version: 66.02
glider: 103
mission: 7
dive: 371
start: 1 14 108 16 59 47
data:
$ID,103
$MISSION,7
$DIVE,371
$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,-69713.547
$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,18
$R_STBD_OVSHOOT,14
$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
$GPS1,164538,6320.170,-1243.084,31,1.0,31,-12.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-57.0
$GPS2,165915,6319.960,-1243.238,14,1.4,14,-12.0
$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,248.7,16722,-11.1,-6.000
$D_GRID,523
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-66.78,0.000,6,0.000,0.000,46,2900,3500
$GC,95,-1.10,-146.6,2.6,-7.2,3,117,11.95,2.62,0.00,0.000,4,0.157,0.058,2164,1489,3503
$GC,297,-1.10,-146.6,30.3,-7.0,12,302,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2903,3502
$GC,624,-1.10,-146.6,62.0,-11.5,28,627,0.00,1.67,0.00,0.000,4,0.000,0.091,2164,3785,3503
$GC,707,-1.10,-146.6,71.2,-12.0,31,714,0.00,1.58,0.00,0.000,6,0.000,0.040,2164,2899,3503
$GC,1023,-1.10,-146.6,106.7,-10.3,47,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,1332,-1.10,-146.6,127.0,-6.9,62,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3503
$GC,1643,-1.10,-146.6,143.4,-5.1,77,1647,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1480,3503
$GC,1709,-1.10,-146.6,147.0,-5.5,80,1713,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2901,3503
$GC,2030,-1.10,-146.6,167.0,-7.3,96,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,2339,-1.10,-146.6,194.7,-9.4,111,2344,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1480,3503
$GC,2379,-1.10,-146.6,198.0,-7.7,113,2383,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2906,3503
$GC,2705,-1.10,-146.6,221.1,-7.5,129,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,3014,-1.10,-146.6,244.6,-7.5,144,3018,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1479,3503
$GC,3047,-1.10,-146.6,247.0,-6.7,145,3053,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2908,3503
$GC,3362,-1.10,-146.6,268.4,-7.7,161,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,3672,-1.10,-146.6,292.7,-7.7,176,3677,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1482,3503
$GC,3728,-1.10,-146.6,297.6,-9.0,178,3734,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2896,3503
$GC,4044,-1.10,-146.6,323.1,-8.5,194,4047,0.00,1.67,0.00,0.000,4,0.000,0.087,2164,3785,3503
$GC,4093,-1.10,-146.6,327.9,-9.7,196,4097,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2898,3503
$GC,4420,-1.10,-146.6,355.9,-8.6,212,4424,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1480,3503
$GC,4463,-1.10,-146.6,359.6,-8.5,214,4468,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,4785,-1.10,-146.6,386.4,-8.7,230,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,5094,-1.10,-146.6,412.1,-8.0,245,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,5403,-1.10,-146.6,437.7,-8.1,260,5408,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1487,3503
$GC,5498,-1.10,-146.6,445.5,-8.1,264,5503,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3503
$GC,5814,-1.10,-146.6,469.3,-6.7,279,5817,0.00,1.67,0.00,0.000,4,0.000,0.087,2164,3787,3503
$GC,5875,-1.10,-146.6,473.4,-7.1,281,5881,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2905,3503
$GC,6190,-1.10,-146.6,492.7,-6.2,297,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$GC,6500,-1.10,-146.6,513.6,-7.1,312,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3503
$STATE,6641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6641,begin apogee
$GC,6649,-0.42,0.0,523.3,6.6,319,6779,0.77,0.00,125.75,1.167,6,0.095,0.000,2319,2100,2901
$STATE,6779,end apogee,CONTROL_FINISHED_OK
$STATE,6779,begin climb
$GC,6782,1.10,146.6,527.9,0.0,325,6913,1.52,2.65,121.55,1.132,4,0.055,0.057,2647,689,2303
$GC,7028,1.11,155.0,521.0,5.8,336,7042,0.00,2.50,8.48,0.969,6,0.000,0.035,2647,2117,2269
