version: 66.02
glider: 103
mission: 7
dive: 327
start: 1 9 108 16 16 18
data:
$ID,103
$MISSION,7
$DIVE,327
$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,-68729.828
$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,17
$R_STBD_OVSHOOT,7
$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
$GPS1,161035,6414.687,-1158.354,12,2.6,31,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.86
$_SM_ANGLEo,-49.5
$GPS2,161546,6414.710,-1158.580,11,4.1,30,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6407.074,-1155.247
$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,380
$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,-109.03,0.000,6,0.000,0.000,45,2893,3499
$GC,142,-1.70,-146.6,2.5,-3.7,5,163,11.38,2.60,0.00,0.000,4,0.163,0.061,2035,1488,3501
$GC,344,-1.70,-146.6,37.4,-12.6,14,348,0.00,2.72,0.00,0.000,6,0.000,0.081,2035,2904,3502
$GC,670,-1.70,-146.6,76.8,-11.1,30,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2904,3502
$GC,979,-1.70,-146.6,110.7,-11.2,45,983,0.00,1.70,0.00,0.000,4,0.000,0.092,2035,3791,3502
$GC,1047,-1.70,-146.6,118.8,-11.9,48,1051,0.00,1.60,0.00,0.000,6,0.000,0.056,2035,2898,3502
$GC,1382,-1.70,-146.6,152.5,-10.0,64,1385,0.00,1.73,0.00,0.000,4,0.000,0.091,2035,3784,3502
$GC,1432,-1.70,-146.6,157.7,-9.8,66,1435,0.00,1.60,0.00,0.000,6,0.000,0.055,2035,2894,3502
$GC,1758,-1.70,-146.6,191.4,-10.8,82,1763,0.00,2.58,0.00,0.000,4,0.000,0.067,2035,1490,3502
$GC,1780,-1.70,-146.6,193.9,-10.3,83,1784,0.00,2.67,0.00,0.000,6,0.000,0.078,2035,2900,3502
$GC,2107,-1.70,-146.6,228.9,-10.9,99,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2900,3502
$GC,2416,-1.70,-146.6,265.9,-11.4,114,2421,0.00,2.62,0.00,0.000,4,0.000,0.069,2035,1488,3502
$GC,2488,-1.70,-146.6,274.3,-11.4,117,2493,0.00,2.70,0.00,0.000,6,0.000,0.081,2035,2900,3502
$GC,2804,-1.70,-146.6,313.6,-12.8,132,2808,0.00,2.62,0.00,0.000,4,0.000,0.069,2035,1490,3502
$GC,2848,-1.70,-146.6,319.0,-11.7,134,2852,0.00,2.70,0.00,0.000,6,0.000,0.079,2035,2903,3502
$GC,3168,-1.70,-146.6,356.7,-12.3,150,3172,0.00,1.73,0.00,0.000,4,0.000,0.098,2035,3780,3502
$GC,3184,-1.70,-146.6,358.8,-13.0,150,3190,0.00,1.58,0.00,0.000,6,0.000,0.053,2035,2901,3502
$STATE,3373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3373,begin apogee
$GC,3381,-0.42,0.0,382.1,12.5,160,3507,1.40,0.00,121.93,1.112,6,0.095,0.000,2314,2102,2901
$STATE,3508,end apogee,CONTROL_FINISHED_OK
$STATE,3508,begin climb
$GC,3510,1.70,146.6,387.9,0.0,166,3637,2.15,2.62,117.95,1.073,4,0.060,0.056,2778,684,2303
$GC,3893,1.86,279.5,367.4,3.9,183,4009,0.17,2.53,107.97,1.052,6,0.038,0.038,2832,2114,1761
$GC,4330,1.86,279.5,313.3,12.2,205,4335,0.00,2.62,0.00,0.000,4,0.000,0.074,2832,3506,1759
$GC,4532,1.88,294.4,294.1,9.3,214,4552,0.00,2.53,13.50,0.964,6,0.000,0.048,2832,2095,1700
$GC,4880,1.91,317.5,262.8,8.9,231,4906,0.00,2.65,20.25,1.000,4,0.000,0.065,2832,688,1605
$GC,5158,1.91,317.5,228.6,14.0,243,5164,0.00,2.53,0.00,0.000,6,0.000,0.052,2833,2091,1604
$GC,5473,1.91,317.5,182.4,15.1,259,5478,0.00,2.58,0.00,0.000,4,0.000,0.061,2833,684,1604
$GC,5731,1.91,317.5,143.9,13.9,270,5738,0.00,2.55,0.00,0.000,6,0.000,0.050,2832,2105,1604
$GC,6047,1.91,317.5,95.0,16.2,286,6051,0.00,2.60,0.00,0.000,4,0.000,0.059,2833,684,1603
$GC,6261,1.91,317.5,59.4,13.5,295,6267,0.00,2.53,0.00,0.000,6,0.000,0.049,2833,2100,1603
$GC,6576,1.91,317.5,6.1,16.3,311,6580,0.00,2.62,0.00,0.000,4,0.000,0.067,2832,688,1603
$STATE,6600,end climb,SURFACE_DEPTH_REACHED
$STATE,6600,begin surface coast
$FINISH,0.1,1.027382
$STATE,6607,end surface coast,CONTROL_FINISHED_OK
$STATE,6607,begin surface
$SM_CCo,6634,187.10,0.808,1,0,572,571.30
$SM_GC,-1.02,0.00,0.00,187.10,0.000,0.000,0.808,42,2898,572,-10.89,-0.06,571.30
$IRIDIUM_FIX,6351.77,-1158.42,090108,181856
$TT8_MAMPS,0.028379
$HUMID,2055
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,18.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,351.3,66.7
$24V_AH,23.4,57.076
$10V_AH,10.1,26.180
$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,27.450,65.175,381.600,187.100,0.000,39.976,36.409,120.036,3.000,0.000,0.000,31.796,649.602,4512.005,660.186,989.009,350.986,0.000,1178.104,0.000,948.485,0.000,21.437
$DEVICE_MAMPS,162.604,98.176,1112.150,807.651,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,230.726,211.257,251.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15984,312
$CFSIZE,260165632,240730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,090108,181117,6414.501,-1201.138,17,2.7,37,-12.0