version: 66.02
glider: 103
mission: 7
dive: 369
start: 1 14 108 8 18 29
data:
$ID,103
$MISSION,7
$DIVE,369
$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,-69684.68
$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,22
$R_STBD_OVSHOOT,8
$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
$GPS1,081238,6322.812,-1242.591,36,1.0,36,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.51
$_SM_ANGLEo,-53.2
$GPS2,081757,6322.785,-1242.792,11,1.3,11,-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,236.9,20338,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-60.97,0.000,2,0.000,0.000,43,2888,3325
$GC,89,-1.10,-146.6,3.3,-9.1,3,111,11.95,1.75,-3.17,0.000,4,0.156,0.112,2165,3788,3501
$GC,365,-1.10,-146.6,35.2,-12.1,15,368,0.00,1.60,0.00,0.000,6,0.000,0.058,2165,2907,3502
$GC,691,-1.10,-146.6,62.5,-8.3,31,695,0.00,1.73,0.00,0.000,4,0.000,0.094,2165,3790,3502
$GC,949,-1.10,-146.6,82.0,-6.2,42,953,0.00,1.60,0.00,0.000,6,0.000,0.049,2165,2893,3503
$GC,1271,-1.10,-146.6,100.3,-6.1,58,1274,0.00,1.75,0.00,0.000,4,0.000,0.091,2166,3793,3503
$GC,1321,-1.10,-146.6,104.3,-8.1,60,1324,0.00,1.58,0.00,0.000,6,0.000,0.045,2166,2899,3503
$GC,1648,-1.10,-146.6,126.3,-6.5,76,1652,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1486,3503
$GC,1720,-1.10,-146.6,130.8,-6.2,79,1724,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2901,3503
$GC,2035,-1.10,-146.6,151.7,-7.1,94,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2345,-1.10,-146.6,173.1,-6.5,109,2349,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1481,3503
$GC,2384,-1.10,-146.6,175.9,-7.7,111,2389,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2902,3503
$GC,2711,-1.10,-146.6,201.9,-7.7,127,2715,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1483,3503
$GC,2773,-1.10,-146.6,206.6,-7.7,130,2777,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2904,3503
$GC,3099,-1.10,-146.6,228.3,-6.1,146,3104,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1478,3503
$GC,3168,-1.10,-146.6,232.1,-5.8,149,3172,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2900,3503
$GC,3489,-1.10,-146.6,253.6,-6.6,165,3493,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1485,3504
$GC,3551,-1.10,-146.6,257.7,-6.8,168,3555,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2902,3503
$GC,3879,-1.10,-146.6,278.3,-6.1,184,3883,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1480,3503
$GC,3922,-1.10,-146.6,281.5,-6.7,186,3927,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3503
$GC,4243,-1.10,-146.6,303.2,-7.2,202,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,4553,-1.10,-146.6,327.6,-8.8,217,4557,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1480,3503
$GC,4597,-1.10,-146.6,331.5,-9.8,219,4601,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2902,3503
$GC,4917,-1.10,-146.6,358.9,-9.3,235,4921,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1481,3503
$GC,4956,-1.10,-146.6,362.5,-9.0,237,4961,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2906,3503
$GC,5283,-1.10,-146.6,385.4,-5.5,253,5287,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1475,3503
$GC,5322,-1.10,-146.6,387.1,-4.4,255,5327,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2905,3503
$GC,5650,-1.10,-146.6,398.3,-3.6,271,5654,0.00,1.67,0.00,0.000,4,0.000,0.089,2166,3789,3503
$GC,5697,-1.10,-146.6,400.3,-4.8,273,5700,0.00,1.58,0.00,0.000,6,0.000,0.041,2166,2880,3503
$GC,6029,-1.10,-146.6,418.0,-6.9,289,6033,0.00,2.53,0.00,0.000,4,0.000,0.063,2165,1484,3503
$GC,6112,-1.10,-146.6,424.7,-8.5,292,6122,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2899,3503
$GC,6428,-1.10,-146.6,446.3,-6.3,308,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,6737,-1.10,-146.6,465.6,-6.6,323,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,7047,-1.10,-146.6,486.9,-6.8,338,7051,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1482,3503
$GC,7102,-1.10,-146.6,490.7,-7.0,340,7108,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2903,3502
$GC,7418,-1.10,-146.6,511.0,-6.6,356,7422,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1480,3501
$GC,7480,-1.10,-146.6,515.1,-6.9,359,7484,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2900,3501
