version: 66.02
glider: 103
mission: 7
dive: 445
start: 1 30 108 3 39 59
data:
$ID,103
$MISSION,7
$DIVE,445
$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,-3
$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,-71063.977
$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,18
$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
$GPS1,033326,6129.235,-901.787,41,1.0,41,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-57.2
$GPS2,033927,6129.208,-901.641,14,1.8,14,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$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,184.3,17115,-11.1,-6.000
$D_GRID,430
$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,25,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-60.65,0.000,2,0.000,0.000,50,2905,3376
$GC,91,-1.10,-146.6,3.5,-8.1,3,113,11.85,1.73,-2.28,0.000,4,0.155,0.112,2163,3779,3502
$GC,365,-1.10,-146.6,38.1,-11.0,15,369,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2892,3502
$GC,692,-1.10,-146.6,62.9,-6.6,31,696,0.00,1.73,0.00,0.000,4,0.000,0.094,2163,3779,3502
$GC,829,-1.10,-146.6,70.8,-5.5,37,833,0.00,1.58,0.00,0.000,6,0.000,0.053,2163,2890,3503
$GC,1164,-1.10,-146.6,91.3,-8.2,53,1168,0.00,2.58,0.00,0.000,4,0.000,0.067,2163,1482,3502
$GC,1208,-1.10,-146.6,95.6,-9.2,55,1212,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2895,3503
$GC,1529,-1.10,-146.6,119.2,-6.5,71,1533,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1486,3502
$GC,1556,-1.10,-146.6,120.5,-4.9,72,1561,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2902,3503
$GC,1873,-1.10,-146.6,143.9,-6.5,87,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,2182,-1.10,-146.6,172.1,-8.3,102,2185,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3786,3502
$GC,2227,-1.10,-146.6,175.7,-8.2,104,2231,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2890,3502
$GC,2560,-1.10,-146.6,198.5,-5.9,120,2564,0.00,2.53,0.00,0.000,4,0.000,0.058,2163,1486,3502
$GC,2605,-1.10,-146.6,200.5,-4.0,122,2609,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2906,3502
$GC,2925,-1.10,-146.6,218.6,-6.1,138,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3503
$GC,3235,-1.10,-146.6,235.5,-4.2,153,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,3546,-1.10,-146.6,251.2,-5.7,168,3549,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3789,3502
$GC,3569,-1.10,-146.6,252.9,-6.9,169,3572,0.00,1.58,0.00,0.000,6,0.000,0.050,2163,2892,3502
$GC,3902,-1.10,-146.6,276.4,-6.7,185,3906,0.00,2.50,0.00,0.000,4,0.000,0.055,2163,1489,3503
$GC,3987,-1.10,-146.6,283.1,-8.5,189,3991,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2903,3502
$GC,4313,-1.10,-146.6,310.8,-8.3,205,4317,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1482,3502
$GC,4340,-1.10,-146.6,313.1,-8.1,206,4344,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2903,3503
$GC,4657,-1.10,-146.6,336.1,-6.7,221,4661,0.00,2.55,0.00,0.000,4,0.000,0.055,2163,1488,3503
$GC,4679,-1.10,-146.6,337.5,-5.9,222,4683,0.00,2.58,0.00,0.000,6,0.000,0.062,2163,2899,3503
$GC,5000,-1.10,-146.6,352.5,-4.0,238,5004,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1478,3502
$GC,5034,-1.10,-146.6,353.8,-3.5,239,5040,0.00,2.62,0.00,0.000,6,0.000,0.062,2163,2905,3503
$GC,5350,-1.10,-146.6,366.5,-4.5,255,5354,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1489,3502
$GC,5411,-1.10,-146.6,369.7,-5.2,257,5417,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2904,3502
$GC,5728,-1.10,-146.6,385.4,-5.1,273,5732,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1485,3502
$GC,5783,-1.10,-146.6,389.1,-6.4,275,5789,0.00,2.60,0.00,0.000,6,0.000,0.066,2163,2900,3502
