version: 66.02
glider: 103
mission: 7
dive: 79
start: 11 24 107 11 23 3
data:
$ID,103
$MISSION,7
$DIVE,79
$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,120
$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,1
$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,-63665.27
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,9
$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
$GPS1,111647,6124.352,-854.711,10,2.1,29,-9.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-50.3
$GPS2,112158,6124.280,-854.644,71,1.8,72,-9.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.163,-0.146
$KALMAN_X,-88098.9,-740.6,309.3,70689.1,2424.5
$KALMAN_Y,96245.0,228.8,65.6,-114524.2,-1548.4
$MHEAD_RNG_PITCHd_Wd,237.3,9245,-11.1,-6.000
$D_GRID,322
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-67.78,0.000,6,0.000,0.000,52,2890,3500
$GC,90,-1.10,-146.6,2.0,-4.5,3,106,11.98,1.77,0.00,0.000,4,0.161,0.090,2163,3791,3502
$GC,358,-1.10,-146.6,46.5,-16.5,14,362,0.00,1.55,0.00,0.000,6,0.000,0.039,2163,2909,3504
$GC,685,-1.10,-146.6,71.7,-7.0,30,688,0.00,1.70,0.00,0.000,4,0.000,0.085,2163,3793,3504
$GC,851,-1.10,-146.6,85.2,-9.7,37,856,0.00,1.58,0.00,0.000,6,0.000,0.037,2163,2899,3504
$GC,1173,-1.10,-146.6,109.0,-9.1,53,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3504
$GC,1482,-1.10,-146.6,135.4,-8.1,68,1486,0.00,2.62,0.00,0.000,4,0.000,0.074,2164,1482,3504
$GC,1536,-1.10,-146.6,140.0,-8.0,70,1543,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2896,3504
$GC,1852,-1.10,-146.6,165.0,-8.4,86,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3504
$GC,2162,-1.10,-146.6,187.1,-5.6,101,2166,0.00,2.62,0.00,0.000,4,0.000,0.070,2163,1479,3504
$GC,2195,-1.10,-146.6,188.8,-4.9,102,2201,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2900,3504
$GC,2509,-1.10,-146.6,209.3,-7.2,118,2513,0.00,2.62,0.00,0.000,4,0.000,0.068,2163,1481,3504
$GC,2541,-1.10,-146.6,211.4,-6.2,119,2548,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2895,3504
$GC,2856,-1.10,-146.6,234.6,-6.8,135,2861,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1477,3504
$GC,2905,-1.10,-146.6,238.1,-6.7,137,2910,0.00,2.70,0.00,0.000,6,0.000,0.074,2163,2900,3504
$GC,3226,-1.10,-146.6,261.2,-7.2,153,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,3536,-1.10,-146.6,282.5,-7.0,168,3540,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1483,3504
$GC,3590,-1.10,-146.6,286.0,-6.5,170,3597,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2896,3504
$GC,3905,-1.10,-146.6,306.1,-6.4,186,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2896,3504
$STATE,4172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4172,begin apogee
$GC,4178,-0.42,0.0,323.3,5.9,199,4302,0.77,0.00,121.32,0.953,6,0.092,0.000,2319,1766,2901
$STATE,4303,end apogee,CONTROL_FINISHED_OK
$STATE,4303,begin climb
$GC,4305,1.10,146.6,327.7,0.0,205,4431,1.55,2.67,116.80,0.948,4,0.058,0.068,2650,371,2303
$GC,4520,1.18,208.4,324.1,4.3,215,4578,0.00,2.53,50.67,0.914,6,0.000,0.040,2650,1776,2051
$GC,4888,1.18,208.4,301.5,6.7,233,4892,0.00,2.70,0.00,0.000,4,0.000,0.087,2649,3179,2051
$GC,5077,1.18,208.4,287.6,8.1,241,5084,0.00,2.60,0.00,0.000,6,0.000,0.061,2649,1778,2050
$GC,5392,1.18,208.4,265.4,7.3,257,5396,0.00,2.70,0.00,0.000,4,0.000,0.084,2650,3182,2050
$GC,5469,1.18,208.4,259.9,6.9,260,5476,0.00,2.62,0.00,0.000,6,0.000,0.063,2649,1773,2049
$GC,5785,1.18,208.4,237.1,7.5,276,5789,0.00,2.70,0.00,0.000,4,0.000,0.082,2650,3179,2049
$GC,5878,1.18,208.4,229.3,8.3,280,5883,0.00,2.62,0.00,0.000,6,0.000,0.067,2650,1777,2049
$GC,6200,1.18,208.4,204.6,7.9,296,6204,0.00,2.70,0.00,0.000,4,0.000,0.084,2649,3179,2049
$GC,6315,1.18,208.4,196.7,7.4,301,6320,0.00,2.60,0.00,0.000,6,0.000,0.063,2649,1778,2049
$GC,6636,1.18,208.4,172.9,7.1,317,6641,0.00,2.67,0.00,0.000,4,0.000,0.084,2650,3179,2049
$GC,6815,1.18,208.4,156.4,6.1,325,6819,0.00,2.58,0.00,0.000,6,0.000,0.064,2649,1774,2049
$GC,7142,1.20,229.5,136.6,5.4,341,7167,0.10,2.70,17.92,0.822,4,0.053,0.071,2689,3172,1965
$GC,7255,1.20,229.5,127.7,7.7,346,7260,0.00,2.60,0.00,0.000,6,0.000,0.061,2689,1774,1965
$GC,7584,1.20,229.5,98.1,9.6,362,7589,0.00,2.65,0.00,0.000,4,0.000,0.071,2689,3184,1965
$GC,7691,1.20,229.5,88.4,8.5,367,7695,0.00,2.58,0.00,0.000,6,0.000,0.059,2689,1774,1964
$GC,8016,1.20,229.5,62.0,10.5,383,8021,0.00,2.65,0.00,0.000,4,0.000,0.071,2689,3188,1964
$GC,8123,1.20,229.5,49.5,14.5,388,8127,0.00,2.58,0.00,0.000,6,0.000,0.061,2689,1776,1964
$GC,8448,1.33,329.0,19.1,3.2,404,8532,0.00,2.75,78.20,0.765,4,0.000,0.071,2689,3184,1558
$GC,8648,1.33,329.0,5.3,7.7,413,8654,0.00,2.65,0.00,0.000,6,0.000,0.066,2689,1773,1558
$STATE,8687,end climb,SURFACE_DEPTH_REACHED
$STATE,8687,begin surface coast
$FINISH,-0.9,1.027239
$STATE,8708,end surface coast,CONTROL_FINISHED_OK
$STATE,8708,begin surface
$SM_CCo,8789,0.00,0.000,0,0,1557,329.68
$SM_GC,-0.13,11.85,0.00,0.00,0.037,0.000,0.000,45,2896,1557,-10.81,-0.14,329.68
$IRIDIUM_FIX,6059.36,-856.72,241107,121225
$TT8_MAMPS,0.028379
$HUMID,2055
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.4,72.3
$24V_AH,23.6,18.469
$10V_AH,10.2,7.342
$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,26.250,90.275,384.925,0.000,0.000,39.986,32.808,106.675,2.250,0.000,0.000,72.843,826.021,6316.157,460.234,1241.396,280.543,33.384,1073.746,0.000,1165.670,0.000,13.657
$DEVICE_MAMPS,161.070,89.739,953.381,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.532,288.243,364.846,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19047,416
$CFSIZE,260165632,254455808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,241107,135035,6122.463,-857.019,12,3.5,31,-9.1