version: 66.02
glider: 103
mission: 7
dive: 367
start: 1 14 108 0 27 27
data:
$ID,103
$MISSION,7
$DIVE,367
$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,-69657.195
$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,5
$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
$GPS1,001731,6325.888,-1233.801,39,1.1,44,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-57.8
$GPS2,002656,6325.858,-1233.814,9,1.1,14,-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,239.2,29679,-11.1,-6.000
$D_GRID,476
$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,-66.53,0.000,6,0.000,0.000,47,2891,3501
$GC,96,-1.10,-146.6,2.0,-4.9,3,112,11.93,1.77,0.00,0.000,4,0.157,0.088,2166,3790,3502
$GC,364,-1.10,-146.6,33.3,-6.1,14,368,0.00,1.60,0.00,0.000,6,0.000,0.055,2166,2902,3503
$GC,691,-1.10,-146.6,56.3,-7.8,30,695,0.00,1.75,0.00,0.000,4,0.000,0.094,2166,3796,3503
$GC,949,-1.10,-146.6,78.2,-6.8,41,953,0.00,1.60,0.00,0.000,6,0.000,0.047,2166,2894,3503
$GC,1270,-1.10,-146.6,100.8,-7.0,57,1275,0.00,2.60,0.00,0.000,4,0.000,0.070,2167,1481,3503
$GC,1321,-1.10,-146.6,104.5,-6.8,59,1325,0.00,2.72,0.00,0.000,6,0.000,0.077,2166,2912,3503
$GC,1637,-1.10,-146.6,126.3,-6.0,74,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2912,3503
$GC,1946,-1.10,-146.6,146.8,-6.3,89,1950,0.00,2.65,0.00,0.000,4,0.000,0.068,2167,1483,3503
$GC,1989,-1.10,-146.6,149.7,-7.0,91,1994,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2898,3503
$GC,2316,-1.10,-146.6,168.6,-6.0,107,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,2625,-1.10,-146.6,186.9,-5.1,122,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2898,3503
$GC,2935,-1.10,-146.6,202.8,-4.4,137,2939,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1484,3503
$GC,2967,-1.10,-146.6,204.3,-4.7,138,2974,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2902,3503
$GC,3285,-1.10,-146.6,225.6,-7.6,154,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,3593,-1.10,-146.6,250.3,-8.1,169,3597,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1485,3503
$GC,3642,-1.10,-146.6,253.7,-6.3,171,3647,0.00,2.65,0.00,0.000,6,0.000,0.076,2167,2900,3503
$GC,3959,-1.10,-146.6,275.8,-7.1,186,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,4268,-1.10,-146.6,296.5,-7.1,201,4272,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1482,3503
$GC,4307,-1.10,-146.6,299.4,-7.6,203,4311,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2907,3503
$GC,4633,-1.10,-146.6,319.7,-5.8,219,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3503
$GC,4943,-1.10,-146.6,336.1,-5.4,234,4947,0.00,2.60,0.00,0.000,4,0.000,0.067,2166,1486,3503
$GC,4982,-1.10,-146.6,338.4,-6.5,236,4987,0.00,2.65,0.00,0.000,6,0.000,0.074,2167,2902,3503
$GC,5308,-1.10,-146.6,360.0,-7.9,252,5312,0.00,1.67,0.00,0.000,4,0.000,0.091,2166,3786,3503
$GC,5358,-1.10,-146.6,364.1,-8.1,254,5362,0.00,1.58,0.00,0.000,6,0.000,0.040,2167,2878,3503
$GC,5685,-1.10,-146.6,383.6,-4.6,270,5689,0.00,2.53,0.00,0.000,4,0.000,0.065,2167,1488,3503
$GC,5752,-1.10,-146.6,387.4,-5.6,273,5757,0.00,2.60,0.00,0.000,6,0.000,0.070,2166,2900,3503
$GC,6073,-1.10,-146.6,405.8,-6.3,289,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,6383,-1.10,-146.6,425.0,-5.2,304,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,6692,-1.10,-146.6,444.1,-7.1,319,6696,0.00,1.70,0.00,0.000,4,0.000,0.091,2167,3782,3503
$GC,6798,-1.10,-146.6,452.3,-7.7,323,6804,0.00,1.52,0.00,0.000,6,0.000,0.041,2167,2910,3503
$STATE,7029,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7029,begin apogee
$GC,7036,-0.42,0.0,469.0,7.0,335,7165,0.75,0.00,125.00,1.147,6,0.097,0.000,2316,2103,2901
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7166,begin climb
$GC,7169,1.10,146.6,473.7,0.0,341,7299,1.55,2.67,120.40,1.104,4,0.061,0.058,2646,687,2303
