version: 66.02
glider: 103
mission: 7
dive: 346
start: 1 11 108 8 54 42
data:
$ID,103
$MISSION,7
$DIVE,346
$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,225
$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,-69235.516
$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,23
$R_STBD_OVSHOOT,6
$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
$GPS1,084926,6355.426,-1131.376,37,1.1,37,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-54.9
$GPS2,085409,6355.468,-1131.387,13,1.1,13,-11.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6347.832,-1134.759
$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,236.5,20000,-11.1,-6.000
$D_GRID,347
$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,-146.6,0.0,0.0,0,95,0.00,0.00,-65.75,0.000,6,0.000,0.000,44,2888,3500
$GC,98,-1.10,-146.6,2.9,-7.8,3,114,12.00,1.77,0.00,0.000,4,0.160,0.090,2163,3789,3501
$GC,367,-1.10,-146.6,31.6,-10.1,14,371,0.00,1.60,0.00,0.000,6,0.000,0.056,2163,2901,3502
$GC,694,-1.10,-146.6,55.3,-5.6,30,698,0.00,1.75,0.00,0.000,4,0.000,0.099,2163,3789,3502
$GC,953,-1.10,-146.6,77.3,-5.0,41,956,0.00,1.60,0.00,0.000,6,0.000,0.056,2163,2901,3502
$GC,1274,-1.10,-146.6,102.3,-8.0,57,1277,0.00,1.75,0.00,0.000,4,0.000,0.097,2163,3793,3502
$GC,1346,-1.10,-146.6,108.1,-7.6,60,1350,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2907,3502
$GC,1674,-1.10,-146.6,132.4,-7.8,76,1678,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1481,3502
$GC,1717,-1.10,-146.6,136.0,-8.2,78,1722,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2903,3502
$GC,2044,-1.10,-146.6,155.1,-6.3,94,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,2354,-1.10,-146.6,173.6,-6.0,109,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,2662,-1.10,-146.6,196.3,-7.8,124,2667,0.00,2.65,0.00,0.000,4,0.000,0.069,2163,1477,3503
$GC,2695,-1.10,-146.6,198.9,-8.2,125,2702,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2903,3503
$GC,3012,-1.10,-146.6,221.2,-7.2,141,3016,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1484,3503
$GC,3046,-1.10,-146.6,223.7,-7.2,142,3052,0.00,2.70,0.00,0.000,6,0.000,0.078,2163,2903,3503
$GC,3361,-1.10,-146.6,245.4,-7.1,158,3365,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1484,3503
$GC,3394,-1.10,-146.6,247.6,-6.7,159,3400,0.00,2.70,0.00,0.000,6,0.000,0.076,2163,2908,3503
$GC,3709,-1.10,-146.6,269.9,-6.5,175,3713,0.00,1.73,0.00,0.000,4,0.000,0.098,2163,3785,3503
$GC,3844,-1.10,-146.6,279.6,-6.8,181,3848,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2904,3503
$GC,4177,-1.10,-146.6,300.1,-5.8,197,4181,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1483,3503
$GC,4222,-1.10,-146.6,302.6,-5.3,199,4226,0.00,2.70,0.00,0.000,6,0.000,0.080,2163,2899,3503
$STATE,4416,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4416,begin apogee
$GC,4424,-0.42,0.0,313.9,6.1,209,4550,0.77,0.00,122.40,1.028,6,0.099,0.000,2316,2098,2901
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4553,1.10,146.6,318.8,0.0,215,4680,1.58,0.00,118.15,1.012,6,0.064,0.000,2648,2097,2303
$GC,4991,1.17,200.1,304.3,4.5,237,5041,0.00,2.70,44.53,0.989,4,0.000,0.069,2648,3514,2085
$GC,5297,1.23,246.9,287.9,4.7,251,5342,0.12,2.53,38.75,0.986,6,0.044,0.043,2687,2094,1894
$GC,5668,1.23,246.9,261.2,7.3,269,5673,0.00,2.72,0.00,0.000,4,0.000,0.079,2687,3517,1892
$GC,5791,1.23,246.9,252.0,7.3,274,5797,0.00,2.55,0.00,0.000,6,0.000,0.051,2687,2096,1892
$GC,6106,1.23,246.9,228.7,7.6,290,6111,0.00,2.70,0.00,0.000,4,0.000,0.075,2687,3518,1891
$GC,6139,1.23,246.9,225.9,8.8,291,6146,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2098,1891
$GC,6455,1.23,246.9,201.2,7.9,307,6459,0.00,2.67,0.00,0.000,4,0.000,0.074,2687,3514,1891
$GC,6498,1.23,246.9,197.5,8.1,309,6503,0.00,2.53,0.00,0.000,6,0.000,0.050,2687,2100,1891
$GC,6820,1.23,246.9,173.7,6.8,325,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1890
$GC,7129,1.23,246.9,147.9,10.3,340,7133,0.00,2.67,0.00,0.000,4,0.000,0.073,2687,3522,1890
$GC,7155,1.23,246.9,145.4,9.7,341,7160,0.00,2.53,0.00,0.000,6,0.000,0.047,2687,2098,1890
$GC,7472,1.23,246.9,116.2,8.2,356,7476,0.00,2.55,0.00,0.000,4,0.000,0.062,2687,696,1891
$GC,7511,1.23,246.9,113.1,8.5,358,7516,0.00,2.45,0.00,0.000,6,0.000,0.041,2687,2106,1890
$GC,7838,1.24,257.0,94.3,5.7,374,7849,0.00,0.00,9.20,0.822,6,0.000,0.000,2687,2106,1853
$GC,8149,1.31,316.5,76.8,4.4,389,8200,0.00,0.00,49.25,0.880,6,0.000,0.000,2687,2106,1610
$GC,8497,1.31,316.5,43.2,10.7,406,8502,0.00,2.65,0.00,0.000,4,0.000,0.078,2687,3509,1610
$GC,8537,1.31,316.5,39.0,9.6,408,8542,0.00,2.55,0.00,0.000,6,0.000,0.057,2687,2104,1609
$GC,8864,1.31,316.5,12.2,9.1,424,8868,0.00,2.60,0.00,0.000,4,0.000,0.069,2687,694,1610
$GC,8874,1.31,316.5,11.0,8.2,424,8880,0.00,2.50,0.00,0.000,6,0.000,0.048,2687,2104,1610
$STATE,8981,end climb,SURFACE_DEPTH_REACHED
$STATE,8981,begin surface coast
$FINISH,-0.3,1.027404
$STATE,9003,end surface coast,CONTROL_FINISHED_OK
$STATE,9003,begin surface
$SM_CCo,9086,0.00,0.000,0,0,1608,317.17
$SM_GC,-0.24,11.62,0.00,0.00,0.030,0.000,0.000,49,2899,1608,-10.79,-0.03,317.17
$IRIDIUM_FIX,6327.46,-1217.96,110108,101054
$TT8_MAMPS,0.028379
$HUMID,2077
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,225.5,97.3
$24V_AH,23.4,59.523
$10V_AH,10.1,27.023
$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,26.100,84.400,382.275,0.000,0.000,37.905,33.776,114.390,1.500,0.000,0.000,13.205,850.160,6590.566,479.048,1103.447,367.678,0.000,1039.537,0.000,1090.671,0.000,12.315
$DEVICE_MAMPS,159.536,98.943,1027.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.700,293.374,394.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22220,431
$CFSIZE,260165632,240070656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,110108,112708,6355.822,-1129.659,26,1.7,26,-11.5