version: 66.02
glider: 103
mission: 7
dive: 354
start: 1 12 108 7 8 29
data:
$ID,103
$MISSION,7
$DIVE,354
$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,-1
$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,-69431.305
$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,19
$R_STBD_OVSHOOT,8
$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
$GPS1,065508,6340.163,-1146.255,30,1.4,30,-11.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-54.9
$GPS2,070759,6340.063,-1146.740,12,2.7,31,-11.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$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,244.4,76706,-11.1,-6.000
$D_GRID,354
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-61.08,0.000,2,0.000,0.000,42,2894,3351
$GC,91,-1.10,-146.6,3.1,-8.0,3,113,12.00,1.75,-2.75,0.000,4,0.158,0.114,2166,3780,3501
$GC,366,-1.10,-146.6,34.7,-8.6,15,370,0.00,1.60,0.00,0.000,6,0.000,0.055,2166,2901,3502
$GC,693,-1.10,-146.6,58.0,-7.8,31,697,0.00,1.73,0.00,0.000,4,0.000,0.093,2166,3787,3502
$GC,951,-1.10,-146.6,80.9,-7.8,42,955,0.00,1.60,0.00,0.000,6,0.000,0.050,2166,2899,3502
$GC,1273,-1.10,-146.6,109.0,-8.8,58,1277,0.00,2.60,0.00,0.000,4,0.000,0.071,2167,1485,3502
$GC,1313,-1.10,-146.6,112.5,-9.0,60,1317,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2901,3502
$GC,1639,-1.10,-146.6,136.8,-7.5,76,1643,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1482,3502
$GC,1666,-1.10,-146.6,138.8,-7.2,77,1670,0.00,2.70,0.00,0.000,6,0.000,0.075,2167,2909,3502
$GC,1981,-1.10,-146.6,157.5,-5.1,92,1986,0.00,2.65,0.00,0.000,4,0.000,0.067,2167,1478,3502
$GC,2021,-1.10,-146.6,159.6,-5.3,94,2026,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2904,3503
$GC,2348,-1.10,-146.6,178.7,-6.8,110,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,2657,-1.10,-146.6,205.0,-9.2,125,2661,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1486,3503
$GC,2712,-1.10,-146.6,210.0,-9.1,127,2718,0.00,2.62,0.00,0.000,6,0.000,0.070,2167,2900,3503
$GC,3028,-1.10,-146.6,236.7,-8.8,143,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3337,-1.10,-146.6,261.2,-7.7,158,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,3646,-1.10,-146.6,284.0,-7.0,173,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3955,-1.10,-146.6,306.2,-7.6,188,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,4264,-1.10,-146.6,331.2,-6.8,203,4269,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1484,3503
$GC,4331,-1.10,-146.6,335.8,-7.0,206,4335,0.00,2.62,0.00,0.000,6,0.000,0.068,2167,2901,3503
$STATE,4527,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4527,begin apogee
$GC,4534,-0.42,0.0,349.2,7.1,216,4660,0.75,0.00,122.00,1.065,6,0.091,0.000,2317,2093,2900
$STATE,4660,end apogee,CONTROL_FINISHED_OK
$STATE,4661,begin climb
$GC,4663,1.10,146.6,354.9,0.0,222,4790,1.58,2.72,118.47,1.023,4,0.068,0.067,2646,3524,2303
$GC,4910,1.19,216.2,353.9,4.1,233,4978,0.10,2.53,57.47,1.013,6,0.051,0.038,2678,2087,2019
$GC,5287,1.19,216.2,327.1,8.1,252,5292,0.00,2.53,0.00,0.000,4,0.000,0.060,2678,699,2018
$GC,5360,1.19,216.2,320.0,10.0,255,5364,0.00,2.50,0.00,0.000,6,0.000,0.041,2678,2113,2018
$GC,5675,1.19,216.2,287.0,11.0,270,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2113,2017
$GC,5985,1.19,216.2,258.5,8.5,285,5989,0.00,2.62,0.00,0.000,4,0.000,0.077,2678,3508,2016
$GC,6046,1.19,216.2,253.3,8.6,288,6051,0.00,2.53,0.00,0.000,6,0.000,0.051,2678,2102,2016
$GC,6373,1.22,245.4,233.3,5.2,304,6399,0.00,0.00,24.35,0.983,6,0.000,0.000,2678,2102,1900
$GC,6703,1.28,287.3,218.0,4.8,320,6745,0.00,2.75,35.00,0.973,4,0.000,0.077,2678,3512,1729
$GC,6773,1.29,297.9,214.1,5.7,323,6789,0.00,2.58,10.27,0.879,6,0.000,0.051,2678,2103,1686
$GC,7098,1.29,297.9,190.8,8.4,339,7103,0.00,2.67,0.00,0.000,4,0.000,0.075,2678,3515,1685
$GC,7125,1.29,297.9,188.2,9.9,340,7130,0.00,2.55,0.00,0.000,6,0.000,0.051,2678,2091,1685
$GC,7441,1.29,297.9,158.8,9.1,355,7445,0.00,2.67,0.00,0.000,4,0.000,0.074,2678,3509,1684
$GC,7480,1.29,297.9,155.1,10.8,357,7485,0.00,2.53,0.00,0.000,6,0.000,0.047,2678,2090,1685
$GC,7807,1.29,297.9,125.9,9.8,373,7811,0.00,2.67,0.00,0.000,4,0.000,0.072,2678,3512,1684
$GC,7839,1.29,297.9,122.4,9.5,374,7846,0.00,2.50,0.00,0.000,6,0.000,0.051,2678,2100,1685
$GC,8157,1.29,297.9,89.8,9.9,390,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2100,1685
$GC,8465,1.29,297.9,61.0,7.1,405,8470,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3508,1684
$GC,8509,1.29,297.9,58.0,7.0,407,8514,0.00,2.50,0.00,0.000,6,0.000,0.047,2678,2094,1684
$GC,8831,1.29,297.9,28.4,9.5,423,8835,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3508,1685
$GC,8858,1.29,297.9,26.1,9.1,424,8862,0.00,2.50,0.00,0.000,6,0.000,0.045,2678,2101,1685
$STATE,9131,end climb,SURFACE_DEPTH_REACHED
$STATE,9131,begin surface coast
$FINISH,-0.2,1.027398
$STATE,9152,end surface coast,CONTROL_FINISHED_OK
$STATE,9152,begin surface
$SM_CCo,9175,3.20,0.532,0,0,1678,300.00
$SM_GC,1.39,0.00,0.00,3.20,0.000,0.000,0.532,50,2896,1678,-10.86,-0.11,300.00
$IRIDIUM_FIX,6317.84,-1149.07,120108,111148
$TT8_MAMPS,0.029146
$HUMID,2077
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.6,83.4
$24V_AH,23.4,60.482
$10V_AH,10.1,27.448
$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,26.200,82.750,367.575,3.200,0.000,113.629,213.521,197.983,2.250,0.000,0.000,32.616,842.119,6875.742,438.212,1097.709,716.610,0.000,1003.444,0.000,1063.972,0.000,13.681
$DEVICE_MAMPS,158.002,113.516,1065.363,531.531,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.414,299.272,371.821,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22269,438
$CFSIZE,260165632,239771648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,120108,094235,6339.774,-1150.822,11,9.9,30,-11.6