version: 66.02
glider: 103
mission: 7
dive: 366
start: 1 13 108 20 33 53
data:
$ID,103
$MISSION,7
$DIVE,366
$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,-69642.164
$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,23
$R_STBD_OVSHOOT,12
$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
$GPS1,202807,6327.076,-1227.855,41,1.8,41,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.51
$_SM_ANGLEo,-54.7
$GPS2,203320,6327.010,-1228.119,10,1.2,15,-11.9
$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,242.0,34656,-11.1,-6.000
$D_GRID,452
$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,-66.40,0.000,6,0.000,0.000,49,2890,3500
$GC,95,-1.10,-146.6,2.4,-6.7,3,111,11.95,1.77,0.00,0.000,4,0.158,0.094,2166,3782,3502
$GC,364,-1.10,-146.6,31.7,-6.3,14,368,0.00,1.58,0.00,0.000,6,0.000,0.052,2166,2902,3502
$GC,691,-1.10,-146.6,52.1,-6.0,30,695,0.00,1.73,0.00,0.000,4,0.000,0.092,2166,3790,3502
$GC,949,-1.10,-146.6,67.9,-6.6,41,953,0.00,1.58,0.00,0.000,6,0.000,0.049,2166,2905,3503
$GC,1270,-1.10,-146.6,87.6,-6.6,57,1274,0.00,1.70,0.00,0.000,4,0.000,0.091,2166,3783,3503
$GC,1326,-1.10,-146.6,91.8,-8.1,59,1329,0.00,1.58,0.00,0.000,6,0.000,0.047,2166,2900,3503
$GC,1648,-1.10,-146.6,112.6,-5.5,75,1652,0.00,2.62,0.00,0.000,4,0.000,0.074,2166,1484,3503
$GC,1725,-1.10,-146.6,117.9,-6.4,78,1732,0.00,2.65,0.00,0.000,6,0.000,0.077,2166,2898,3503
$GC,2041,-1.10,-146.6,140.5,-8.2,94,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,2351,-1.10,-146.6,167.5,-8.9,109,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,2659,-1.10,-146.6,191.2,-7.5,124,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,2969,-1.10,-146.6,213.2,-6.9,139,2973,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1487,3503
$GC,3018,-1.10,-146.6,216.7,-7.4,141,3023,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2906,3503
$GC,3334,-1.10,-146.6,240.1,-8.1,156,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3503
$GC,3643,-1.10,-146.6,266.9,-8.8,171,3648,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1489,3503
$GC,3671,-1.10,-146.6,269.3,-8.5,172,3675,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2902,3503
$GC,3986,-1.10,-146.6,295.9,-8.5,187,3990,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1486,3503
$GC,4018,-1.10,-146.6,298.7,-8.2,188,4025,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2902,3503
$GC,4335,-1.10,-146.6,319.8,-5.4,204,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,4644,-1.10,-146.6,333.7,-5.0,219,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,4952,-1.10,-146.6,355.5,-8.0,234,4957,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3503
$GC,4997,-1.10,-146.6,359.2,-8.3,236,5002,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2900,3503
$GC,5318,-1.10,-146.6,381.4,-5.8,252,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3504
$GC,5627,-1.10,-146.6,393.4,-3.8,267,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,5936,-1.10,-146.6,409.4,-6.8,282,5941,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1480,3503
$GC,5986,-1.10,-146.6,413.2,-7.8,284,5991,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2900,3503
$GC,6302,-1.10,-146.6,437.2,-6.9,299,6306,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1481,3503
$GC,6334,-1.10,-146.6,439.4,-7.1,300,6341,0.00,2.67,0.00,0.000,6,0.000,0.077,2166,2902,3503
$STATE,6565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6565,begin apogee
$GC,6573,-0.42,0.0,453.0,5.6,312,6701,0.77,0.00,124.85,1.131,6,0.107,0.000,2316,2099,2901
$STATE,6702,end apogee,CONTROL_FINISHED_OK
$STATE,6702,begin climb
$GC,6705,1.10,146.6,456.6,0.0,318,6835,1.55,2.65,120.45,1.097,4,0.061,0.060,2646,683,2303
$GC,6927,1.16,189.8,452.0,4.8,328,6971,0.00,2.53,37.17,1.065,6,0.000,0.038,2646,2113,2127
