version: 66.02
glider: 103
mission: 7
dive: 458
start: 2 1 108 2 5 58
data:
$ID,103
$MISSION,7
$DIVE,458
$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,-72394
$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,6
$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
$GPS1,014208,6127.139,-909.295,32,1.2,32,-9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.60
$_SM_ANGLEo,-34.3
$GPS2,020526,6126.901,-909.333,11,1.2,16,-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,98.9,25963,-11.1,-6.000
$D_GRID,495
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,135,0.00,0.00,-107.25,0.000,6,0.000,0.000,44,2903,3501
$GC,139,-1.10,-146.6,2.5,-3.0,5,161,12.12,2.65,0.00,0.000,4,0.162,0.063,2167,1492,3504
$GC,365,-1.10,-146.6,39.5,-12.7,15,369,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2910,3504
$GC,692,-1.10,-146.6,59.1,-10.1,31,696,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1488,3504
$GC,770,-1.10,-146.6,64.6,-5.9,34,776,0.00,2.67,0.00,0.000,6,0.000,0.073,2167,2906,3504
$GC,1086,-1.10,-146.6,107.7,-17.3,50,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3504
$GC,1395,-1.10,-146.6,146.4,-8.0,65,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3504
$GC,1704,-1.10,-146.6,159.0,-5.0,80,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3504
$GC,2014,-1.10,-146.6,175.9,-5.5,95,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3504
$GC,2323,-1.10,-146.6,190.5,-5.0,110,2328,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1489,3504
$GC,2368,-1.10,-146.6,192.0,-3.2,112,2373,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2909,3504
$GC,2689,-1.10,-146.6,212.6,-8.6,128,2692,0.00,1.70,0.00,0.000,4,0.000,0.097,2167,3790,3504
$GC,2773,-1.10,-146.6,223.1,-14.4,131,2779,0.00,1.58,0.00,0.000,6,0.000,0.052,2167,2903,3504
$GC,3089,-1.10,-146.6,262.1,-12.6,147,3093,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1481,3504
$GC,3151,-1.10,-146.6,270.6,-13.9,150,3155,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2902,3504
$GC,3478,-1.10,-146.6,316.6,-14.2,166,3481,0.00,1.70,0.00,0.000,4,0.000,0.094,2167,3790,3504
$GC,3539,-1.10,-146.6,324.2,-12.1,168,3545,0.00,1.58,0.00,0.000,6,0.000,0.048,2167,2895,3504
$GC,3855,-1.10,-146.6,352.5,-5.9,184,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2896,3504
$GC,4164,-1.10,-146.6,371.3,-5.3,199,4169,0.00,2.53,0.00,0.000,4,0.000,0.058,2167,1487,3504
$GC,4192,-1.10,-146.6,373.0,-5.9,200,4197,0.00,2.60,0.00,0.000,6,0.000,0.061,2167,2902,3504
$GC,4509,-1.10,-146.6,396.8,-7.2,215,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3504
$GC,4817,-1.10,-146.6,420.9,-7.3,230,4822,0.00,2.55,0.00,0.000,4,0.000,0.051,2167,1480,3504
$GC,4851,-1.10,-146.6,423.6,-7.4,231,4856,0.00,2.62,0.00,0.000,6,0.000,0.063,2167,2900,3504
$GC,5166,-1.10,-146.6,447.9,-6.4,247,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3504
$GC,5476,-1.10,-146.6,466.9,-7.7,262,5480,0.00,2.53,0.00,0.000,4,0.000,0.050,2167,1481,3504
$GC,5531,-1.10,-146.6,473.0,-11.9,264,5537,0.00,2.60,0.00,0.000,6,0.000,0.059,2167,2902,3504
$STATE,5782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5782,begin apogee
$GC,5791,-0.42,0.0,496.0,8.0,277,5919,0.73,0.00,124.80,1.134,6,0.071,0.000,2319,2089,2901
$STATE,5920,end apogee,CONTROL_FINISHED_OK
$STATE,5920,begin climb
$GC,5923,1.10,146.6,501.0,0.0,283,6053,1.55,2.58,120.85,1.098,4,0.058,0.051,2649,695,2303
