version: 66.02
glider: 103
mission: 7
dive: 312
start: 1 8 108 10 12 16
data:
$ID,103
$MISSION,7
$DIVE,312
$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,571.30371
$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,-68359.984
$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,17
$R_STBD_OVSHOOT,10
$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
$GPS1,100701,6414.400,-1148.775,38,1.1,44,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.74
$_SM_ANGLEo,-46.0
$GPS2,101144,6414.444,-1148.745,11,1.4,22,-11.8
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6406.808,-1145.411
$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,146.8,20000,-18.2,-10.000
$D_GRID,346
$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,-146.6,0.0,0.0,0,138,0.00,0.00,-108.28,0.000,6,0.000,0.000,41,2899,3499
$GC,141,-1.70,-146.6,2.4,-3.6,5,162,11.38,2.58,0.00,0.000,4,0.162,0.059,2035,1489,3501
$GC,279,-1.70,-146.6,30.4,-12.0,11,283,0.00,2.70,0.00,0.000,6,0.000,0.081,2035,2900,3501
$GC,601,-1.70,-146.6,67.9,-12.6,27,604,0.00,1.70,0.00,0.000,4,0.000,0.096,2034,3786,3501
$GC,718,-1.70,-146.6,83.8,-14.0,32,722,0.00,1.60,0.00,0.000,6,0.000,0.055,2035,2900,3501
$GC,1045,-1.70,-146.6,122.6,-11.5,48,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2900,3501
$GC,1354,-1.70,-146.6,162.0,-12.6,63,1357,0.00,1.73,0.00,0.000,4,0.000,0.090,2035,3790,3501
$GC,1409,-1.70,-146.6,168.7,-11.3,65,1413,0.00,1.60,0.00,0.000,6,0.000,0.054,2035,2899,3501
$GC,1731,-1.70,-146.6,207.8,-12.1,81,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2899,3501
$GC,2040,-1.70,-146.6,243.0,-11.4,96,2043,0.00,1.73,0.00,0.000,4,0.000,0.091,2035,3790,3501
$GC,2190,-1.70,-146.6,260.7,-11.8,102,2196,0.00,1.58,0.00,0.000,6,0.000,0.051,2034,2907,3501
$GC,2506,-1.70,-146.6,297.6,-11.8,118,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2907,3501
$GC,2815,-1.70,-146.6,335.1,-12.2,133,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2907,3501
$STATE,2915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2915,begin apogee
$GC,2923,-0.42,0.0,348.1,12.6,138,3048,1.40,0.00,121.90,1.024,6,0.097,0.000,2314,2095,2901
$STATE,3049,end apogee,CONTROL_FINISHED_OK
$STATE,3049,begin climb
$GC,3052,1.70,146.6,353.9,0.0,144,3178,2.15,2.58,117.50,1.003,4,0.061,0.050,2777,685,2303
$GC,3432,1.78,215.1,333.5,6.9,161,3494,0.00,2.50,56.17,0.976,6,0.000,0.036,2777,2117,2024
$GC,3811,1.78,215.1,295.6,11.5,180,3815,0.00,2.60,0.00,0.000,4,0.000,0.054,2777,684,2023
$GC,3967,1.78,215.1,277.9,10.6,187,3971,0.00,2.47,0.00,0.000,6,0.000,0.039,2777,2095,2023
$GC,4287,1.78,215.1,244.6,11.2,203,4292,0.00,2.60,0.00,0.000,4,0.000,0.067,2777,3510,2022
$GC,4309,1.78,215.1,241.3,15.6,204,4313,0.00,2.47,0.00,0.000,6,0.000,0.041,2777,2097,2022
$GC,4635,1.78,215.1,198.4,13.1,220,4639,0.00,2.53,0.00,0.000,4,0.000,0.056,2777,692,2022
$GC,4757,1.78,215.1,181.9,12.5,225,4764,0.00,2.45,0.00,0.000,6,0.000,0.041,2777,2100,2022
$GC,5073,1.78,215.1,145.5,11.3,241,5077,0.00,2.55,0.00,0.000,4,0.000,0.055,2777,691,2022
$GC,5180,1.78,215.1,132.2,13.0,246,5184,0.00,2.47,0.00,0.000,6,0.000,0.041,2777,2102,2022
$GC,5506,1.78,215.1,85.7,14.9,262,5510,0.00,2.55,0.00,0.000,4,0.000,0.055,2777,691,2022
$GC,5651,1.78,215.1,68.4,10.4,268,5657,0.00,2.47,0.00,0.000,6,0.000,0.044,2777,2106,2022
$GC,5966,1.78,215.1,37.7,10.7,284,5971,0.00,2.55,0.00,0.000,4,0.000,0.056,2777,692,2022
$GC,6084,1.78,215.1,23.6,13.8,289,6088,0.00,2.47,0.00,0.000,6,0.000,0.044,2777,2099,2022
$STATE,6314,end climb,SURFACE_DEPTH_REACHED
$STATE,6315,begin surface coast
$FINISH,-1.2,1.002245
$STATE,6337,end surface coast,CONTROL_FINISHED_OK
$STATE,6337,begin surface
$SM_CCo,6360,247.40,0.774,1,0,572,571.30
$SM_GC,-0.62,0.00,0.00,247.40,0.000,0.000,0.774,37,2906,572,-10.92,0.17,571.30
$IRIDIUM_FIX,6346.88,-1152.56,080108,121205
$TT8_MAMPS,0.029146
$HUMID,1999
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.0,96.3
$24V_AH,23.5,54.690
$10V_AH,10.1,25.543
$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,26.850,53.525,295.575,247.400,0.000,40.541,33.990,107.727,2.250,0.000,0.000,22.654,618.383,4457.553,652.086,875.181,320.261,0.000,1103.798,0.000,854.480,0.000,13.715
$DEVICE_MAMPS,161.837,95.875,1023.945,773.903,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.630,204.747,265.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15993,301
$CFSIZE,260165632,241225728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,080108,120335,6414.028,-1147.752,9,4.1,29,-11.8