version: 66.02
glider: 103
mission: 7
dive: 362
start: 1 13 108 7 18 26
data:
$ID,103
$MISSION,7
$DIVE,362
$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,-69581.57
$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,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
$GPS1,071238,6331.819,-1207.838,42,2.0,42,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-56.0
$GPS2,071753,6331.813,-1207.969,15,2.0,15,-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,246.0,53392,-11.1,-6.000
$D_GRID,400
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-66.50,0.000,6,0.000,0.000,45,2909,3501
$GC,95,-1.10,-146.6,2.5,-6.8,3,111,12.00,1.75,0.00,0.000,4,0.160,0.091,2165,3792,3502
$GC,364,-1.10,-146.6,36.0,-5.8,14,368,0.00,1.60,0.00,0.000,6,0.000,0.056,2165,2907,3503
$GC,691,-1.10,-146.6,55.7,-8.2,30,695,0.00,1.73,0.00,0.000,4,0.000,0.096,2165,3787,3503
$GC,949,-1.10,-146.6,76.3,-6.0,41,953,0.00,1.60,0.00,0.000,6,0.000,0.051,2165,2897,3503
$GC,1271,-1.10,-146.6,100.9,-9.0,57,1274,0.00,1.75,0.00,0.000,4,0.000,0.095,2165,3789,3504
$GC,1318,-1.10,-146.6,104.6,-9.1,59,1321,0.00,1.58,0.00,0.000,6,0.000,0.050,2165,2896,3504
$GC,1651,-1.10,-146.6,128.6,-5.7,75,1655,0.00,2.60,0.00,0.000,4,0.000,0.071,2165,1484,3504
$GC,1706,-1.10,-146.6,132.4,-6.6,77,1712,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2907,3504
$GC,2024,-1.10,-146.6,150.8,-6.4,93,2028,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1482,3504
$GC,2068,-1.10,-146.6,154.1,-7.5,95,2072,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2900,3504
$GC,2389,-1.10,-146.6,177.6,-7.4,111,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3504
$GC,2698,-1.10,-146.6,199.4,-6.7,126,2703,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1479,3504
$GC,2753,-1.10,-146.6,203.3,-6.3,128,2758,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2901,3504
$GC,3069,-1.10,-146.6,224.4,-6.8,143,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3504
$GC,3378,-1.10,-146.6,246.3,-7.2,158,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3504
$GC,3688,-1.10,-146.6,270.2,-8.1,173,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3504
$GC,3997,-1.10,-146.6,295.6,-8.1,188,4001,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1482,3504
$GC,4029,-1.10,-146.6,298.4,-8.3,189,4036,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2900,3504
$GC,4345,-1.10,-146.6,323.1,-7.9,205,4349,0.00,1.70,0.00,0.000,4,0.000,0.095,2165,3789,3504
$GC,4406,-1.10,-146.6,327.9,-7.7,207,4412,0.00,1.58,0.00,0.000,6,0.000,0.046,2165,2899,3504
$GC,4726,-1.10,-146.6,351.4,-7.6,223,4730,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1481,3504
$GC,4760,-1.10,-146.6,354.1,-7.3,224,4766,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2904,3504
$GC,5076,-1.10,-146.6,372.4,-4.8,240,5079,0.00,1.70,0.00,0.000,4,0.000,0.095,2165,3790,3504
$GC,5144,-1.10,-146.6,375.5,-4.9,243,5148,0.00,1.58,0.00,0.000,6,0.000,0.046,2165,2889,3504
$GC,5477,-1.10,-146.6,390.8,-5.2,259,5482,0.00,2.55,0.00,0.000,4,0.000,0.062,2165,1483,3504
$GC,5590,-1.10,-146.6,397.5,-6.7,264,5595,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2900,3504
$STATE,5641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5641,begin apogee
