version: 66.02
glider: 103
mission: 7
dive: 457
start: 1 31 108 21 55 48
data:
$ID,103
$MISSION,7
$DIVE,457
$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,571.30371
$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,-72376.984
$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,25
$R_STBD_OVSHOOT,4
$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
$GPS1,172359,6126.780,-913.661,15,2.3,34,-9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-53.4
$GPS2,215516,6127.494,-913.508,142,3.3,161,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$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,101.1,29672,-11.1,-6.000
$D_GRID,557
$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,-146.6,0.0,0.0,0,101,0.00,0.00,-74.45,0.000,6,0.000,0.000,45,2896,3500
$GC,104,-1.10,-146.6,1.6,-4.4,3,126,12.20,2.60,0.00,0.000,4,0.165,0.058,2166,1492,3501
$GC,217,-1.10,-146.6,26.0,-10.3,8,222,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2906,3502
$GC,546,-1.10,-146.6,34.7,0.3,24,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,853,-1.10,-146.6,80.0,-19.3,39,857,0.00,1.73,0.00,0.000,4,0.000,0.101,2166,3790,3501
$GC,932,-1.10,-146.6,90.1,-14.8,42,935,0.00,1.58,0.00,0.000,6,0.000,0.054,2166,2903,3501
$GC,1254,-1.10,-146.6,135.3,-10.4,58,1258,0.00,2.60,0.00,0.000,4,0.000,0.066,2166,1485,3502
$GC,1377,-1.10,-146.6,144.1,-2.6,63,1383,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2901,3502
$GC,1694,-1.10,-146.6,153.4,-3.8,79,1698,0.00,2.53,0.00,0.000,4,0.000,0.062,2166,1508,3502
$GC,1760,-1.10,-146.6,155.4,-4.4,82,1765,0.00,2.62,0.00,0.000,6,0.000,0.071,2166,2910,3502
$GC,2082,-1.10,-146.6,176.2,-8.2,98,2086,0.00,1.70,0.00,0.000,4,0.000,0.096,2166,3777,3502
$GC,2138,-1.10,-146.6,180.6,-6.9,100,2142,0.00,1.58,0.00,0.000,6,0.000,0.049,2166,2889,3502
$GC,2460,-1.10,-146.6,211.0,-11.4,116,2464,0.00,1.77,0.00,0.000,4,0.000,0.094,2166,3782,3502
$GC,2521,-1.10,-146.6,218.1,-11.1,118,2527,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2893,3502
$GC,2838,-1.10,-146.6,249.9,-6.7,134,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2891,3502
$GC,3147,-1.10,-146.6,261.6,-5.0,149,3151,0.00,2.55,0.00,0.000,4,0.000,0.062,2166,1484,3501
$GC,3187,-1.10,-146.6,262.4,-1.5,151,3191,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2901,3502
$GC,3514,-1.10,-146.6,279.3,-7.3,167,3518,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1487,3502
$GC,3541,-1.10,-146.6,281.4,-6.7,168,3545,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,3857,-1.10,-146.6,304.3,-7.8,183,3862,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1488,3501
$GC,3898,-1.10,-146.6,307.8,-8.9,185,3903,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2899,3502
$GC,4225,-1.10,-146.6,336.4,-10.4,201,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,4534,-1.10,-146.6,378.5,-12.2,216,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,4844,-1.10,-146.6,409.1,-9.9,231,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,5152,-1.10,-146.6,437.9,-8.5,246,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,5462,-1.10,-146.6,460.8,-7.1,261,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,5772,-1.10,-146.6,480.8,-5.6,276,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,6080,-1.10,-146.6,502.0,-7.3,291,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,6390,-1.10,-146.6,525.6,-7.1,306,6394,0.00,2.45,0.00,0.000,4,0.000,0.035,2166,1476,3501
$GC,6442,-1.10,-146.6,529.5,-7.2,308,6446,0.00,2.55,0.00,0.000,6,0.000,0.045,2166,2911,3502
$GC,6763,-1.10,-146.6,553.0,-7.3,324,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2911,3501
$STATE,6821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6822,begin apogee
$GC,6830,-0.42,0.0,557.7,7.4,327,6959,0.73,0.00,125.72,1.170,6,0.075,0.000,2317,2076,2901
