version: 66.02
glider: 103
mission: 7
dive: 360
start: 1 13 108 0 51 28
data:
$ID,103
$MISSION,7
$DIVE,360
$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,-69552.625
$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,20
$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
$GPS1,004025,6335.133,-1200.492,24,1.1,42,-11.7
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-57.5
$GPS2,005057,6335.204,-1200.360,12,1.9,12,-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,244.7,62223,-11.1,-6.000
$D_GRID,381
$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,24,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-60.75,0.000,2,0.000,0.000,44,2896,3330
$GC,89,-1.10,-146.6,3.0,-8.2,3,111,11.98,1.75,-3.22,0.000,4,0.159,0.114,2164,3793,3501
$GC,364,-1.10,-146.6,34.2,-9.5,15,368,0.00,1.62,0.00,0.000,6,0.000,0.054,2164,2901,3502
$GC,691,-1.10,-146.6,56.1,-6.3,31,694,0.00,1.73,0.00,0.000,4,0.000,0.093,2164,3790,3502
$GC,949,-1.10,-146.6,75.1,-7.5,42,952,0.00,1.60,0.00,0.000,6,0.000,0.050,2165,2900,3502
$GC,1270,-1.10,-146.6,98.7,-7.4,58,1274,0.00,2.62,0.00,0.000,4,0.000,0.072,2165,1482,3502
$GC,1297,-1.10,-146.6,100.8,-7.2,59,1302,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2904,3502
$GC,1615,-1.10,-146.6,122.4,-6.8,74,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,1923,-1.10,-146.6,144.4,-6.8,89,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,2232,-1.10,-146.6,165.3,-6.4,104,2236,0.00,2.62,0.00,0.000,4,0.000,0.065,2165,1481,3502
$GC,2275,-1.10,-146.6,168.2,-6.4,106,2280,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2900,3502
$GC,2597,-1.10,-146.6,189.6,-6.7,122,2601,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1483,3502
$GC,2629,-1.10,-146.6,191.9,-6.6,123,2635,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2900,3502
$GC,2945,-1.10,-146.6,214.4,-7.5,139,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,3254,-1.10,-146.6,236.4,-6.8,154,3258,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1478,3502
$GC,3297,-1.10,-146.6,239.5,-7.0,156,3302,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2903,3502
$GC,3618,-1.10,-146.6,260.0,-6.6,172,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,3927,-1.10,-146.6,280.9,-7.1,187,3932,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1483,3502
$GC,3967,-1.10,-146.6,283.8,-7.4,189,3971,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2900,3503
$GC,4293,-1.10,-146.6,308.2,-7.3,205,4297,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1484,3503
$GC,4365,-1.10,-146.6,313.5,-7.9,208,4369,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2904,3503
$GC,4680,-1.10,-146.6,336.9,-7.9,223,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,4990,-1.10,-146.6,357.8,-6.6,238,4994,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1480,3502
$GC,5011,-1.10,-146.6,359.3,-6.8,239,5015,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2908,3503
$GC,5331,-1.10,-146.6,378.7,-6.6,255,5335,0.00,1.67,0.00,0.000,4,0.000,0.096,2165,3786,3503
$STATE,5362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5362,begin apogee
$GC,5371,-0.42,0.0,381.1,6.9,256,5503,0.75,0.00,124.10,1.078,6,0.095,0.000,2316,2094,2900
$STATE,5504,end apogee,CONTROL_FINISHED_OK
$STATE,5504,begin climb
$GC,5506,1.10,146.6,386.3,0.0,263,5635,1.58,2.65,120.22,1.044,4,0.061,0.060,2649,681,2303
$GC,5889,1.14,180.6,373.9,5.1,280,5924,0.00,2.55,29.15,1.022,6,0.000,0.042,2649,2116,2165
$GC,6247,1.14,180.6,351.0,7.0,298,6251,0.00,2.62,0.00,0.000,4,0.000,0.075,2649,3508,2163
$GC,6498,1.14,180.6,332.4,6.9,309,6503,0.00,2.53,0.00,0.000,6,0.000,0.048,2649,2096,2162
$GC,6814,1.14,180.6,311.2,6.5,324,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2096,2161
$GC,7123,1.14,180.6,292.1,6.7,339,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2096,2161
$GC,7432,1.15,181.9,272.4,6.0,354,7437,0.00,2.67,0.00,0.000,4,0.000,0.073,2649,3512,2160
$GC,7482,1.15,181.9,269.5,6.0,356,7486,0.00,2.53,0.00,0.000,6,0.000,0.048,2649,2094,2160
$GC,7802,1.24,254.2,254.1,4.0,372,7869,0.12,2.75,60.40,1.024,4,0.045,0.074,2686,3508,1864
$GC,7923,1.24,254.2,247.0,6.4,377,7928,0.00,2.58,0.00,0.000,6,0.000,0.052,2686,2097,1863
$GC,8238,1.24,254.2,224.0,7.2,393,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1862
$GC,8547,1.24,254.2,199.9,8.2,408,8551,0.00,2.67,0.00,0.000,4,0.000,0.073,2686,3511,1862
$GC,8579,1.24,254.2,197.1,8.4,409,8586,0.00,2.53,0.00,0.000,6,0.000,0.051,2686,2103,1862
$GC,8895,1.24,254.2,173.0,7.6,425,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2103,1862
$GC,9204,1.24,254.2,149.5,7.8,440,9208,0.00,2.62,0.00,0.000,4,0.000,0.072,2686,3512,1862
$GC,9231,1.24,254.2,147.1,8.9,441,9236,0.00,2.50,0.00,0.000,6,0.000,0.049,2686,2095,1862
$GC,9553,1.24,254.2,120.1,8.2,457,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2095,1862
$GC,9862,1.24,254.2,96.2,7.9,472,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2095,1863
$GC,10172,1.24,254.2,72.7,6.4,487,10173,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2095,1863
$GC,10483,1.24,254.2,52.5,6.2,502,10487,0.00,2.67,0.00,0.000,4,0.000,0.075,2686,3508,1863
$GC,10526,1.24,254.2,48.8,8.8,504,10531,0.00,2.47,0.00,0.000,6,0.000,0.044,2686,2097,1863
$GC,10848,1.24,254.2,16.4,8.6,520,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2097,1863
$STATE,11113,end climb,SURFACE_DEPTH_REACHED
$STATE,11113,begin surface coast
$FINISH,0.4,1.027402
$STATE,11137,end surface coast,CONTROL_FINISHED_OK
$STATE,11137,begin surface
$SM_CCo,11161,39.70,0.775,2,0,1678,300.00
$SM_GC,-0.49,0.00,0.00,39.70,0.000,0.000,0.775,46,2894,1678,-10.87,-0.17,300.00
$IRIDIUM_FIX,6308.26,-1205.01,130108,040425
$TT8_MAMPS,0.029146
$HUMID,2073
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.6,97.2
$24V_AH,23.4,61.225
$10V_AH,10.1,27.787
$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,26.250,86.325,333.875,39.700,0.000,76.996,72.387,300.385,2.500,0.000,0.000,12.531,1007.019,8420.090,459.057,1305.461,670.040,0.000,1115.279,0.000,1286.483,0.000,15.341
$DEVICE_MAMPS,158.769,113.516,1078.402,774.670,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.394,363.796,436.775,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25431,534
$CFSIZE,260165632,239517696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
$GPS,130108,035932,6333.793,-1201.420,36,1.7,36,-11.7