version: 66.02
glider: 103
mission: 7
dive: 361
start: 1 13 108 4 5 12
data:
$ID,103
$MISSION,7
$DIVE,361
$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,-69565.594
$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,27
$R_STBD_OVSHOOT,11
$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
$GPS1,035932,6333.793,-1201.420,36,1.7,36,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-57.6
$GPS2,040439,6333.750,-1201.488,12,1.7,12,-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,246.3,59873,-11.1,-6.000
$D_GRID,387
$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,-61.20,0.000,2,0.000,0.000,46,2897,3365
$GC,89,-1.10,-146.6,3.5,-9.4,3,111,11.90,1.73,-2.45,0.000,4,0.156,0.108,2163,3777,3502
$GC,364,-1.10,-146.6,33.7,-7.5,15,368,0.00,1.58,0.00,0.000,6,0.000,0.049,2163,2893,3502
$GC,691,-1.10,-146.6,58.3,-6.9,31,695,0.00,1.75,0.00,0.000,4,0.000,0.093,2163,3787,3503
$GC,939,-1.10,-146.6,76.0,-6.7,42,943,0.00,1.58,0.00,0.000,6,0.000,0.045,2163,2903,3503
$GC,1272,-1.10,-146.6,104.1,-7.6,58,1276,0.00,2.62,0.00,0.000,4,0.000,0.071,2163,1481,3503
$GC,1326,-1.10,-146.6,108.3,-6.9,60,1333,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2908,3503
$GC,1644,-1.10,-146.6,130.2,-7.0,76,1648,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1482,3503
$GC,1676,-1.10,-146.6,132.9,-7.5,77,1683,0.00,2.65,0.00,0.000,6,0.000,0.074,2163,2900,3503
$GC,1992,-1.10,-146.6,154.8,-6.8,93,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,2301,-1.10,-146.6,177.3,-7.8,108,2306,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1486,3503
$GC,2340,-1.10,-146.6,180.4,-7.7,110,2345,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2908,3503
$GC,2667,-1.10,-146.6,206.1,-7.9,126,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2908,3504
$GC,2977,-1.10,-146.6,231.7,-8.4,141,2981,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1483,3503
$GC,3016,-1.10,-146.6,235.1,-8.1,143,3020,0.00,2.67,0.00,0.000,6,0.000,0.076,2163,2900,3504
$GC,3342,-1.10,-146.6,260.1,-7.0,159,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,3651,-1.10,-146.6,281.0,-6.9,174,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,3960,-1.10,-146.6,301.6,-6.6,189,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,4270,-1.10,-146.6,323.6,-7.2,204,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3504
$GC,4579,-1.10,-146.6,345.6,-6.6,219,4583,0.00,2.60,0.00,0.000,4,0.000,0.066,2163,1480,3504
$GC,4606,-1.10,-146.6,347.5,-7.0,220,4610,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2901,3504
$GC,4921,-1.10,-146.6,368.1,-6.9,235,4925,0.00,1.70,0.00,0.000,4,0.000,0.093,2163,3778,3504
$GC,4962,-1.10,-146.6,370.8,-7.2,236,4967,0.00,1.55,0.00,0.000,6,0.000,0.041,2163,2905,3504
$STATE,5212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5213,begin apogee
$GC,5220,-0.42,0.0,387.8,6.5,249,5348,0.77,0.00,124.22,1.081,6,0.100,0.000,2315,2092,2901
$STATE,5348,end apogee,CONTROL_FINISHED_OK
$STATE,5348,begin climb
$GC,5351,1.10,146.6,391.1,0.0,255,5479,1.55,2.75,120.10,1.039,4,0.060,0.067,2646,3522,2303
$GC,5574,1.12,158.3,383.9,5.7,265,5591,0.00,2.53,11.43,0.937,6,0.000,0.039,2646,2091,2255
$GC,5907,1.16,191.9,368.0,5.1,282,5941,0.00,2.78,29.00,1.025,4,0.000,0.074,2646,3524,2118
