version: 66.02
glider: 103
mission: 7
dive: 296
start: 1 6 108 14 17 4
data:
$ID,103
$MISSION,7
$DIVE,296
$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,-68000.812
$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,19
$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
$GPS1,141101,6415.047,-1238.977,38,2.0,43,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.71
$_SM_ANGLEo,-52.0
$GPS2,141635,6415.062,-1238.913,13,2.1,32,-12.3
$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,223.8,32730,-11.1,-6.000
$D_GRID,296
$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,24,-1.10,-146.6,0.0,0.0,0,134,0.00,0.00,-108.07,0.000,6,0.000,0.000,49,2899,3499
$GC,137,-1.10,-146.6,2.2,-3.3,5,153,11.98,1.75,0.00,0.000,4,0.160,0.094,2164,3776,3500
$GC,406,-1.10,-146.6,35.4,-8.9,16,410,0.00,1.60,0.00,0.000,6,0.000,0.062,2164,2909,3501
$GC,733,-1.10,-146.6,60.6,-7.5,32,736,0.00,1.73,0.00,0.000,4,0.000,0.102,2164,3777,3501
$GC,906,-1.10,-146.6,73.9,-7.1,39,912,0.00,1.60,0.00,0.000,6,0.000,0.058,2164,2900,3501
$GC,1222,-1.10,-146.6,97.3,-7.2,55,1226,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1487,3501
$GC,1261,-1.10,-146.6,100.2,-7.5,57,1265,0.00,2.65,0.00,0.000,6,0.000,0.075,2164,2893,3501
$GC,1587,-1.10,-146.6,122.7,-6.9,73,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3501
$GC,1896,-1.10,-146.6,145.5,-7.4,88,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3501
$GC,2205,-1.10,-146.6,169.0,-7.7,103,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2893,3501
$GC,2515,-1.10,-146.6,192.6,-7.4,118,2519,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1479,3501
$GC,2547,-1.10,-146.6,195.0,-7.4,119,2553,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3501
$GC,2862,-1.10,-146.6,216.5,-7.1,135,2866,0.00,1.73,0.00,0.000,4,0.000,0.100,2164,3789,3501
$GC,2907,-1.10,-146.6,220.1,-8.2,137,2911,0.00,1.58,0.00,0.000,6,0.000,0.054,2164,2898,3501
$GC,3239,-1.10,-146.6,245.7,-7.9,153,3243,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1482,3501
$GC,3294,-1.10,-146.6,249.9,-7.8,155,3304,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2900,3501
$GC,3610,-1.10,-146.6,271.6,-6.5,171,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,3919,-1.10,-146.6,294.1,-7.9,186,3922,0.00,1.73,0.00,0.000,4,0.000,0.100,2164,3789,3501
$STATE,3944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3944,begin apogee
$GC,3952,-0.42,0.0,296.4,7.7,187,4077,0.73,0.00,121.38,1.009,6,0.079,0.000,2316,2097,2901
$STATE,4078,end apogee,CONTROL_FINISHED_OK
$STATE,4078,begin climb
$GC,4081,1.10,146.6,302.5,0.0,193,4207,1.58,2.65,117.57,0.979,4,0.064,0.060,2648,689,2303
$GC,4392,1.13,166.1,293.6,5.5,207,4416,0.00,2.50,17.12,0.917,6,0.000,0.038,2648,2120,2224
$GC,4732,1.13,166.1,272.5,6.8,224,4737,0.00,2.55,0.00,0.000,4,0.000,0.066,2648,3502,2223
$GC,4839,1.13,166.1,264.5,7.4,229,4844,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2092,2223
$GC,5165,1.13,166.1,243.1,6.9,245,5169,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3502,2223
$GC,5226,1.13,166.1,238.7,7.2,248,5231,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2093,2222
$GC,5553,1.16,196.6,218.4,5.2,264,5584,0.00,2.72,25.90,0.937,4,0.000,0.071,2648,3505,2099
$GC,5617,1.16,196.6,214.2,7.3,267,5622,0.00,2.50,0.00,0.000,6,0.000,0.046,2648,2103,2099
$GC,5938,1.16,196.6,194.1,6.3,283,5942,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3502,2099
$GC,5964,1.16,196.6,192.4,6.3,284,5969,0.00,2.50,0.00,0.000,6,0.000,0.046,2648,2095,2099
$GC,6286,1.16,196.6,170.9,7.7,300,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2096,2098
$GC,6595,1.16,196.6,148.9,7.4,315,6599,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3504,2098
$GC,6634,1.16,196.6,146.4,7.0,317,6638,0.00,2.50,0.00,0.000,6,0.000,0.048,2648,2097,2098
$GC,6960,1.16,196.6,122.8,7.4,333,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2097,2098
$GC,7269,1.16,196.6,100.8,7.1,348,7274,0.00,2.65,0.00,0.000,4,0.000,0.074,2648,3501,2098
$GC,7315,1.16,196.6,97.5,7.0,350,7319,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2093,2098
$GC,7635,1.16,196.6,75.6,6.8,366,7640,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3502,2098
$GC,7685,1.16,196.6,71.9,7.3,368,7689,0.00,2.47,0.00,0.000,6,0.000,0.047,2648,2102,2098
$GC,8006,1.16,196.6,50.8,6.6,384,8011,0.00,2.62,0.00,0.000,4,0.000,0.073,2648,3502,2098
$GC,8039,1.16,196.6,48.6,6.6,385,8046,0.00,2.47,0.00,0.000,6,0.000,0.049,2648,2100,2098
$GC,8356,1.16,196.6,28.2,6.4,401,8361,0.00,2.65,0.00,0.000,4,0.000,0.075,2648,3508,2098
$GC,8400,1.16,196.6,25.2,6.1,403,8404,0.00,2.50,0.00,0.000,6,0.000,0.050,2648,2100,2098
$GC,8728,1.16,196.6,4.8,6.3,419,8732,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3501,2098
$GC,8748,1.16,196.6,3.2,6.9,420,8752,0.00,2.53,0.00,0.000,6,0.000,0.055,2648,2094,2098
$STATE,8785,end climb,SURFACE_DEPTH_REACHED
$STATE,8785,begin surface coast
$FINISH,0.1,1.027357
$STATE,8807,end surface coast,CONTROL_FINISHED_OK
$STATE,8807,begin surface
$SM_CCo,8829,266.80,0.782,2,0,572,571.30
$SM_GC,-0.80,0.00,0.00,266.80,0.000,0.000,0.782,47,2893,572,-10.87,-0.20,571.30
$IRIDIUM_FIX,6346.88,-1242.99,060108,151512
$TT8_MAMPS,0.029146
$HUMID,1994
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,23.5,52.160
$10V_AH,10.1,24.711
$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,25.925,88.500,281.975,266.800,0.000,39.795,33.690,148.864,2.250,0.000,0.000,32.967,824.544,6463.927,686.860,1102.280,384.853,0.000,1244.344,0.000,1066.830,0.000,13.590
$DEVICE_MAMPS,159.536,102.011,1009.372,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.978,298.717,416.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22221,423
$CFSIZE,260165632,241807360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,060108,164939,6415.120,-1237.636,13,1.7,13,-12.3