version: 66.02
glider: 103
mission: 7
dive: 341
start: 1 10 108 19 53 2
data:
$ID,103
$MISSION,7
$DIVE,341
$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,-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,-69116.234
$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,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
$GPS1,193211,6401.857,-1138.297,8,4.3,28,-11.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-55.2
$GPS2,195232,6401.683,-1138.350,39,1.3,39,-11.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6354.047,-1134.991
$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,-11.1,-6.000
$D_GRID,334
$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,30,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-60.80,0.000,2,0.000,0.000,51,2899,3329
$GC,95,-1.10,-146.6,3.2,-8.5,3,118,11.95,2.60,-3.20,0.000,4,0.159,0.074,2163,1487,3501
$GC,347,-1.10,-146.6,30.9,-11.3,14,352,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2908,3502
$GC,669,-1.10,-146.6,63.7,-7.1,30,674,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,1486,3502
$GC,724,-1.10,-146.6,67.4,-6.5,32,731,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2902,3502
$GC,1041,-1.10,-146.6,88.2,-5.8,48,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1350,-1.10,-146.6,107.2,-6.1,63,1354,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1487,3503
$GC,1371,-1.10,-146.6,108.7,-6.5,64,1375,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2907,3503
$GC,1693,-1.10,-146.6,131.0,-8.1,80,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3503
$GC,2002,-1.10,-146.6,155.5,-8.7,95,2006,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1486,3503
$GC,2068,-1.10,-146.6,161.2,-8.7,98,2072,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2900,3503
$GC,2388,-1.10,-146.6,185.9,-6.9,114,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,2698,-1.10,-146.6,206.2,-6.3,129,2702,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1480,3503
$GC,2737,-1.10,-146.6,208.8,-6.7,131,2742,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2900,3503
$GC,3064,-1.10,-146.6,228.8,-6.0,147,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,3373,-1.10,-146.6,248.4,-6.5,162,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,3682,-1.10,-146.6,266.2,-6.1,177,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,3992,-1.10,-146.6,287.9,-7.3,192,3996,0.00,2.65,0.00,0.000,4,0.000,0.072,2163,1489,3503
$GC,4041,-1.10,-146.6,291.7,-7.4,194,4046,0.00,2.70,0.00,0.000,6,0.000,0.077,2163,2907,3503
$GC,4356,-1.10,-146.6,315.4,-7.8,209,4360,0.00,1.73,0.00,0.000,4,0.000,0.103,2163,3790,3503
$GC,4406,-1.10,-146.6,319.5,-8.2,211,4410,0.00,1.60,0.00,0.000,6,0.000,0.052,2163,2900,3503
$STATE,4627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4627,begin apogee
$GC,4635,-0.42,0.0,334.7,6.7,222,4761,0.77,0.00,122.28,1.086,6,0.091,0.000,2318,2098,2901
$STATE,4761,end apogee,CONTROL_FINISHED_OK
$STATE,4761,begin climb
$GC,4764,1.10,146.6,339.3,0.0,228,4891,1.55,2.65,118.95,1.039,4,0.062,0.061,2645,684,2303
$GC,5108,1.15,183.9,329.3,5.0,244,5149,0.00,2.53,31.42,1.026,6,0.000,0.042,2645,2112,2151
$GC,5458,1.15,183.9,308.2,6.8,261,5462,0.00,2.60,0.00,0.000,4,0.000,0.071,2645,3505,2150
$GC,5626,1.15,183.9,296.0,7.6,268,5630,0.00,2.53,0.00,0.000,6,0.000,0.043,2645,2094,2150
$GC,5941,1.27,284.9,280.7,3.2,283,6027,0.20,0.00,82.95,1.041,6,0.040,0.000,2698,2093,1739
$GC,6331,1.27,284.9,253.5,8.5,302,6336,0.00,2.72,0.00,0.000,4,0.000,0.081,2699,3504,1737
$GC,6397,1.27,284.9,247.8,8.4,305,6402,0.00,2.55,0.00,0.000,6,0.000,0.054,2699,2101,1737
$GC,6719,1.27,284.9,224.6,7.2,321,6724,0.00,2.70,0.00,0.000,4,0.000,0.081,2698,3504,1736
$GC,6781,1.27,284.9,218.8,10.0,324,6785,0.00,2.55,0.00,0.000,6,0.000,0.055,2698,2100,1736
$GC,7107,1.27,284.9,188.7,8.7,340,7111,0.00,2.70,0.00,0.000,4,0.000,0.082,2698,3504,1736
$GC,7139,1.27,284.9,185.8,8.7,341,7145,0.00,2.55,0.00,0.000,6,0.000,0.056,2699,2100,1736
$GC,7455,1.27,284.9,159.1,7.7,357,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2100,1735
$GC,7766,1.27,284.9,135.0,8.0,372,7770,0.00,2.70,0.00,0.000,4,0.000,0.082,2698,3504,1735
$GC,7821,1.27,284.9,129.7,9.4,374,7827,0.00,2.58,0.00,0.000,6,0.000,0.057,2699,2078,1735
$GC,8137,1.27,284.9,103.5,8.3,390,8141,0.00,2.75,0.00,0.000,4,0.000,0.081,2698,3508,1735
$GC,8169,1.27,284.9,100.5,8.9,391,8176,0.00,2.58,0.00,0.000,6,0.000,0.057,2699,2093,1735
$GC,8487,1.27,284.9,71.3,9.1,407,8491,0.00,2.72,0.00,0.000,4,0.000,0.081,2698,3509,1735
$GC,8527,1.27,284.9,67.0,12.2,409,8532,0.00,2.58,0.00,0.000,6,0.000,0.056,2699,2090,1735
$GC,8853,1.27,284.9,35.4,9.4,425,8858,0.00,2.70,0.00,0.000,4,0.000,0.079,2699,3505,1735
$GC,8874,1.27,284.9,33.0,10.9,426,8879,0.00,2.53,0.00,0.000,6,0.000,0.054,2699,2100,1735
$STATE,9194,end climb,SURFACE_DEPTH_REACHED
$STATE,9194,begin surface coast
$FINISH,-1.4,1.027409
$STATE,9215,end surface coast,CONTROL_FINISHED_OK
$STATE,9216,begin surface
$SM_CCo,9239,14.07,0.747,1,0,1677,300.00
$SM_GC,-0.97,0.00,0.00,14.07,0.000,0.000,0.747,45,2894,1677,-10.88,-0.14,300.00
$IRIDIUM_FIX,6342.00,-1153.32,100108,232345
$TT8_MAMPS,0.028379
$HUMID,2124
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.9,71.2
$24V_AH,23.4,58.934
$10V_AH,10.1,26.771
$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,26.150,85.450,355.600,14.075,0.000,158.627,219.037,527.266,2.250,0.000,0.000,39.282,847.862,6990.688,460.793,1098.166,1107.097,0.000,1012.602,0.000,1062.417,0.000,13.644
$DEVICE_MAMPS,158.769,102.778,1086.072,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,331.116,300.997,386.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22229,443
$CFSIZE,260165632,240246784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,100108,222838,6401.210,-1133.665,40,1.6,40,-11.6