version: 66.02
glider: 103
mission: 7
dive: 337
start: 1 10 108 12 43 46
data:
$ID,103
$MISSION,7
$DIVE,337
$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,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,-69014.625
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,123810,6408.973,-1143.436,9,1.3,11,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.61
$_SM_ANGLEo,-56.5
$GPS2,124314,6408.910,-1143.247,28,1.8,35,-11.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6401.274,-1139.902
$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,146.7,20000,-18.2,-10.000
$D_GRID,317
$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,-146.6,0.0,0.0,0,100,0.00,0.00,-68.55,0.000,6,0.000,0.000,48,2909,3501
$GC,104,-1.70,-146.6,4.1,-6.6,4,124,11.35,2.62,0.00,0.000,4,0.163,0.061,2034,1486,3502
$GC,377,-1.70,-146.6,55.4,-16.3,16,382,0.00,2.70,0.00,0.000,6,0.000,0.079,2034,2894,3502
$GC,698,-1.70,-146.6,95.0,-11.7,32,701,0.00,1.70,0.00,0.000,4,0.000,0.093,2034,3782,3502
$GC,736,-1.70,-146.6,100.4,-14.1,33,743,0.00,1.60,0.00,0.000,6,0.000,0.054,2034,2900,3502
$GC,1053,-1.70,-146.6,140.7,-12.2,49,1057,0.00,2.58,0.00,0.000,4,0.000,0.064,2034,1489,3503
$GC,1085,-1.70,-146.6,144.9,-12.6,50,1091,0.00,2.65,0.00,0.000,6,0.000,0.076,2034,2899,3503
$GC,1401,-1.70,-146.6,183.4,-12.4,66,1404,0.00,1.70,0.00,0.000,4,0.000,0.092,2034,3786,3503
$GC,1450,-1.70,-146.6,189.9,-13.2,68,1454,0.00,1.58,0.00,0.000,6,0.000,0.050,2035,2907,3503
$GC,1777,-1.70,-146.6,229.7,-11.8,84,1782,0.00,2.60,0.00,0.000,4,0.000,0.064,2034,1485,3504
$GC,1817,-1.70,-146.6,234.6,-12.2,86,1822,0.00,2.70,0.00,0.000,6,0.000,0.079,2034,2901,3504
$GC,2144,-1.70,-146.6,277.0,-14.5,102,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3504
$STATE,2368,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2368,begin apogee
$GC,2376,-0.42,0.0,304.7,12.1,113,2503,1.40,0.00,123.15,1.027,6,0.091,0.000,2317,2094,2901
$STATE,2504,end apogee,CONTROL_FINISHED_OK
$STATE,2504,begin climb
$GC,2506,1.70,146.6,309.8,0.0,119,2633,2.15,2.60,118.20,0.999,4,0.059,0.052,2781,691,2303
$GC,2854,1.71,156.6,289.8,9.5,135,2871,0.00,2.50,10.00,0.890,6,0.000,0.035,2782,2118,2262
$GC,3180,1.77,203.2,263.4,7.9,151,3225,0.00,2.67,39.03,0.973,4,0.000,0.058,2782,691,2072
$GC,3341,1.77,203.2,247.9,10.8,158,3345,0.00,2.50,0.00,0.000,6,0.000,0.042,2782,2092,2072
$GC,3661,1.77,208.6,215.7,9.8,174,3672,0.00,2.60,5.95,0.796,4,0.000,0.057,2782,689,2050
$GC,3701,1.77,208.6,211.7,10.9,176,3705,0.00,2.53,0.00,0.000,6,0.000,0.042,2781,2107,2050
$GC,4027,1.77,208.6,177.3,10.5,192,4031,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,687,2049
$GC,4144,1.77,208.6,164.3,11.3,197,4148,0.00,2.53,0.00,0.000,6,0.000,0.044,2782,2101,2049
$GC,4460,1.77,208.6,129.8,10.6,212,4464,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,689,2048
$GC,4656,1.77,208.6,109.5,10.5,221,4661,0.00,2.50,0.00,0.000,6,0.000,0.044,2782,2099,2048
$GC,4984,1.79,222.1,78.7,9.4,237,5006,0.00,2.67,12.25,0.852,4,0.000,0.058,2782,682,1995
$GC,5056,1.81,239.1,72.5,9.2,240,5076,0.00,2.53,14.82,0.856,6,0.000,0.045,2782,2099,1926
$GC,5405,1.81,240.3,38.5,9.9,257,5409,0.00,2.60,0.00,0.000,4,0.000,0.061,2782,684,1926
$GC,5471,1.81,240.3,30.6,12.1,260,5475,0.00,2.50,0.00,0.000,6,0.000,0.044,2781,2100,1926
$STATE,5707,end climb,SURFACE_DEPTH_REACHED
$STATE,5707,begin surface coast
$FINISH,-0.8,1.027410
$STATE,5729,end surface coast,CONTROL_FINISHED_OK
$STATE,5730,begin surface
$SM_CCo,5753,51.78,0.790,2,0,1678,300.00
$SM_GC,-0.58,0.00,0.00,51.78,0.000,0.000,0.790,49,2897,1678,-10.86,-0.08,300.00
$IRIDIUM_FIX,6342.00,-1125.37,100108,141456
$TT8_MAMPS,0.029146
$HUMID,2070
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,15.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,227.3,86.7
$24V_AH,23.4,58.438
$10V_AH,10.1,26.601
$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,27.050,61.425,323.400,51.775,0.000,37.408,36.118,113.510,1.750,0.000,0.000,35.999,575.601,3956.921,448.837,834.750,329.944,0.000,885.689,0.000,799.002,0.000,10.452
$DEVICE_MAMPS,163.371,104.312,1027.013,790.010,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,197.426,185.526,261.412,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12822,273
$CFSIZE,260165632,240410624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,100108,142147,6407.218,-1139.759,9,5.9,29,-11.7