version: 66.02
glider: 103
mission: 7
dive: 328
start: 1 9 108 18 16 35
data:
$ID,103
$MISSION,7
$DIVE,328
$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,-68745.273
$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,20
$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
$GPS1,181117,6414.501,-1201.138,17,2.7,37,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.83
$_SM_ANGLEo,-51.1
$GPS2,181602,6414.557,-1201.306,9,1.1,14,-12.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6406.920,-1157.972
$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,-18.2,-10.000
$D_GRID,389
$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,-146.6,0.0,0.0,0,140,0.00,0.00,-109.95,0.000,6,0.000,0.000,42,2899,3500
$GC,143,-1.70,-146.6,2.9,-4.5,6,164,11.38,2.60,0.00,0.000,4,0.162,0.058,2033,1484,3501
$GC,349,-1.70,-146.6,38.1,-14.9,15,353,0.00,2.67,0.00,0.000,6,0.000,0.076,2033,2900,3501
$GC,670,-1.70,-146.6,76.9,-11.7,31,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2900,3502
$GC,979,-1.70,-146.6,118.0,-16.2,46,982,0.00,1.70,0.00,0.000,4,0.000,0.093,2033,3787,3502
$GC,1080,-1.70,-146.6,131.1,-12.5,50,1083,0.00,1.60,0.00,0.000,6,0.000,0.054,2033,2896,3502
$GC,1401,-1.70,-146.6,167.4,-13.0,66,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2896,3502
$GC,1710,-1.70,-146.6,206.3,-13.0,81,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2896,3502
$GC,2020,-1.70,-146.6,246.3,-13.0,96,2024,0.00,1.75,0.00,0.000,4,0.000,0.091,2033,3782,3502
$GC,2069,-1.70,-146.6,252.8,-12.7,98,2073,0.00,1.58,0.00,0.000,6,0.000,0.053,2033,2905,3502
$GC,2396,-1.70,-146.6,292.1,-11.6,114,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2905,3502
$GC,2706,-1.70,-146.6,333.9,-15.5,129,2710,0.00,2.60,0.00,0.000,4,0.000,0.067,2033,1487,3502
$GC,2777,-1.70,-146.6,344.6,-14.6,132,2782,0.00,2.67,0.00,0.000,6,0.000,0.077,2033,2900,3502
$GC,3093,-1.70,-146.6,386.9,-12.5,147,3096,0.00,1.70,0.00,0.000,4,0.000,0.094,2033,3785,3502
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3116,-0.42,0.0,389.0,12.4,147,3243,1.38,0.00,123.03,1.090,6,0.093,0.000,2313,2093,2901
$STATE,3244,end apogee,CONTROL_FINISHED_OK
$STATE,3244,begin climb
$GC,3246,1.70,146.6,395.3,0.0,154,3373,2.15,2.60,118.45,1.068,4,0.059,0.054,2778,690,2303
$GC,3629,1.78,212.7,376.5,7.0,171,3689,0.00,2.50,53.92,1.081,6,0.000,0.038,2778,2113,2034
$GC,4007,1.83,258.7,344.9,7.9,190,4051,0.15,2.70,37.83,1.071,4,0.040,0.058,2820,690,1846
$GC,4281,1.83,258.7,314.8,11.5,202,4285,0.00,2.50,0.00,0.000,6,0.000,0.044,2820,2097,1845
$GC,4602,1.83,258.7,274.7,13.2,218,4607,0.00,2.60,0.00,0.000,4,0.000,0.061,2821,684,1844
$GC,4658,1.83,258.7,267.0,13.7,220,4664,0.00,2.50,0.00,0.000,6,0.000,0.046,2821,2101,1844
$GC,4974,1.83,258.7,222.7,15.1,236,4978,0.00,2.60,0.00,0.000,4,0.000,0.061,2821,685,1843
$GC,5154,1.83,258.7,194.3,16.6,244,5159,0.00,2.55,0.00,0.000,6,0.000,0.048,2821,2106,1843
$GC,5476,1.83,258.7,144.5,15.2,260,5480,0.00,2.60,0.00,0.000,4,0.000,0.059,2821,685,1842
$GC,5637,1.83,258.7,119.3,15.1,267,5642,0.00,2.53,0.00,0.000,6,0.000,0.047,2820,2105,1842
$GC,5953,1.83,258.7,73.6,14.6,282,5957,0.00,2.60,0.00,0.000,4,0.000,0.059,2820,682,1842
$GC,6115,1.83,258.7,49.9,14.5,289,6119,0.00,2.53,0.00,0.000,6,0.000,0.046,2820,2101,1842
$GC,6432,1.83,258.7,3.8,14.4,304,6436,0.00,2.55,0.00,0.000,4,0.000,0.053,2821,685,1842
$STATE,6447,end climb,SURFACE_DEPTH_REACHED
$STATE,6447,begin surface coast
$FINISH,0.6,1.027384
$STATE,6452,end surface coast,CONTROL_FINISHED_OK
$STATE,6452,begin surface
$SM_CCo,6478,229.30,0.828,1,0,571,571.30
$SM_GC,-0.86,0.00,0.00,229.30,0.000,0.000,0.828,42,2911,571,-10.89,0.28,571.30
$IRIDIUM_FIX,6351.77,-1158.42,090108,202024
$TT8_MAMPS,0.028379
$HUMID,2056
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,18.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,327.6,90.9
$24V_AH,23.4,57.240
$10V_AH,10.1,26.222
$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,27.250,59.425,333.225,229.300,0.000,39.899,35.963,113.703,2.750,0.000,0.000,14.821,631.329,4494.026,659.747,899.004,340.527,0.000,1136.540,0.000,883.249,0.000,16.936
$DEVICE_MAMPS,161.837,93.574,1089.907,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,227.047,207.026,249.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15981,305
$CFSIZE,260165632,240701440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,090108,200935,6415.263,-1201.923,11,2.2,31,-12.0