version: 66.02
glider: 103
mission: 7
dive: 342
start: 1 10 108 22 38 28
data:
$ID,103
$MISSION,7
$DIVE,342
$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,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,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,-69148.664
$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,20
$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
$GPS1,222838,6401.210,-1133.665,40,1.6,40,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.65
$_SM_ANGLEo,-55.1
$GPS2,223758,6401.237,-1133.474,11,2.7,30,-11.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6353.601,-1130.113
$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,146.6,20000,-11.1,-6.000
$D_GRID,332
$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,-1.10,-146.6,0.0,0.0,0,97,0.00,0.00,-67.03,0.000,6,0.000,0.000,45,2895,3500
$GC,100,-1.10,-146.6,2.7,-7.6,3,121,12.05,2.62,0.00,0.000,4,0.162,0.058,2162,1485,3502
$GC,306,-1.10,-146.6,31.1,-7.2,12,311,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2900,3503
$GC,628,-1.10,-146.6,55.9,-8.8,28,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2900,3503
$GC,937,-1.10,-146.6,78.2,-7.1,43,940,0.00,1.75,0.00,0.000,4,0.000,0.104,2163,3790,3504
$GC,970,-1.10,-146.6,80.4,-7.1,44,974,0.00,1.60,0.00,0.000,6,0.000,0.054,2162,2903,3504
$GC,1293,-1.10,-146.6,100.0,-6.1,60,1297,0.00,2.60,0.00,0.000,4,0.000,0.069,2162,1491,3504
$GC,1349,-1.10,-146.6,103.5,-6.0,62,1355,0.00,2.67,0.00,0.000,6,0.000,0.080,2163,2903,3504
$GC,1664,-1.10,-146.6,124.6,-7.5,78,1668,0.00,2.65,0.00,0.000,4,0.000,0.073,2163,1489,3505
$GC,1691,-1.10,-146.6,126.6,-7.0,79,1695,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2900,3505
$GC,2007,-1.10,-146.6,152.5,-7.5,94,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3505
$GC,2318,-1.10,-146.6,175.7,-7.3,109,2322,0.00,2.65,0.00,0.000,4,0.000,0.075,2162,1492,3505
$GC,2361,-1.10,-146.6,179.1,-7.1,111,2366,0.00,2.67,0.00,0.000,6,0.000,0.078,2163,2904,3505
$GC,2682,-1.10,-146.6,203.9,-8.1,127,2687,0.00,2.67,0.00,0.000,4,0.000,0.074,2163,1482,3505
$GC,2711,-1.10,-146.6,206.1,-7.2,128,2716,0.00,2.70,0.00,0.000,6,0.000,0.079,2163,2898,3505
$GC,3026,-1.10,-146.6,230.2,-7.5,143,3030,0.00,1.75,0.00,0.000,4,0.000,0.104,2163,3790,3505
$GC,3059,-1.10,-146.6,232.9,-8.0,144,3063,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2887,3505
$GC,3380,-1.10,-146.6,256.0,-7.0,160,3385,0.00,2.60,0.00,0.000,4,0.000,0.075,2163,1489,3505
$GC,3413,-1.10,-146.6,258.6,-7.8,161,3419,0.00,2.67,0.00,0.000,6,0.000,0.079,2163,2899,3505
$GC,3729,-1.10,-146.6,284.4,-7.4,177,3733,0.00,2.62,0.00,0.000,4,0.000,0.073,2163,1489,3505
$GC,3761,-1.10,-146.6,286.9,-7.6,178,3767,0.00,2.70,0.00,0.000,6,0.000,0.080,2163,2908,3504
$GC,4077,-1.10,-146.6,308.8,-7.0,194,4080,0.00,1.75,0.00,0.000,4,0.000,0.106,2163,3783,3505
$STATE,4214,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4214,begin apogee
$GC,4224,-0.42,0.0,319.5,7.6,200,4351,0.73,0.00,123.85,1.054,6,0.086,0.000,2311,2100,2901
