version: 66.02
glider: 103
mission: 7
dive: 291
start: 1 6 108 2 48 27
data:
$ID,103
$MISSION,7
$DIVE,291
$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,-67873.148
$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,21
$R_STBD_OVSHOOT,18
$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
$GPS1,023907,6410.458,-1247.448,37,0.9,37,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.77
$_SM_ANGLEo,-44.7
$GPS2,024756,6410.520,-1247.492,11,1.5,16,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6410.520,-1252.196
$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,282.4,20000,-11.1,-6.000
$D_GRID,312
$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,29,-1.10,-146.6,0.0,0.0,0,139,0.00,0.00,-108.28,0.000,6,0.000,0.000,47,2900,3500
$GC,142,-1.10,-146.6,2.1,-3.3,5,163,11.93,2.62,0.00,0.000,4,0.157,0.058,2165,1490,3501
$GC,416,-1.10,-146.6,36.3,-7.6,17,421,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2897,3501
$GC,738,-1.10,-146.6,62.8,-10.4,33,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3501
$GC,1048,-1.10,-146.6,85.0,-7.4,48,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3501
$GC,1356,-1.10,-146.6,110.3,-8.8,63,1360,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1489,3501
$GC,1405,-1.10,-146.6,114.5,-7.7,65,1410,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2905,3501
$GC,1722,-1.10,-146.6,140.2,-8.1,80,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3501
$GC,2030,-1.10,-146.6,163.3,-7.8,95,2034,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1488,3501
$GC,2069,-1.10,-146.6,166.2,-7.3,97,2073,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2906,3501
$GC,2395,-1.10,-146.6,191.2,-7.7,113,2399,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1489,3501
$GC,2421,-1.10,-146.6,193.2,-7.6,114,2425,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2907,3501
$GC,2743,-1.10,-146.6,217.2,-7.2,130,2747,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1490,3502
$GC,2775,-1.10,-146.6,219.7,-7.4,131,2781,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2903,3501
$GC,3090,-1.10,-146.6,242.5,-7.2,147,3094,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1484,3501
$GC,3111,-1.10,-146.6,244.0,-6.5,148,3116,0.00,2.60,0.00,0.000,6,0.000,0.069,2165,2899,3501
$GC,3432,-1.10,-146.6,264.5,-6.3,164,3436,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1483,3501
$GC,3471,-1.10,-146.6,266.9,-6.2,166,3476,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2900,3501
$GC,3798,-1.10,-146.6,288.1,-6.6,182,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,4107,-1.10,-146.6,309.1,-6.8,197,4111,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1489,3502
$GC,4146,-1.10,-146.6,311.7,-7.0,199,4150,0.00,2.47,0.00,0.000,3,0.000,0.068,2165,2827,3501
$STATE,4151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4151,begin apogee
$GC,4158,-0.42,0.0,312.1,6.9,199,4283,0.73,0.00,121.68,1.023,6,0.084,0.000,2315,2093,2900
$STATE,4284,end apogee,CONTROL_FINISHED_OK
$STATE,4284,begin climb
$GC,4287,1.10,146.6,316.6,0.0,205,4413,1.58,2.62,116.95,1.009,4,0.067,0.058,2646,693,2303
$GC,4634,1.11,151.9,302.1,5.9,221,4645,0.00,2.50,6.12,0.814,6,0.000,0.038,2646,2119,2281
$GC,4960,1.11,151.9,281.6,6.4,237,4965,0.00,2.58,0.00,0.000,4,0.000,0.067,2646,3510,2281
$GC,5038,1.11,151.9,276.2,6.8,240,5045,0.00,2.50,0.00,0.000,6,0.000,0.038,2646,2069,2280
$GC,5354,1.11,151.9,256.1,6.6,256,5358,0.00,2.70,0.00,0.000,4,0.000,0.069,2646,3508,2280
$GC,5433,1.11,151.9,250.8,6.4,259,5439,0.00,2.47,0.00,0.000,6,0.000,0.039,2646,2100,2280
$GC,5748,1.18,207.7,234.6,4.5,275,5796,0.00,0.00,45.92,0.992,6,0.000,0.000,2646,2100,2054
$GC,6097,1.18,207.7,214.6,6.2,292,6101,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3510,2053
$GC,6136,1.18,207.7,212.2,6.4,294,6140,0.00,2.50,0.00,0.000,6,0.000,0.045,2646,2106,2053
$GC,6462,1.18,207.7,189.2,6.8,310,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2106,2053
$GC,6771,1.18,207.7,168.5,6.6,325,6775,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3504,2052
$GC,6809,1.18,207.7,165.8,7.4,327,6814,0.00,2.50,0.00,0.000,6,0.000,0.048,2646,2094,2052
$GC,7136,1.18,207.7,143.6,6.7,343,7140,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3508,2052
$GC,7168,1.18,207.7,141.3,6.9,344,7175,0.00,2.50,0.00,0.000,6,0.000,0.044,2646,2096,2052
$GC,7486,1.18,209.7,121.7,5.9,360,7490,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3505,2052
$GC,7541,1.18,209.7,118.2,6.0,362,7547,0.00,2.50,0.00,0.000,6,0.000,0.045,2646,2094,2052
$GC,7856,1.20,225.1,100.3,5.6,378,7879,0.12,2.60,14.62,0.873,4,0.043,0.064,2688,691,1983
$GC,7906,1.20,225.1,96.2,8.4,380,7911,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2097,1983
$GC,8234,1.20,225.1,73.0,7.3,396,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1983
$GC,8543,1.20,225.1,48.0,8.3,411,8547,0.00,2.65,0.00,0.000,4,0.000,0.077,2688,3507,1983
$GC,8586,1.20,225.1,44.1,8.8,413,8591,0.00,2.55,0.00,0.000,6,0.000,0.056,2688,2090,1982
$GC,8908,1.20,225.1,17.8,8.8,429,8912,0.00,2.70,0.00,0.000,4,0.000,0.077,2688,3512,1982
$GC,8929,1.20,225.1,15.7,9.7,430,8933,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2100,1983
$STATE,9109,end climb,SURFACE_DEPTH_REACHED
$STATE,9109,begin surface coast
$FINISH,0.5,1.027363
$STATE,9132,end surface coast,CONTROL_FINISHED_OK
$STATE,9132,begin surface
$SM_CCo,9155,249.35,0.802,1,0,572,571.30
$SM_GC,-0.82,0.00,0.00,249.35,0.000,0.000,0.802,50,2907,572,-10.86,0.20,571.30
$IRIDIUM_FIX,6346.88,-1127.33,060108,060659
$TT8_MAMPS,0.028379
$HUMID,2013
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,15.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.7,94.4
$24V_AH,23.5,51.426
$10V_AH,10.1,24.470
$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,26.175,96.175,305.300,249.350,0.000,72.899,85.166,206.257,2.500,0.000,0.000,16.827,856.438,6789.129,699.845,1070.808,543.823,0.000,1256.673,0.000,1055.384,0.000,15.332
$DEVICE_MAMPS,157.235,77.467,1023.178,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.287,304.622,406.626,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22310,440
$CFSIZE,260165632,241971200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,060108,052623,6411.426,-1248.861,10,6.4,29,-12.4