version: 66.02
glider: 103
mission: 7
dive: 348
start: 1 11 108 14 9 0
data:
$ID,103
$MISSION,7
$DIVE,348
$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,225
$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,-69267.32
$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,22
$R_STBD_OVSHOOT,7
$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
$GPS1,140331,6354.237,-1127.657,38,1.3,38,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.49
$_SM_ANGLEo,-53.8
$GPS2,140827,6354.151,-1127.629,15,1.4,15,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6346.515,-1131.003
$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,236.5,20000,-11.1,-6.000
$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,-1.10,-146.6,0.0,0.0,0,97,0.00,0.00,-66.75,0.000,6,0.000,0.000,50,2896,3499
$GC,99,-1.10,-146.6,2.6,-6.8,3,115,11.95,1.77,0.00,0.000,4,0.160,0.094,2167,3789,3501
$GC,368,-1.10,-146.6,35.3,-7.6,14,372,0.00,1.60,0.00,0.000,6,0.000,0.059,2167,2909,3502
$GC,696,-1.10,-146.6,56.4,-5.7,30,699,0.00,1.73,0.00,0.000,4,0.000,0.095,2167,3790,3502
$GC,953,-1.10,-146.6,74.8,-7.7,41,957,0.00,1.62,0.00,0.000,6,0.000,0.057,2167,2899,3502
$GC,1276,-1.10,-146.6,98.0,-7.2,57,1280,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1479,3502
$GC,1331,-1.10,-146.6,102.1,-7.1,59,1338,0.00,2.70,0.00,0.000,6,0.000,0.081,2167,2903,3502
$GC,1647,-1.10,-146.6,123.8,-6.9,75,1651,0.00,1.70,0.00,0.000,4,0.000,0.096,2167,3785,3502
$GC,1686,-1.10,-146.6,126.4,-6.7,76,1692,0.00,1.60,0.00,0.000,6,0.000,0.052,2167,2898,3502
$GC,2003,-1.10,-146.6,147.6,-6.8,92,2008,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1478,3502
$GC,2053,-1.10,-146.6,151.7,-8.1,94,2058,0.00,2.70,0.00,0.000,6,0.000,0.077,2167,2900,3502
$GC,2368,-1.10,-146.6,173.1,-6.5,109,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,2678,-1.10,-146.6,194.0,-6.8,124,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,2987,-1.10,-146.6,218.4,-8.2,139,2992,0.00,2.62,0.00,0.000,4,0.000,0.068,2167,1484,3502
$GC,3031,-1.10,-146.6,222.1,-8.6,141,3036,0.00,2.67,0.00,0.000,6,0.000,0.077,2167,2902,3503
$GC,3352,-1.10,-146.6,246.7,-7.1,157,3356,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1481,3503
$GC,3385,-1.10,-146.6,249.3,-7.9,158,3391,0.00,2.70,0.00,0.000,6,0.000,0.077,2167,2906,3503
$GC,3700,-1.10,-146.6,274.4,-8.4,174,3704,0.00,2.65,0.00,0.000,4,0.000,0.072,2167,1478,3503
$GC,3732,-1.10,-146.6,277.0,-8.2,175,3738,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2899,3503
$GC,4048,-1.10,-146.6,300.4,-7.5,191,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3503
$GC,4357,-1.10,-146.6,322.3,-7.2,206,4360,0.00,1.73,0.00,0.000,4,0.000,0.098,2167,3779,3503
$GC,4424,-1.10,-146.6,326.9,-7.0,209,4428,0.00,1.58,0.00,0.000,6,0.000,0.050,2167,2884,3503
$STATE,4672,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4672,begin apogee
$GC,4680,-0.42,0.0,340.9,5.5,221,4807,0.77,0.00,123.05,1.046,6,0.104,0.000,2318,2093,2901