$STATE,4352,end apogee,CONTROL_FINISHED_OK
$STATE,4352,begin climb
$GC,4354,1.10,146.6,324.0,0.0,206,4482,1.60,2.65,119.18,1.015,4,0.066,0.060,2647,687,2302
$GC,4496,1.21,233.1,322.8,3.6,213,4578,0.12,2.55,71.40,0.987,6,0.044,0.038,2686,2117,1950
$GC,4886,1.21,233.1,293.7,8.1,232,4891,0.00,2.62,0.00,0.000,4,0.000,0.078,2686,3502,1948
$GC,5026,1.21,233.1,281.6,9.1,238,5030,0.00,2.55,0.00,0.000,6,0.000,0.052,2686,2095,1948
$GC,5342,1.21,233.1,255.5,7.9,253,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2095,1948
$GC,5651,1.21,233.1,234.5,6.5,268,5656,0.00,2.70,0.00,0.000,4,0.000,0.079,2686,3508,1948
$GC,5706,1.21,233.1,230.5,7.3,270,5712,0.00,2.58,0.00,0.000,6,0.000,0.055,2686,2093,1948
$GC,6022,1.21,233.1,206.2,8.0,286,6026,0.00,2.70,0.00,0.000,4,0.000,0.080,2686,3502,1947
$GC,6049,1.21,233.1,203.9,8.7,287,6053,0.00,2.58,0.00,0.000,6,0.000,0.055,2686,2092,1947
$GC,6364,1.21,233.1,179.8,8.0,302,6368,0.00,2.70,0.00,0.000,4,0.000,0.079,2686,3504,1947
$GC,6391,1.21,233.1,177.7,8.3,303,6395,0.00,2.55,0.00,0.000,6,0.000,0.057,2686,2097,1947
$GC,6707,1.21,233.1,153.4,7.4,318,6711,0.00,2.67,0.00,0.000,4,0.000,0.079,2686,3502,1947
$GC,6750,1.21,233.1,149.9,8.0,320,6754,0.00,2.55,0.00,0.000,6,0.000,0.054,2686,2093,1947
$GC,7072,1.21,233.1,125.9,7.3,336,7076,0.00,2.70,0.00,0.000,4,0.000,0.080,2686,3504,1946
$GC,7098,1.21,233.1,123.6,8.3,337,7103,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2097,1946
$GC,7415,1.21,233.1,101.6,7.8,352,7419,0.00,2.67,0.00,0.000,4,0.000,0.078,2686,3502,1946
$GC,7464,1.21,233.1,96.9,9.7,354,7468,0.00,2.53,0.00,0.000,6,0.000,0.052,2686,2097,1946
$GC,7780,1.21,233.1,70.4,8.0,369,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1946
$GC,8089,1.21,233.1,43.3,8.8,384,8094,0.00,2.65,0.00,0.000,4,0.000,0.074,2686,3502,1946
$GC,8122,1.21,233.1,40.7,7.5,385,8129,0.00,2.50,0.00,0.000,6,0.000,0.050,2686,2095,1946
$GC,8440,1.21,233.1,16.8,8.8,401,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2095,1946
$STATE,8602,end climb,SURFACE_DEPTH_REACHED
$STATE,8602,begin surface coast
$FINISH,-0.9,1.027406
$STATE,8623,end surface coast,CONTROL_FINISHED_OK
$STATE,8623,begin surface
$SM_CCo,8646,55.45,0.809,2,0,1678,300.00
$SM_GC,-0.83,0.00,0.00,55.45,0.000,0.000,0.809,47,2902,1678,-10.87,0.06,300.00
$IRIDIUM_FIX,6337.14,-1132.08,110108,020227
$TT8_MAMPS,0.029146
$HUMID,2103
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,250.2,79.3
$24V_AH,23.4,59.058
$10V_AH,10.1,26.823
$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,26.125,97.250,314.425,55.450,0.000,73.994,73.963,229.131,2.250,0.000,0.000,31.808,804.185,6430.280,469.576,1020.394,567.216,0.000,1005.498,0.000,988.549,0.000,14.999
$DEVICE_MAMPS,161.837,105.846,1053.858,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,309.187,278.510,389.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22246,410
$CFSIZE,260165632,240214016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,110108,010447,6400.047,-1128.721,10,6.1,29,-11.5