version: 66.02
glider: 103
mission: 7
dive: 81
start: 11 24 107 16 27 40
data:
$ID,103
$MISSION,7
$DIVE,81
$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,-63714.957
$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,18
$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
$GPS1,162225,6121.144,-900.358,58,2.0,58,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-49.2
$GPS2,162634,6121.113,-900.372,15,2.0,16,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6153.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.059,0.210
$KALMAN_X,-87048.6,-1347.5,-1639.7,67176.4,3854.0
$KALMAN_Y,93414.0,602.2,-593.9,-117279.8,-837.7
$MHEAD_RNG_PITCHd_Wd,353.5,60420,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,83,0.00,0.00,-62.35,0.000,2,0.000,0.000,32,2892,3145
$GC,85,-1.10,-146.6,3.1,-7.8,3,107,12.43,0.00,-6.72,0.000,6,0.166,0.000,2163,2892,3501
$GC,427,-1.10,-146.6,62.1,-15.9,20,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2892,3501
$GC,736,-1.10,-146.6,94.6,-9.2,35,741,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1487,3501
$GC,802,-1.10,-146.6,98.0,-5.1,38,807,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2909,3501
$GC,1130,-1.10,-146.6,116.2,-7.7,54,1134,0.00,1.65,0.00,0.000,4,0.000,0.087,2164,3786,3501
$GC,1202,-1.10,-146.6,124.6,-15.3,57,1206,0.00,1.55,0.00,0.000,6,0.000,0.034,2163,2888,3501
$GC,1529,-1.10,-146.6,153.7,-5.2,73,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2885,3501
$GC,1838,-1.10,-146.6,165.9,-3.7,88,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2885,3501
$GC,2147,-1.10,-146.6,172.2,-0.9,103,2151,0.00,2.55,0.00,0.000,4,0.000,0.069,2163,1487,3501
$GC,2230,-1.10,-146.6,173.9,-3.0,107,2235,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3501
$GC,2556,-1.10,-146.6,186.1,-4.5,123,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,2865,-1.10,-146.6,202.2,-6.5,138,2869,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1484,3501
$GC,2904,-1.10,-146.6,205.1,-9.3,140,2908,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2909,3501
$GC,3230,-1.10,-146.6,225.4,-6.5,156,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3501
$GC,3539,-1.10,-146.6,244.6,-6.1,171,3543,0.00,2.60,0.00,0.000,4,0.000,0.067,2164,1492,3501
$GC,3577,-1.10,-146.6,246.6,-5.6,173,3581,0.00,2.62,0.00,0.000,6,0.000,0.071,2163,2898,3501
$GC,3902,-1.10,-146.6,265.1,-5.9,189,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3501
$GC,4211,-1.10,-146.6,285.0,-7.0,204,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3501
$GC,4520,-1.10,-146.6,306.5,-6.9,219,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3501
$GC,4830,-1.10,-146.6,327.3,-6.8,234,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3501
$STATE,5117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5117,begin apogee
$GC,5123,-0.42,0.0,347.6,7.3,248,5248,0.75,0.00,121.25,0.983,6,0.089,0.000,2316,1784,2900
$STATE,5248,end apogee,CONTROL_FINISHED_OK
$STATE,5248,begin climb
$GC,5250,1.10,146.6,352.7,0.0,254,5376,1.55,2.70,118.10,0.973,4,0.060,0.066,2646,361,2303
$GC,5516,1.17,198.9,348.2,4.6,266,5564,0.00,2.53,42.67,0.961,6,0.000,0.038,2645,1780,2090
$GC,5872,1.21,234.5,329.6,5.0,284,5908,0.12,2.65,29.70,0.963,4,0.044,0.066,2689,3179,1945
$GC,6080,1.21,234.5,315.1,7.7,292,6088,0.00,2.55,0.00,0.000,6,0.000,0.049,2689,1776,1945
$GC,6396,1.21,234.5,290.4,8.1,308,6400,0.00,2.60,0.00,0.000,4,0.000,0.064,2689,3182,1945
$GC,6512,1.21,234.5,280.7,8.7,313,6516,0.00,2.55,0.00,0.000,6,0.000,0.052,2690,1766,1945
$GC,6833,1.21,234.5,255.1,8.1,329,6837,0.00,2.60,0.00,0.000,4,0.000,0.067,2690,3175,1945
$GC,6938,1.21,234.5,246.1,8.8,334,6943,0.00,2.53,0.00,0.000,6,0.000,0.054,2690,1770,1945
$GC,7264,1.21,234.5,215.2,9.3,350,7268,0.00,2.60,0.00,0.000,4,0.000,0.066,2690,3179,1944
$GC,7363,1.21,234.5,206.6,8.3,354,7370,0.00,2.55,0.00,0.000,6,0.000,0.051,2690,1775,1944
$GC,7678,1.21,234.5,176.3,10.1,370,7683,0.00,2.60,0.00,0.000,4,0.000,0.068,2690,3179,1944
$GC,7772,1.21,234.5,165.6,11.6,374,7777,0.00,2.55,0.00,0.000,6,0.000,0.054,2690,1778,1944
$GC,8095,1.21,234.5,137.4,9.1,390,8099,0.00,2.60,0.00,0.000,4,0.000,0.067,2690,3174,1944
$GC,8149,1.21,234.5,130.1,12.0,392,8157,0.00,2.53,0.00,0.000,6,0.000,0.051,2689,1778,1945
$GC,8465,1.21,234.5,96.1,8.0,408,8469,0.00,2.60,0.00,0.000,4,0.000,0.068,2690,3175,1944
$GC,8575,1.21,234.5,84.8,10.5,413,8579,0.00,2.55,0.00,0.000,6,0.000,0.054,2689,1773,1945
$GC,8902,1.21,234.5,55.4,7.4,429,8906,0.00,2.60,0.00,0.000,4,0.000,0.065,2690,3179,1944
$GC,8940,1.21,234.5,51.4,11.3,431,8945,0.00,2.55,0.00,0.000,6,0.000,0.056,2690,1765,1944
$GC,9265,1.21,234.5,15.3,13.4,447,9270,0.00,2.62,0.00,0.000,4,0.000,0.069,2690,3174,1944
$GC,9394,1.21,234.5,3.8,10.5,453,9399,0.00,2.50,0.00,0.000,6,0.000,0.051,2690,1773,1945
$STATE,9409,end climb,SURFACE_DEPTH_REACHED
$STATE,9410,begin surface coast
$FINISH,-0.3,1.027240
$STATE,9432,end surface coast,CONTROL_FINISHED_OK
$STATE,9432,begin surface
$SM_CCo,9452,52.92,0.762,1,0,1677,300.00
$SM_GC,-0.02,0.00,0.00,52.92,0.000,0.000,0.762,34,2883,1677,-10.93,-0.48,300.00
$IRIDIUM_FIX,6059.36,-900.46,241107,171759
$TT8_MAMPS,0.029146
$HUMID,2068
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,16.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.2,107.2
$24V_AH,23.6,18.697
$10V_AH,10.2,7.443
$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,26.375,79.900,311.725,52.925,0.000,39.203,35.132,87.835,2.250,0.000,0.000,16.673,877.095,7052.392,455.115,1131.276,271.156,33.354,1031.375,0.000,1110.551,0.000,13.749
$DEVICE_MAMPS,166.439,87.438,983.294,761.631,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.082,312.086,347.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22181,455
$CFSIZE,260165632,254373888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,241107,190755,6123.030,-901.592,53,1.4,71,-9.2