version: 66.02
glider: 103
mission: 7
dive: 305
start: 1 7 108 18 51 54
data:
$ID,103
$MISSION,7
$DIVE,305
$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,135
$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,-68179.75
$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,19
$R_STBD_OVSHOOT,8
$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
$GPS1,184626,6416.683,-1201.316,41,1.2,41,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.64
$_SM_ANGLEo,-51.6
$GPS2,185123,6416.738,-1201.156,11,3.4,30,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6409.102,-1157.827
$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,147.0,20000,-11.1,-6.000
$D_GRID,393
$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,-146.6,0.0,0.0,0,137,0.00,0.00,-106.88,0.000,6,0.000,0.000,41,2903,3499
$GC,140,-1.10,-146.6,2.8,-4.0,5,160,12.05,1.77,0.00,0.000,4,0.160,0.094,2164,3790,3501
$GC,341,-1.10,-146.6,31.8,-9.8,14,344,0.00,1.62,0.00,0.000,6,0.000,0.061,2164,2898,3501
$GC,673,-1.10,-146.6,66.6,-9.6,30,678,0.00,2.62,0.00,0.000,4,0.000,0.074,2164,1486,3501
$GC,706,-1.10,-146.6,69.9,-9.4,31,713,0.00,2.67,0.00,0.000,6,0.000,0.079,2164,2904,3501
$GC,1022,-1.10,-146.6,95.7,-8.3,47,1026,0.00,1.73,0.00,0.000,4,0.000,0.102,2164,3789,3501
$GC,1077,-1.10,-146.6,100.7,-9.9,49,1081,0.00,1.60,0.00,0.000,6,0.000,0.052,2164,2901,3501
$GC,1399,-1.10,-146.6,124.4,-7.1,65,1403,0.00,2.60,0.00,0.000,4,0.000,0.070,2164,1486,3501
$GC,1438,-1.10,-146.6,127.2,-7.2,67,1443,0.00,2.67,0.00,0.000,6,0.000,0.077,2164,2898,3501
$GC,1764,-1.10,-146.6,152.1,-7.4,83,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3501
$GC,2073,-1.10,-146.6,176.8,-8.2,98,2078,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1484,3501
$GC,2101,-1.10,-146.6,179.2,-8.9,99,2105,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2902,3501
$GC,2416,-1.10,-146.6,208.7,-10.3,114,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3501
$GC,2725,-1.10,-146.6,235.7,-7.3,129,2730,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1482,3501
$GC,2752,-1.10,-146.6,237.4,-6.7,130,2757,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2904,3501
$GC,3068,-1.10,-146.6,261.5,-7.8,145,3072,0.00,1.73,0.00,0.000,4,0.000,0.100,2164,3780,3501
$GC,3117,-1.10,-146.6,266.2,-9.2,147,3121,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2901,3501
$GC,3444,-1.10,-146.6,291.1,-7.2,163,3448,0.00,2.58,0.00,0.000,4,0.000,0.065,2164,1485,3501
$GC,3555,-1.10,-146.6,299.5,-7.7,168,3559,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2899,3501
$GC,3876,-1.10,-146.6,323.0,-7.3,184,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,4186,-1.10,-146.6,345.4,-7.3,199,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3501
$GC,4494,-1.10,-146.6,368.5,-7.0,214,4498,0.00,1.73,0.00,0.000,4,0.000,0.097,2164,3790,3501
$GC,4527,-1.10,-146.6,371.0,-7.9,215,4531,0.00,1.58,0.00,0.000,6,0.000,0.048,2164,2902,3501
$GC,4849,-1.10,-146.6,390.5,-5.2,231,4854,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1484,3501
$GC,4877,-1.10,-146.6,392.1,-5.2,232,4881,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2907,3501
$STATE,4901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4901,begin apogee
$GC,4908,-0.42,0.0,393.6,5.6,233,5034,0.77,0.00,122.72,1.068,6,0.094,0.000,2318,2100,2901
$STATE,5035,end apogee,CONTROL_FINISHED_OK
$STATE,5035,begin climb
$GC,5038,1.10,146.6,397.4,0.0,239,5164,1.55,2.62,118.15,1.038,4,0.063,0.059,2647,686,2303
$GC,5379,1.10,146.6,381.7,6.6,254,5386,0.00,2.53,0.00,0.000,6,0.000,0.038,2647,2117,2302
$GC,5695,1.16,197.2,366.7,4.6,270,5744,0.00,2.72,42.00,1.029,4,0.000,0.071,2647,3509,2097