$GC,5649,-0.42,0.0,401.3,7.0,267,5777,0.75,0.00,124.97,1.086,6,0.092,0.000,2315,2100,2901
$STATE,5778,end apogee,CONTROL_FINISHED_OK
$STATE,5778,begin climb
$GC,5780,1.10,146.6,404.9,0.0,273,5909,1.58,2.67,120.28,1.055,4,0.062,0.062,2649,681,2303
$GC,6148,1.12,160.5,392.4,5.6,290,6170,0.00,2.55,13.00,0.983,6,0.000,0.046,2649,2106,2246
$GC,6479,1.20,223.7,378.3,4.3,306,6541,0.00,2.72,53.12,1.068,4,0.000,0.067,2649,692,1988
$GC,6587,1.20,223.7,371.5,7.6,311,6591,0.00,2.53,0.00,0.000,6,0.000,0.048,2649,2101,1988
$GC,6913,1.24,258.2,352.3,5.0,327,6948,0.15,2.75,29.08,1.049,4,0.044,0.079,2692,3510,1848
$GC,7015,1.24,258.2,344.8,8.2,331,7021,0.00,2.58,0.00,0.000,6,0.000,0.050,2692,2093,1847
$GC,7331,1.24,258.2,323.5,6.5,347,7335,0.00,2.70,0.00,0.000,4,0.000,0.078,2692,3510,1846
$GC,7352,1.24,258.2,322.0,7.0,348,7356,0.00,2.55,0.00,0.000,6,0.000,0.051,2692,2094,1845
$GC,7673,1.24,258.2,297.3,8.4,364,7677,0.00,2.70,0.00,0.000,4,0.000,0.076,2692,3515,1845
$GC,7699,1.24,258.2,294.8,9.4,365,7704,0.00,2.55,0.00,0.000,6,0.000,0.051,2692,2096,1845
$GC,8015,1.24,258.2,266.8,9.1,380,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2096,1844
$GC,8324,1.24,258.2,238.9,9.0,395,8329,0.00,2.67,0.00,0.000,4,0.000,0.074,2692,3511,1844
$GC,8381,1.24,258.2,233.9,9.7,397,8387,0.00,2.55,0.00,0.000,6,0.000,0.050,2692,2094,1844
$GC,8696,1.24,258.2,204.9,9.8,413,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,1844
$GC,9005,1.24,258.2,173.9,10.0,428,9010,0.00,2.67,0.00,0.000,4,0.000,0.075,2692,3510,1844
$GC,9033,1.24,258.2,170.9,10.7,429,9037,0.00,2.53,0.00,0.000,6,0.000,0.048,2692,2100,1844
$GC,9349,1.24,258.2,142.9,8.6,444,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2100,1844
$GC,9658,1.24,258.2,118.3,7.9,459,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2100,1845
$GC,9967,1.24,258.2,92.9,8.9,474,9972,0.00,2.67,0.00,0.000,4,0.000,0.075,2692,3514,1845
$GC,10013,1.24,258.2,88.6,9.6,476,10017,0.00,2.55,0.00,0.000,6,0.000,0.053,2692,2100,1845
$GC,10334,1.24,258.2,64.7,6.5,492,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2100,1846
$GC,10645,1.24,258.2,35.6,10.3,507,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2100,1846
$GC,10952,1.24,258.2,5.9,9.0,522,10957,0.00,2.67,0.00,0.000,4,0.000,0.077,2692,3511,1846
$STATE,10989,end climb,SURFACE_DEPTH_REACHED
$STATE,10989,begin surface coast
$FINISH,-0.3,1.027399
$STATE,11013,end surface coast,CONTROL_FINISHED_OK
$STATE,11013,begin surface
$SM_CCo,11036,36.53,0.768,2,0,1678,300.00
$SM_GC,-0.30,0.00,0.00,36.53,0.000,0.000,0.768,42,2901,1678,-10.89,0.03,300.00
$IRIDIUM_FIX,6308.26,-1214.45,130108,080836
$TT8_MAMPS,0.029146
$HUMID,2073
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,351.4,69.4
$24V_AH,23.3,61.465
$10V_AH,10.1,27.903
$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,26.000,95.375,340.450,36.525,0.000,39.035,36.836,129.834,3.000,0.000,0.000,15.355,1012.923,8199.957,473.217,1313.672,419.217,0.000,1139.447,0.000,1291.700,0.000,18.509
$DEVICE_MAMPS,159.536,95.875,1086.072,767.767,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.371,357.557,421.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25421,525
$CFSIZE,260165632,239427584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,130108,102426,6331.895,-1212.529,40,1.1,40,-11.8