version: 66.02
glider: 103
mission: 7
dive: 294
start: 1 6 108 9 54 40
data:
$ID,103
$MISSION,7
$DIVE,294
$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,-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,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,-67954.555
$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,14
$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
$GPS1,094902,6415.506,-1244.412,36,1.7,36,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.76
$_SM_ANGLEo,-51.2
$GPS2,095409,6415.584,-1244.191,15,1.3,15,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6400.000,-1300.000
$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,216.4,31588,-11.1,-6.000
$D_GRID,237
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,134,0.00,0.00,-109.00,0.000,6,0.000,0.000,50,2900,3499
$GC,137,-1.10,-146.6,2.0,-3.1,5,158,11.90,2.62,0.00,0.000,4,0.157,0.058,2164,1490,3501
$GC,393,-1.10,-146.6,32.2,-7.0,16,398,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2896,3501
$GC,711,-1.10,-146.6,53.7,-6.9,31,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3501
$GC,1019,-1.10,-146.6,77.2,-7.5,46,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3501
$GC,1328,-1.10,-146.6,99.7,-7.3,61,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3501
$GC,1637,-1.10,-146.6,122.4,-7.2,76,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3501
$GC,1946,-1.10,-146.6,146.6,-8.2,91,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3501
$GC,2256,-1.10,-146.6,172.2,-8.5,106,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3501
$GC,2565,-1.10,-146.6,196.2,-7.1,121,2568,0.00,1.73,0.00,0.000,4,0.000,0.100,2164,3786,3501
$GC,2597,-1.10,-146.6,198.2,-6.7,122,2601,0.00,1.60,0.00,0.000,6,0.000,0.055,2164,2902,3501
$GC,2919,-1.10,-146.6,220.8,-7.0,138,2923,0.00,1.75,0.00,0.000,4,0.000,0.097,2164,3782,3501
$GC,2974,-1.10,-146.6,225.4,-8.2,140,2978,0.00,1.58,0.00,0.000,6,0.000,0.052,2164,2900,3501
$STATE,3066,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3066,begin apogee
$GC,3073,-0.42,0.0,233.5,8.7,145,3197,0.77,0.00,120.65,0.969,6,0.091,0.000,2319,2101,2901
$STATE,3198,end apogee,CONTROL_FINISHED_OK
$STATE,3198,begin climb
$GC,3201,1.10,146.6,238.3,0.0,151,3327,1.55,2.67,117.05,0.933,4,0.062,0.062,2649,688,2303
$GC,3581,1.10,146.6,225.2,7.3,168,3585,0.00,2.50,0.00,0.000,6,0.000,0.038,2649,2112,2303
$GC,3896,1.17,201.2,211.1,4.5,183,3947,0.00,2.67,44.88,0.923,4,0.000,0.069,2648,3508,2080
$GC,3998,1.17,203.4,206.0,5.9,188,4007,0.00,2.53,3.75,0.606,6,0.000,0.041,2649,2086,2071
$GC,4329,1.17,203.4,184.0,6.7,204,4333,0.00,2.70,0.00,0.000,4,0.000,0.073,2648,3512,2070
$GC,4423,1.17,203.4,177.4,6.7,208,4427,0.00,2.53,0.00,0.000,6,0.000,0.045,2649,2092,2070
$GC,4744,1.17,203.4,158.0,6.1,224,4749,0.00,2.67,0.00,0.000,4,0.000,0.075,2648,3505,2070
$GC,4806,1.17,203.4,153.9,6.9,227,4811,0.00,2.50,0.00,0.000,6,0.000,0.047,2648,2097,2070
$GC,5132,1.22,245.8,136.5,4.8,243,5175,0.12,2.72,34.62,0.900,4,0.048,0.074,2684,3505,1898
$GC,5222,1.22,245.8,130.8,7.4,247,5226,0.00,2.53,0.00,0.000,6,0.000,0.050,2684,2101,1897
$GC,5548,1.22,245.8,107.3,7.2,263,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2101,1897
$GC,5859,1.22,245.8,82.9,8.4,278,5863,0.00,2.65,0.00,0.000,4,0.000,0.074,2683,3504,1897
$GC,5913,1.22,245.8,78.0,8.2,280,5920,0.00,2.50,0.00,0.000,6,0.000,0.052,2684,2103,1897
$GC,6229,1.22,245.8,52.6,8.1,296,6233,0.00,2.65,0.00,0.000,4,0.000,0.074,2683,3505,1897
$GC,6261,1.22,245.8,49.7,8.5,297,6268,0.00,2.50,0.00,0.000,6,0.000,0.051,2683,2099,1897
$GC,6579,1.22,245.8,24.2,7.9,313,6583,0.00,2.62,0.00,0.000,4,0.000,0.073,2684,3504,1897
$GC,6611,1.22,245.8,21.1,8.7,314,6617,0.00,2.50,0.00,0.000,6,0.000,0.052,2684,2099,1897
$STATE,6863,end climb,SURFACE_DEPTH_REACHED
$STATE,6863,begin surface coast
$FINISH,-0.7,1.027352
$STATE,6885,end surface coast,CONTROL_FINISHED_OK
$STATE,6885,begin surface
$SM_CCo,6907,233.82,0.786,3,0,572,571.30
$SM_GC,-0.90,0.00,0.00,233.82,0.000,0.000,0.786,38,2899,572,-10.91,-0.06,571.30
$IRIDIUM_FIX,6346.88,-1247.82,060108,111136
$TT8_MAMPS,0.029146
$HUMID,2000
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,150.0,92.7
$24V_AH,23.5,51.862
$10V_AH,10.1,24.610
$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,25.800,56.425,320.950,233.825,0.000,39.385,37.493,139.240,0.750,0.000,0.000,15.086,641.761,4966.664,671.177,856.506,352.529,0.000,1119.996,0.000,847.311,0.000,5.610
$DEVICE_MAMPS,157.235,99.710,969.488,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,243.163,224.721,372.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15925,328
$CFSIZE,260165632,241901568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,3,0
$GPS,060108,115527,6415.591,-1240.819,35,2.6,54,-12.4