.000,40.439,44.304,131.798,3.500,0.000,0.000,14.012,1148.580,9467.597,688.205,1479.077,423.266,0.000,1439.453,0.000,1459.445,0.000,20.367
$DEVICE_MAMPS,158.769,100.477,1102.946,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.829,418.729,443.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28561,604
$CFSIZE,260165632,242114560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,050108,164438,6408.120,-1245.663,35,1.6,35,-12.3