version: 66.02
glider: 103
mission: 7
dive: 446
start: 1 30 108 7 17 46
data:
$ID,103
$MISSION,7
$DIVE,446
$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,-71079.156
$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,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
$GPS1,070831,6126.952,-859.062,38,1.3,38,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-54.5
$GPS2,071714,6126.915,-859.058,9,1.2,14,-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,192.9,12834,-11.1,-6.000
$D_GRID,379
$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,-146.6,0.0,0.0,0,96,0.00,0.00,-69.88,0.000,6,0.000,0.000,45,2897,3500
$GC,100,-1.10,-146.6,2.3,-5.5,3,117,12.05,1.75,0.00,0.000,4,0.160,0.087,2166,3789,3502
$GC,128,-1.10,-146.6,15.7,-35.7,3,131,0.00,1.60,0.00,0.000,6,0.000,0.054,2165,2905,3502
$GC,449,-1.10,-146.6,40.5,-6.3,19,453,0.00,1.75,0.00,0.000,4,0.000,0.099,2166,3789,3503
$GC,483,-1.10,-146.6,43.2,-8.4,20,486,0.00,1.60,0.00,0.000,6,0.000,0.055,2166,2900,3502
$GC,804,-1.10,-146.6,72.6,-11.2,36,809,0.00,2.60,0.00,0.000,4,0.000,0.070,2166,1484,3502
$GC,845,-1.10,-146.6,76.7,-10.3,38,849,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2901,3502
$GC,1172,-1.10,-146.6,102.8,-7.7,54,1175,0.00,1.73,0.00,0.000,4,0.000,0.097,2166,3793,3502
$GC,1250,-1.10,-146.6,110.8,-9.1,57,1254,0.00,1.60,0.00,0.000,6,0.000,0.055,2166,2894,3502
$GC,1572,-1.10,-146.6,135.5,-8.6,73,1576,0.00,2.58,0.00,0.000,4,0.000,0.066,2166,1482,3502
$GC,1634,-1.10,-146.6,141.5,-9.1,76,1639,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2903,3502
$GC,1961,-1.10,-146.6,167.5,-7.8,92,1964,0.00,1.70,0.00,0.000,4,0.000,0.096,2166,3787,3503
$GC,2022,-1.10,-146.6,172.8,-7.7,94,2028,0.00,1.58,0.00,0.000,6,0.000,0.051,2166,2899,3502
$GC,2339,-1.10,-146.6,200.8,-8.5,110,2343,0.00,2.58,0.00,0.000,4,0.000,0.065,2166,1484,3502
$GC,2411,-1.10,-146.6,207.2,-8.7,113,2415,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2908,3502
$GC,2726,-1.10,-146.6,233.4,-8.2,128,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,3036,-1.10,-146.6,258.8,-7.9,143,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,3345,-1.10,-146.6,278.8,-5.7,158,3350,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1485,3502
$GC,3368,-1.10,-146.6,280.1,-5.5,159,3372,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2903,3502
$GC,3689,-1.10,-146.6,296.5,-5.0,175,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,3998,-1.10,-146.6,310.3,-4.0,190,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,4307,-1.10,-146.6,329.0,-7.4,205,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,4617,-1.10,-146.6,351.3,-6.5,220,4621,0.00,2.53,0.00,0.000,4,0.000,0.053,2166,1483,3502
$GC,4657,-1.10,-146.6,353.7,-5.9,222,4661,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2901,3502
$GC,4983,-1.10,-146.6,377.9,-9.4,238,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$STATE,5001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5001,begin apogee
$GC,5009,-0.42,0.0,379.8,9.3,239,5135,0.77,0.00,122.62,1.077,6,0.096,0.000,2319,2092,2901
$STATE,5136,end apogee,CONTROL_FINISHED_OK
$STATE,5136,begin climb
$GC,5139,1.10,146.6,384.1,0.0,245,5266,1.55,2.60,119.03,1.035,4,0.065,0.058,2647,688,2303
$GC,5339,1.14,176.1,378.9,5.2,254,5372,0.00,2.50,25.73,0.973,6,0.000,0.035,2646,2114,2183
$GC,5681,1.14,176.1,357.2,6.6,271,5685,0.00,2.55,0.00,0.000,4,0.000,0.061,2647,3507,2182
$GC,5726,1.14,176.1,353.8,7.6,273,5730,0.00,2.47,0.00,0.000,6,0.000,0.035,2646,2089,2182
