version: 66.02
glider: 103
mission: 7
dive: 324
start: 1 9 108 10 4 42
data:
$ID,103
$MISSION,7
$DIVE,324
$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,-68617.312
$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
$GPS1,095927,6415.029,-1157.593,39,2.8,59,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.89
$_SM_ANGLEo,-53.7
$GPS2,100409,6415.099,-1157.555,14,1.3,14,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6407.463,-1154.222
$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,378
$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,-146.6,0.0,0.0,0,141,0.00,0.00,-111.15,0.000,6,0.000,0.000,48,2906,3500
$GC,144,-1.70,-146.6,3.8,-5.2,6,166,11.32,2.62,0.00,0.000,4,0.161,0.061,2035,1487,3502
$GC,407,-1.70,-146.6,43.9,-12.8,17,414,0.00,2.70,0.00,0.000,6,0.000,0.082,2035,2901,3502
$GC,722,-1.70,-146.6,81.7,-12.2,33,726,0.00,1.70,0.00,0.000,4,0.000,0.096,2035,3785,3502
$GC,745,-1.70,-146.6,84.7,-13.2,34,749,0.00,1.58,0.00,0.000,6,0.000,0.054,2035,2898,3502
$GC,1078,-1.70,-146.6,126.3,-12.2,50,1082,0.00,1.73,0.00,0.000,4,0.000,0.093,2035,3786,3502
$GC,1111,-1.70,-146.6,130.8,-13.0,51,1115,0.00,1.60,0.00,0.000,6,0.000,0.054,2035,2899,3502
$GC,1432,-1.70,-146.6,169.7,-11.6,67,1436,0.00,1.75,0.00,0.000,4,0.000,0.094,2035,3781,3503
$GC,1482,-1.70,-146.6,175.7,-12.0,69,1485,0.00,1.58,0.00,0.000,6,0.000,0.054,2035,2905,3503
$GC,1809,-1.70,-146.6,211.6,-10.8,85,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2905,3503
$GC,2118,-1.70,-146.6,244.1,-10.4,100,2121,0.00,1.75,0.00,0.000,4,0.000,0.094,2035,3786,3503
$GC,2163,-1.70,-146.6,249.1,-11.6,102,2166,0.00,1.58,0.00,0.000,6,0.000,0.052,2035,2893,3503
$GC,2495,-1.70,-146.6,286.1,-10.6,118,2498,0.00,1.75,0.00,0.000,4,0.000,0.094,2035,3790,3503
$GC,2541,-1.70,-146.6,291.1,-11.3,120,2544,0.00,1.58,0.00,0.000,6,0.000,0.052,2035,2897,3503
$GC,2874,-1.70,-146.6,321.7,-9.2,136,2878,0.00,2.55,0.00,0.000,4,0.000,0.065,2035,1490,3503
$GC,2911,-1.70,-146.6,325.1,-9.9,137,2917,0.00,2.70,0.00,0.000,6,0.000,0.080,2035,2900,3503
$GC,3226,-1.70,-146.6,362.2,-11.0,153,3230,0.00,1.70,0.00,0.000,4,0.000,0.094,2034,3789,3503
$STATE,3347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3347,begin apogee
$GC,3356,-0.42,0.0,378.5,13.0,158,3482,1.38,0.00,121.62,1.120,6,0.094,0.000,2314,2096,2901
$STATE,3483,end apogee,CONTROL_FINISHED_OK
$STATE,3483,begin climb
$GC,3485,1.70,146.6,382.8,0.0,164,3611,2.15,2.60,117.68,1.073,4,0.058,0.055,2782,689,2303
$GC,3648,1.80,232.6,377.9,6.1,172,3723,0.00,2.53,69.70,1.057,6,0.000,0.038,2781,2118,1952
$GC,4035,1.80,232.6,341.0,11.3,190,4039,0.00,2.60,0.00,0.000,4,0.000,0.071,2782,3512,1951
$GC,4120,1.80,232.6,331.0,11.9,194,4124,0.00,2.53,0.00,0.000,6,0.000,0.043,2782,2094,1951
$GC,4445,1.80,232.6,293.2,10.9,210,4450,0.00,2.55,0.00,0.000,4,0.000,0.060,2782,694,1950
$GC,4575,1.80,232.6,278.7,11.2,216,4580,0.00,2.50,0.00,0.000,6,0.000,0.046,2782,2094,1950
$GC,4902,1.80,232.6,241.5,12.2,232,4906,0.00,2.58,0.00,0.000,4,0.000,0.061,2782,692,1950
$GC,4951,1.80,232.6,235.1,12.4,234,4955,0.00,2.50,0.00,0.000,6,0.000,0.046,2782,2101,1950
$GC,5267,1.80,232.6,196.9,11.6,249,5271,0.00,2.58,0.00,0.000,4,0.000,0.060,2782,692,1949
$GC,5323,1.80,232.6,190.1,12.1,251,5329,0.00,2.53,0.00,0.000,6,0.000,0.046,2782,2103,1949
$GC,5638,1.80,232.6,155.2,11.5,267,5642,0.00,2.65,0.00,0.000,4,0.000,0.075,2782,3516,1948
$GC,5659,1.80,232.6,152.5,12.1,268,5663,0.00,2.53,0.00,0.000,6,0.000,0.045,2782,2097,1948
$GC,5980,1.80,232.6,114.3,12.3,284,5984,0.00,2.55,0.00,0.000,4,0.000,0.060,2782,690,1948
$GC,6066,1.80,232.6,102.7,14.2,288,6070,0.00,2.53,0.00,0.000,6,0.000,0.046,2782,2109,1948
$GC,6392,1.80,232.6,63.4,12.1,304,6397,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,684,1948
$GC,6437,1.80,232.6,57.9,12.7,306,6441,0.00,2.53,0.00,0.000,6,0.000,0.044,2782,2104,1948
$GC,6757,1.80,232.6,18.8,11.5,322,6762,0.00,2.58,0.00,0.000,4,0.000,0.058,2782,688,1948
$GC,6888,1.80,232.6,3.4,12.9,328,6892,0.00,2.50,0.00,0.000,6,0.000,0.047,2782,2100,1949
$STATE,6895,end climb,SURFACE_DEPTH_REACHED
$STATE,6895,begin surface coast
$FINISH,1.3,1.027387
$STATE,6904,end surface coast,CONTROL_FINISHED_OK
$STATE,6904,begin surface
$SM_CCo,6928,249.05,0.829,1,0,572,571.30
$SM_GC,-0.82,0.00,0.00,249.05,0.000,0.000,0.829,49,2896,572,-10.86,-0.11,571.30
$IRIDIUM_FIX,6346.88,-1156.37,090108,111141
$TT8_MAMPS,0.029146
$HUMID,2048
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,325.1,90.0
$24V_AH,23.4,56.580
$10V_AH,10.1,26.048
$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,27.275,79.375,309.000,249.050,0.000,40.665,35.133,110.397,2.750,0.000,0.000,14.371,684.600,4873.432,673.041,916.563,343.382,0.000,1169.721,0.000,900.372,0.000,16.939
$DEVICE_MAMPS,161.070,95.875,1119.820,829.127,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.464,223.271,273.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15981,329
$CFSIZE,260165632,240820224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,090108,120558,6415.871,-1155.446,37,3.3,56,-11.9