version: 66.02
glider: 103
mission: 7
dive: 357
start: 1 12 108 15 32 9
data:
$ID,103
$MISSION,7
$DIVE,357
$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,-69506.273
$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,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
$GPS1,152147,6337.679,-1150.624,10,5.2,29,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-56.9
$GPS2,153137,6337.558,-1150.744,11,1.7,27,-11.6
$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,245.7,71261,-11.1,-6.000
$D_GRID,366
$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,-66.95,0.000,6,0.000,0.000,48,2895,3500
$GC,95,-1.10,-146.6,2.9,-7.4,3,111,11.93,1.77,0.00,0.000,4,0.157,0.092,2166,3786,3502
$GC,363,-1.10,-146.6,37.0,-7.1,14,367,0.00,1.60,0.00,0.000,6,0.000,0.056,2167,2910,3503
$GC,690,-1.10,-146.6,62.9,-11.2,30,694,0.00,1.73,0.00,0.000,4,0.000,0.094,2167,3792,3503
$GC,948,-1.10,-146.6,89.7,-8.5,41,952,0.00,1.60,0.00,0.000,6,0.000,0.051,2167,2885,3503
$GC,1270,-1.10,-146.6,113.6,-6.0,57,1274,0.00,1.75,0.00,0.000,4,0.000,0.092,2167,3786,3503
$GC,1339,-1.10,-146.6,117.5,-6.4,60,1342,0.00,1.58,0.00,0.000,6,0.000,0.049,2167,2891,3503
$GC,1671,-1.10,-146.6,144.7,-8.9,76,1675,0.00,2.60,0.00,0.000,4,0.000,0.072,2167,1484,3502
$GC,1757,-1.10,-146.6,152.4,-9.6,80,1761,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2900,3503
$GC,2084,-1.10,-146.6,180.1,-8.3,96,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,2393,-1.10,-146.6,201.7,-6.2,111,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,2702,-1.10,-146.6,219.9,-6.0,126,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3012,-1.10,-146.6,237.5,-5.8,141,3016,0.00,2.62,0.00,0.000,4,0.000,0.069,2167,1484,3503
$GC,3066,-1.10,-146.6,240.9,-6.3,143,3073,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2909,3503
$GC,3382,-1.10,-146.6,264.8,-8.3,159,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2909,3503
$GC,3691,-1.10,-146.6,290.3,-7.6,174,3696,0.00,2.65,0.00,0.000,4,0.000,0.069,2167,1478,3503
$GC,3731,-1.10,-146.6,292.9,-6.7,176,3736,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2899,3503
$GC,4059,-1.10,-146.6,314.1,-5.8,192,4063,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1483,3503
$GC,4114,-1.10,-146.6,316.5,-3.6,194,4120,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2899,3503
$GC,4429,-1.10,-146.6,329.9,-5.1,210,4433,0.00,1.70,0.00,0.000,4,0.000,0.093,2167,3777,3503
$GC,4486,-1.10,-146.6,333.2,-5.9,212,4489,0.00,1.58,0.00,0.000,6,0.000,0.044,2167,2880,3503
$GC,4806,-1.10,-146.6,354.3,-6.3,228,4810,0.00,1.75,0.00,0.000,4,0.000,0.092,2167,3785,3503
$GC,4890,-1.10,-146.6,359.8,-6.9,231,4896,0.00,1.58,0.00,0.000,6,0.000,0.044,2167,2897,3503
$STATE,4997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4997,begin apogee
$GC,5005,-0.42,0.0,367.0,6.7,237,5131,0.77,0.00,122.78,1.072,6,0.102,0.000,2318,2098,2900
$STATE,5132,end apogee,CONTROL_FINISHED_OK
$STATE,5132,begin climb
$GC,5134,1.10,146.6,370.9,0.0,243,5261,1.55,2.62,118.72,1.031,4,0.064,0.060,2646,687,2302
$GC,5351,1.15,189.0,365.5,4.8,253,5392,0.00,2.50,35.60,1.030,6,0.000,0.038,2647,2113,2130
