version: 66.02
glider: 103
mission: 7
dive: 355
start: 1 12 108 9 52 3
data:
$ID,103
$MISSION,7
$DIVE,355
$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,-69444.859
$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,13
$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
$GPS1,094235,6339.774,-1150.822,11,9.9,30,-11.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-58.6
$GPS2,095132,6339.836,-1150.903,12,1.6,12,-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,243.0,73711,-11.1,-6.000
$D_GRID,360
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-61.22,0.000,2,0.000,0.000,50,2899,3353
$GC,90,-1.10,-146.6,3.3,-8.6,3,112,11.93,1.75,-2.72,0.000,4,0.158,0.116,2164,3780,3501
$GC,364,-1.10,-146.6,35.1,-6.9,15,368,0.00,1.58,0.00,0.000,6,0.000,0.056,2164,2914,3502
$GC,692,-1.10,-146.6,60.0,-7.1,31,695,0.00,1.67,0.00,0.000,4,0.000,0.092,2164,3782,3502
$GC,949,-1.10,-146.6,80.8,-7.0,42,953,0.00,1.60,0.00,0.000,6,0.000,0.054,2164,2899,3502
$GC,1271,-1.10,-146.6,105.2,-8.2,58,1275,0.00,2.62,0.00,0.000,4,0.000,0.072,2164,1478,3502
$GC,1316,-1.10,-146.6,108.9,-8.1,60,1321,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2897,3502
$GC,1637,-1.10,-146.6,129.9,-4.0,76,1641,0.00,2.62,0.00,0.000,4,0.000,0.068,2164,1483,3502
$GC,1658,-1.10,-146.6,131.4,-6.1,77,1663,0.00,2.70,0.00,0.000,6,0.000,0.076,2164,2906,3502
$GC,1980,-1.10,-146.6,150.9,-5.8,93,1984,0.00,1.67,0.00,0.000,4,0.000,0.094,2164,3785,3502
$GC,2030,-1.10,-146.6,154.4,-6.7,95,2034,0.00,1.58,0.00,0.000,6,0.000,0.046,2164,2900,3502
$GC,2358,-1.10,-146.6,178.0,-7.8,111,2362,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1483,3502
$GC,2397,-1.10,-146.6,180.8,-6.7,113,2402,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2906,3502
$GC,2723,-1.10,-146.6,205.6,-7.9,129,2724,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,3033,-1.10,-146.6,229.8,-7.5,144,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,3342,-1.10,-146.6,249.3,-5.6,159,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3502
$GC,3651,-1.10,-146.6,265.2,-4.6,174,3656,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1484,3502
$GC,3701,-1.10,-146.6,267.8,-5.8,176,3705,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,4017,-1.10,-146.6,290.2,-8.0,191,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4326,-1.10,-146.6,316.0,-8.7,206,4330,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1478,3503
$GC,4365,-1.10,-146.6,319.4,-8.6,208,4370,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2899,3502
$GC,4691,-1.10,-146.6,344.0,-7.3,224,4695,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1477,3503
$GC,4752,-1.10,-146.6,348.0,-6.3,227,4757,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2905,3502
$STATE,4787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4788,begin apogee
$GC,4795,-0.42,0.0,350.4,6.6,229,4921,0.75,0.00,122.88,1.048,6,0.083,0.000,2316,2093,2901
$STATE,4922,end apogee,CONTROL_FINISHED_OK
$STATE,4922,begin climb
$GC,4925,1.10,146.6,354.7,0.0,235,5051,1.58,2.70,118.60,1.019,4,0.063,0.066,2649,3515,2303