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4810,1.10,146.6,345.9,0.0,227,4937,1.58,2.65,118.45,1.012,4,0.067,0.063,2647,684,2303
$GC,5109,1.19,215.5,336.4,4.1,241,5171,0.00,2.53,56.95,0.999,6,0.000,0.040,2648,2118,2022
$GC,5483,1.19,218.4,319.0,5.9,259,5492,0.00,2.60,4.05,0.696,4,0.000,0.067,2648,3504,2010
$GC,5618,1.24,255.4,311.8,5.0,265,5656,0.15,2.50,31.30,1.008,6,0.042,0.041,2690,2093,1859
$GC,5968,1.24,255.4,285.9,8.0,281,5973,0.00,2.70,0.00,0.000,4,0.000,0.076,2691,3508,1857
$GC,6008,1.24,255.4,282.3,8.5,283,6012,0.00,2.53,0.00,0.000,6,0.000,0.048,2691,2096,1857
$GC,6333,1.24,255.4,257.2,7.6,299,6338,0.00,2.67,0.00,0.000,4,0.000,0.075,2691,3503,1856
$GC,6360,1.24,255.4,254.9,8.3,300,6365,0.00,2.53,0.00,0.000,6,0.000,0.050,2691,2095,1856
$GC,6676,1.24,255.4,228.0,9.2,315,6680,0.00,2.67,0.00,0.000,4,0.000,0.075,2691,3505,1856
$GC,6703,1.24,255.4,225.1,10.2,316,6707,0.00,2.53,0.00,0.000,6,0.000,0.051,2691,2098,1856
$GC,7019,1.24,255.4,194.8,9.6,331,7023,0.00,2.65,0.00,0.000,4,0.000,0.075,2691,3504,1855
$GC,7051,1.24,255.4,191.6,9.9,332,7057,0.00,2.55,0.00,0.000,6,0.000,0.051,2691,2093,1855
$GC,7366,1.24,255.4,163.9,8.6,348,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,1855
$GC,7676,1.24,255.4,138.1,9.0,363,7680,0.00,2.67,0.00,0.000,4,0.000,0.074,2691,3510,1855
$GC,7697,1.24,255.4,135.9,9.4,364,7701,0.00,2.53,0.00,0.000,6,0.000,0.048,2691,2096,1855
$GC,8019,1.24,255.4,109.9,7.6,380,8024,0.00,2.67,0.00,0.000,4,0.000,0.075,2691,3508,1855
$GC,8059,1.24,255.4,106.6,8.0,382,8063,0.00,2.53,0.00,0.000,6,0.000,0.048,2691,2094,1855
$GC,8386,1.24,255.4,78.0,9.4,398,8390,0.00,2.65,0.00,0.000,4,0.000,0.073,2691,3503,1855
$GC,8418,1.24,255.4,74.6,9.8,399,8424,0.00,2.47,0.00,0.000,6,0.000,0.047,2691,2093,1855
$GC,8735,1.24,255.4,48.4,7.1,415,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,1855
$GC,9043,1.24,255.4,18.0,8.5,430,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,1856
$STATE,9247,end climb,SURFACE_DEPTH_REACHED
$STATE,9247,begin surface coast
$FINISH,-1.0,1.027400
$STATE,9270,end surface coast,CONTROL_FINISHED_OK
$STATE,9270,begin surface
$SM_CCo,9294,37.08,0.793,1,0,1678,300.00
$SM_GC,-0.35,0.00,0.00,37.08,0.000,0.000,0.793,44,2885,1678,-10.88,-0.42,300.00
$IRIDIUM_FIX,6332.30,-1134.92,110108,151541
$TT8_MAMPS,0.029146
$HUMID,2081
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.3,75.1
$24V_AH,23.4,59.762
$10V_AH,10.1,27.126
$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,26.000,89.550,333.800,37.075,0.000,38.040,32.992,124.233,1.750,0.000,0.000,15.914,868.892,6822.383,454.869,1119.869,391.079,0.000,1036.081,0.000,1105.741,0.000,15.455
$DEVICE_MAMPS,159.536,98.176,1046.188,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.093,299.479,394.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22295,441
$CFSIZE,260165632,239996928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,110108,164538,6350.951,-1130.710,24,1.8,24,-11.5