version: 66.02
glider: 103
mission: 7
dive: 306
start: 1 7 108 22 4 55
data:
$ID,103
$MISSION,7
$DIVE,306
$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,330
$T_MISSION,350
$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,-68215.617
$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,25
$R_STBD_OVSHOOT,15
$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
$GPS1,215855,6417.546,-1153.766,36,1.4,36,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.57
$_SM_ANGLEo,-52.3
$GPS2,220423,6417.578,-1153.605,15,4.3,34,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6409.942,-1150.278
$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,146.9,20000,-18.2,-10.000
$D_GRID,373
$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,27,-1.70,-146.6,0.0,0.0,0,136,0.00,0.00,-106.70,0.000,6,0.000,0.000,44,2899,3500
$GC,139,-1.70,-146.6,2.8,-3.9,5,153,11.25,0.00,0.00,0.000,6,0.159,0.000,2032,2899,3501
$GC,470,-1.70,-146.6,53.7,-12.3,21,474,0.00,1.70,0.00,0.000,4,0.000,0.091,2032,3786,3502
$GC,509,-1.70,-146.6,59.0,-13.0,22,515,0.00,1.58,0.00,0.000,6,0.000,0.049,2032,2909,3502
$GC,826,-1.70,-146.6,97.8,-11.6,38,829,0.00,1.70,0.00,0.000,4,0.000,0.093,2032,3782,3502
$GC,876,-1.70,-146.6,104.4,-13.0,40,879,0.00,1.60,0.00,0.000,6,0.000,0.058,2032,2909,3502
$GC,1203,-1.70,-146.6,148.1,-13.5,56,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2909,3502
$GC,1512,-1.70,-146.6,183.2,-11.5,71,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2909,3502
$GC,1821,-1.70,-146.6,221.2,-12.6,86,1825,0.00,1.70,0.00,0.000,4,0.000,0.095,2032,3780,3502
$GC,1857,-1.70,-146.6,225.6,-12.1,87,1861,0.00,1.60,0.00,0.000,6,0.000,0.061,2032,2890,3502
$GC,2178,-1.70,-146.6,265.7,-12.5,103,2182,0.00,2.53,0.00,0.000,4,0.000,0.063,2032,1487,3502
$GC,2205,-1.70,-146.6,269.2,-12.4,104,2209,0.00,2.65,0.00,0.000,6,0.000,0.076,2032,2895,3502
$GC,2520,-1.70,-146.6,305.9,-11.9,119,2524,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3786,3502
$GC,2626,-1.70,-146.6,319.9,-13.5,123,2632,0.00,1.58,0.00,0.000,6,0.000,0.054,2032,2911,3502
$GC,2942,-1.70,-146.6,359.1,-12.1,139,2946,0.00,1.73,0.00,0.000,4,0.000,0.094,2032,3780,3502
$STATE,2989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2989,begin apogee
$GC,2999,-0.42,0.0,365.6,12.8,141,3124,1.40,0.00,121.75,1.053,6,0.098,0.000,2314,2090,2901
$STATE,3125,end apogee,CONTROL_FINISHED_OK
$STATE,3125,begin climb
$GC,3128,1.70,146.6,371.8,0.0,147,3254,2.15,2.58,117.35,1.027,4,0.060,0.052,2781,686,2303
$GC,3507,1.74,183.5,347.1,8.3,164,3543,0.00,2.50,30.98,0.983,6,0.000,0.037,2781,2113,2152
$GC,3866,1.76,199.9,313.6,9.2,182,3888,0.00,2.65,15.07,0.938,4,0.000,0.054,2781,684,2085
$GC,4140,1.76,199.9,285.1,10.1,194,4144,0.00,2.50,0.00,0.000,6,0.000,0.041,2781,2101,2085
$GC,4467,1.76,199.9,253.2,10.1,210,4472,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,686,2084
$GC,4574,1.76,199.9,242.2,10.0,215,4578,0.00,2.50,0.00,0.000,6,0.000,0.041,2781,2102,2084
$GC,4901,1.76,199.9,209.7,10.3,231,4905,0.00,2.58,0.00,0.000,4,0.000,0.057,2781,685,2084
$GC,5001,1.76,199.9,198.8,10.8,235,5007,0.00,2.47,0.00,0.000,6,0.000,0.044,2781,2099,2084
$GC,5317,1.77,207.8,168.3,9.6,251,5331,0.00,2.60,7.65,0.814,4,0.000,0.054,2781,688,2053
$GC,5370,1.77,207.8,162.5,11.3,253,5375,0.00,2.50,0.00,0.000,6,0.000,0.043,2781,2104,2053
$GC,5687,1.77,209.7,130.9,9.9,268,5691,0.00,2.55,0.00,0.000,4,0.000,0.055,2781,687,2053
$GC,5764,1.77,209.7,122.7,11.0,271,5770,0.00,2.47,0.00,0.000,6,0.000,0.044,2781,2100,2053
$GC,6080,1.77,209.7,88.8,11.9,287,6084,0.00,2.55,0.00,0.000,4,0.000,0.057,2781,687,2053
$GC,6106,1.77,209.7,85.0,13.0,288,6111,0.00,2.47,0.00,0.000,6,0.000,0.044,2781,2098,2053
$GC,6429,1.81,241.3,55.8,8.6,304,6464,0.10,2.62,27.40,0.851,4,0.052,0.058,2811,688,1917
$GC,6554,1.81,241.3,40.1,14.3,309,6560,0.00,2.50,0.00,0.000,6,0.000,0.045,2811,2100,1916
$STATE,6867,end climb,SURFACE_DEPTH_REACHED
$STATE,6867,begin surface coast
$FINISH,-1.1,1.014116
$STATE,6889,end surface coast,CONTROL_FINISHED_OK
$STATE,6889,begin surface
$SM_CCo,6913,237.62,0.776,1,0,572,571.30
$SM_GC,-0.75,0.00,0.00,237.62,0.000,0.000,0.776,43,2895,572,-10.89,-0.14,571.30
$IRIDIUM_FIX,6351.77,-1203.26,070108,222219
$TT8_MAMPS,0.029146
$HUMID,1994
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,15.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,277.0,98.2
$24V_AH,23.4,53.775
$10V_AH,10.1,25.291
$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,27.075,65.350,320.200,237.625,0.000,37.298,36.775,130.876,2.500,0.000,0.000,35.232,663.063,4894.080,663.382,923.990,360.058,0.000,1147.303,0.000,890.668,0.000,13.723
$DEVICE_MAMPS,158.769,99.710,1053.091,776.204,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,239.811,221.559,279.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15950,326
$CFSIZE,260165632,241418240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,080108,000526,6416.831,-1150.762,39,1.1,39,-11.9