version: 66.02
glider: 103
mission: 7
dive: 326
start: 1 9 108 14 9 17
data:
$ID,103
$MISSION,7
$DIVE,326
$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,-68697.406
$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,16
$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
$GPS1,135939,6415.451,-1155.568,12,1.8,13,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.86
$_SM_ANGLEo,-51.5
$GPS2,140846,6415.472,-1155.800,44,2.5,63,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6407.835,-1152.468
$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,146.9,20000,-18.2,-10.000
$D_GRID,371
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.70,-146.6,0.0,0.0,0,141,0.00,0.00,-110.38,0.000,6,0.000,0.000,48,2898,3499
$GC,144,-1.70,-146.6,1.9,-3.0,5,165,11.38,2.60,0.00,0.000,4,0.164,0.059,2032,1487,3501
$GC,417,-1.70,-146.6,46.1,-14.6,17,422,0.00,2.70,0.00,0.000,6,0.000,0.077,2032,2903,3501
$GC,738,-1.70,-146.6,86.8,-12.3,33,742,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3786,3501
$GC,799,-1.70,-146.6,94.7,-12.2,35,806,0.00,1.58,0.00,0.000,6,0.000,0.043,2032,2897,3501
$GC,1115,-1.70,-146.6,134.4,-12.5,51,1118,0.00,1.75,0.00,0.000,4,0.000,0.094,2032,3789,3501
$GC,1162,-1.70,-146.6,140.1,-12.6,53,1165,0.00,1.58,0.00,0.000,6,0.000,0.046,2032,2895,3501
$GC,1494,-1.70,-146.6,180.3,-11.9,69,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2896,3501
$GC,1803,-1.70,-146.6,217.8,-12.4,84,1807,0.00,1.75,0.00,0.000,4,0.000,0.093,2032,3792,3501
$GC,1903,-1.70,-146.6,231.5,-13.8,88,1907,0.00,1.60,0.00,0.000,6,0.000,0.049,2032,2899,3502
$GC,2225,-1.70,-146.6,271.7,-12.7,104,2229,0.00,2.58,0.00,0.000,4,0.000,0.065,2032,1489,3502
$GC,2257,-1.70,-146.6,275.8,-11.7,105,2264,0.00,2.70,0.00,0.000,6,0.000,0.079,2032,2908,3502
$GC,2573,-1.70,-146.6,315.3,-12.7,121,2578,0.00,2.62,0.00,0.000,4,0.000,0.064,2032,1487,3502
$GC,2651,-1.70,-146.6,325.8,-12.2,124,2657,0.00,2.70,0.00,0.000,6,0.000,0.080,2032,2907,3502
$GC,2967,-1.70,-146.6,367.2,-12.8,140,2970,0.00,1.70,0.00,0.000,4,0.000,0.094,2032,3779,3502
$STATE,2991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2992,begin apogee
$GC,3001,-0.42,0.0,371.0,14.1,141,3127,1.40,0.00,122.20,1.091,6,0.100,0.000,2312,2095,2901
$STATE,3128,end apogee,CONTROL_FINISHED_OK
$STATE,3128,begin climb
$GC,3130,1.70,146.6,377.9,0.0,147,3257,2.15,2.62,118.35,1.053,4,0.058,0.054,2779,685,2303
$GC,3514,1.71,159.6,356.4,9.4,164,3533,0.00,2.53,12.35,0.953,6,0.000,0.038,2779,2114,2250
$GC,3850,1.75,189.8,326.5,8.6,181,3881,0.00,2.67,25.77,1.022,4,0.000,0.056,2779,685,2126
$GC,3960,1.75,189.8,314.5,11.5,186,3964,0.00,2.53,0.00,0.000,6,0.000,0.041,2778,2100,2126
$GC,4280,1.75,189.8,282.9,10.9,202,4284,0.00,2.60,0.00,0.000,4,0.000,0.059,2779,685,2125
$GC,4447,1.75,189.8,264.9,12.3,209,4453,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,2099,2125
$GC,4762,1.75,189.8,229.9,10.7,225,4767,0.00,2.58,0.00,0.000,4,0.000,0.060,2778,688,2124
$GC,4902,1.76,201.7,216.3,9.5,231,4918,0.00,2.53,10.88,0.933,6,0.000,0.044,2779,2107,2078
$GC,5239,1.78,217.8,185.5,9.3,248,5261,0.00,2.65,14.32,0.948,4,0.000,0.060,2778,688,2013
$GC,5294,1.78,217.8,179.9,10.0,250,5299,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,2098,2013
$GC,5610,1.80,228.9,149.2,9.5,265,5626,0.00,2.62,10.45,0.898,4,0.000,0.058,2779,687,1967
$GC,5672,1.80,228.9,143.2,10.1,267,5677,0.10,2.53,0.00,0.000,6,0.048,0.045,2811,2101,1967
$GC,5999,1.80,228.9,108.8,10.5,283,6003,0.00,2.60,0.00,0.000,4,0.000,0.059,2812,683,1967
$GC,6083,1.80,228.9,99.4,11.3,287,6088,0.00,2.53,0.00,0.000,6,0.000,0.044,2812,2105,1967
$GC,6410,1.80,228.9,62.3,12.6,303,6414,0.00,2.60,0.00,0.000,4,0.000,0.058,2812,681,1967
$GC,6586,1.80,228.9,40.5,11.3,311,6591,0.00,2.53,0.00,0.000,6,0.000,0.044,2812,2103,1967
$STATE,6911,end climb,SURFACE_DEPTH_REACHED
$STATE,6911,begin surface coast
$FINISH,-1.3,1.027377
$STATE,6933,end surface coast,CONTROL_FINISHED_OK
$STATE,6934,begin surface
$SM_CCo,6958,246.30,0.807,1,0,572,571.30
$SM_GC,-0.95,0.00,0.00,246.30,0.000,0.000,0.807,45,2891,572,-10.88,-0.23,571.30
$IRIDIUM_FIX,6346.88,-1157.40,090108,181824
$TT8_MAMPS,0.029146
$HUMID,2038
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,302.3,108.4
$24V_AH,23.4,56.908
$10V_AH,10.1,26.137
$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,27.275,73.325,314.325,246.300,0.000,76.800,71.072,187.121,2.500,0.000,0.000,64.109,685.275,4897.201,678.073,1026.012,495.012,0.000,1189.909,0.000,956.057,0.000,15.369
$DEVICE_MAMPS,164.138,93.574,1090.674,806.884,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.632,222.553,274.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16002,328
$CFSIZE,260165632,240758784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,090108,161035,6414.687,-1158.354,12,2.6,31,-11.9