$GC,6059,1.14,176.1,334.6,6.6,289,6063,0.00,2.62,0.00,0.000,4,0.000,0.062,2646,3508,2182
$GC,6098,1.14,176.1,331.4,8.6,291,6103,0.00,2.45,0.00,0.000,6,0.000,0.036,2646,2100,2182
$GC,6425,1.14,176.1,310.1,6.5,307,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2100,2182
$GC,6735,1.14,176.1,287.8,7.8,322,6739,0.00,2.60,0.00,0.000,4,0.000,0.064,2646,3504,2182
$GC,6762,1.14,176.1,285.6,7.8,323,6766,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2101,2182
$GC,7078,1.14,176.1,263.4,6.8,338,7082,0.00,2.60,0.00,0.000,4,0.000,0.064,2646,3504,2182
$GC,7128,1.14,176.1,260.0,6.7,340,7132,0.00,2.47,0.00,0.000,6,0.000,0.041,2646,2101,2181
$GC,7444,1.16,191.9,242.1,5.6,355,7465,0.00,2.62,14.60,0.929,4,0.000,0.065,2646,3502,2118
$GC,7493,1.16,191.9,238.9,6.4,357,7498,0.00,2.50,0.00,0.000,6,0.000,0.040,2646,2100,2118
$GC,7815,1.16,191.9,220.3,6.2,373,7819,0.00,2.62,0.00,0.000,4,0.000,0.067,2646,3507,2118
$GC,7836,1.16,191.9,218.9,6.5,374,7841,0.00,2.50,0.00,0.000,6,0.000,0.042,2646,2095,2118
$GC,8157,1.16,191.9,199.4,6.4,390,8161,0.00,2.62,0.00,0.000,4,0.000,0.065,2646,3507,2117
$GC,8184,1.16,191.9,197.7,6.8,391,8189,0.00,2.50,0.00,0.000,6,0.000,0.042,2646,2094,2117
$GC,8500,1.16,191.9,176.4,6.8,406,8505,0.00,2.62,0.00,0.000,4,0.000,0.067,2646,3506,2117
$GC,8540,1.16,191.9,173.4,8.0,408,8545,0.00,2.47,0.00,0.000,6,0.000,0.042,2646,2098,2117
$GC,8868,1.16,191.9,150.3,7.1,424,8872,0.00,2.62,0.00,0.000,4,0.000,0.067,2646,3507,2117
$GC,8907,1.16,191.9,147.6,6.8,426,8912,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2100,2117
$GC,9235,1.17,201.1,128.1,5.7,442,9246,0.00,0.00,8.80,0.820,6,0.000,0.000,2647,2100,2081
$GC,9546,1.17,203.1,108.9,5.9,457,9551,0.00,2.62,0.00,0.000,4,0.000,0.066,2646,3511,2081
$GC,9591,1.17,203.1,106.0,6.4,459,9595,0.00,2.50,0.00,0.000,6,0.000,0.041,2646,2101,2081
$GC,9912,1.17,203.1,86.7,6.1,475,9916,0.00,2.60,0.00,0.000,4,0.000,0.067,2646,3502,2081
$GC,9979,1.20,222.2,82.4,5.5,478,10004,0.10,2.50,18.42,0.854,6,0.051,0.043,2682,2094,1995
$GC,10329,1.20,222.2,65.7,6.4,495,10333,0.00,2.55,0.00,0.000,4,0.000,0.061,2682,692,1994
$GC,10356,1.20,222.2,63.3,8.5,496,10360,0.00,2.47,0.00,0.000,6,0.000,0.040,2682,2094,1994
$GC,10674,1.20,222.2,35.8,9.5,511,10678,0.00,2.58,0.00,0.000,4,0.000,0.062,2682,694,1994
$GC,10714,1.20,222.2,32.6,7.8,513,10718,0.00,2.47,0.00,0.000,6,0.000,0.043,2682,2100,1994
$GC,11041,1.20,222.2,6.1,9.4,529,11045,0.00,2.58,0.00,0.000,4,0.000,0.058,2682,692,1994
$GC,11059,1.20,222.2,4.5,8.0,530,11063,0.00,2.45,0.00,0.000,6,0.000,0.035,2682,2106,1994
$STATE,11094,end climb,SURFACE_DEPTH_REACHED
$STATE,11094,begin surface coast
$FINISH,-0.6,1.027349
$STATE,11116,end surface coast,CONTROL_FINISHED_OK
$STATE,11116,begin surface
$SM_CCo,11140,63.05,0.806,1,0,1678,300.00
$SM_GC,0.05,0.00,0.00,63.05,0.000,0.000,0.806,35,2896,1678,-10.92,-0.11,300.00
$IRIDIUM_FIX,6103.81,-901.86,250497,070714
$TT8_MAMPS,0.029146
$HUMID,2047
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,325.9,77.1
$24V_AH,23.3,74.456
$10V_AH,10.1,34.671
$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,25.900,118.625,309.200,63.050,0.000,74.766,71.021,194.062,2.750,0.000,0.000,14.555,1021.051,8429.260,477.071,1208.075,613.518,0.000,1117.133,0.000,1196.739,0.000,16.904
$DEVICE_MAMPS,159.536,98.943,1076.868,806.117,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,396.494,368.152,438.017,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25452,533
$CFSIZE,260165632,234389504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,300108,102555,6124.759,-900.656,26,1.0,43,-9.2