version: 66.02
glider: 103
mission: 7
dive: 372
start: 1 14 108 21 8 10
data:
$ID,103
$MISSION,7
$DIVE,372
$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,-69726.984
$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,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
$GPS1,205408,6316.051,-1249.268,33,1.0,33,-12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.53
$_SM_ANGLEo,-54.7
$GPS2,210739,6315.814,-1249.792,12,1.3,12,-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,271.9,8642,-11.1,-6.000
$D_GRID,567
$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,24,-1.10,-146.6,0.0,0.0,0,86,0.00,0.00,-60.78,0.000,2,0.000,0.000,48,2891,3309
$GC,89,-1.10,-146.6,3.3,-9.4,3,111,11.98,1.75,-3.35,0.000,4,0.158,0.120,2164,3780,3500
$GC,364,-1.10,-146.6,37.1,-8.1,15,368,0.00,1.58,0.00,0.000,6,0.000,0.048,2164,2889,3501
$GC,691,-1.10,-146.6,63.1,-7.5,31,695,0.00,1.73,0.00,0.000,4,0.000,0.091,2164,3782,3501
$GC,949,-1.10,-146.6,84.0,-6.7,42,953,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2903,3502
$GC,1270,-1.10,-146.6,106.5,-7.9,58,1275,0.00,2.60,0.00,0.000,4,0.000,0.069,2164,1487,3502
$GC,1303,-1.10,-146.6,109.6,-9.1,59,1310,0.00,2.62,0.00,0.000,6,0.000,0.071,2164,2902,3502
$GC,1621,-1.10,-146.6,137.4,-9.2,75,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,1928,-1.10,-146.6,159.4,-6.5,90,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2238,-1.10,-146.6,174.9,-3.8,105,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2547,-1.10,-146.6,190.4,-4.8,120,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,2856,-1.10,-146.6,207.2,-5.7,135,2861,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1486,3502
$GC,2896,-1.10,-146.6,210.4,-9.8,137,2900,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2900,3502
$GC,3222,-1.10,-146.6,235.3,-9.2,153,3226,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1484,3502
$GC,3262,-1.10,-146.6,239.5,-11.0,155,3267,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2909,3502
$GC,3589,-1.10,-146.6,257.2,-1.3,171,3593,0.00,1.65,0.00,0.000,4,0.000,0.087,2164,3785,3502
$GC,3639,-1.10,-146.6,260.4,-7.7,173,3642,0.00,1.55,0.00,0.000,6,0.000,0.037,2164,2897,3502
$GC,3966,-1.10,-146.6,286.0,-6.6,189,3970,0.00,2.58,0.00,0.000,4,0.000,0.066,2164,1482,3502
$GC,4016,-1.10,-146.6,288.8,-5.9,191,4020,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2899,3502
$GC,4332,-1.10,-146.6,301.7,-3.4,206,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,4641,-1.10,-146.6,311.1,-1.3,221,4646,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1485,3502
$GC,4686,-1.10,-146.6,311.6,-0.8,223,4691,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,5008,-1.10,-146.6,316.0,-1.4,239,5012,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1488,3502
$GC,5030,-1.10,-146.6,316.1,-0.7,240,5034,0.00,2.62,0.00,0.000,6,0.000,0.068,2164,2900,3502
$GC,5351,-1.10,-146.6,322.1,-3.2,256,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,5660,-1.10,-146.6,335.6,-4.8,271,5665,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1489,3502
$GC,5688,-1.10,-146.6,337.0,-4.7,272,5692,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2899,3502
$GC,6004,-1.10,-146.6,351.4,-3.8,287,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,6313,-1.10,-146.6,364.4,-4.0,302,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,6623,-1.10,-146.6,375.3,-3.2,317,6627,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1488,3502
$GC,6667,-1.10,-146.6,377.4,-5.0,319,6672,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2900,3502
$GC,6988,-1.10,-146.6,396.4,-6.5,335,6993,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1485,3502
$GC,7044,-1.10,-146.6,399.7,-5.9,337,7051,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2904,3502
$GC,7360,-1.10,-146.6,420.4,-6.3,353,7364,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1479,3502
$GC,7399,-1.10,-146.6,422.7,-6.5,355,7403,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2909,3502
$GC,7726,-1.10,-146.6,440.5,-5.4,371,7730,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1485,3502
$GC,7753,-1.10,-146.6,442.1,-5.2,372,7758,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2900,3502
$GC,8068,-1.10,-146.6,462.0,-6.7,387,8072,0.00,1.67,0.00,0.000,4,0.000,0.085,2164,3777,3502
$GC,8164,-1.10,-146.6,468.5,-6.4,391,8167,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2896,3502