$GC,6099,-1.10,-146.6,409.7,-6.6,291,6103,0.00,2.53,0.00,0.000,4,0.000,0.055,2163,1485,3502
$GC,6184,-1.10,-146.6,415.6,-7.4,295,6188,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2900,3503
$STATE,6383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6383,begin apogee
$GC,6392,-0.42,0.0,430.6,7.4,305,6519,0.77,0.00,124.00,1.089,6,0.099,0.000,2316,2097,2901
$STATE,6520,end apogee,CONTROL_FINISHED_OK
$STATE,6520,begin climb
$GC,6523,1.10,146.6,435.2,0.0,311,6651,1.58,2.62,119.68,1.069,4,0.065,0.057,2647,687,2303
$GC,6688,1.13,171.3,433.4,5.3,319,6717,0.00,2.50,21.77,1.025,6,0.000,0.035,2647,2114,2202
$GC,7040,1.18,211.3,416.3,4.9,336,7082,0.00,2.62,33.80,1.069,4,0.000,0.061,2647,3511,2038
$GC,7115,1.18,211.3,411.4,6.2,339,7120,0.00,2.50,0.00,0.000,6,0.000,0.035,2647,2093,2038
$GC,7431,1.18,211.3,391.0,6.8,354,7435,0.00,2.60,0.00,0.000,4,0.000,0.063,2647,3504,2038
$GC,7493,1.18,211.3,386.9,6.6,357,7498,0.00,2.45,0.00,0.000,6,0.000,0.035,2647,2098,2038
$GC,7820,1.20,223.8,367.4,5.7,373,7842,0.12,2.72,11.75,0.999,4,0.048,0.069,2684,3507,1988
$GC,7859,1.20,223.8,364.8,7.2,374,7865,0.00,2.53,0.00,0.000,6,0.000,0.043,2684,2095,1987
$GC,8175,1.20,223.8,341.1,7.9,390,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1987
$GC,8484,1.20,223.8,315.0,8.7,405,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1987
$GC,8793,1.20,223.8,285.7,9.6,420,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2095,1987
$GC,9103,1.20,223.8,254.9,11.1,435,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1987
$GC,9412,1.20,223.8,221.7,9.8,450,9416,0.00,2.62,0.00,0.000,4,0.000,0.071,2683,3502,1987
$GC,9439,1.20,223.8,219.1,9.7,451,9443,0.00,2.47,0.00,0.000,6,0.000,0.045,2684,2098,1986
$GC,9755,1.20,223.8,191.2,8.3,466,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2098,1986
$GC,10064,1.20,223.8,164.9,9.6,481,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2098,1987
$GC,10374,1.20,223.8,139.4,7.8,496,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1986
$GC,10683,1.20,223.8,113.5,7.8,511,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1986
$GC,10992,1.22,242.9,90.8,5.5,526,11015,0.00,2.70,16.17,0.884,4,0.000,0.071,2684,3495,1910
$GC,11034,1.22,245.6,88.4,5.9,528,11044,0.00,2.53,4.18,0.662,6,0.000,0.051,2684,2099,1899
$GC,11367,1.22,245.6,68.6,7.1,544,11372,0.00,2.55,0.00,0.000,4,0.000,0.062,2684,695,1899
$GC,11408,1.22,245.6,66.0,6.3,546,11412,0.00,2.47,0.00,0.000,6,0.000,0.046,2684,2092,1899
$GC,11740,1.33,334.1,46.8,3.5,562,11817,0.00,2.72,70.80,0.863,4,0.000,0.074,2684,3508,1538
$GC,11834,1.33,334.1,42.3,6.5,565,11840,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2101,1537
$GC,12152,1.33,334.1,16.4,9.4,581,12153,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1537
$STATE,12333,end climb,SURFACE_DEPTH_REACHED
$STATE,12333,begin surface coast
$FINISH,-0.7,1.027338
$STATE,12355,end surface coast,CONTROL_FINISHED_OK
$STATE,12355,begin surface
$SM_CCo,12440,0.00,0.000,0,0,1535,335.08
$SM_GC,0.11,11.57,0.00,0.00,0.027,0.000,0.000,45,2892,1535,-10.79,-0.20,335.08
$IRIDIUM_FIX,6103.81,-912.18,240497,232335
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,375.9,71.5
$24V_AH,23.3,74.334
$10V_AH,10.1,34.611
$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,25.900,108.950,402.150,0.000,0.000,37.394,41.552,152.796,3.500,0.000,0.000,14.601,1102.005,9366.766,478.186,1361.723,504.011,0.000,1190.039,0.000,1338.361,0.000,23.079
$DEVICE_MAMPS,154.934,111.982,1089.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.877,410.508,461.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28484,591
$CFSIZE,260165632,234430464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,300108,070831,6126.952,-859.062,38,1.3,38,-9.2