version: 66.02
glider: 103
mission: 7
dive: 463
start: 2 1 108 19 54 6
data:
$ID,103
$MISSION,7
$DIVE,463
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-3
$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,0
$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,-72515.812
$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,6
$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
$GPS1,193637,6122.700,-905.826,37,1.9,42,-9.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-48.1
$GPS2,195335,6122.437,-906.457,13,2.2,32,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6133.236,-906.457
$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,9.2,20000,-11.1,-6.000
$D_GRID,401
$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,28,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,32,-1.10,-146.6,0.0,0.0,0,142,0.00,0.00,-108.35,0.000,6,0.000,0.000,45,2899,3500
$GC,146,-1.10,-146.6,1.9,-2.8,5,166,12.05,1.77,0.00,0.000,4,0.160,0.091,2164,3790,3503
$GC,245,-1.10,-146.6,19.3,-8.0,9,249,0.00,1.65,0.00,0.000,6,0.000,0.060,2164,2906,3503
$GC,567,-1.10,-146.6,49.1,-10.4,25,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,876,-1.10,-146.6,83.4,-10.9,40,880,0.00,2.65,0.00,0.000,4,0.000,0.070,2164,1477,3503
$GC,915,-1.10,-146.6,87.2,-9.5,42,920,0.00,2.67,0.00,0.000,6,0.000,0.070,2164,2907,3503
$GC,1242,-1.10,-146.6,106.2,-6.4,58,1246,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3789,3503
$GC,1315,-1.10,-146.6,111.9,-7.1,61,1319,0.00,1.60,0.00,0.000,6,0.000,0.053,2164,2898,3503
$GC,1643,-1.10,-146.6,142.0,-11.0,77,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,1952,-1.10,-146.6,166.3,-7.4,92,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,2261,-1.10,-146.6,191.6,-7.3,107,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,2570,-1.10,-146.6,218.0,-8.5,122,2574,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1484,3503
$GC,2603,-1.10,-146.6,220.8,-8.4,123,2609,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,2920,-1.10,-146.6,244.9,-7.2,139,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3228,-1.10,-146.6,270.4,-8.8,154,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3538,-1.10,-146.6,293.4,-7.1,169,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3847,-1.10,-146.6,313.7,-6.0,184,3851,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1482,3503
$GC,3880,-1.10,-146.6,315.9,-6.5,185,3884,0.00,2.65,0.00,0.000,6,0.000,0.066,2164,2902,3502
$GC,4196,-1.10,-146.6,336.8,-6.3,200,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,4505,-1.10,-146.6,357.4,-6.5,215,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,4814,-1.10,-146.6,379.6,-6.4,230,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,5123,-1.10,-146.6,400.5,-6.6,245,5128,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1476,3503
$STATE,5131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5131,begin apogee
$GC,5140,-0.42,0.0,401.4,6.7,245,5267,0.73,0.00,123.18,1.079,6,0.090,0.000,2314,2108,2900
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5271,1.10,146.6,405.8,0.0,252,5397,1.58,2.65,117.82,1.079,4,0.062,0.055,2648,683,2303
$GC,5527,1.12,162.5,398.2,5.6,264,5549,0.00,2.47,14.68,0.989,6,0.000,0.033,2648,2113,2238
$GC,5858,1.12,162.5,378.9,6.0,280,5862,0.00,2.55,0.00,0.000,4,0.000,0.064,2648,3504,2237
$GC,5920,1.13,170.8,375.1,5.8,283,5935,0.00,2.47,8.57,0.930,6,0.000,0.036,2648,2090,2204
$GC,6251,1.13,170.8,353.8,6.6,299,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2090,2204
$GC,6561,1.13,171.4,335.5,6.0,314,6565,0.00,2.62,0.00,0.000,4,0.000,0.065,2648,3501,2204
$GC,6673,1.13,171.4,327.4,6.1,319,6677,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2100,2204
$GC,6994,1.16,197.2,309.8,5.3,335,7021,0.00,2.65,22.92,1.019,4,0.000,0.066,2648,3501,2097
$GC,7058,1.16,197.2,306.1,6.1,338,7062,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2100,2096
$GC,7384,1.16,197.2,285.1,7.3,354,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2099,2096
$GC,7693,1.16,197.2,262.7,6.8,369,7698,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3501,2096
$GC,7762,1.16,197.2,258.0,7.4,372,7766,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2101,2096
$GC,8083,1.16,197.2,234.1,8.2,388,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2101,2096
$GC,8392,1.16,197.2,209.8,7.5,403,8396,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3508,2096
$GC,8469,1.16,197.2,202.7,9.2,406,8475,0.00,2.53,0.00,0.000,6,0.000,0.044,2648,2091,2096
$GC,8786,1.16,197.2,178.2,6.9,422,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2091,2096
$GC,9094,1.16,197.2,158.6,7.1,437,9099,0.00,2.60,0.00,0.000,4,0.000,0.068,2648,3500,2096
$GC,9157,1.16,197.2,153.3,8.9,440,9161,0.00,2.47,0.00,0.000,6,0.000,0.046,2648,2099,2096
$GC,9486,1.16,197.2,122.7,7.3,456,9490,0.00,2.65,0.00,0.000,4,0.000,0.073,2648,3504,2096
$GC,9549,1.32,324.1,120.8,2.5,459,9656,0.22,2.50,100.47,0.923,6,0.035,0.045,2704,2096,1579
$GC,9984,1.32,324.1,91.8,9.5,480,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,1578
$GC,10293,1.32,324.1,53.8,13.1,495,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,1577
$GC,10604,1.32,324.1,24.2,10.4,510,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,1577
$STATE,10806,end climb,SURFACE_DEPTH_REACHED
$STATE,10806,begin surface coast
$FINISH,-1.0,1.027346
$STATE,10829,end surface coast,CONTROL_FINISHED_OK
$STATE,10829,begin surface
$SM_CCo,10915,0.00,0.000,0,0,1575,325.27
$SM_GC,-0.10,11.68,0.00,0.00,0.028,0.000,0.000,33,2888,1575,-10.81,-0.34,325.27
$IRIDIUM_FIX,6059.36,-910.03,270497,191910
$TT8_MAMPS,0.028379
$HUMID,2064
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,350.5,98.9
$24V_AH,23.2,77.303
$10V_AH,10.1,35.815
$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,26.250,68.600,387.650,0.000,0.000,108.391,227.739,421.627,3.000,0.000,0.000,33.120,950.408,8360.075,473.621,1164.190,999.648,0.000,1076.587,0.000,1128.847,0.000,18.584
$DEVICE_MAMPS,159.536,94.341,1079.169,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.543,356.328,397.149,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25389,521
$CFSIZE,260165632,233680896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,010208,225708,6122.517,-910.699,32,1.1,32,-9.3