version: 66.02
glider: 103
mission: 7
dive: 490
start: 2 7 108 0 39 41
data:
$ID,103
$MISSION,7
$DIVE,490
$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,-1
$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,-73051.5
$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,12
$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
$GPS1,003337,6141.601,-825.057,42,1.1,47,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-51.1
$GPS2,003908,6141.570,-825.008,13,1.2,30,-9.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FP_DS
$TGT_LATLONG,6140.000,-815.000
$TGT_RADIUS,3704.000
$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,117.3,9265,-11.1,-6.000
$D_GRID,406
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-60.53,0.000,2,0.000,0.000,44,2899,3360
$GC,91,-1.10,-146.6,3.6,-9.1,3,113,12.07,1.75,-2.50,0.000,4,0.160,0.110,2166,3785,3501
$GC,321,-1.10,-146.6,32.2,-10.6,13,325,0.00,1.62,0.00,0.000,6,0.000,0.057,2166,2903,3502
$GC,649,-1.10,-146.6,62.2,-7.8,29,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,958,-1.10,-146.6,87.6,-8.5,44,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,1269,-1.10,-146.6,114.7,-8.8,59,1273,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1484,3503
$GC,1309,-1.10,-146.6,118.4,-8.7,61,1314,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2899,3503
$GC,1637,-1.10,-146.6,151.2,-9.7,77,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,1945,-1.10,-146.6,178.2,-8.5,92,1949,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1480,3503
$GC,2008,-1.10,-146.6,182.9,-7.3,95,2012,0.00,2.70,0.00,0.000,6,0.000,0.075,2167,2908,3503
$GC,2334,-1.10,-146.6,208.1,-7.9,111,2339,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1480,3503
$GC,2362,-1.10,-146.6,210.4,-7.7,112,2367,0.00,2.70,0.00,0.000,6,0.000,0.073,2166,2910,3503
$GC,2678,-1.10,-146.6,233.6,-6.8,127,2683,0.00,2.65,0.00,0.000,4,0.000,0.066,2166,1480,3503
$GC,2757,-1.10,-146.6,239.2,-6.9,130,2763,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2900,3503
$GC,3074,-1.10,-146.6,266.2,-9.4,146,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,3382,-1.10,-146.6,291.8,-7.5,161,3387,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1486,3503
$GC,3427,-1.10,-146.6,294.8,-6.5,163,3431,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2901,3503
$GC,3748,-1.10,-146.6,318.0,-7.5,179,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4057,-1.10,-146.6,343.1,-8.8,194,4061,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3503
$GC,4119,-1.10,-146.6,348.6,-9.0,197,4123,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2900,3503
$GC,4446,-1.10,-146.6,379.2,-9.9,213,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$STATE,4752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4752,begin apogee
$GC,4761,-0.42,0.0,407.9,9.2,228,4889,0.77,0.00,124.62,1.097,6,0.110,0.000,2315,2097,2901
$STATE,4889,end apogee,CONTROL_FINISHED_OK
$STATE,4889,begin climb
$GC,4892,1.10,146.6,414.8,0.0,234,5022,1.58,2.60,119.12,1.088,4,0.065,0.056,2646,689,2303
$GC,5049,1.24,258.3,415.7,2.9,242,5148,0.15,2.53,91.68,1.068,6,0.040,0.035,2693,2121,1848
