version: 66.02
glider: 103
mission: 7
dive: 351
start: 1 11 108 22 23 44
data:
$ID,103
$MISSION,7
$DIVE,351
$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,-69364.938
$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,16
$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
$GPS1,221731,6347.820,-1136.842,40,1.6,40,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-55.5
$GPS2,222314,6347.811,-1136.802,15,1.7,32,-11.5
$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,240.3,92208,-11.1,-6.000
$D_GRID,348
$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,25,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-66.10,0.000,6,0.000,0.000,46,2904,3500
$GC,95,-1.10,-146.6,2.3,-6.5,3,111,11.98,1.75,0.00,0.000,4,0.159,0.092,2163,3785,3502
$GC,364,-1.10,-146.6,33.2,-7.0,14,368,0.00,1.60,0.00,0.000,6,0.000,0.057,2163,2905,3503
$GC,691,-1.10,-146.6,53.8,-6.4,30,694,0.00,1.70,0.00,0.000,4,0.000,0.094,2163,3779,3503
$GC,949,-1.10,-146.6,69.6,-8.4,41,952,0.00,1.58,0.00,0.000,6,0.000,0.054,2163,2905,3503
$GC,1270,-1.10,-146.6,93.2,-7.7,57,1273,0.00,1.70,0.00,0.000,4,0.000,0.093,2163,3780,3503
$GC,1348,-1.10,-146.6,99.9,-8.3,60,1351,0.00,1.58,0.00,0.000,6,0.000,0.050,2163,2900,3503
$GC,1670,-1.10,-146.6,127.1,-8.4,76,1674,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1484,3503
$GC,1724,-1.10,-146.6,131.5,-7.8,78,1731,0.00,2.62,0.00,0.000,6,0.000,0.074,2163,2895,3503
$GC,2040,-1.10,-146.6,153.2,-7.0,94,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2895,3503
$GC,2350,-1.10,-146.6,173.2,-6.0,109,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2895,3503
$GC,2658,-1.10,-146.6,193.9,-6.9,124,2663,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1489,3503
$GC,2691,-1.10,-146.6,196.4,-7.4,125,2698,0.00,2.65,0.00,0.000,6,0.000,0.077,2163,2900,3503
$GC,3008,-1.10,-146.6,218.8,-6.7,141,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,3317,-1.10,-146.6,239.3,-6.9,156,3321,0.00,2.62,0.00,0.000,4,0.000,0.070,2163,1487,3503
$GC,3361,-1.10,-146.6,242.5,-7.4,158,3365,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2904,3503
$GC,3681,-1.10,-146.6,266.2,-7.2,174,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,3990,-1.10,-146.6,288.5,-6.9,189,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3504
$GC,4300,-1.10,-146.6,311.8,-7.9,204,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,4609,-1.10,-146.6,334.3,-6.8,219,4614,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1482,3503
$GC,4716,-1.10,-146.6,341.6,-6.7,224,4721,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2900,3504
$STATE,4813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4814,begin apogee
$GC,4821,-0.42,0.0,348.2,6.8,229,4948,0.77,0.00,122.93,1.045,6,0.104,0.000,2315,2100,2901
$STATE,4948,end apogee,CONTROL_FINISHED_OK
$STATE,4948,begin climb
$GC,4951,1.10,146.6,353.1,0.0,235,5078,1.58,2.62,118.65,1.016,4,0.065,0.058,2646,684,2303
$GC,5254,1.10,148.5,344.1,5.9,249,5258,0.00,2.50,0.00,0.000,6,0.000,0.036,2646,2114,2302
$GC,5574,1.13,165.1,325.7,5.5,265,5598,0.00,2.70,16.75,0.964,4,0.000,0.061,2646,687,2227
$GC,5665,1.13,165.1,320.4,6.2,269,5670,0.00,2.47,0.00,0.000,6,0.000,0.038,2646,2099,2227
$GC,5987,1.15,188.9,302.8,5.3,285,6013,0.00,2.67,21.00,0.981,4,0.000,0.062,2646,684,2130