$GC,5141,1.10,146.6,348.1,9.4,245,5145,0.00,2.53,0.00,0.000,6,0.000,0.040,2650,2087,2302
$GC,5457,1.11,155.2,327.9,5.8,260,5467,0.00,0.00,8.73,0.898,6,0.000,0.000,2649,2086,2268
$GC,5766,1.22,238.0,311.9,3.7,275,5842,0.12,2.62,67.70,1.019,4,0.043,0.060,2690,701,1930
$GC,5906,1.22,238.0,304.0,7.5,281,5910,0.00,2.53,0.00,0.000,6,0.000,0.044,2690,2109,1930
$GC,6221,1.22,238.0,283.2,6.9,296,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2109,1929
$GC,6531,1.22,238.0,257.6,9.1,311,6535,0.00,2.65,0.00,0.000,4,0.000,0.078,2690,3508,1928
$GC,6570,1.22,238.0,253.6,10.1,313,6574,0.00,2.53,0.00,0.000,6,0.000,0.049,2690,2099,1928
$GC,6896,1.22,238.0,224.0,8.5,329,6900,0.00,2.67,0.00,0.000,4,0.000,0.076,2690,3508,1927
$GC,6945,1.22,238.0,219.7,9.1,331,6950,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2095,1927
$GC,7261,1.22,238.0,195.5,7.3,346,7262,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2095,1928
$GC,7570,1.22,238.0,171.0,8.0,361,7574,0.00,2.65,0.00,0.000,4,0.000,0.074,2690,3509,1927
$GC,7620,1.22,238.0,166.5,8.8,363,7624,0.00,2.53,0.00,0.000,6,0.000,0.047,2690,2095,1928
$GC,7936,1.22,238.0,140.3,9.0,378,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2095,1927
$GC,8245,1.22,238.0,116.6,7.7,393,8249,0.00,2.67,0.00,0.000,4,0.000,0.074,2690,3515,1928
$GC,8289,1.22,238.0,113.0,8.0,395,8293,0.00,2.53,0.00,0.000,6,0.000,0.046,2690,2094,1928
$GC,8609,1.22,238.0,86.0,7.4,411,8614,0.00,2.67,0.00,0.000,4,0.000,0.074,2690,3515,1928
$GC,8627,1.22,238.0,84.6,7.8,412,8632,0.00,2.50,0.00,0.000,6,0.000,0.046,2690,2101,1928
$GC,8954,1.22,238.0,60.6,8.1,428,8958,0.00,2.65,0.00,0.000,4,0.000,0.073,2690,3510,1928
$GC,8986,1.22,238.0,58.2,6.9,429,8993,0.00,2.47,0.00,0.000,6,0.000,0.049,2690,2102,1928
$GC,9304,1.22,238.0,35.1,8.5,445,9308,0.00,2.58,0.00,0.000,4,0.000,0.066,2690,695,1928
$GC,9348,1.22,238.0,31.2,8.9,447,9352,0.00,2.50,0.00,0.000,6,0.000,0.044,2690,2104,1928
$GC,9669,1.22,238.0,2.9,6.5,463,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2104,1928
$STATE,9708,end climb,SURFACE_DEPTH_REACHED
$STATE,9708,begin surface coast
$FINISH,-1.1,1.014223
$STATE,9750,end surface coast,CONTROL_FINISHED_OK
$STATE,9750,begin surface
$SM_CCo,9773,52.00,0.782,2,0,1677,300.00
$SM_GC,-0.27,0.00,0.00,52.00,0.000,0.000,0.782,43,2893,1677,-10.89,-0.20,300.00
$IRIDIUM_FIX,6313.04,-1151.82,120108,131326
$TT8_MAMPS,0.029146
$HUMID,2066
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.8,84.6
$24V_AH,23.4,60.606
$10V_AH,10.1,27.503
$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,25.950,91.075,317.900,52.000,0.000,76.092,71.998,219.326,2.250,0.000,0.000,12.931,908.686,7317.609,462.207,1139.753,566.608,0.000,1048.962,0.000,1123.962,0.000,13.683
$DEVICE_MAMPS,158.002,115.817,1048.489,782.340,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.947,319.838,414.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22228,467
$CFSIZE,260165632,239726592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,120108,123727,6339.789,-1150.138,31,2.1,50,-11.6