version: 66.02
glider: 103
mission: 7
dive: 311
start: 1 8 108 8 15 49
data:
$ID,103
$MISSION,7
$DIVE,311
$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,330
$T_MISSION,350
$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,135
$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,571.30371
$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,-68336.703
$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,18
$R_STBD_OVSHOOT,14
$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
$GPS1,080655,6414.062,-1151.059,35,1.9,40,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.67
$_SM_ANGLEo,-44.1
$GPS2,081517,6414.156,-1151.032,13,2.1,32,-11.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,HEADING
$TGT_LATLONG,6406.520,-1147.697
$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,146.9,20000,-18.2,-10.000
$D_GRID,350
$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,-1.70,-146.6,0.0,0.0,0,136,0.00,0.00,-106.80,0.000,6,0.000,0.000,46,2908,3499
$GC,139,-1.70,-146.6,2.7,-4.0,5,160,11.43,2.65,0.00,0.000,4,0.165,0.061,2034,1488,3500
$GC,300,-1.70,-146.6,33.1,-12.5,12,305,0.00,2.67,0.00,0.000,6,0.000,0.079,2034,2899,3501
$GC,623,-1.70,-146.6,71.2,-12.3,28,627,0.00,1.70,0.00,0.000,4,0.000,0.093,2034,3785,3501
$GC,673,-1.70,-146.6,77.9,-13.0,30,676,0.00,1.60,0.00,0.000,6,0.000,0.055,2034,2901,3501
$GC,1000,-1.70,-146.6,113.6,-10.7,46,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2901,3501
$GC,1310,-1.70,-146.6,152.1,-12.2,61,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2901,3500
$GC,1618,-1.70,-146.6,190.1,-12.2,76,1622,0.00,1.73,0.00,0.000,4,0.000,0.093,2034,3777,3501
$GC,1702,-1.70,-146.6,201.0,-13.5,79,1708,0.00,1.58,0.00,0.000,6,0.000,0.054,2034,2901,3501
$GC,2017,-1.70,-146.6,242.6,-14.2,95,2021,0.00,1.73,0.00,0.000,4,0.000,0.093,2034,3789,3501
$GC,2100,-1.70,-146.6,254.7,-14.4,98,2106,0.00,1.60,0.00,0.000,6,0.000,0.054,2034,2899,3501
$GC,2416,-1.70,-146.6,293.7,-12.0,114,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2899,3501
$GC,2725,-1.70,-146.6,330.0,-11.8,129,2729,0.00,1.70,0.00,0.000,4,0.000,0.091,2034,3782,3501
$GC,2786,-1.70,-146.6,337.6,-12.3,131,2792,0.00,1.58,0.00,0.000,6,0.000,0.051,2034,2899,3500
$STATE,2893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2893,begin apogee
$GC,2900,-0.42,0.0,350.2,11.5,137,3026,1.40,0.00,121.30,1.031,6,0.094,0.000,2315,2097,2901
$STATE,3026,end apogee,CONTROL_FINISHED_OK
$STATE,3027,begin climb
$GC,3029,1.70,146.6,354.1,0.0,143,3156,2.15,2.58,117.90,0.995,4,0.065,0.051,2775,688,2303
$GC,3237,1.72,164.1,343.8,9.2,153,3259,0.00,2.47,15.98,0.914,6,0.000,0.033,2775,2116,2230
$GC,3567,1.74,185.8,313.7,9.0,169,3591,0.00,2.62,18.88,0.927,4,0.000,0.053,2775,688,2143
$GC,3678,1.74,185.8,302.9,10.3,174,3682,0.00,2.47,0.00,0.000,6,0.000,0.038,2776,2097,2143
$GC,4004,1.77,203.3,273.5,9.2,190,4026,0.00,2.60,15.82,0.911,4,0.000,0.054,2775,688,2071
$GC,4059,1.77,203.3,268.1,10.0,192,4064,0.00,2.47,0.00,0.000,6,0.000,0.038,2775,2101,2071
$GC,4375,1.79,224.6,240.6,9.0,207,4396,0.12,0.00,18.40,0.915,6,0.046,0.000,2809,2101,1985
$GC,4704,1.79,224.6,203.7,12.3,223,4708,0.00,2.55,0.00,0.000,4,0.000,0.057,2811,688,1984
$GC,4770,1.79,224.6,194.1,15.5,226,4774,0.00,2.47,0.00,0.000,6,0.000,0.042,2810,2097,1984
$GC,5091,1.79,224.6,148.1,15.1,242,5095,0.00,2.53,0.00,0.000,4,0.000,0.056,2810,687,1984
$GC,5197,1.79,224.6,133.2,13.9,247,5202,0.00,2.50,0.00,0.000,6,0.000,0.043,2811,2102,1984
$GC,5524,1.79,224.6,89.8,12.6,263,5529,0.00,2.58,0.00,0.000,4,0.000,0.056,2810,681,1984
$GC,5677,1.82,246.8,73.5,9.0,270,5701,0.00,2.50,19.00,0.831,6,0.000,0.040,2810,2107,1894
$GC,6030,1.83,258.7,43.0,9.5,287,6046,0.00,2.62,10.90,0.782,4,0.000,0.058,2810,687,1846
$GC,6130,1.83,258.7,28.8,14.4,290,6136,0.00,2.50,0.00,0.000,6,0.000,0.046,2811,2103,1846
$STATE,6320,end climb,SURFACE_DEPTH_REACHED
$STATE,6320,begin surface coast
$FINISH,-1.2,1.027365
$STATE,6342,end surface coast,CONTROL_FINISHED_OK
$STATE,6342,begin surface
$SM_CCo,6365,222.30,0.771,1,0,572,571.30
$SM_GC,-0.77,0.00,0.00,222.30,0.000,0.000,0.771,41,2899,572,-10.90,-0.03,571.30
$IRIDIUM_FIX,6351.77,-1147.71,080108,121241
$TT8_MAMPS,0.029146
$HUMID,2003
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.9,71.6
$24V_AH,23.5,54.543
$10V_AH,10.1,25.502
$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,27.300,57.050,338.175,222.300,0.000,76.937,140.056,111.225,2.750,0.000,0.000,34.603,611.272,4544.634,666.272,834.734,464.151,0.000,1106.356,0.000,799.218,0.000,18.210
$DEVICE_MAMPS,164.905,102.778,1030.848,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.584,204.601,266.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15971,301
$CFSIZE,260165632,241258496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
$GPS,080108,100701,6414.400,-1148.775,38,1.1,44,-11.8