version: 66.02
glider: 103
mission: 7
dive: 492
start: 2 7 108 8 31 6
data:
$ID,103
$MISSION,7
$DIVE,492
$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,-73100.625
$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,8
$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
$GPS1,081010,6139.150,-820.108,74,1.3,82,-8.9
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.63
$_SM_ANGLEo,-42.6
$GPS2,083035,6139.458,-819.761,9,2.2,28,-8.9
$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,85.4,4303,-11.1,-6.000
$D_GRID,452
$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,-1.10,-146.6,0.0,0.0,0,89,0.00,0.00,-58.53,0.000,6,0.000,0.000,49,2900,3501
$GC,92,-1.10,-146.6,6.2,-14.0,3,108,12.12,0.00,0.00,0.000,6,0.158,0.000,2160,2900,3502
$GC,420,-1.10,-146.6,61.8,-10.6,19,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2900,3503
$GC,728,-1.10,-146.6,87.5,-6.4,34,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2900,3503
$GC,1037,-1.10,-146.6,110.7,-7.5,49,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2900,3504
$GC,1346,-1.10,-146.6,135.8,-8.3,64,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2900,3503
$GC,1655,-1.10,-146.6,158.3,-7.3,79,1659,0.00,2.53,0.00,0.000,4,0.000,0.051,2161,1489,3503
$GC,1746,-1.10,-146.6,163.3,-4.8,83,1750,0.00,2.62,0.00,0.000,6,0.000,0.066,2161,2901,3504
$GC,2067,-1.10,-146.6,176.5,-4.6,99,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2902,3503
$GC,2376,-1.10,-146.6,184.3,-1.8,114,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2901,3504
$GC,2686,-1.10,-146.6,193.3,-3.3,129,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2902,3504
$GC,2995,-1.10,-146.6,205.0,-3.3,144,2999,0.00,2.55,0.00,0.000,4,0.000,0.054,2161,1487,3504
$GC,3091,-1.10,-146.6,207.5,-2.3,148,3095,0.00,2.62,0.00,0.000,6,0.000,0.062,2161,2909,3504
$GC,3407,-1.10,-146.6,221.3,-4.8,163,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2909,3504
$GC,3716,-1.10,-146.6,233.1,-3.4,178,3720,0.00,2.55,0.00,0.000,4,0.000,0.052,2161,1485,3504
$GC,3767,-1.10,-146.6,234.3,-3.6,180,3771,0.00,2.62,0.00,0.000,6,0.000,0.064,2161,2906,3504
$GC,4084,-1.10,-146.6,250.9,-4.6,195,4088,0.00,2.55,0.00,0.000,4,0.000,0.054,2160,1484,3504
$GC,4134,-1.10,-146.6,253.6,-5.6,197,4139,0.00,2.62,0.00,0.000,6,0.000,0.064,2160,2902,3504
$GC,4456,-1.10,-146.6,267.9,-4.6,213,4461,0.00,2.55,0.00,0.000,4,0.000,0.053,2160,1485,3504
$GC,4484,-1.10,-146.6,269.5,-5.6,214,4489,0.00,2.62,0.00,0.000,6,0.000,0.065,2161,2899,3504
$GC,4801,-1.10,-146.6,288.1,-5.8,229,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2899,3504
$GC,5110,-1.10,-146.6,308.3,-7.2,244,5113,0.00,1.73,0.00,0.000,4,0.000,0.098,2160,3790,3504
$GC,5182,-1.10,-146.6,313.9,-7.3,247,5186,0.00,1.58,0.00,0.000,6,0.000,0.046,2161,2894,3504
$GC,5509,-1.10,-146.6,339.6,-8.4,263,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2894,3504
$GC,5819,-1.10,-146.6,364.4,-7.9,278,5823,0.00,1.73,0.00,0.000,4,0.000,0.091,2161,3785,3504
$GC,5869,-1.10,-146.6,368.3,-7.9,280,5873,0.00,1.55,0.00,0.000,6,0.000,0.041,2161,2902,3504
$STATE,6008,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6008,begin apogee
