version: 66.02
glider: 103
mission: 7
dive: 359
start: 1 12 108 21 38 48
data:
$ID,103
$MISSION,7
$DIVE,359
$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,-69539.469
$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,22
$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
$GPS1,213308,6334.486,-1200.916,35,0.9,35,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-56.6
$GPS2,213815,6334.542,-1200.953,14,1.1,14,-11.7
$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,245.4,61094,-11.1,-6.000
$D_GRID,384
$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,-61.00,0.000,2,0.000,0.000,40,2892,3335
$GC,89,-1.10,-146.6,3.1,-8.2,3,111,12.00,1.75,-3.10,0.000,4,0.160,0.114,2163,3790,3500
$GC,117,-1.10,-146.6,12.0,-28.5,4,121,0.00,1.58,0.00,0.000,6,0.000,0.048,2163,2902,3500
$GC,444,-1.10,-146.6,40.5,-8.2,20,448,0.00,1.73,0.00,0.000,4,0.000,0.094,2163,3786,3501
$GC,702,-1.10,-146.6,61.6,-8.0,31,706,0.00,1.58,0.00,0.000,6,0.000,0.049,2163,2909,3501
$GC,1024,-1.10,-146.6,90.6,-13.2,47,1027,0.00,1.73,0.00,0.000,4,0.000,0.094,2163,3790,3501
$GC,1281,-1.10,-146.6,115.5,-8.5,58,1285,0.00,1.60,0.00,0.000,6,0.000,0.051,2163,2883,3501
$GC,1603,-1.10,-146.6,138.4,-7.4,74,1606,0.00,1.77,0.00,0.000,4,0.000,0.093,2163,3793,3501
$GC,1680,-1.10,-146.6,145.4,-8.9,77,1684,0.00,1.60,0.00,0.000,6,0.000,0.047,2163,2894,3501
$GC,2002,-1.10,-146.6,171.6,-7.4,93,2006,0.00,2.58,0.00,0.000,4,0.000,0.065,2163,1481,3501
$GC,2068,-1.10,-146.6,176.7,-7.2,96,2072,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2900,3501
$GC,2388,-1.10,-146.6,201.9,-7.7,112,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,2698,-1.10,-146.6,225.2,-7.7,127,2703,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1484,3501
$GC,2738,-1.10,-146.6,228.1,-6.7,129,2743,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2909,3501
$GC,3065,-1.10,-146.6,251.0,-6.5,145,3069,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1487,3501
$GC,3137,-1.10,-146.6,255.7,-6.3,148,3141,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2904,3502
$GC,3453,-1.10,-146.6,278.4,-8.5,163,3457,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1487,3502
$GC,3479,-1.10,-146.6,280.9,-9.2,164,3484,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2903,3502
$GC,3795,-1.10,-146.6,307.6,-8.2,179,3799,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1485,3502
$GC,3837,-1.10,-146.6,310.9,-8.4,181,3841,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2900,3502
$GC,4163,-1.10,-146.6,335.7,-6.8,197,4167,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1484,3502
$GC,4202,-1.10,-146.6,338.6,-7.7,199,4206,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2902,3502
$GC,4528,-1.10,-146.6,361.3,-7.0,215,4532,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1480,3502
$GC,4577,-1.10,-146.6,365.0,-7.2,217,4582,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2899,3502
$STATE,4870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4870,begin apogee
$GC,4878,-0.42,0.0,384.8,6.0,231,5005,0.80,0.00,123.55,1.085,6,0.104,0.000,2319,2100,2901
$STATE,5006,end apogee,CONTROL_FINISHED_OK
$STATE,5006,begin climb
$GC,5008,1.10,146.6,389.0,0.0,237,5136,1.55,2.65,119.97,1.039,4,0.062,0.061,2647,687,2303
$GC,5313,1.11,151.1,379.2,5.9,251,5323,0.00,2.53,5.62,0.814,6,0.000,0.041,2647,2110,2284
$GC,5634,1.15,185.8,361.8,5.0,266,5669,0.00,2.67,30.08,1.034,4,0.000,0.073,2647,3505,2143
