version: 66.02
glider: 103
mission: 7
dive: 80
start: 11 24 107 13 58 33
data:
$ID,103
$MISSION,7
$DIVE,80
$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,120
$USE_BATHY,-3
$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,1
$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,-63697.66
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$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
$GPS1,135035,6122.463,-857.019,12,3.5,31,-9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-47.8
$GPS2,135729,6122.376,-857.032,11,3.4,30,-9.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.186,-0.115
$KALMAN_X,-86757.2,-1288.7,-891.6,69012.5,2765.8
$KALMAN_Y,94839.7,600.6,-880.3,-116075.4,-1059.8
$MHEAD_RNG_PITCHd_Wd,247.4,5130,-11.1,-6.000
$D_GRID,315
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-68.88,0.000,6,0.000,0.000,44,2899,3500
$GC,92,-1.10,-146.6,3.0,-8.0,3,112,12.02,1.77,0.00,0.000,4,0.161,0.097,2163,3786,3504
$GC,364,-1.10,-146.6,33.0,-10.3,15,368,0.00,1.58,0.00,0.000,6,0.000,0.042,2163,2900,3504
$GC,691,-1.10,-146.6,60.3,-5.2,31,695,0.00,1.70,0.00,0.000,4,0.000,0.086,2163,3787,3504
$GC,813,-1.10,-146.6,67.6,-10.3,36,818,0.00,1.58,0.00,0.000,6,0.000,0.041,2163,2900,3504
$GC,1134,-1.10,-146.6,99.1,-7.6,52,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3504
$GC,1444,-1.10,-146.6,128.3,-10.5,67,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3504
$GC,1753,-1.10,-146.6,146.9,-6.2,82,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3504
$GC,2062,-1.10,-146.6,167.5,-7.5,97,2066,0.00,2.62,0.00,0.000,4,0.000,0.074,2163,1478,3504
$GC,2104,-1.10,-146.6,171.5,-9.7,99,2109,0.00,2.70,0.00,0.000,6,0.000,0.075,2163,2898,3504
$GC,2431,-1.10,-146.6,197.1,-7.3,115,2436,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1481,3504
$GC,2470,-1.10,-146.6,199.9,-8.0,117,2475,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2904,3504
$GC,2800,-1.10,-146.6,219.9,-6.2,133,2805,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1481,3504
$GC,2826,-1.10,-146.6,221.5,-6.3,134,2831,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2898,3504
$GC,3148,-1.10,-146.6,240.5,-5.5,150,3152,0.00,2.62,0.00,0.000,4,0.000,0.070,2163,1479,3504
$GC,3202,-1.10,-146.6,243.8,-5.9,152,3209,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2900,3504
$GC,3517,-1.10,-146.6,264.4,-6.8,168,3521,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1482,3504
$GC,3571,-1.10,-146.6,268.5,-7.1,170,3579,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2900,3504
$GC,3887,-1.10,-146.6,290.1,-6.8,186,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,4197,-1.10,-146.6,309.1,-5.6,201,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$STATE,4319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4319,begin apogee
$GC,4325,-0.42,0.0,315.8,5.6,207,4449,0.77,0.00,121.47,0.953,6,0.091,0.000,2319,1768,2901
$STATE,4450,end apogee,CONTROL_FINISHED_OK
$STATE,4450,begin climb
$GC,4452,1.10,146.6,319.3,0.0,213,4578,1.55,2.67,118.30,0.922,4,0.060,0.068,2649,363,2303
$GC,4770,1.10,146.6,307.3,6.8,228,4774,0.00,2.50,0.00,0.000,6,0.000,0.038,2649,1785,2303
$GC,5095,1.12,159.3,288.7,5.7,244,5116,0.00,2.70,11.90,0.844,4,0.000,0.074,2649,3175,2251
$GC,5318,1.18,205.7,277.2,4.7,254,5363,0.00,2.58,38.20,0.913,6,0.000,0.059,2649,1766,2062
$GC,5690,1.29,295.7,260.9,3.5,272,5774,0.15,2.72,72.60,0.898,4,0.039,0.068,2705,3175,1695
$GC,5901,1.29,295.7,246.2,7.2,281,5908,0.00,2.58,0.00,0.000,6,0.000,0.054,2705,1774,1694
$GC,6217,1.29,295.7,221.3,8.1,297,6221,0.00,2.62,0.00,0.000,4,0.000,0.068,2705,3179,1694
$GC,6271,1.29,295.7,216.8,8.3,299,6278,0.00,2.55,0.00,0.000,6,0.000,0.053,2704,1778,1694
$GC,6586,1.29,295.7,192.4,7.3,315,6591,0.00,2.60,0.00,0.000,4,0.000,0.067,2705,3179,1694
$GC,6675,1.29,295.7,185.2,8.7,319,6679,0.00,2.55,0.00,0.000,6,0.000,0.053,2705,1778,1694
$GC,7001,1.29,295.7,152.9,10.5,335,7006,0.00,2.60,0.00,0.000,4,0.000,0.070,2705,3178,1694
$GC,7057,1.29,295.7,147.7,9.7,337,7063,0.00,2.55,0.00,0.000,6,0.000,0.056,2705,1766,1694
$GC,7372,1.29,295.7,110.6,12.2,353,7376,0.00,2.62,0.00,0.000,4,0.000,0.069,2705,3178,1693
$GC,7455,1.29,295.7,98.7,13.8,357,7460,0.00,2.53,0.00,0.000,6,0.000,0.054,2705,1775,1693
$GC,7781,1.29,295.7,65.8,9.5,373,7786,0.00,2.62,0.00,0.000,4,0.000,0.071,2705,3177,1693
$GC,7843,1.29,295.7,59.0,11.5,376,7847,0.00,2.55,0.00,0.000,6,0.000,0.058,2705,1776,1693
$GC,8168,1.29,295.7,25.2,10.1,392,8173,0.00,2.65,0.00,0.000,4,0.000,0.072,2705,3183,1693
$GC,8290,1.39,376.9,19.1,3.8,397,8362,0.00,2.60,64.28,0.773,6,0.000,0.062,2705,1774,1364
$STATE,8440,end climb,SURFACE_DEPTH_REACHED
$STATE,8440,begin surface coast
$FINISH,-0.8,1.027253
$STATE,8463,end surface coast,CONTROL_FINISHED_OK
$STATE,8463,begin surface
$SM_CCo,8543,0.00,0.000,0,0,1362,377.76
$SM_GC,-0.07,11.77,0.00,0.00,0.030,0.000,0.000,32,2888,1362,-10.79,-0.34,377.76
$IRIDIUM_FIX,6059.36,-901.16,241107,171700
$TT8_MAMPS,0.028379
$HUMID,2058
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,250.6,101.3
$24V_AH,23.6,18.591
$10V_AH,10.2,7.393
$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,26.275,84.175,426.750,0.000,0.000,76.878,53.674,123.857,2.250,0.000,0.000,31.765,793.280,6183.052,489.219,1156.043,358.468,33.353,1091.798,0.000,1118.366,0.000,12.124
$DEVICE_MAMPS,161.070,97.409,953.381,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,292.877,278.062,349.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19075,406
$CFSIZE,260165632,254414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$GPS,241107,162225,6121.144,-900.358,58,2.0,58,-9.2