$GC,5789,1.16,197.2,361.0,6.9,274,5793,0.00,2.53,0.00,0.000,6,0.000,0.042,2647,2086,2097
$GC,6105,1.16,197.2,340.5,6.7,289,6109,0.00,2.65,0.00,0.000,4,0.000,0.068,2647,3507,2096
$GC,6166,1.16,197.2,336.2,7.2,292,6170,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2100,2096
$GC,6492,1.16,197.2,311.6,7.8,308,6496,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3508,2095
$GC,6554,1.16,197.2,306.6,8.2,311,6558,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2098,2095
$GC,6879,1.16,197.2,282.0,6.9,327,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2098,2095
$GC,7189,1.16,197.2,263.2,6.2,342,7193,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3507,2095
$GC,7238,1.16,197.2,259.4,7.9,344,7242,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2094,2095
$GC,7553,1.16,197.2,239.0,6.4,359,7557,0.00,2.58,0.00,0.000,4,0.000,0.066,2647,688,2094
$GC,7592,1.16,197.2,236.5,7.0,361,7597,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2103,2094
$GC,7918,1.16,197.2,216.1,6.8,377,7922,0.00,2.62,0.00,0.000,4,0.000,0.073,2647,3511,2094
$GC,7945,1.16,197.2,214.1,7.6,378,7949,0.00,2.50,0.00,0.000,6,0.000,0.045,2647,2092,2094
$GC,8266,1.16,197.2,193.5,6.6,394,8270,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3511,2094
$GC,8309,1.16,197.2,190.4,6.9,396,8314,0.00,2.50,0.00,0.000,6,0.000,0.045,2647,2097,2095
$GC,8630,1.16,197.2,166.3,7.5,412,8634,0.00,2.62,0.00,0.000,4,0.000,0.070,2647,3508,2095
$GC,8679,1.16,197.2,162.2,7.8,414,8683,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2100,2095
$GC,9003,1.16,197.2,137.2,7.1,430,9007,0.00,2.65,0.00,0.000,4,0.000,0.071,2647,3515,2095
$GC,9046,1.18,207.5,134.5,5.7,432,9063,0.00,2.50,9.62,0.837,6,0.000,0.045,2647,2099,2055
$GC,9374,1.20,222.8,117.2,5.6,448,9396,0.10,2.72,13.80,0.861,4,0.051,0.074,2678,3505,1992
$GC,9413,1.20,222.8,114.4,6.7,449,9419,0.00,2.50,0.00,0.000,6,0.000,0.046,2678,2098,1991
$GC,9728,1.20,222.8,91.4,7.5,465,9732,0.00,2.65,0.00,0.000,4,0.000,0.072,2678,3510,1991
$GC,9755,1.20,222.8,89.1,8.5,466,9759,0.00,2.53,0.00,0.000,6,0.000,0.048,2678,2093,1991
$GC,10076,1.20,222.8,66.9,10.5,482,10081,0.00,2.67,0.00,0.000,4,0.000,0.072,2678,3515,1991
$GC,10098,1.20,222.8,64.7,9.9,483,10102,0.00,2.53,0.00,0.000,6,0.000,0.050,2678,2096,1991
$GC,10419,1.20,222.8,35.1,8.7,499,10424,0.00,2.55,0.00,0.000,4,0.000,0.064,2678,696,1991
$GC,10447,1.20,222.8,32.1,11.1,500,10451,0.00,2.47,0.00,0.000,6,0.000,0.044,2678,2098,1991
$GC,10764,1.20,222.8,7.9,7.0,515,10768,0.00,2.62,0.00,0.000,4,0.000,0.073,2678,3511,1991
$GC,10819,1.20,222.8,3.8,7.6,517,10826,0.00,2.55,0.00,0.000,6,0.000,0.054,2678,2103,1991
$STATE,10844,end climb,SURFACE_DEPTH_REACHED
$STATE,10844,begin surface coast
$FINISH,0.1,1.027364
$STATE,10867,end surface coast,CONTROL_FINISHED_OK
$STATE,10867,begin surface
$SM_CCo,10890,253.52,0.782,1,0,572,571.30
$SM_GC,-0.66,0.00,0.00,253.52,0.000,0.000,0.782,44,2899,572,-10.88,-0.03,571.30
$IRIDIUM_FIX,6351.77,-1239.25,070108,191903
$TT8_MAMPS,0.029146
$HUMID,1992
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,376.3,41.5
$24V_AH,23.4,53.621
$10V_AH,10.1,25.247
$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,26.050,125.100,306.300,253.525,0.000,40.035,27.145,113.281,3.250,0.000,0.000,31.272,1016.291,8070.442,711.695,1287.953,380.706,0.000,1380.081,0.000,1248.808,0.000,20.048
$DEVICE_MAMPS,160.303,102.011,1068.431,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,374.683,357.208,422.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25410,520
$CFSIZE,260165632,241418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,070108,215855,6417.546,-1153.766,36,1.4,36,-11.9