version: 66.02
glider: 103
mission: 7
dive: 293
start: 1 6 108 7 47 18
data:
$ID,103
$MISSION,7
$DIVE,293
$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,-67938.844
$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,20
$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
$GPS1,074153,6413.679,-1247.255,8,3.6,27,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.68
$_SM_ANGLEo,-53.0
$GPS2,074647,6413.783,-1247.062,11,5.3,30,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6413.783,-1251.757
$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,239
$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,-146.6,0.0,0.0,0,138,0.00,0.00,-108.40,0.000,6,0.000,0.000,49,2914,3499
$GC,141,-1.10,-146.6,2.5,-3.7,5,157,11.88,1.70,0.00,0.000,4,0.156,0.090,2165,3776,3501
$GC,410,-1.10,-146.6,36.2,-7.9,16,413,0.00,1.60,0.00,0.000,6,0.000,0.063,2165,2903,3502
$GC,736,-1.10,-146.6,60.0,-7.1,32,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,1047,-1.10,-146.6,82.9,-7.3,47,1051,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1487,3502
$GC,1102,-1.10,-146.6,87.0,-7.6,49,1109,0.00,2.62,0.00,0.000,6,0.000,0.074,2166,2893,3502
$GC,1418,-1.10,-146.6,109.5,-6.9,65,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2893,3502
$GC,1727,-1.10,-146.6,130.6,-6.8,80,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2893,3502
$GC,2037,-1.10,-146.6,151.6,-6.9,95,2042,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1481,3502
$GC,2093,-1.10,-146.6,155.5,-6.3,97,2099,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2898,3502
$GC,2408,-1.10,-146.6,176.4,-7.6,113,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,2718,-1.10,-146.6,197.1,-6.4,128,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,3027,-1.10,-146.6,217.8,-6.2,143,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$STATE,3087,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3087,begin apogee
$GC,3094,-0.42,0.0,222.1,6.9,146,3218,0.77,0.00,120.30,0.960,6,0.097,0.000,2319,2086,2900
$STATE,3218,end apogee,CONTROL_FINISHED_OK
$STATE,3218,begin climb
$GC,3221,1.10,146.6,223.2,0.0,152,3347,1.52,2.62,116.75,0.923,4,0.051,0.061,2652,694,2303
$GC,3599,1.10,146.6,205.9,7.1,169,3604,0.00,2.50,0.00,0.000,6,0.000,0.041,2653,2112,2303
$GC,3915,1.13,168.4,190.8,5.4,184,3939,0.00,2.67,18.90,0.886,4,0.000,0.064,2652,688,2214
$GC,3995,1.13,168.4,185.5,7.0,187,4001,0.00,2.50,0.00,0.000,6,0.000,0.044,2653,2099,2214
$GC,4311,1.14,176.6,167.5,5.8,203,4325,0.00,2.70,8.23,0.809,4,0.000,0.074,2652,3500,2181
$GC,4348,1.14,176.6,165.2,6.5,204,4355,0.00,2.53,0.00,0.000,6,0.000,0.047,2652,2091,2181
$GC,4664,1.20,224.7,149.0,4.7,220,4710,0.00,2.75,39.33,0.905,4,0.000,0.072,2653,3504,1985
$GC,4767,1.20,224.7,142.9,6.1,224,4773,0.00,2.53,0.00,0.000,6,0.000,0.048,2652,2094,1985
$GC,5083,1.20,224.7,124.2,6.0,240,5087,0.00,2.67,0.00,0.000,4,0.000,0.073,2653,3511,1984
$GC,5126,1.20,224.7,121.3,6.9,242,5131,0.00,2.50,0.00,0.000,6,0.000,0.045,2652,2099,1984
$GC,5448,1.20,224.7,100.6,6.5,258,5452,0.00,2.65,0.00,0.000,4,0.000,0.071,2653,3509,1984
$GC,5487,1.20,224.7,97.9,6.8,260,5492,0.00,2.53,0.00,0.000,6,0.000,0.051,2653,2095,1984
$GC,5814,1.20,224.7,76.8,6.5,276,5818,0.00,2.67,0.00,0.000,4,0.000,0.073,2653,3514,1984
$GC,5858,1.20,224.7,73.6,6.8,278,5862,0.00,2.53,0.00,0.000,6,0.000,0.044,2652,2096,1984
$GC,6178,1.20,224.7,53.0,6.5,294,6183,0.00,2.65,0.00,0.000,4,0.000,0.071,2653,3506,1984
$GC,6222,1.20,224.7,50.0,6.5,296,6226,0.00,2.50,0.00,0.000,6,0.000,0.047,2652,2100,1983
$GC,6543,1.20,224.7,28.4,6.7,312,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2100,1983
$GC,6853,1.20,224.7,6.6,7.2,327,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2100,1983
$STATE,6932,end climb,SURFACE_DEPTH_REACHED
$STATE,6932,begin surface coast
$FINISH,-0.5,1.027361
$STATE,6954,end surface coast,CONTROL_FINISHED_OK
$STATE,6954,begin surface
$SM_CCo,6976,249.77,0.790,1,0,572,571.30
$SM_GC,-0.88,0.00,0.00,249.77,0.000,0.000,0.790,49,2899,572,-10.86,-0.03,571.30
$IRIDIUM_FIX,6346.88,-1247.82,060108,090909
$TT8_MAMPS,0.029146
$HUMID,2008
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,150.1,81.3
$24V_AH,23.5,51.715
$10V_AH,10.1,24.565
$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,25.600,58.375,303.500,249.775,0.000,37.071,33.716,112.833,1.000,0.000,0.000,31.283,653.496,5028.867,664.633,880.754,321.964,0.000,1108.200,0.000,854.502,0.000,5.577
$DEVICE_MAMPS,155.701,89.739,960.284,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,238.914,226.063,396.901,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15944,332
$CFSIZE,260165632,241934336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,060108,094902,6415.506,-1244.412,36,1.7,36,-12.4