$GC,5457,1.24,258.3,390.2,7.3,262,5461,0.00,2.60,0.00,0.000,4,0.000,0.070,2693,3510,1847
$GC,5506,1.24,258.3,386.0,8.0,264,5511,0.00,2.53,0.00,0.000,6,0.000,0.041,2693,2092,1847
$GC,5822,1.24,258.3,362.5,7.1,279,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2093,1846
$GC,6132,1.24,258.3,340.9,7.5,294,6136,0.00,2.65,0.00,0.000,4,0.000,0.069,2693,3510,1845
$GC,6159,1.24,258.3,338.8,7.7,295,6164,0.00,2.50,0.00,0.000,6,0.000,0.042,2693,2102,1846
$GC,6475,1.24,258.3,316.2,8.1,310,6479,0.00,2.55,0.00,0.000,4,0.000,0.062,2693,694,1846
$GC,6503,1.24,258.3,314.0,7.6,311,6507,0.00,2.47,0.00,0.000,6,0.000,0.044,2693,2091,1846
$GC,6819,1.24,258.3,287.3,8.4,326,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2091,1846
$GC,7128,1.24,258.3,267.1,6.2,341,7133,0.00,2.67,0.00,0.000,4,0.000,0.074,2693,3516,1846
$GC,7183,1.24,258.3,262.4,9.0,343,7190,0.00,2.53,0.00,0.000,6,0.000,0.043,2693,2093,1845
$GC,7500,1.24,258.3,238.9,7.2,359,7504,0.00,2.53,0.00,0.000,4,0.000,0.060,2693,689,1846
$GC,7532,1.24,258.3,236.4,7.3,360,7539,0.00,2.50,0.00,0.000,6,0.000,0.044,2693,2099,1845
$GC,7849,1.24,258.3,206.3,8.5,376,7853,0.00,2.58,0.00,0.000,4,0.000,0.060,2693,696,1845
$GC,7904,1.24,258.3,199.0,12.3,378,7910,0.00,2.53,0.00,0.000,6,0.000,0.047,2693,2107,1845
$GC,8220,1.24,258.3,161.5,7.7,394,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2107,1845
$GC,8530,1.24,258.3,147.4,8.6,409,8535,0.00,2.58,0.00,0.000,4,0.000,0.059,2693,697,1845
$GC,8564,1.24,258.3,144.0,10.4,410,8570,0.00,2.50,0.00,0.000,6,0.000,0.046,2693,2106,1845
$GC,8880,1.24,258.3,118.5,8.2,426,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2105,1845
$GC,9191,1.24,258.3,93.5,7.8,441,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2107,1845
$GC,9499,1.24,258.3,67.0,9.8,456,9504,0.00,2.58,0.00,0.000,4,0.000,0.061,2693,698,1845
$GC,9533,1.24,258.3,64.0,8.1,457,9539,0.00,2.50,0.00,0.000,6,0.000,0.048,2693,2100,1845
$GC,9850,1.24,258.3,40.3,7.9,473,9855,0.00,2.65,0.00,0.000,4,0.000,0.077,2693,3508,1845
$GC,9868,1.24,258.3,37.8,13.2,474,9873,0.00,2.47,0.00,0.000,6,0.000,0.044,2693,2104,1845
$STATE,10192,end climb,SURFACE_DEPTH_REACHED
$STATE,10192,begin surface coast
$FINISH,-1.0,1.027271
$STATE,10216,end surface coast,CONTROL_FINISHED_OK
$STATE,10219,begin surface
$SM_CCo,10244,37.38,0.775,3,0,1678,300.00
$SM_GC,0.05,0.00,0.00,37.38,0.000,0.000,0.775,48,2903,1678,-10.86,0.08,300.00
$IRIDIUM_FIX,6121.73,-825.78,020597,222255
$TT8_MAMPS,0.029146
$HUMID,2070
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.90
$XPDR_PINGS,3
$24V_AH,23.1,81.572
$10V_AH,10.1,37.897
$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,26.425,89.175,335.425,37.375,0.000,38.368,36.398,127.437,3.500,0.000,0.000,30.746,905.429,7723.286,467.068,1108.232,446.419,0.000,1043.765,0.000,1076.162,0.000,18.743
$DEVICE_MAMPS,159.536,110.448,1096.810,775.437,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.887,336.433,385.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25449,491
$CFSIZE,260165632,232185856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,3,0
$GPS,070208,033237,6138.981,-823.664,35,1.1,40,-8.9