version: 66.02
glider: 103
mission: 7
dive: 321
start: 1 9 108 3 59 7
data:
$ID,103
$MISSION,7
$DIVE,321
$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,-68536.859
$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,21
$R_STBD_OVSHOOT,11
$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
$GPS1,035331,6412.482,-1155.785,40,1.3,41,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.73
$_SM_ANGLEo,-55.0
$GPS2,035835,6412.508,-1156.013,13,3.2,32,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6404.873,-1152.675
$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,363
$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,-1.70,-146.6,0.0,0.0,0,139,0.00,0.00,-109.72,0.000,6,0.000,0.000,49,2900,3499
$GC,142,-1.70,-146.6,2.0,-3.0,5,163,11.35,2.60,0.00,0.000,4,0.163,0.058,2032,1486,3501
$GC,382,-1.70,-146.6,42.0,-12.5,15,388,0.00,2.67,0.00,0.000,6,0.000,0.077,2032,2904,3501
$GC,698,-1.70,-146.6,86.2,-14.5,31,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2904,3502
$GC,1008,-1.70,-146.6,126.5,-12.7,46,1012,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3786,3502
$GC,1077,-1.70,-146.6,135.4,-12.3,49,1081,0.00,1.58,0.00,0.000,6,0.000,0.047,2032,2889,3502
$GC,1410,-1.70,-146.6,176.2,-12.3,65,1414,0.00,2.55,0.00,0.000,4,0.000,0.062,2032,1490,3502
$GC,1431,-1.70,-146.6,178.9,-12.0,66,1436,0.00,2.70,0.00,0.000,6,0.000,0.080,2032,2903,3502
$GC,1752,-1.70,-146.6,218.7,-12.6,82,1756,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3789,3502
$GC,1813,-1.70,-146.6,227.0,-12.8,84,1819,0.00,1.58,0.00,0.000,6,0.000,0.048,2032,2900,3502
$GC,2129,-1.70,-146.6,265.9,-11.9,100,2133,0.00,2.58,0.00,0.000,4,0.000,0.066,2032,1491,3502
$GC,2156,-1.70,-146.6,269.2,-12.1,101,2160,0.00,2.67,0.00,0.000,6,0.000,0.078,2032,2900,3502
$GC,2471,-1.70,-146.6,305.2,-11.5,116,2475,0.00,1.70,0.00,0.000,4,0.000,0.097,2032,3783,3502
$GC,2521,-1.70,-146.6,311.7,-12.0,118,2525,0.00,1.58,0.00,0.000,6,0.000,0.049,2032,2902,3502
$GC,2848,-1.70,-146.6,350.1,-11.6,134,2853,0.00,2.58,0.00,0.000,4,0.000,0.064,2032,1490,3502
$STATE,2957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2958,begin apogee
$GC,2964,-0.42,0.0,363.3,11.6,139,3090,1.40,0.00,121.55,1.094,6,0.101,0.000,2311,2109,2901
$STATE,3091,end apogee,CONTROL_FINISHED_OK
$STATE,3091,begin climb
$GC,3094,1.70,146.6,368.6,0.0,145,3220,2.17,2.65,116.82,1.086,4,0.061,0.054,2781,700,2303
$GC,3475,1.82,248.3,351.1,5.3,162,3567,0.12,2.50,81.70,1.071,6,0.044,0.038,2824,2116,1887
$GC,3875,1.82,248.3,304.3,13.1,182,3879,0.00,2.60,0.00,0.000,4,0.000,0.059,2824,688,1886
$GC,4133,1.82,248.3,268.5,12.4,193,4139,0.00,2.53,0.00,0.000,6,0.000,0.045,2824,2095,1886
$GC,4448,1.82,248.3,229.2,11.8,209,4453,0.00,2.58,0.00,0.000,4,0.000,0.061,2824,693,1885
$GC,4601,1.82,248.3,211.2,11.7,216,4605,0.00,2.50,0.00,0.000,6,0.000,0.048,2824,2099,1885
$GC,4927,1.82,248.3,176.1,10.6,232,4932,0.00,2.58,0.00,0.000,4,0.000,0.060,2824,687,1885
$GC,5050,1.82,248.3,161.7,11.2,237,5056,0.00,2.55,0.00,0.000,6,0.000,0.048,2824,2106,1884
$GC,5366,1.82,248.3,125.5,12.0,253,5370,0.00,2.60,0.00,0.000,4,0.000,0.060,2824,687,1884
$GC,5432,1.82,248.3,116.7,13.6,256,5436,0.00,2.53,0.00,0.000,6,0.000,0.047,2824,2105,1884
$GC,5754,1.82,248.3,75.2,13.7,272,5758,0.00,2.58,0.00,0.000,4,0.000,0.058,2824,693,1883
$GC,5909,1.82,248.3,52.4,15.1,279,5914,0.00,2.50,0.00,0.000,6,0.000,0.045,2824,2101,1884
$GC,6231,1.82,248.3,7.6,13.8,295,6235,0.00,2.53,0.00,0.000,4,0.000,0.048,2824,691,1884
$STATE,6274,end climb,SURFACE_DEPTH_REACHED
$STATE,6274,begin surface coast
$FINISH,0.3,1.027383
$STATE,6279,end surface coast,CONTROL_FINISHED_OK
$STATE,6279,begin surface
$SM_CCo,6305,235.50,0.838,1,0,572,571.30
$SM_GC,-0.98,0.00,0.00,235.50,0.000,0.000,0.838,48,2901,572,-10.87,0.03,571.30
$IRIDIUM_FIX,6346.88,-1157.40,090108,050518
$TT8_MAMPS,0.029146
$HUMID,2052
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,18.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,326.0,78.3
$24V_AH,23.4,56.088
$10V_AH,10.1,25.917
$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,27.275,66.600,320.075,235.500,0.000,40.209,33.176,116.327,2.750,0.000,0.000,32.981,628.108,4303.807,665.207,942.015,336.396,0.000,1153.984,0.000,904.407,0.000,19.855
$DEVICE_MAMPS,163.371,96.642,1093.742,838.331,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,217.679,201.437,251.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15954,297
$CFSIZE,260165632,240930816
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,090108,054923,6412.528,-1158.492,14,2.8,34,-11.9