$GC,7371,1.16,194.0,503.0,4.9,353,7412,0.00,2.65,33.92,1.124,4,0.000,0.069,2647,3499,2110
$GC,7528,1.16,194.0,493.5,6.1,360,7532,0.00,2.50,0.00,0.000,6,0.000,0.040,2646,2087,2110
$GC,7854,1.16,194.0,472.7,6.4,376,7859,0.00,2.65,0.00,0.000,4,0.000,0.073,2647,3502,2108
$GC,7909,1.16,194.0,469.1,7.0,378,7915,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2099,2108
$GC,8225,1.16,194.0,449.5,6.4,394,8229,0.00,2.65,0.00,0.000,4,0.000,0.073,2647,3504,2107
$GC,8286,1.16,194.0,445.2,7.1,397,8290,0.00,2.50,0.00,0.000,6,0.000,0.043,2646,2093,2107
$GC,8612,1.16,194.0,424.7,6.3,413,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2093,2106
$GC,8922,1.20,226.4,407.8,5.1,428,8956,0.12,2.72,27.73,1.108,4,0.046,0.070,2685,3493,1977
$GC,9012,1.20,226.4,402.0,7.2,432,9017,0.00,2.50,0.00,0.000,6,0.000,0.046,2685,2099,1976
$GC,9334,1.21,231.9,381.0,5.8,448,9342,0.00,0.00,6.03,0.903,6,0.000,0.000,2685,2099,1955
$GC,9643,1.21,231.9,352.0,9.8,463,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1955
$GC,9952,1.21,231.9,327.4,9.2,478,9956,0.00,2.60,0.00,0.000,4,0.000,0.069,2685,3501,1955
$GC,9996,1.21,231.9,323.7,8.5,480,10000,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2097,1955
$GC,10317,1.21,231.9,299.8,7.9,496,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2097,1955
$GC,10626,1.21,231.9,274.7,8.6,511,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2097,1955
$GC,10936,1.21,231.9,248.3,8.4,526,10940,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3505,1955
$GC,10990,1.21,231.9,243.5,8.6,528,10996,0.00,2.50,0.00,0.000,6,0.000,0.048,2685,2099,1955
$GC,11306,1.21,231.9,219.7,7.7,544,11307,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1955
$GC,11616,1.21,231.9,194.9,8.0,559,11620,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3502,1956
$GC,11648,1.21,231.9,192.0,7.8,560,11655,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2088,1956
$GC,11964,1.21,231.9,168.3,7.5,576,11968,0.00,2.65,0.00,0.000,4,0.000,0.070,2685,3505,1956
$GC,11997,1.21,231.9,165.5,8.4,577,12003,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2094,1956
$GC,12312,1.21,231.9,139.5,8.9,593,12314,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2094,1956
$GC,12622,1.21,231.9,113.5,8.1,608,12626,0.00,2.62,0.00,0.000,4,0.000,0.070,2685,3502,1957
$GC,12643,1.21,231.9,111.7,8.1,609,12647,0.00,2.47,0.00,0.000,6,0.000,0.044,2685,2101,1956
$GC,12964,1.21,231.9,83.4,9.1,625,12968,0.00,2.60,0.00,0.000,4,0.000,0.068,2685,3500,1957
$GC,12991,1.21,231.9,80.8,8.9,626,12995,0.00,2.50,0.00,0.000,6,0.000,0.047,2685,2097,1957
$GC,13307,1.21,231.9,54.8,7.9,641,13308,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2098,1957
$GC,13617,1.21,231.9,27.9,8.1,656,13621,0.00,2.62,0.00,0.000,4,0.000,0.071,2685,3504,1957
$GC,13656,1.21,231.9,23.9,9.6,658,13661,0.00,2.50,0.00,0.000,6,0.000,0.051,2685,2097,1957
$STATE,13879,end climb,SURFACE_DEPTH_REACHED
$STATE,13879,begin surface coast
$FINISH,-0.1,1.027406
$STATE,13899,end surface coast,CONTROL_FINISHED_OK
$STATE,13900,begin surface
$SM_CCo,13924,57.47,0.786,2,0,1678,300.00
$SM_GC,-0.50,0.00,0.00,57.47,0.000,0.000,0.786,48,2888,1678,-10.87,-0.34,300.00
$IRIDIUM_FIX,6254.00,-1247.83,140108,202051
$TT8_MAMPS,0.029146
$HUMID,2060
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,476.2,61.3
$24V_AH,23.3,62.649
$10V_AH,10.1,28.503
$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,26.200,111.075,323.450,57.475,0.000,114.665,289.413,172.915,4.250,0.000,0.000,16.601,1233.583,10770.447,503.470,1485.698,830.158,0.000,1257.694,0.000,1460.612,0.000,26.577
$DEVICE_MAMPS,157.235,91.273,1166.607,786.175,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,491.503,460.507,455.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34861,670
$CFSIZE,260165632,238964736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
$GPS,140108,205408,6316.051,-1249.268,33,1.0,33,-12.0