$GC,5715,1.17,204.9,344.1,5.6,271,5737,0.00,2.65,14.45,1.004,4,0.000,0.067,2647,3511,2065
$GC,5874,1.17,204.9,333.5,7.2,278,5879,0.00,2.53,0.00,0.000,6,0.000,0.041,2646,2086,2064
$GC,6201,1.19,214.4,312.3,5.7,294,6215,0.10,2.72,9.10,0.963,4,0.053,0.076,2676,3504,2026
$GC,6290,1.19,214.4,307.0,6.1,298,6294,0.00,2.53,0.00,0.000,6,0.000,0.049,2675,2095,2026
$GC,6616,1.20,222.0,285.9,5.8,314,6625,0.00,0.00,7.68,0.933,6,0.000,0.000,2675,2095,1995
$GC,6925,1.20,222.0,267.3,6.2,329,6929,0.00,2.67,0.00,0.000,4,0.000,0.074,2675,3509,1994
$GC,7009,1.20,222.0,261.2,7.2,333,7013,0.00,2.53,0.00,0.000,6,0.000,0.049,2675,2096,1994
$GC,7335,1.20,222.0,237.4,7.4,349,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2096,1994
$GC,7645,1.20,222.0,215.2,6.6,364,7649,0.00,2.65,0.00,0.000,4,0.000,0.072,2675,3504,1994
$GC,7716,1.20,222.0,210.2,6.5,367,7721,0.00,2.50,0.00,0.000,6,0.000,0.049,2675,2094,1994
$GC,8032,1.20,222.0,188.7,7.2,382,8036,0.00,2.65,0.00,0.000,4,0.000,0.073,2675,3504,1994
$GC,8076,1.20,222.0,185.3,7.5,384,8080,0.00,2.53,0.00,0.000,6,0.000,0.049,2675,2094,1994
$GC,8396,1.20,222.0,162.1,7.5,400,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2094,1994
$GC,8706,1.20,222.0,138.9,7.7,415,8710,0.00,2.65,0.00,0.000,4,0.000,0.073,2675,3505,1994
$GC,8745,1.20,222.0,135.8,8.8,417,8750,0.00,2.50,0.00,0.000,6,0.000,0.049,2675,2094,1995
$GC,9073,1.20,222.0,111.1,8.7,433,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2094,1994
$GC,9382,1.21,232.6,89.8,5.7,448,9397,0.00,2.58,10.12,0.834,4,0.000,0.061,2675,697,1952
$GC,9425,1.21,232.6,86.8,6.3,449,9429,0.00,2.47,0.00,0.000,6,0.000,0.041,2676,2093,1952
$GC,9745,1.21,232.6,61.1,8.5,465,9750,0.00,2.65,0.00,0.000,4,0.000,0.075,2675,3511,1952
$GC,9823,1.21,232.6,54.8,8.5,468,9830,0.00,2.50,0.00,0.000,6,0.000,0.050,2675,2094,1952
$GC,10141,1.21,232.6,32.2,8.1,484,10145,0.00,2.53,0.00,0.000,4,0.000,0.060,2675,697,1952
$GC,10164,1.21,232.6,29.7,10.1,485,10168,0.00,2.47,0.00,0.000,6,0.000,0.040,2676,2105,1952
$GC,10484,1.21,232.6,4.3,7.1,501,10489,0.00,2.62,0.00,0.000,4,0.000,0.074,2675,3514,1952
$STATE,10509,end climb,SURFACE_DEPTH_REACHED
$STATE,10509,begin surface coast
$FINISH,-0.3,1.027396
$STATE,10533,end surface coast,CONTROL_FINISHED_OK
$STATE,10533,begin surface
$SM_CCo,10556,55.38,0.807,1,0,1678,300.00
$SM_GC,-0.52,0.00,0.00,55.38,0.000,0.000,0.807,47,2900,1678,-10.87,0.00,300.00
$IRIDIUM_FIX,6313.04,-1150.83,120108,191943
$TT8_MAMPS,0.028379
$HUMID,2065
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,18.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.3,92.4
$24V_AH,23.4,60.852
$10V_AH,10.1,27.613
$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,25.950,94.400,318.450,55.375,0.000,73.770,86.586,247.985,2.500,0.000,0.000,27.680,981.151,7860.194,463.585,1299.245,626.094,0.000,1117.193,0.000,1269.291,0.000,15.325
$DEVICE_MAMPS,157.235,94.341,1072.266,806.884,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.506,346.016,409.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25458,503
$CFSIZE,260165632,239648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,120108,183026,6334.993,-1156.292,43,1.4,43,-11.6