$GC,5715,1.16,195.1,357.2,5.7,269,5730,0.00,2.55,9.02,0.927,6,0.000,0.046,2647,2085,2105
$GC,6047,1.19,213.7,338.3,5.5,285,6069,0.00,2.75,16.90,1.013,4,0.000,0.072,2647,3512,2029
$GC,6097,1.19,213.7,334.9,7.1,287,6101,0.00,2.55,0.00,0.000,6,0.000,0.047,2647,2096,2028
$GC,6418,1.19,213.7,313.4,7.2,303,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2096,2028
$GC,6727,1.19,213.7,290.7,7.0,318,6732,0.00,2.67,0.00,0.000,4,0.000,0.075,2647,3511,2027
$GC,6799,1.19,213.7,285.3,7.6,321,6804,0.00,2.53,0.00,0.000,6,0.000,0.048,2647,2097,2027
$GC,7116,1.19,213.7,265.3,6.1,336,7120,0.00,2.65,0.00,0.000,4,0.000,0.075,2647,3505,2026
$GC,7142,1.19,213.7,263.4,6.9,337,7147,0.00,2.50,0.00,0.000,6,0.000,0.046,2647,2096,2026
$GC,7459,1.19,213.7,243.1,6.5,352,7463,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3510,2026
$GC,7486,1.19,213.7,241.2,7.3,353,7490,0.00,2.53,0.00,0.000,6,0.000,0.046,2647,2097,2026
$GC,7801,1.19,214.9,222.3,6.0,368,7805,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3512,2026
$GC,7833,1.19,214.9,220.2,6.3,369,7839,0.00,2.50,0.00,0.000,6,0.000,0.045,2647,2099,2026
$GC,8149,1.20,228.0,202.6,5.6,385,8172,0.12,2.72,12.48,0.931,4,0.045,0.074,2685,3506,1971
$GC,8211,1.20,228.0,198.4,7.6,387,8217,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2096,1971
$GC,8526,1.20,228.0,176.0,7.2,403,8531,0.00,2.65,0.00,0.000,4,0.000,0.075,2686,3507,1971
$GC,8566,1.20,228.0,172.8,7.8,405,8570,0.00,2.53,0.00,0.000,6,0.000,0.047,2686,2092,1971
$GC,8892,1.20,228.0,147.7,6.8,421,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2092,1971
$GC,9202,1.20,228.0,124.0,7.4,436,9206,0.00,2.67,0.00,0.000,4,0.000,0.073,2685,3509,1971
$GC,9234,1.20,228.0,121.2,8.5,437,9241,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2092,1971
$GC,9552,1.20,228.0,94.9,9.4,453,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2092,1971
$GC,9860,1.20,228.0,67.4,8.8,468,9861,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2091,1971
$GC,10169,1.20,228.0,42.5,7.7,483,10173,0.00,2.67,0.00,0.000,4,0.000,0.073,2685,3512,1972
$GC,10201,1.20,228.0,39.4,8.9,484,10208,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2093,1972
$GC,10519,1.25,266.8,17.8,4.9,500,10561,0.00,2.70,32.33,0.835,4,0.000,0.066,2686,688,1813
$GC,10612,1.25,266.8,10.8,7.3,504,10617,0.00,2.53,0.00,0.000,6,0.000,0.046,2686,2093,1813
$STATE,10747,end climb,SURFACE_DEPTH_REACHED
$STATE,10747,begin surface coast
$FINISH,-0.3,1.027400
$STATE,10768,end surface coast,CONTROL_FINISHED_OK
$STATE,10768,begin surface
$SM_CCo,10791,26.77,0.813,0,0,1678,300.00
$SM_GC,-0.15,0.00,0.00,26.77,0.000,0.000,0.813,44,2895,1678,-10.88,-0.14,300.00
$IRIDIUM_FIX,6308.26,-1156.56,120108,222221
$TT8_MAMPS,0.028379
$HUMID,2088
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,300.9,97.9
$24V_AH,23.4,61.092
$10V_AH,10.1,27.726
$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,26.075,115.575,349.950,26.775,0.000,37.505,37.471,125.380,2.000,0.000,0.000,14.860,997.897,7980.810,463.301,1289.782,416.141,0.000,1141.651,0.000,1266.817,0.000,15.338
$DEVICE_MAMPS,159.536,113.516,1084.538,813.020,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,379.161,348.307,409.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25444,512
$CFSIZE,260165632,239562752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,130108,004025,6335.133,-1200.492,24,1.1,42,-11.7