$GC,6080,1.15,188.9,296.8,6.5,289,6085,0.00,2.50,0.00,0.000,6,0.000,0.041,2646,2100,2129
$GC,6396,1.15,188.9,276.6,6.4,304,6401,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3508,2128
$GC,6468,1.15,188.9,271.5,6.8,307,6473,0.00,2.50,0.00,0.000,6,0.000,0.043,2646,2093,2128
$GC,6784,1.17,200.8,253.2,5.7,322,6800,0.00,2.67,11.00,0.923,4,0.000,0.068,2646,3505,2082
$GC,6846,1.17,200.8,249.4,6.5,324,6851,0.00,2.50,0.00,0.000,6,0.000,0.045,2646,2099,2082
$GC,7173,1.17,202.8,229.4,5.9,340,7177,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3505,2081
$GC,7212,1.17,205.3,227.3,5.9,342,7222,0.00,2.50,5.32,0.780,6,0.000,0.047,2646,2099,2064
$GC,7539,1.19,221.3,210.6,5.6,358,7561,0.10,2.67,14.62,0.927,4,0.051,0.074,2677,3498,1998
$GC,7607,1.19,221.3,206.0,7.3,361,7612,0.00,2.50,0.00,0.000,6,0.000,0.048,2678,2096,1997
$GC,7934,1.19,221.3,182.3,6.9,377,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2095,1997
$GC,8243,1.19,221.3,160.2,6.9,392,8247,0.00,2.65,0.00,0.000,4,0.000,0.072,2677,3505,1997
$GC,8270,1.19,221.3,158.2,7.1,393,8274,0.00,2.50,0.00,0.000,6,0.000,0.047,2677,2098,1997
$GC,8587,1.19,221.3,136.5,6.9,408,8592,0.00,2.55,0.00,0.000,4,0.000,0.061,2677,692,1997
$GC,8611,1.19,221.3,134.4,8.1,409,8615,0.00,2.47,0.00,0.000,6,0.000,0.041,2677,2096,1997
$GC,8931,1.19,221.3,112.4,6.4,425,8936,0.00,2.65,0.00,0.000,4,0.000,0.075,2678,3512,1997
$GC,8971,1.19,221.3,109.6,6.8,427,8976,0.00,2.50,0.00,0.000,6,0.000,0.047,2678,2097,1997
$GC,9299,1.19,221.3,86.5,7.1,443,9303,0.00,2.65,0.00,0.000,4,0.000,0.073,2678,3510,1997
$GC,9331,1.19,221.3,83.7,8.3,444,9337,0.00,2.50,0.00,0.000,6,0.000,0.048,2677,2093,1997
$GC,9648,1.19,221.3,65.4,6.1,460,9653,0.00,2.67,0.00,0.000,4,0.000,0.073,2677,3514,1997
$GC,9672,1.19,221.3,63.8,6.8,461,9676,0.00,2.50,0.00,0.000,6,0.000,0.044,2677,2100,1997
$GC,9992,1.19,221.3,38.6,7.1,477,9997,0.00,2.65,0.00,0.000,4,0.000,0.071,2678,3515,1997
$GC,10014,1.19,221.3,36.7,8.3,478,10018,0.00,2.50,0.00,0.000,6,0.000,0.048,2677,2102,1997
$GC,10336,1.19,221.3,16.3,6.1,494,10341,0.00,2.65,0.00,0.000,4,0.000,0.075,2678,3508,1997
$GC,10369,1.19,221.3,14.2,6.0,495,10376,0.00,2.47,0.00,0.000,6,0.000,0.048,2677,2097,1997
$STATE,10538,end climb,SURFACE_DEPTH_REACHED
$STATE,10538,begin surface coast
$FINISH,0.6,1.027394
$STATE,10560,end surface coast,CONTROL_FINISHED_OK
$STATE,10560,begin surface
$SM_CCo,10583,64.03,0.802,1,0,1678,300.00
$SM_GC,-0.40,0.00,0.00,64.03,0.000,0.000,0.802,47,2904,1678,-10.87,0.11,300.00
$IRIDIUM_FIX,6327.46,-1142.52,110108,232323
$TT8_MAMPS,0.029146
$HUMID,2048
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,275.4,105.1
$24V_AH,23.4,60.117
$10V_AH,10.1,27.288
$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,26.150,105.900,310.275,64.025,0.000,37.768,33.892,154.331,2.000,0.000,0.000,32.566,983.568,7842.209,477.424,1287.770,425.813,0.000,1122.329,0.000,1248.241,0.000,13.745
$DEVICE_MAMPS,158.769,94.341,1045.421,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.512,345.338,441.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25418,505
$CFSIZE,260165632,239869952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
$GPS,120108,012237,6346.378,-1135.256,38,1.5,43,-11.5