$GC,6017,-0.42,0.0,383.3,10.5,287,6150,0.77,0.00,125.45,1.071,6,0.094,0.000,2315,2090,2901
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6154,1.10,146.6,390.1,0.0,294,6285,1.58,2.60,121.10,1.038,4,0.065,0.054,2648,701,2303
$GC,6418,1.16,195.0,387.4,4.7,306,6466,0.00,2.47,41.45,1.016,6,0.000,0.035,2648,2113,2106
$GC,6786,1.23,250.0,375.9,4.5,324,6841,0.15,2.70,46.90,1.026,4,0.040,0.065,2696,3504,1881
$GC,6904,1.23,250.0,369.2,6.9,329,6908,0.00,2.50,0.00,0.000,6,0.000,0.036,2696,2088,1880
$GC,7220,1.23,250.0,350.9,6.5,344,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2088,1880
$GC,7529,1.23,250.0,328.9,6.2,359,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2088,1880
$GC,7839,1.24,261.0,310.9,5.7,374,7852,0.00,0.00,10.48,0.936,6,0.000,0.000,2696,2088,1837
$GC,8171,1.25,263.0,289.0,5.9,390,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2087,1837
$GC,8480,1.25,263.0,265.8,8.0,405,8484,0.00,2.67,0.00,0.000,4,0.000,0.074,2696,3502,1836
$GC,8524,1.25,263.0,261.3,9.4,407,8529,0.00,2.50,0.00,0.000,6,0.000,0.045,2696,2104,1836
$GC,8846,1.25,263.0,228.8,11.1,423,8850,0.00,2.58,0.00,0.000,4,0.000,0.064,2697,694,1836
$GC,8890,1.25,263.0,223.4,12.7,425,8894,0.00,2.50,0.00,0.000,6,0.000,0.046,2697,2092,1836
$GC,9212,1.25,263.0,178.7,15.7,441,9216,0.00,2.65,0.00,0.000,4,0.000,0.074,2697,3515,1836
$GC,9244,1.25,263.0,172.6,18.3,442,9250,0.00,2.53,0.00,0.000,6,0.000,0.045,2696,2096,1836
$GC,9561,1.25,263.0,103.1,23.8,458,9565,0.00,2.55,0.00,0.000,4,0.000,0.061,2696,692,1836
$GC,9818,1.36,354.0,83.6,3.5,469,9900,0.00,2.53,75.62,0.888,6,0.000,0.050,2697,2104,1457
$GC,10218,1.36,354.0,48.8,9.5,489,10222,0.00,2.62,0.00,0.000,4,0.000,0.066,2697,691,1456
$GC,10245,1.36,354.0,46.1,8.3,490,10249,0.00,2.53,0.00,0.000,6,0.000,0.044,2696,2107,1457
$GC,10561,1.36,357.2,23.6,5.9,505,10571,0.00,2.62,4.43,0.647,4,0.000,0.068,2697,701,1444
$GC,10578,1.36,357.2,22.4,7.3,505,10584,0.00,2.47,0.00,0.000,6,0.000,0.043,2696,2100,1444
$GC,10895,1.43,408.9,10.4,4.6,521,10945,0.10,2.75,42.08,0.847,4,0.054,0.072,2722,695,1232
$GC,10991,1.57,525.7,5.9,2.8,525,11027,0.15,2.55,29.75,0.821,2,0.042,0.048,2769,2111,1088
$STATE,11028,end climb,SURFACE_DEPTH_REACHED
$STATE,11028,begin surface coast
$FINISH,0.4,1.027435
$STATE,11031,end surface coast,CONTROL_FINISHED_OK
$STATE,11032,begin surface
$SM_CCo,11118,0.00,0.000,0,0,1084,445.71
$SM_GC,-0.22,12.45,0.00,0.00,0.043,0.000,0.000,47,2898,1084,-10.80,-0.06,445.71
$IRIDIUM_FIX,6117.23,-829.60,030597,080845
$TT8_MAMPS,0.028379
$HUMID,2049
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,18.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,350.3,41.5
$24V_AH,23.1,81.926
$10V_AH,10.1,38.046
$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,27.325,81.625,497.250,0.000,0.000,152.649,269.755,455.668,3.500,0.000,0.000,29.621,972.947,8446.752,516.039,1247.971,1169.371,0.000,1184.457,0.000,1209.902,0.000,24.287
$DEVICE_MAMPS,158.002,98.176,1070.732,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,394.304,358.758,387.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25462,527
$CFSIZE,260165632,232075264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,070208,113825,6140.403,-819.233,86,1.7,86,-8.9