version: 66.02
glider: 103
mission: 7
dive: 329
start: 1 9 108 20 15 1
data:
$ID,103
$MISSION,7
$DIVE,329
$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,-68761.336
$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,23
$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
$GPS1,200935,6415.263,-1201.923,11,2.2,31,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.88
$_SM_ANGLEo,-47.3
$GPS2,201427,6415.352,-1202.026,15,1.0,15,-12.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6407.716,-1158.694
$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,394
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.70,-146.6,0.0,0.0,0,139,0.00,0.00,-109.60,0.000,6,0.000,0.000,43,2910,3499
$GC,142,-1.70,-146.6,1.4,-2.5,5,163,11.43,2.62,0.00,0.000,4,0.165,0.059,2032,1483,3500
$GC,332,-1.70,-146.6,39.6,-16.5,13,337,0.00,2.67,0.00,0.000,6,0.000,0.076,2032,2889,3501
$GC,648,-1.70,-146.6,77.7,-11.6,28,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2889,3500
$GC,957,-1.70,-146.6,113.2,-11.8,43,961,0.00,1.70,0.00,0.000,4,0.000,0.092,2032,3786,3500
$GC,990,-1.70,-146.6,117.3,-12.2,44,994,0.00,1.58,0.00,0.000,6,0.000,0.044,2032,2895,3501
$GC,1311,-1.70,-146.6,154.0,-11.3,60,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2896,3501
$GC,1621,-1.70,-146.6,184.6,-9.6,75,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2896,3501
$GC,1929,-1.70,-146.6,215.7,-10.8,90,1933,0.00,1.75,0.00,0.000,4,0.000,0.096,2032,3787,3501
$GC,1968,-1.70,-146.6,220.4,-11.5,91,1974,0.00,1.58,0.00,0.000,6,0.000,0.052,2032,2907,3502
$GC,2283,-1.70,-146.6,257.3,-11.8,107,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2907,3501
$GC,2593,-1.70,-146.6,291.4,-10.8,122,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2907,3501
$GC,2902,-1.70,-146.6,323.2,-10.2,137,2907,0.00,2.60,0.00,0.000,4,0.000,0.067,2032,1489,3502
$GC,2959,-1.70,-146.6,328.7,-9.2,139,2965,0.00,2.70,0.00,0.000,6,0.000,0.081,2032,2901,3501
$GC,3275,-1.70,-146.6,357.4,-8.6,155,3279,0.00,1.70,0.00,0.000,4,0.000,0.096,2032,3786,3501
$GC,3376,-1.70,-146.6,367.0,-9.8,159,3379,0.00,1.58,0.00,0.000,6,0.000,0.048,2032,2899,3502
$STATE,3653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3653,begin apogee
$GC,3661,-0.42,0.0,395.7,10.3,173,3788,1.42,0.00,123.07,1.107,6,0.093,0.000,2318,2094,2901
$STATE,3788,end apogee,CONTROL_FINISHED_OK
$STATE,3788,begin climb
$GC,3791,1.70,146.6,399.3,0.0,179,3918,2.12,2.60,118.43,1.076,4,0.056,0.058,2783,690,2303
$GC,4175,1.73,172.5,374.9,8.8,196,4204,0.00,2.53,22.85,1.027,6,0.000,0.040,2783,2120,2197
$GC,4533,1.81,241.2,349.1,6.9,214,4596,0.00,2.70,56.28,1.063,4,0.000,0.058,2783,685,1917
$GC,4848,1.81,241.2,314.0,11.5,228,4853,0.00,2.50,0.00,0.000,6,0.000,0.044,2783,2092,1916
$GC,5170,1.81,241.2,272.3,13.8,244,5174,0.00,2.60,0.00,0.000,4,0.000,0.061,2783,681,1915
$GC,5331,1.81,241.2,248.2,14.9,251,5335,0.00,2.53,0.00,0.000,6,0.000,0.044,2783,2101,1915
$GC,5647,1.81,241.2,205.2,13.5,266,5651,0.00,2.60,0.00,0.000,4,0.000,0.063,2783,685,1914
$GC,5702,1.81,241.2,197.8,12.6,268,5708,0.00,2.53,0.00,0.000,6,0.000,0.047,2783,2100,1914
$GC,6017,1.81,241.2,164.8,11.2,284,6021,0.00,2.60,0.00,0.000,4,0.000,0.063,2783,688,1914
$GC,6112,1.81,241.2,153.2,12.9,288,6116,0.00,2.53,0.00,0.000,6,0.000,0.047,2783,2105,1913
$GC,6428,1.81,241.2,110.3,13.7,303,6432,0.00,2.60,0.00,0.000,4,0.000,0.060,2783,684,1913
$GC,6505,1.81,241.2,101.3,11.1,306,6512,0.00,2.55,0.00,0.000,6,0.000,0.047,2783,2101,1913
$GC,6821,1.81,241.2,63.2,11.4,322,6825,0.00,2.58,0.00,0.000,4,0.000,0.061,2783,687,1913
$GC,6973,1.81,241.2,45.7,12.3,329,6978,0.00,2.53,0.00,0.000,6,0.000,0.048,2783,2105,1914
$GC,7300,1.81,241.2,8.7,10.5,345,7304,0.00,2.60,0.00,0.000,4,0.000,0.061,2783,687,1914
$STATE,7360,end climb,SURFACE_DEPTH_REACHED
$STATE,7360,begin surface coast
$FINISH,0.8,1.027385
$STATE,7365,end surface coast,CONTROL_FINISHED_OK
$STATE,7365,begin surface
$SM_CCo,7391,242.60,0.820,2,0,572,571.30
$SM_GC,-0.95,0.00,0.00,242.60,0.000,0.000,0.820,49,2899,572,-10.86,0.00,571.30
$IRIDIUM_FIX,6351.77,-1203.26,090108,222205
$TT8_MAMPS,0.028379
$HUMID,2062
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,18.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,350.3,72.5
$24V_AH,23.4,57.404
$10V_AH,10.1,26.266
$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,27.375,64.475,320.625,242.600,0.000,40.101,40.074,111.201,3.000,0.000,0.000,15.435,703.551,5249.706,679.450,984.461,346.008,0.000,1191.306,0.000,963.635,0.000,18.509
$DEVICE_MAMPS,164.905,95.875,1106.781,819.923,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,254.777,236.586,280.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15938,348
$CFSIZE,260165632,240664576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,090108,222329,6416.249,-1200.717,8,2.8,27,-12.0