$GC,6115,1.16,191.9,355.0,6.4,291,6120,0.00,2.53,0.00,0.000,6,0.000,0.041,2646,2094,2117
$GC,6431,1.16,191.9,335.8,6.2,306,6436,0.00,2.70,0.00,0.000,4,0.000,0.074,2646,3524,2116
$GC,6531,1.16,191.9,329.2,6.7,310,6538,0.00,2.55,0.00,0.000,6,0.000,0.048,2646,2096,2116
$GC,6847,1.16,191.9,309.2,6.5,326,6852,0.00,2.70,0.00,0.000,4,0.000,0.075,2646,3525,2115
$GC,6919,1.16,191.9,304.0,7.4,329,6923,0.00,2.55,0.00,0.000,6,0.000,0.045,2646,2100,2115
$GC,7234,1.16,191.9,282.2,6.6,344,7239,0.00,2.67,0.00,0.000,4,0.000,0.073,2646,3524,2115
$GC,7296,1.16,191.9,278.0,6.6,347,7301,0.00,2.53,0.00,0.000,6,0.000,0.044,2646,2101,2114
$GC,7623,1.16,191.9,256.4,6.5,363,7628,0.00,2.67,0.00,0.000,4,0.000,0.073,2646,3516,2114
$GC,7679,1.16,191.9,252.5,7.3,365,7685,0.00,2.50,0.00,0.000,6,0.000,0.045,2646,2098,2114
$GC,7995,1.21,236.8,235.4,4.8,381,8038,0.12,2.80,36.80,0.999,4,0.044,0.075,2682,3518,1935
$GC,8077,1.21,236.8,230.7,6.5,384,8083,0.00,2.58,0.00,0.000,6,0.000,0.051,2682,2099,1935
$GC,8392,1.21,236.8,211.8,6.2,400,8397,0.00,2.70,0.00,0.000,4,0.000,0.074,2682,3522,1935
$GC,8425,1.21,236.8,209.5,7.0,401,8431,0.00,2.55,0.00,0.000,6,0.000,0.050,2682,2097,1934
$GC,8741,1.21,236.8,186.0,8.2,417,8742,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1935
$GC,9050,1.21,236.8,160.0,8.6,432,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1935
$GC,9360,1.21,236.8,135.2,7.4,447,9364,0.00,2.70,0.00,0.000,4,0.000,0.075,2682,3524,1935
$GC,9400,1.21,236.8,132.0,8.7,449,9404,0.00,2.55,0.00,0.000,6,0.000,0.051,2682,2096,1935
$GC,9732,1.21,236.8,104.5,8.6,465,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2096,1934
$GC,10043,1.21,236.8,78.5,8.2,480,10047,0.00,2.70,0.00,0.000,4,0.000,0.075,2682,3524,1935
$GC,10066,1.21,236.8,76.4,8.6,481,10070,0.00,2.58,0.00,0.000,6,0.000,0.051,2682,2094,1935
$GC,10387,1.21,236.8,48.4,8.5,497,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2094,1936
$GC,10697,1.21,236.8,22.2,8.3,512,10702,0.00,2.67,0.00,0.000,4,0.000,0.074,2682,3518,1936
$GC,10725,1.21,236.8,20.2,6.7,513,10729,0.00,2.55,0.00,0.000,6,0.000,0.051,2682,2099,1936
$GC,11041,1.21,236.8,2.4,6.6,528,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2098,1936
$STATE,11059,end climb,SURFACE_DEPTH_REACHED
$STATE,11059,begin surface coast
$FINISH,-0.7,1.027401
$STATE,11081,end surface coast,CONTROL_FINISHED_OK
$STATE,11081,begin surface
$SM_CCo,11104,53.62,0.787,2,0,1678,300.00
$SM_GC,-0.47,0.00,0.00,53.62,0.000,0.000,0.787,45,2908,1678,-10.88,0.20,300.00
$IRIDIUM_FIX,6308.26,-1201.29,130108,040421
$TT8_MAMPS,0.029146
$HUMID,2071
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.2,108.9
$24V_AH,23.4,61.343
$10V_AH,10.1,27.845
$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,25.875,97.200,321.550,53.625,0.000,40.173,37.035,124.627,2.250,0.000,0.000,12.343,1007.459,8318.143,478.554,1275.945,416.360,0.000,1128.448,0.000,1260.863,0.000,15.372
$DEVICE_MAMPS,156.468,108.147,1081.470,786.942,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.639,361.162,429.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25400,530
$CFSIZE,260165632,239476736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,2,0
$GPS,130108,071238,6331.819,-1207.838,42,2.0,42,-11.7