version: 66.02
glider: 103
mission: 7
dive: 356
start: 1 12 108 12 43 7
data:
$ID,103
$MISSION,7
$DIVE,356
$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,-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,-69477.969
$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,21
$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
$GPS1,123727,6339.789,-1150.138,31,2.1,50,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-56.4
$GPS2,124235,6339.780,-1150.068,12,2.4,31,-11.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6315.000,-1300.000
$TGT_RADIUS,5000.000
$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,243.4,74192,-11.1,-6.000
$D_GRID,359
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,91,0.00,0.00,-65.78,0.000,6,0.000,0.000,43,2896,3500
$GC,94,-1.10,-146.6,2.8,-7.6,3,115,11.98,2.60,0.00,0.000,4,0.158,0.057,2167,1490,3502
$GC,368,-1.10,-146.6,36.6,-9.7,15,373,0.00,2.70,0.00,0.000,6,0.000,0.077,2167,2906,3502
$GC,689,-1.10,-146.6,61.4,-6.6,31,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3502
$GC,1000,-1.10,-146.6,81.8,-6.3,46,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,1309,-1.10,-146.6,103.9,-6.5,61,1313,0.00,2.65,0.00,0.000,4,0.000,0.071,2167,1485,3503
$GC,1348,-1.10,-146.6,106.8,-6.6,63,1353,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2909,3503
$GC,1675,-1.10,-146.6,129.0,-7.1,79,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2909,3503
$GC,1986,-1.10,-146.6,150.3,-6.5,94,1990,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1482,3503
$GC,2018,-1.10,-146.6,152.4,-6.0,95,2025,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2909,3503
$GC,2334,-1.10,-146.6,174.6,-7.5,111,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2909,3503
$GC,2643,-1.10,-146.6,198.0,-7.7,126,2648,0.00,2.65,0.00,0.000,4,0.000,0.073,2167,1490,3503
$GC,2688,-1.10,-146.6,201.7,-8.5,128,2692,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2904,3503
$GC,3008,-1.10,-146.6,227.2,-8.1,144,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3503
$GC,3318,-1.10,-146.6,247.0,-5.3,159,3323,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1490,3503
$GC,3346,-1.10,-146.6,248.5,-5.2,160,3350,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2900,3503
$GC,3661,-1.10,-146.6,266.6,-5.9,175,3666,0.00,2.62,0.00,0.000,4,0.000,0.070,2167,1484,3503
$GC,3706,-1.10,-146.6,269.6,-6.6,177,3710,0.00,2.62,0.00,0.000,6,0.000,0.074,2167,2900,3503
$GC,4026,-1.10,-146.6,289.2,-6.4,193,4030,0.00,1.70,0.00,0.000,4,0.000,0.094,2167,3790,3503
$GC,4054,-1.10,-146.6,291.2,-6.7,194,4057,0.00,1.58,0.00,0.000,6,0.000,0.044,2167,2900,3503
$GC,4381,-1.10,-146.6,318.2,-9.0,210,4385,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1490,3503
$GC,4475,-1.10,-146.6,325.5,-7.0,214,4479,0.00,2.65,0.00,0.000,6,0.000,0.075,2167,2900,3503
$GC,4791,-1.10,-146.6,341.9,-4.7,229,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$STATE,5036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5036,begin apogee
$GC,5044,-0.42,0.0,354.9,5.9,241,5170,0.75,0.00,122.90,1.050,6,0.092,0.000,2317,2097,2900
$STATE,5171,end apogee,CONTROL_FINISHED_OK
$STATE,5171,begin climb
$GC,5174,1.10,146.6,358.2,0.0,247,5300,1.58,2.62,117.80,1.030,4,0.064,0.059,2648,685,2303
$GC,5429,1.10,146.6,346.8,6.8,259,5433,0.00,2.53,0.00,0.000,6,0.000,0.041,2648,2112,2302
$GC,5755,1.30,307.7,334.4,1.5,275,5892,0.17,2.72,130.38,1.026,4,0.043,0.077,2698,3509,1646
$GC,6057,1.30,307.7,317.6,8.5,288,6062,0.00,2.50,0.00,0.000,6,0.000,0.046,2698,2097,1645
$GC,6384,1.30,307.7,289.1,9.6,304,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,1644
$GC,6694,1.30,307.7,261.5,8.7,319,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2097,1644
$GC,7003,1.30,307.7,233.3,9.3,334,7007,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3506,1643
$GC,7052,1.30,307.7,228.5,9.4,336,7056,0.00,2.50,0.00,0.000,6,0.000,0.048,2698,2098,1643
$GC,7373,1.30,307.7,199.5,10.1,352,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2098,1643
$GC,7682,1.30,307.7,169.2,9.8,367,7686,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3508,1643
$GC,7721,1.30,307.7,165.2,10.4,369,7725,0.00,2.50,0.00,0.000,6,0.000,0.048,2698,2099,1643
$GC,8049,1.30,307.7,130.5,11.2,385,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2099,1643
$GC,8357,1.30,307.7,94.1,10.8,400,8361,0.00,2.67,0.00,0.000,4,0.000,0.076,2698,3511,1643
$GC,8400,1.30,307.7,89.1,10.7,402,8405,0.00,2.50,0.00,0.000,6,0.000,0.049,2698,2102,1643
$GC,8722,1.30,307.7,58.1,9.2,418,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,1643
$GC,9031,1.30,307.7,31.2,9.7,433,9035,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3512,1644
$GC,9058,1.30,307.7,28.4,10.3,434,9062,0.00,2.53,0.00,0.000,6,0.000,0.051,2698,2101,1644
$STATE,9351,end climb,SURFACE_DEPTH_REACHED
$STATE,9351,begin surface coast
$FINISH,-1.2,1.027394
$STATE,9372,end surface coast,CONTROL_FINISHED_OK
$STATE,9373,begin surface
$SM_CCo,9456,0.00,0.000,0,0,1643,308.83
$SM_GC,-0.14,11.68,0.00,0.00,0.032,0.000,0.000,48,2895,1643,-10.78,-0.14,308.83
$IRIDIUM_FIX,6317.84,-1148.08,120108,131336
$TT8_MAMPS,0.028379
$HUMID,2078
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,275.2,89.1
$24V_AH,23.4,60.724
$10V_AH,10.1,27.554
$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,26.150,74.425,371.075,0.000,0.000,40.200,33.977,114.162,2.250,0.000,0.000,32.481,843.354,7055.584,423.481,1094.331,365.688,0.000,983.188,0.000,1061.021,0.000,13.698
$DEVICE_MAMPS,158.002,100.477,1050.023,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,326.375,305.744,380.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22273,449
$CFSIZE,260165632,239702016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,120108,152147,6337.679,-1150.624,10,5.2,29,-11.6