$STATE,6960,end apogee,CONTROL_FINISHED_OK
$STATE,6960,begin climb
$GC,6963,1.10,146.6,563.1,0.0,333,7095,1.55,2.53,121.95,1.134,4,0.054,0.048,2651,719,2303
$GC,7249,1.14,177.9,556.3,5.1,346,7286,0.00,2.40,27.77,1.085,6,0.000,0.031,2651,2121,2175
$GC,7596,1.18,210.9,537.9,5.1,363,7630,0.00,2.55,28.98,1.095,4,0.000,0.052,2651,3486,2041
$GC,7670,1.18,210.9,533.4,6.9,366,7674,0.00,2.40,0.00,0.000,6,0.000,0.031,2651,2105,2041
$GC,7992,1.18,210.9,514.2,6.7,382,7996,0.00,2.50,0.00,0.000,4,0.000,0.051,2651,3494,2041
$GC,8032,1.18,210.9,511.3,7.1,384,8036,0.00,2.40,0.00,0.000,6,0.000,0.031,2651,2097,2040
$GC,8358,1.18,210.9,487.9,7.5,400,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2097,2040
$GC,8668,1.18,210.9,460.3,8.2,415,8672,0.00,2.53,0.00,0.000,4,0.000,0.054,2651,3495,2040
$GC,8753,1.21,234.5,455.2,5.3,419,8780,0.10,2.40,20.65,1.062,6,0.050,0.031,2685,2095,1945
$GC,9105,1.23,250.3,435.5,5.6,436,9121,0.00,0.00,14.80,1.027,6,0.000,0.000,2685,2095,1880
$GC,9431,1.23,250.3,415.1,6.3,452,9435,0.00,2.55,0.00,0.000,4,0.000,0.058,2685,3494,1880
$GC,9470,1.23,250.3,412.0,8.0,454,9474,0.00,2.40,0.00,0.000,6,0.000,0.034,2685,2103,1880
$GC,9803,1.23,250.3,382.9,8.3,470,9807,0.00,2.53,0.00,0.000,4,0.000,0.054,2684,698,1880
$GC,9842,1.23,250.3,380.0,7.0,472,9847,0.00,2.40,0.00,0.000,6,0.000,0.035,2685,2086,1880
$GC,10170,1.30,308.6,363.3,4.4,488,10222,0.00,0.00,49.62,1.042,6,0.000,0.000,2685,2087,1642
$GC,10519,1.30,308.6,330.1,12.5,505,10524,0.00,2.65,0.00,0.000,4,0.000,0.072,2685,3507,1641
$GC,10552,1.30,308.6,325.5,13.3,506,10558,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2110,1641
$GC,10867,1.30,308.6,296.5,11.0,522,10872,0.00,2.58,0.00,0.000,4,0.000,0.060,2685,691,1641
$GC,10918,1.30,308.6,288.7,15.2,524,10922,0.00,2.50,0.00,0.000,6,0.000,0.043,2685,2097,1641
$GC,11234,1.39,380.5,256.5,4.0,539,11300,0.12,2.72,59.38,0.969,4,0.048,0.077,2723,3509,1349
$GC,11335,1.39,380.5,248.7,7.0,544,11339,0.00,2.55,0.00,0.000,6,0.000,0.048,2723,2097,1347
$GC,11661,1.39,380.5,211.2,14.3,560,11666,0.00,2.58,0.00,0.000,4,0.000,0.062,2723,688,1348
$GC,11717,1.39,380.5,203.0,15.5,562,11723,0.00,2.55,0.00,0.000,6,0.000,0.052,2723,2097,1347
$GC,12033,1.39,380.5,159.7,15.2,578,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2099,1347
$GC,12342,1.39,380.5,115.7,23.0,593,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2099,1347
$GC,12652,1.39,380.5,69.1,12.5,608,12656,0.00,2.58,0.00,0.000,4,0.000,0.059,2723,688,1348
$GC,12737,1.39,380.5,59.5,12.2,612,12742,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,2104,1348
$GC,13066,1.39,380.5,26.0,18.9,628,13070,0.00,2.60,0.00,0.000,4,0.000,0.064,2723,691,1348
$GC,13111,1.39,380.5,18.0,11.5,630,13115,0.00,2.55,0.00,0.000,6,0.000,0.053,2723,2098,1348
$STATE,13305,end climb,SURFACE_DEPTH_REACHED
$STATE,13305,begin surface coast
$FINISH,-0.9,1.027340
$STATE,13327,end surface coast,CONTROL_FINISHED_OK
$STATE,13327,begin surface
$SM_CCo,13352,151.73,0.794,1,0,572,571.30
$SM_GC,-0.19,0.00,0.00,151.73,0.000,0.000,0.794,44,2906,572,-10.88,0.17,571.30
$IRIDIUM_FIX,6103.81,-911.46,260497,212136
$TT8_MAMPS,0.029146
$HUMID,2008
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.2,87.7
$24V_AH,23.2,76.040
$10V_AH,10.1,35.393
$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,26.375,109.500,448.875,151.725,0.000,197.183,237.062,563.900,4.750,0.000,0.000,162.842,1180.648,10292.037,688.565,1590.793,1316.179,0.000,1444.208,0.000,1415.496,0.000,31.564
$DEVICE_MAMPS,164.905,101.244,1169.675,793.845,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.117,442.737,402.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31780,641
$CFSIZE,260165632,233902080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,010208,014208,6127.139,-909.295,32,1.2,32,-9.3