$GC,6249,1.19,215.1,489.2,4.1,298,6311,0.00,2.45,57.53,1.097,6,0.000,0.031,2649,2120,2025
$GC,6622,1.19,215.1,465.8,7.5,316,6626,0.00,2.50,0.00,0.000,4,0.000,0.058,2649,3500,2023
$GC,6746,1.19,215.1,455.3,8.1,321,6752,0.00,2.42,0.00,0.000,6,0.000,0.031,2648,2100,2023
$GC,7061,1.19,215.1,431.2,6.7,337,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2100,2023
$GC,7371,1.19,215.1,405.3,8.6,352,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2100,2023
$GC,7680,1.19,215.9,384.6,6.0,367,7685,0.00,2.60,0.00,0.000,4,0.000,0.064,2649,3502,2023
$GC,7743,1.21,234.2,381.2,5.5,370,7766,0.12,2.45,16.90,1.016,6,0.043,0.038,2688,2100,1946
$GC,8075,1.21,234.2,357.0,8.1,386,8079,0.00,2.62,0.00,0.000,4,0.000,0.069,2688,3504,1946
$GC,8120,1.21,234.2,353.0,8.9,388,8125,0.00,2.50,0.00,0.000,6,0.000,0.045,2689,2100,1946
$GC,8442,1.35,351.0,326.8,2.8,404,8545,0.00,2.62,96.28,1.020,4,0.000,0.056,2688,682,1470
$GC,8604,1.35,351.0,313.3,14.4,411,8608,0.00,2.53,0.00,0.000,6,0.000,0.043,2689,2091,1470
$GC,8920,1.35,351.0,273.1,11.7,426,8924,0.00,2.67,0.00,0.000,4,0.000,0.074,2688,3513,1470
$GC,8987,1.35,351.0,265.0,10.8,429,8991,0.00,2.55,0.00,0.000,6,0.000,0.049,2688,2099,1469
$GC,9308,1.35,351.0,228.5,12.4,445,9312,0.00,2.67,0.00,0.000,4,0.000,0.074,2688,3509,1469
$GC,9335,1.35,351.0,224.7,13.8,446,9339,0.00,2.55,0.00,0.000,6,0.000,0.051,2689,2100,1468
$GC,9651,1.35,351.0,181.7,13.0,461,9655,0.00,2.55,0.00,0.000,4,0.000,0.058,2688,686,1468
$GC,9685,1.35,351.0,178.1,10.8,462,9689,0.00,2.53,0.00,0.000,6,0.000,0.046,2689,2098,1469
$GC,10001,1.35,351.0,141.0,15.8,477,10005,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3515,1468
$GC,10056,1.35,351.0,133.3,14.3,479,10063,0.00,2.55,0.00,0.000,6,0.000,0.049,2689,2098,1469
$GC,10373,1.35,351.0,93.1,10.9,495,10377,0.00,2.67,0.00,0.000,4,0.000,0.075,2689,3512,1468
$GC,10390,1.35,351.0,91.0,11.0,496,10395,0.00,2.55,0.00,0.000,6,0.000,0.049,2688,2093,1468
$GC,10719,1.35,351.0,43.1,14.4,512,10724,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3513,1468
$GC,10748,1.35,351.0,39.2,12.6,513,10752,0.00,2.58,0.00,0.000,6,0.000,0.053,2688,2094,1468
$GC,11064,1.35,351.0,10.1,14.0,528,11068,0.00,2.55,0.00,0.000,4,0.000,0.061,2688,689,1468
$GC,11074,1.35,351.0,9.0,11.4,528,11080,0.00,2.55,0.00,0.000,6,0.000,0.056,2689,2101,1468
$STATE,11160,end climb,SURFACE_DEPTH_REACHED
$STATE,11160,begin surface coast
$FINISH,-0.7,1.027343
$STATE,11182,end surface coast,CONTROL_FINISHED_OK
$STATE,11182,begin surface
$SM_CCo,11207,174.52,0.792,1,0,572,571.30
$SM_GC,-0.65,0.00,0.00,174.52,0.000,0.000,0.792,41,2902,572,-10.90,0.06,571.30
$IRIDIUM_FIX,6103.81,-915.90,270497,020223
$TT8_MAMPS,0.028379
$HUMID,2024
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,451.0,69.6
$24V_AH,23.2,76.258
$10V_AH,10.1,35.462
$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,26.175,107.675,416.350,174.525,0.000,184.344,366.576,464.470,4.250,0.000,0.000,16.390,999.693,8530.307,705.020,1274.362,1291.786,0.000,1389.645,0.000,1246.310,0.000,24.980
$DEVICE_MAMPS,161.837,97.409,1133.626,792.311,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.462,365.064,356.290,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25376,534
$CFSIZE,260165632,233844736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,010208,051701,6126.822,-905.114,38,1.4,38,-9.2