version: 66.02
glider: 103
mission: 7
dive: 349
start: 1 11 108 16 51 35
data:
$ID,103
$MISSION,7
$DIVE,349
$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,-69303.062
$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,24
$R_STBD_OVSHOOT,6
$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
$GPS1,164538,6350.951,-1130.710,24,1.8,24,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-56.0
$GPS2,165103,6350.861,-1130.843,35,1.8,35,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6343.225,-1134.224
$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,351
$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,-146.6,0.0,0.0,0,96,0.00,0.00,-66.53,0.000,6,0.000,0.000,44,2887,3499
$GC,99,-1.10,-146.6,2.8,-7.9,3,115,12.00,1.77,0.00,0.000,4,0.159,0.088,2166,3790,3501
$GC,368,-1.10,-146.6,40.4,-8.7,14,372,0.00,1.60,0.00,0.000,6,0.000,0.061,2167,2909,3502
$GC,695,-1.10,-146.6,68.6,-9.3,30,698,0.00,1.75,0.00,0.000,4,0.000,0.098,2166,3794,3502
$GC,846,-1.10,-146.6,83.2,-10.3,36,852,0.00,1.62,0.00,0.000,6,0.000,0.057,2166,2902,3502
$GC,1163,-1.10,-146.6,111.4,-10.7,52,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,1471,-1.10,-146.6,134.0,-7.5,67,1475,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1481,3502
$GC,1520,-1.10,-146.6,137.2,-6.1,69,1525,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2909,3502
$GC,1836,-1.10,-146.6,159.2,-8.2,84,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3503
$GC,2145,-1.10,-146.6,182.4,-7.6,99,2149,0.00,2.67,0.00,0.000,4,0.000,0.071,2166,1477,3503
$GC,2177,-1.10,-146.6,185.0,-8.0,100,2184,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2900,3503
$GC,2493,-1.10,-146.6,208.7,-6.9,116,2498,0.00,2.62,0.00,0.000,4,0.000,0.071,2167,1481,3503
$GC,2520,-1.10,-146.6,210.6,-6.7,117,2525,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2903,3503
$GC,2836,-1.10,-146.6,230.9,-6.2,132,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,3147,-1.10,-146.6,251.0,-6.4,147,3151,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,1475,3503
$GC,3173,-1.10,-146.6,252.9,-6.2,148,3178,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2900,3503
$GC,3489,-1.10,-146.6,274.0,-6.5,163,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,3798,-1.10,-146.6,293.9,-6.4,178,3803,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1477,3503
$GC,3848,-1.10,-146.6,297.4,-6.5,180,3852,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2908,3503
$GC,4163,-1.10,-146.6,320.3,-7.4,195,4167,0.00,1.70,0.00,0.000,4,0.000,0.097,2166,3786,3503
$GC,4219,-1.10,-146.6,324.5,-7.4,197,4222,0.00,1.58,0.00,0.000,6,0.000,0.049,2167,2896,3503
$GC,4540,-1.10,-146.6,347.0,-6.9,213,4544,0.00,2.58,0.00,0.000,4,0.000,0.067,2166,1482,3503
$STATE,4599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4599,begin apogee
$GC,4606,-0.42,0.0,351.1,7.0,216,4733,0.73,0.00,123.00,1.039,6,0.079,0.000,2316,2103,2901
$STATE,4733,end apogee,CONTROL_FINISHED_OK
$STATE,4734,begin climb
$GC,4736,1.10,146.6,355.5,0.0,222,4863,1.55,2.65,118.57,1.021,4,0.058,0.060,2648,687,2303