$GC,7290,1.20,229.8,431.7,4.9,346,7332,0.12,2.70,33.95,1.084,4,0.048,0.075,2682,3509,1964
$GC,7388,1.21,236.4,426.0,5.8,350,7401,0.00,2.55,7.15,0.914,6,0.000,0.046,2682,2092,1937
$GC,7710,1.22,239.4,410.7,5.9,366,7716,0.00,0.00,4.05,0.755,6,0.000,0.000,2682,2091,1925
$GC,8018,1.22,239.4,384.8,9.1,381,8023,0.00,2.67,0.00,0.000,4,0.000,0.075,2682,3506,1924
$GC,8080,1.22,239.4,379.1,9.5,384,8084,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2097,1924
$GC,8406,1.22,239.4,353.4,7.0,400,8411,0.00,2.65,0.00,0.000,4,0.000,0.072,2683,3511,1923
$GC,8439,1.22,239.4,350.9,6.9,401,8445,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2097,1923
$GC,8755,1.22,239.4,329.8,7.2,417,8759,0.00,2.62,0.00,0.000,4,0.000,0.074,2682,3504,1923
$GC,8832,1.22,239.4,323.5,8.1,420,8839,0.00,2.53,0.00,0.000,6,0.000,0.050,2682,2093,1922
$GC,9148,1.22,239.4,299.1,7.7,436,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2093,1922
$GC,9457,1.22,239.4,275.9,8.1,451,9462,0.00,2.65,0.00,0.000,4,0.000,0.073,2682,3504,1922
$GC,9497,1.22,239.4,272.5,8.8,453,9501,0.00,2.50,0.00,0.000,6,0.000,0.049,2682,2100,1922
$GC,9829,1.22,239.4,244.8,8.2,469,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2100,1922
$GC,10139,1.22,239.4,220.4,7.7,484,10143,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3504,1922
$GC,10171,1.22,239.4,217.9,7.6,485,10178,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2094,1922
$GC,10487,1.24,256.0,197.9,5.5,501,10509,0.00,2.70,14.88,0.942,4,0.000,0.072,2682,3502,1857
$GC,10537,1.24,256.0,195.0,6.0,503,10541,0.00,2.53,0.00,0.000,6,0.000,0.048,2682,2099,1856
$GC,10858,1.24,257.5,178.3,6.0,519,10862,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3504,1856
$GC,10898,1.24,257.5,175.4,8.1,521,10902,0.00,2.50,0.00,0.000,6,0.000,0.048,2682,2102,1856
$GC,11224,1.24,257.5,149.2,10.1,537,11228,0.00,2.62,0.00,0.000,4,0.000,0.072,2682,3504,1856
$GC,11251,1.24,257.5,146.9,8.7,538,11255,0.00,2.53,0.00,0.000,6,0.000,0.047,2682,2094,1856
$GC,11568,1.24,257.5,122.0,8.3,553,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2094,1857
$GC,11876,1.24,257.5,101.4,6.4,568,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2092,1857
$GC,12185,1.24,257.5,73.9,10.4,583,12190,0.00,2.65,0.00,0.000,4,0.000,0.073,2682,3504,1857
$GC,12229,1.24,257.5,69.3,9.6,585,12234,0.00,2.50,0.00,0.000,6,0.000,0.050,2682,2100,1857
$GC,12551,1.24,257.5,48.1,6.8,601,12555,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3506,1858
$GC,12578,1.25,265.0,46.4,5.8,602,12593,0.00,2.53,9.27,0.800,6,0.000,0.049,2682,2097,1820
$GC,12921,1.25,265.0,25.3,7.2,619,12922,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1820
$GC,13230,1.25,265.0,3.8,9.0,634,13234,0.00,2.62,0.00,0.000,4,0.000,0.066,2682,3510,1820
$GC,13247,1.25,265.0,2.2,9.7,635,13251,0.00,2.12,0.00,0.000,3,0.000,0.048,2682,2298,1820
$STATE,13252,end climb,SURFACE_DEPTH_REACHED
$STATE,13252,begin surface coast
$FINISH,-0.8,1.027413
$STATE,13273,end surface coast,CONTROL_FINISHED_OK
$STATE,13273,begin surface
$SM_CCo,13296,31.25,0.764,2,0,1677,300.00
$SM_GC,-0.40,0.00,0.00,31.25,0.000,0.000,0.764,47,2887,1677,-10.87,-0.37,300.00
$IRIDIUM_FIX,6303.50,-1222.85,130108,212135
$TT8_MAMPS,0.028379
$HUMID,2084
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.0,48.1
$24V_AH,23.3,61.963
$10V_AH,10.1,28.149
$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,26.025,116.350,351.775,31.250,0.000,38.750,41.184,123.250,3.500,0.000,0.000,15.399,1187.552,10065.712,490.435,1479.140,449.305,0.000,1245.369,0.000,1455.990,0.000,26.208
$DEVICE_MAMPS,158.002,94.341,1130.558,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.753,436.187,489.936,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31629,636
$CFSIZE,260165632,239230976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,140108,001731,6325.888,-1233.801,39,1.1,44,-11.9