$GC,8490,-1.10,-146.6,491.3,-7.3,407,8494,0.00,2.53,0.00,0.000,4,0.000,0.061,2164,1485,3502
$GC,8584,-1.10,-146.6,498.0,-7.8,411,8589,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2904,3502
$GC,8901,-1.10,-146.6,519.2,-5.7,426,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,9210,-1.10,-146.6,538.4,-7.3,441,9213,0.00,1.67,0.00,0.000,4,0.000,0.087,2164,3790,3502
$GC,9363,-1.10,-146.6,551.8,-8.8,447,9369,0.00,1.55,0.00,0.000,6,0.000,0.037,2164,2905,3502
$STATE,9593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9593,begin apogee
$GC,9601,-0.42,0.0,568.1,6.5,459,9731,0.77,0.00,126.07,1.187,6,0.100,0.000,2316,2100,2901
$STATE,9731,end apogee,CONTROL_FINISHED_OK
$STATE,9731,begin climb
$GC,9734,1.10,146.6,573.1,0.0,465,9865,1.55,2.65,121.60,1.154,4,0.061,0.056,2645,688,2303
$GC,9977,1.10,146.6,565.9,6.3,476,9981,0.00,2.50,0.00,0.000,6,0.000,0.037,2645,2118,2303
$GC,10294,1.30,303.5,553.7,1.7,491,10432,0.17,2.67,131.12,1.157,4,0.036,0.074,2704,3501,1663
$GC,10512,1.30,303.5,538.2,9.3,500,10516,0.00,2.50,0.00,0.000,6,0.000,0.041,2704,2092,1662
$GC,10828,1.30,303.5,508.6,8.2,515,10832,0.00,2.67,0.00,0.000,4,0.000,0.072,2704,3506,1661
$GC,10877,1.30,303.5,504.2,9.0,517,10881,0.00,2.47,0.00,0.000,6,0.000,0.042,2704,2099,1662
$GC,11197,1.30,303.5,473.1,10.8,533,11199,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1660
$GC,11507,1.30,303.5,441.8,10.1,548,11511,0.00,2.62,0.00,0.000,4,0.000,0.071,2704,3501,1660
$GC,11546,1.30,303.5,437.5,10.7,550,11551,0.00,2.47,0.00,0.000,6,0.000,0.044,2704,2102,1660
$GC,11873,1.30,303.5,401.7,11.4,566,11877,0.00,2.55,0.00,0.000,4,0.000,0.058,2704,687,1660
$GC,11913,1.30,303.5,396.8,11.7,568,11917,0.00,2.47,0.00,0.000,6,0.000,0.043,2704,2091,1660
$GC,12239,1.30,303.5,362.2,11.7,584,12243,0.00,2.65,0.00,0.000,4,0.000,0.074,2704,3510,1661
$GC,12278,1.30,303.5,357.3,12.4,586,12283,0.00,2.50,0.00,0.000,6,0.000,0.044,2704,2100,1660
$GC,12605,1.30,303.5,326.7,8.4,602,12606,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2100,1660
$GC,12914,1.30,303.5,298.3,10.9,617,12918,0.00,2.65,0.00,0.000,4,0.000,0.074,2704,3515,1661
$GC,12946,1.30,303.5,294.3,11.4,618,12953,0.00,2.53,0.00,0.000,6,0.000,0.048,2704,2092,1661
$GC,13262,1.30,303.5,256.5,11.8,634,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,1661
$GC,13571,1.30,308.7,229.4,5.9,649,13582,0.00,2.70,5.70,0.798,4,0.000,0.072,2704,3516,1642
$GC,13612,1.30,308.7,226.9,7.0,651,13616,0.00,2.55,0.00,0.000,6,0.000,0.050,2704,2097,1642
$GC,13938,1.30,308.7,193.4,10.2,667,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1642
$GC,14247,1.30,308.7,162.7,11.0,682,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1642
$GC,14557,1.30,308.7,121.5,16.2,697,14561,0.00,2.67,0.00,0.000,4,0.000,0.074,2704,3514,1642
$GC,14574,1.30,308.7,118.7,16.7,698,14578,0.00,2.53,0.00,0.000,6,0.000,0.047,2704,2093,1642
$GC,14901,1.30,308.7,86.1,6.5,714,14905,0.00,2.55,0.00,0.000,4,0.000,0.065,2704,695,1642
$GC,14933,1.34,343.4,84.2,5.0,715,14969,0.00,2.50,29.45,0.863,6,0.000,0.047,2704,2105,1501
$GC,15293,1.34,343.4,49.3,8.3,733,15297,0.00,2.65,0.00,0.000,4,0.000,0.075,2704,3515,1500
$GC,15332,1.34,343.4,45.8,9.3,735,15336,0.00,2.53,0.00,0.000,6,0.000,0.048,2704,2099,1500
$GC,15665,1.34,343.4,18.7,10.3,751,15666,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,1500
$STATE,15848,end climb,SURFACE_DEPTH_REACHED
$STATE,15848,begin surface coast
$FINISH,-1.2,1.014217
$STATE,15870,end surface coast,CONTROL_FINISHED_OK
$STATE,15870,begin surface
$SM_CCo,15954,0.00,0.000,0,0,1497,344.40
$SM_GC,-0.50,11.68,0.00,0.00,0.028,0.000,0.000,41,2901,1497,-10.81,0.03,344.40
$IRIDIUM_FIX,6249.28,-1245.72,150108,010101
$TT8_MAMPS,0.028379
$HUMID,2085
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,15.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,550.2,44.9
$24V_AH,23.3,62.813
$10V_AH,10.1,28.582
$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,26.150,138.525,413.950,0.000,0.000,120.300,107.784,336.173,5.250,0.000,0.000,12.816,1415.923,12243.481,494.142,1766.474,858.628,0.000,1404.048,0.000,1733.803,0.000,34.304
$DEVICE_MAMPS,158.002,119.652,1186.549,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,555.944,521.570,474.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37952,761
$CFSIZE,260165632,238891008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,150108,013508,6313.117,-1257.192,30,1.9,30,-12.1