version: 66.02
glider: 103
mission: 7
dive: 352
start: 1 12 108 1 28 23
data:
$ID,103
$MISSION,7
$DIVE,352
$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,-69382.242
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,012237,6346.378,-1135.256,38,1.5,43,-11.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-56.2
$GPS2,012750,6346.305,-1135.270,11,1.8,16,-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,242.1,91378,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-60.95,0.000,2,0.000,0.000,48,2904,3369
$GC,89,-1.10,-146.6,3.4,-8.8,3,111,11.95,2.60,-2.42,0.000,4,0.158,0.077,2163,1488,3500
$GC,364,-1.10,-146.6,36.1,-9.4,15,369,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2896,3501
$GC,685,-1.10,-146.6,58.9,-7.7,31,689,0.00,2.60,0.00,0.000,4,0.000,0.072,2163,1492,3501
$GC,724,-1.10,-146.6,61.7,-7.1,33,729,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2906,3501
$GC,1052,-1.10,-146.6,85.9,-8.2,49,1055,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3787,3501
$GC,1075,-1.10,-146.6,88.1,-9.0,50,1078,0.00,1.58,0.00,0.000,6,0.000,0.050,2163,2893,3501
$GC,1407,-1.10,-146.6,115.7,-8.1,66,1412,0.00,2.60,0.00,0.000,4,0.000,0.070,2163,1478,3501
$GC,1447,-1.10,-146.6,119.1,-8.6,68,1452,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2899,3501
$GC,1773,-1.10,-146.6,143.7,-6.6,84,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,2082,-1.10,-146.6,165.1,-6.5,99,2087,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1488,3501
$GC,2132,-1.10,-146.6,168.6,-6.7,101,2137,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2899,3501
$GC,2448,-1.10,-146.6,189.0,-6.2,116,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,2757,-1.10,-146.6,210.7,-7.3,131,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,3067,-1.10,-146.6,235.1,-8.2,146,3071,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1478,3501
$GC,3094,-1.10,-146.6,237.4,-8.2,147,3098,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2898,3501
$GC,3414,-1.10,-146.6,262.4,-7.8,163,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3501
$GC,3724,-1.10,-146.6,287.0,-7.5,178,3728,0.00,2.60,0.00,0.000,4,0.000,0.067,2163,1487,3501
$GC,3763,-1.10,-146.6,289.9,-8.0,180,3767,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2909,3501
$GC,4089,-1.10,-146.6,316.7,-8.5,196,4094,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1481,3501
$GC,4123,-1.10,-146.6,319.6,-8.5,197,4128,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2907,3501
$GC,4438,-1.10,-146.6,343.5,-7.1,213,4442,0.00,2.60,0.00,0.000,4,0.000,0.062,2163,1481,3501
$GC,4464,-1.10,-146.6,345.6,-7.3,214,4469,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2901,3501
$STATE,4489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4489,begin apogee
$GC,4496,-0.42,0.0,347.4,7.1,215,4622,0.77,0.00,121.85,1.053,6,0.100,0.000,2315,2098,2901
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4625,1.10,146.6,352.4,0.0,221,4751,1.58,2.65,116.75,1.048,4,0.064,0.058,2647,690,2303
$GC,5006,1.16,189.4,339.8,4.8,238,5047,0.00,2.50,35.58,1.023,6,0.000,0.038,2647,2113,2129
$GC,5365,1.16,191.6,320.3,5.9,256,5374,0.00,2.65,3.78,0.680,4,0.000,0.069,2647,3518,2119
$GC,5437,1.16,191.6,315.3,6.1,259,5441,0.00,2.53,0.00,0.000,6,0.000,0.038,2647,2092,2119
$GC,5757,1.16,191.6,295.6,6.3,275,5761,0.00,2.65,0.00,0.000,4,0.000,0.068,2647,3505,2118
$GC,5783,1.16,191.6,293.6,7.2,276,5788,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2094,2118
$GC,6100,1.16,191.6,269.6,8.3,291,6104,0.00,2.53,0.00,0.000,4,0.000,0.064,2647,697,2118
$GC,6132,1.16,191.6,266.7,8.5,292,6138,0.00,2.45,0.00,0.000,6,0.000,0.044,2647,2097,2118
$GC,6448,1.16,191.6,241.7,7.6,308,6452,0.00,2.60,0.00,0.000,4,0.000,0.072,2647,3508,2118
$GC,6510,1.16,191.6,236.6,8.8,311,6514,0.00,2.50,0.00,0.000,6,0.000,0.048,2647,2100,2118
$GC,6836,1.16,191.6,208.7,8.1,327,6840,0.00,2.62,0.00,0.000,4,0.000,0.071,2647,3507,2118
$GC,6885,1.16,191.6,204.2,9.0,329,6889,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2101,2118
$GC,7200,1.16,191.6,175.7,9.1,344,7205,0.00,2.62,0.00,0.000,4,0.000,0.070,2647,3506,2118
$GC,7240,1.16,191.6,172.1,8.7,346,7244,0.00,2.47,0.00,0.000,6,0.000,0.045,2647,2102,2117
$GC,7566,1.16,191.6,145.8,7.1,362,7571,0.00,2.62,0.00,0.000,4,0.000,0.072,2647,3507,2118
$GC,7599,1.16,191.6,143.4,7.3,363,7606,0.00,2.47,0.00,0.000,6,0.000,0.043,2647,2094,2117
$GC,7917,1.20,225.9,126.9,5.1,379,7952,0.10,2.75,28.25,0.933,4,0.052,0.074,2680,3506,1979
$GC,7991,1.20,225.9,121.7,8.0,382,7996,0.00,2.53,0.00,0.000,6,0.000,0.044,2679,2097,1979
$GC,8308,1.22,242.5,100.6,5.5,397,8327,0.00,0.00,14.38,0.882,6,0.000,0.000,2680,2097,1912
$GC,8638,1.22,242.5,79.4,7.0,413,8642,0.00,2.65,0.00,0.000,4,0.000,0.071,2680,3510,1912
$GC,8670,1.22,242.5,76.4,8.4,414,8676,0.00,2.47,0.00,0.000,6,0.000,0.045,2680,2099,1912
$GC,8986,1.22,242.5,54.5,7.2,430,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,1912
$GC,9297,1.22,242.5,29.6,9.1,445,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2098,1912
$STATE,9602,end climb,SURFACE_DEPTH_REACHED
$STATE,9603,begin surface coast
$FINISH,-0.4,1.027406
$STATE,9624,end surface coast,CONTROL_FINISHED_OK
$STATE,9624,begin surface
$SM_CCo,9648,48.38,0.799,2,0,1678,300.00
$SM_GC,-0.29,0.00,0.00,48.38,0.000,0.000,0.799,50,2893,1678,-10.86,-0.20,300.00
$IRIDIUM_FIX,6322.64,-1140.54,120108,020221
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,301.0,71.2
$24V_AH,23.4,60.233
$10V_AH,10.1,27.342
$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,25.925,99.700,320.575,48.375,0.000,39.789,33.145,136.394,2.750,0.000,0.000,16.682,887.929,7153.922,466.298,1126.871,406.551,0.000,1049.834,0.000,1104.494,0.000,18.213
$DEVICE_MAMPS,158.002,97.409,1053.091,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.842,315.101,416.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22244,461
$CFSIZE,260165632,239841280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,2,0
$GPS,120108,041143,6342.866,-1138.610,40,1.8,57,-11.5