$GC,7494,1.12,159.8,462.4,5.6,356,7515,0.00,2.50,12.60,1.011,6,0.000,0.039,2646,2112,2250
$GC,7824,1.18,210.3,447.1,4.6,372,7874,0.00,2.70,43.08,1.101,4,0.000,0.069,2646,3505,2043
$GC,8028,1.18,210.3,435.7,6.7,381,8032,0.00,2.50,0.00,0.000,6,0.000,0.040,2646,2093,2042
$GC,8348,1.19,213.6,414.8,5.9,397,8357,0.00,2.67,4.15,0.772,4,0.000,0.071,2646,3505,2030
$GC,8426,1.22,240.5,410.5,5.3,400,8458,0.12,2.50,23.75,1.085,6,0.048,0.041,2681,2100,1920
$GC,8767,1.22,240.5,390.2,6.3,417,8771,0.00,2.70,0.00,0.000,4,0.000,0.079,2681,3508,1918
$GC,8822,1.22,240.5,386.5,6.7,419,8828,0.00,2.50,0.00,0.000,6,0.000,0.047,2681,2100,1918
$GC,9137,1.22,240.5,366.0,7.2,435,9142,0.00,2.67,0.00,0.000,4,0.000,0.075,2681,3508,1918
$GC,9170,1.22,240.5,363.1,8.1,436,9176,0.00,2.50,0.00,0.000,6,0.000,0.046,2681,2099,1918
$GC,9485,1.22,240.5,338.5,7.7,452,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2098,1917
$GC,9795,1.22,240.5,313.4,8.0,467,9799,0.00,2.65,0.00,0.000,4,0.000,0.075,2681,3511,1917
$GC,9850,1.22,240.5,309.1,8.6,469,9856,0.00,2.53,0.00,0.000,6,0.000,0.049,2681,2102,1917
$GC,10165,1.22,240.5,280.7,8.8,485,10169,0.00,2.58,0.00,0.000,4,0.000,0.061,2681,685,1917
$GC,10214,1.22,240.5,275.8,9.5,487,10218,0.00,2.47,0.00,0.000,6,0.000,0.045,2681,2094,1917
$GC,10536,1.22,240.5,243.0,9.4,503,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2094,1917
$GC,10845,1.22,240.5,213.8,10.7,518,10849,0.00,2.65,0.00,0.000,4,0.000,0.076,2681,3509,1917
$GC,10916,1.22,240.5,205.9,10.5,521,10921,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2099,1918
$GC,11233,1.22,240.5,182.9,6.9,536,11237,0.00,2.67,0.00,0.000,4,0.000,0.076,2681,3514,1917
$GC,11272,1.22,240.5,180.1,7.7,538,11276,0.00,2.50,0.00,0.000,6,0.000,0.047,2681,2097,1918
$GC,11598,1.22,240.5,156.8,7.0,554,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1918
$GC,11907,1.22,240.5,134.6,7.4,569,11912,0.00,2.67,0.00,0.000,4,0.000,0.076,2682,3510,1918
$GC,11934,1.22,240.5,132.4,8.7,570,11938,0.00,2.50,0.00,0.000,6,0.000,0.048,2681,2101,1918
$GC,12252,1.22,240.5,108.9,7.4,585,12256,0.00,2.67,0.00,0.000,4,0.000,0.075,2681,3517,1919
$GC,12279,1.22,240.5,106.6,8.0,586,12283,0.00,2.53,0.00,0.000,6,0.000,0.048,2681,2099,1919
$GC,12595,1.22,240.5,82.6,7.9,601,12599,0.00,2.67,0.00,0.000,4,0.000,0.075,2681,3516,1919
$GC,12616,1.22,240.5,80.5,8.8,602,12620,0.00,2.53,0.00,0.000,6,0.000,0.049,2681,2094,1919
$GC,12937,1.22,240.5,56.1,6.8,618,12942,0.00,2.55,0.00,0.000,4,0.000,0.063,2681,689,1919
$GC,12955,1.22,240.5,54.5,7.5,619,12959,0.00,2.50,0.00,0.000,6,0.000,0.047,2682,2105,1919
$GC,13282,1.30,310.1,31.3,4.1,635,13346,0.00,2.75,56.80,0.843,4,0.000,0.077,2681,3508,1636
$GC,13365,1.30,310.1,26.8,8.8,639,13369,0.00,2.55,0.00,0.000,6,0.000,0.051,2681,2102,1636
$STATE,13586,end climb,SURFACE_DEPTH_REACHED
$STATE,13586,begin surface coast
$FINISH,-0.1,1.027396
$STATE,13609,end surface coast,CONTROL_FINISHED_OK
$STATE,13609,begin surface
$SM_CCo,13692,0.00,0.000,0,0,1634,310.80
$SM_GC,-0.45,11.65,0.00,0.00,0.031,0.000,0.000,47,2897,1634,-10.79,-0.08,310.80
$IRIDIUM_FIX,6258.74,-1235.90,140108,040432
$TT8_MAMPS,0.029146
$HUMID,2080
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.6,78.3
$24V_AH,23.3,62.100
$10V_AH,10.1,28.219
$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,26.000,125.475,385.775,0.000,0.000,76.247,170.173,146.156,3.750,0.000,0.000,14.410,1234.714,10343.239,478.528,1573.718,640.404,0.000,1284.571,0.000,1541.486,0.000,24.726
$DEVICE_MAMPS,157.235,93.574,1147.432,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,480.147,445.289,472.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34844,651
$CFSIZE,260165632,239173632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
$GPS,140108,041716,6324.594,-1235.930,43,4.3,62,-12.0