$GC,4900,1.20,222.2,353.4,3.9,230,4970,0.10,2.53,62.33,1.002,6,0.053,0.038,2677,2120,1995
$GC,5291,1.20,222.2,325.1,8.1,249,5296,0.00,2.60,0.00,0.000,4,0.000,0.075,2677,3501,1994
$GC,5437,1.20,222.2,312.7,8.4,255,5443,0.00,2.53,0.00,0.000,6,0.000,0.048,2677,2093,1993
$GC,5753,1.20,222.2,285.0,9.0,271,5757,0.00,2.67,0.00,0.000,4,0.000,0.073,2677,3508,1993
$GC,5792,1.20,222.2,281.1,10.2,273,5796,0.00,2.50,0.00,0.000,6,0.000,0.047,2677,2099,1992
$GC,6118,1.20,222.2,247.3,10.6,289,6123,0.00,2.65,0.00,0.000,4,0.000,0.074,2677,3502,1992
$GC,6174,1.20,222.2,241.2,11.2,291,6180,0.00,2.50,0.00,0.000,6,0.000,0.047,2677,2093,1992
$GC,6489,1.20,222.2,212.1,8.3,307,6493,0.00,2.65,0.00,0.000,4,0.000,0.075,2678,3501,1992
$GC,6528,1.20,222.2,208.8,8.3,309,6532,0.00,2.50,0.00,0.000,6,0.000,0.051,2677,2097,1992
$GC,6854,1.20,222.2,184.0,7.3,325,6859,0.00,2.65,0.00,0.000,4,0.000,0.074,2677,3501,1992
$GC,6876,1.20,222.2,182.1,8.3,326,6880,0.00,2.50,0.00,0.000,6,0.000,0.049,2677,2100,1992
$GC,7196,1.20,222.2,155.9,8.0,342,7201,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3501,1992
$GC,7218,1.20,222.2,154.1,8.2,343,7222,0.00,2.53,0.00,0.000,6,0.000,0.049,2677,2093,1992
$GC,7539,1.20,222.2,129.0,9.2,359,7544,0.00,2.65,0.00,0.000,4,0.000,0.073,2677,3502,1992
$GC,7572,1.20,222.2,125.7,9.7,360,7579,0.00,2.50,0.00,0.000,6,0.000,0.051,2677,2094,1992
$GC,7890,1.20,222.2,101.2,8.1,376,7894,0.00,2.65,0.00,0.000,4,0.000,0.071,2677,3508,1992
$GC,7917,1.20,222.2,98.5,9.0,377,7921,0.00,2.50,0.00,0.000,6,0.000,0.047,2677,2100,1992
$GC,8233,1.26,272.3,79.0,4.6,392,8279,0.00,2.70,40.60,0.882,4,0.000,0.069,2677,3502,1790
$GC,8307,1.27,280.9,74.5,5.8,395,8322,0.00,2.53,8.65,0.782,6,0.000,0.046,2677,2096,1754
$GC,8644,1.27,280.9,49.0,10.3,412,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2095,1753
$GC,8953,1.27,280.9,15.5,9.6,427,8958,0.00,2.65,0.00,0.000,4,0.000,0.072,2677,3501,1753
$GC,9016,1.27,280.9,9.0,10.7,430,9021,0.00,2.50,0.00,0.000,6,0.000,0.045,2677,2093,1753
$STATE,9093,end climb,SURFACE_DEPTH_REACHED
$STATE,9093,begin surface coast
$FINISH,-0.8,1.027396
$STATE,9115,end surface coast,CONTROL_FINISHED_OK
$STATE,9115,begin surface
$SM_CCo,9138,17.27,0.744,1,0,1678,300.00
$SM_GC,-0.51,0.00,0.00,17.27,0.000,0.000,0.744,47,2883,1678,-10.87,-0.48,300.00
$IRIDIUM_FIX,6327.46,-1129.14,110108,181820
$TT8_MAMPS,0.028379
$HUMID,2074
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.8,80.2
$24V_AH,23.3,59.877
$10V_AH,10.1,27.177
$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,26.000,98.625,353.150,17.275,0.000,39.547,35.671,128.285,2.500,0.000,0.000,35.119,850.558,6702.662,449.768,1111.705,394.373,0.000,1033.208,0.000,1072.744,0.000,15.288
$DEVICE_MAMPS,158.769,98.176,1038.518,743.990,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,324.519,295.019,376.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22205,435
$CFSIZE,260165632,239960064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,110108,192532,6348.522,-1135.633,39,1.8,39,-11.5