version: 66.02
glider: 103
mission: 7
dive: 332
start: 1 10 108 2 32 39
data:
$ID,103
$MISSION,7
$DIVE,332
$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,300
$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,-68876.18
$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,16
$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
$GPS1,022639,6414.263,-1200.353,13,1.6,13,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.69
$_SM_ANGLEo,-55.0
$GPS2,023207,6414.173,-1200.587,43,1.0,54,-12.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6406.537,-1157.252
$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,383
$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,-146.6,0.0,0.0,0,98,0.00,0.00,-68.43,0.000,6,0.000,0.000,47,2898,3500
$GC,101,-1.70,-146.6,2.4,-7.7,3,122,11.30,2.60,0.00,0.000,4,0.162,0.063,2032,1488,3502
$GC,341,-1.70,-146.6,40.6,-10.5,13,347,0.00,2.67,0.00,0.000,6,0.000,0.081,2032,2899,3502
$GC,657,-1.70,-146.6,76.2,-10.8,29,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2899,3502
$GC,967,-1.70,-146.6,110.2,-10.9,44,971,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3783,3503
$GC,995,-1.70,-146.6,113.6,-11.9,45,998,0.00,1.60,0.00,0.000,6,0.000,0.051,2032,2896,3503
$GC,1323,-1.70,-146.6,152.1,-12.2,61,1327,0.00,2.58,0.00,0.000,4,0.000,0.068,2032,1487,3504
$GC,1362,-1.70,-146.6,157.1,-12.6,63,1366,0.00,2.70,0.00,0.000,6,0.000,0.080,2032,2908,3504
$GC,1688,-1.70,-146.6,198.7,-12.5,79,1691,0.00,1.67,0.00,0.000,4,0.000,0.095,2032,3785,3504
$GC,1755,-1.70,-146.6,207.2,-12.5,82,1759,0.00,1.58,0.00,0.000,6,0.000,0.051,2032,2892,3504
$GC,2087,-1.70,-146.6,247.1,-12.6,98,2092,0.00,2.58,0.00,0.000,4,0.000,0.067,2032,1485,3504
$GC,2127,-1.70,-146.6,252.2,-12.8,100,2132,0.00,2.70,0.00,0.000,6,0.000,0.081,2032,2901,3504
$GC,2454,-1.70,-146.6,293.4,-11.3,116,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2901,3504
$GC,2764,-1.70,-146.6,319.9,-6.4,131,2767,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3789,3504
$GC,2900,-1.70,-146.6,328.1,-7.5,137,2903,0.00,1.58,0.00,0.000,6,0.000,0.052,2032,2894,3504
$GC,3232,-1.70,-146.6,358.3,-10.1,153,3236,0.00,2.58,0.00,0.000,4,0.000,0.067,2032,1490,3504
$GC,3316,-1.70,-146.6,366.6,-9.6,157,3321,0.00,2.70,0.00,0.000,6,0.000,0.081,2032,2903,3504
$STATE,3475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3475,begin apogee
$GC,3482,-0.42,0.0,384.1,11.3,165,3609,1.42,0.00,123.43,1.115,6,0.098,0.000,2315,2097,2901
$STATE,3610,end apogee,CONTROL_FINISHED_OK
$STATE,3610,begin climb
$GC,3613,1.70,146.6,387.1,0.0,171,3739,2.15,2.62,118.28,1.091,4,0.059,0.059,2780,692,2302
$GC,3992,1.75,193.8,361.7,7.8,188,4040,0.00,2.50,39.15,1.093,6,0.000,0.041,2779,2111,2110
$GC,4349,1.75,193.8,330.3,10.6,206,4353,0.00,2.60,0.00,0.000,4,0.000,0.063,2779,692,2109
$GC,4600,1.75,193.8,303.6,10.2,217,4605,0.00,2.50,0.00,0.000,6,0.000,0.046,2779,2101,2108
$GC,4922,1.85,275.5,279.9,6.3,233,4991,0.15,0.00,65.90,1.083,6,0.041,0.000,2820,2101,1778
$GC,5291,1.85,275.5,239.7,13.5,251,5296,0.00,2.60,0.00,0.000,4,0.000,0.064,2820,690,1776
$GC,5448,1.85,275.5,215.1,15.5,258,5452,0.00,2.53,0.00,0.000,6,0.000,0.048,2820,2101,1776
$GC,5768,1.85,275.5,170.3,12.7,274,5772,0.00,2.60,0.00,0.000,4,0.000,0.062,2820,682,1776
$GC,5879,1.85,275.5,156.3,12.4,279,5884,0.00,2.53,0.00,0.000,6,0.000,0.049,2820,2099,1776
$GC,6201,1.85,275.5,118.1,12.5,295,6205,0.00,2.60,0.00,0.000,4,0.000,0.063,2820,688,1776
$GC,6330,1.85,275.5,100.7,14.1,301,6334,0.00,2.53,0.00,0.000,6,0.000,0.049,2820,2100,1776
$GC,6657,1.85,275.5,55.1,14.4,317,6661,0.00,2.60,0.00,0.000,4,0.000,0.064,2820,691,1776
$GC,6876,1.85,275.5,27.1,11.6,327,6880,0.00,2.50,0.00,0.000,6,0.000,0.044,2820,2106,1776
$STATE,7055,end climb,SURFACE_DEPTH_REACHED
$STATE,7055,begin surface coast
$FINISH,-1.5,1.027472
$STATE,7077,end surface coast,CONTROL_FINISHED_OK
$STATE,7077,begin surface
$SM_CCo,7101,22.35,0.762,2,0,1678,300.00
$SM_GC,-0.54,0.00,0.00,22.35,0.000,0.000,0.762,42,2899,1678,-10.89,-0.03,300.00
$IRIDIUM_FIX,6351.77,-1203.26,100108,040405
$TT8_MAMPS,0.029146
$HUMID,2139
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.1,70.9
$24V_AH,23.3,57.827
$10V_AH,10.1,26.397
$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,27.275,64.650,346.750,22.350,0.000,38.866,37.736,114.705,2.500,0.000,0.000,54.864,702.429,4948.041,453.476,1042.059,340.629,0.000,961.706,0.000,979.654,0.000,18.497
$DEVICE_MAMPS,161.837,95.108,1115.218,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,244.699,229.957,271.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16017,337
$CFSIZE,260165632,240566272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,100108,043241,6411.864,-1202.326,12,3.0,31,-12.0