$STATE,7619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7619,begin apogee
$GC,7627,-0.42,0.0,524.3,6.3,366,7755,0.77,0.00,124.50,1.214,6,0.097,0.000,2320,2093,2901
$STATE,7755,end apogee,CONTROL_FINISHED_OK
$STATE,7755,begin climb
$GC,7758,1.10,146.6,529.1,0.0,372,7889,1.55,2.67,120.65,1.160,4,0.061,0.059,2648,686,2303
$GC,8061,1.13,169.1,518.7,5.4,386,8087,0.00,2.50,20.33,1.106,6,0.000,0.037,2648,2112,2211
$GC,8410,1.14,174.8,498.0,5.8,403,8423,0.00,2.62,6.38,0.948,4,0.000,0.068,2648,3504,2188
$GC,8469,1.14,174.8,494.0,6.0,405,8476,0.00,2.50,0.00,0.000,6,0.000,0.040,2648,2083,2188
$GC,8786,1.14,174.8,474.8,6.3,421,8790,0.00,2.65,0.00,0.000,4,0.000,0.067,2648,3502,2187
$GC,8835,1.14,174.8,471.5,6.5,423,8839,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2099,2187
$GC,9151,1.15,183.2,452.6,5.8,438,9165,0.00,2.70,8.25,1.023,4,0.000,0.069,2648,3501,2154
$GC,9205,1.15,183.2,449.2,6.3,440,9209,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2100,2154
$GC,9521,1.16,195.4,431.0,5.7,455,9542,0.00,2.72,11.75,1.079,4,0.000,0.070,2648,3502,2104
$GC,9581,1.16,195.4,427.1,6.2,457,9587,0.00,2.53,0.00,0.000,6,0.000,0.048,2648,2096,2104
$GC,9897,1.16,195.4,406.4,6.0,473,9901,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3505,2104
$GC,9936,1.16,195.4,403.9,6.5,475,9940,0.00,2.50,0.00,0.000,6,0.000,0.048,2648,2099,2103
$GC,10263,1.23,252.2,387.6,4.4,491,10317,0.15,2.75,47.62,1.138,4,0.042,0.077,2694,3494,1872
$GC,10370,1.23,252.2,380.0,7.4,496,10375,0.00,2.50,0.00,0.000,6,0.000,0.046,2695,2102,1871
$GC,10697,1.23,252.2,352.6,8.6,512,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2102,1870
$GC,11007,1.23,252.2,327.1,7.9,527,11011,0.00,2.65,0.00,0.000,4,0.000,0.075,2694,3504,1870
$GC,11050,1.23,252.2,323.3,8.2,529,11054,0.00,2.50,0.00,0.000,6,0.000,0.047,2694,2101,1870
$GC,11371,1.23,252.2,296.7,7.9,545,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2101,1870
$GC,11681,1.23,252.2,271.2,8.2,560,11685,0.00,2.65,0.00,0.000,4,0.000,0.074,2694,3502,1870
$GC,11724,1.23,252.2,267.4,8.6,562,11729,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2099,1871
$GC,12046,1.23,252.2,240.1,9.1,578,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2099,1871
$GC,12355,1.23,252.2,211.2,9.2,593,12360,0.00,2.65,0.00,0.000,4,0.000,0.073,2694,3502,1871
$GC,12395,1.23,252.2,207.5,9.5,595,12399,0.00,2.50,0.00,0.000,6,0.000,0.048,2695,2097,1871
$GC,12722,1.23,252.2,180.5,8.0,611,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2097,1871
$GC,13031,1.23,252.2,154.3,8.3,626,13036,0.00,2.65,0.00,0.000,4,0.000,0.071,2694,3508,1872
$GC,13075,1.23,252.2,150.3,8.5,628,13080,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2100,1872
$GC,13397,1.23,252.2,123.0,8.7,644,13398,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2100,1872
$GC,13709,1.23,252.2,92.7,10.8,659,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2100,1873
$GC,14015,1.23,252.2,59.8,10.5,674,14020,0.00,2.65,0.00,0.000,4,0.000,0.074,2695,3504,1873
$GC,14048,1.23,252.2,55.4,12.3,675,14055,0.00,2.50,0.00,0.000,6,0.000,0.051,2694,2094,1873
$GC,14366,1.23,252.2,28.1,8.6,691,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2093,1873
$GC,14674,1.23,252.2,2.7,6.9,706,14679,0.00,2.60,0.00,0.000,4,0.000,0.075,2695,699,1873
$STATE,14682,end climb,SURFACE_DEPTH_REACHED
$STATE,14682,begin surface coast
$FINISH,1.2,1.027410
$STATE,14695,end surface coast,CONTROL_FINISHED_OK
$STATE,14695,begin surface
$SM_CCo,14722,41.85,0.785,2,0,1678,300.00
$SM_GC,-0.22,0.00,0.00,41.85,0.000,0.000,0.785,50,2891,1678,-10.85,-0.25,300.00
$IRIDIUM_FIX,6258.74,-1234.85,140108,080844
$TT8_MAMPS,0.028379
$HUMID,2081
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.0,87.6
$24V_AH,23.3,62.373
$10V_AH,10.1,28.358
$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,26.325,146.525,339.475,41.850,0.000,40.708,32.969,136.373,3.500,0.000,0.000,11.419,1338.995,11099.505,508.184,1684.061,479.953,0.000,1372.433,0.000,1658.023,0.000,25.037
$DEVICE_MAMPS,156.468,111.982,1214.161,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.451,491.582,474.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34854,707
$CFSIZE,260165632,239063040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,140108,122601,6322.130,-1244.555,41,1.3,41,-12.0