version: 66.02
glider: 103
mission: 7
dive: 460
start: 2 1 108 9 25 30
data:
$ID,103
$MISSION,7
$DIVE,460
$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,-72446.227
$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,19
$R_STBD_OVSHOOT,16
$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
$GPS1,085710,6125.632,-903.807,42,1.8,50,-9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.39
$_SM_ANGLEo,-48.2
$GPS2,092459,6125.276,-904.154,14,2.2,33,-9.2
$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,90.7,21616,-11.1,-6.000
$D_GRID,409
$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,26,-1.10,-146.6,0.0,0.0,0,127,0.00,0.00,-98.62,0.000,2,0.000,0.000,43,2904,3258
$GC,130,-1.10,-146.6,3.6,-4.5,5,153,11.90,2.55,-4.38,0.000,4,0.155,0.061,2163,1480,3501
$GC,373,-1.10,-146.6,32.7,-4.6,15,379,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2895,3501
$GC,689,-1.10,-146.6,47.9,-4.7,31,694,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1488,3501
$GC,735,-1.10,-146.6,49.9,-4.6,33,739,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2902,3502
$GC,1056,-1.10,-146.6,80.7,-9.2,49,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1367,-1.10,-146.6,96.2,-8.4,64,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3501
$GC,1675,-1.10,-146.6,117.7,-4.8,79,1678,0.00,1.73,0.00,0.000,4,0.000,0.100,2163,3789,3502
$GC,1721,-1.10,-146.6,121.5,-8.9,81,1725,0.00,1.60,0.00,0.000,6,0.000,0.056,2163,2910,3502
$GC,2054,-1.10,-146.6,147.8,-8.3,97,2058,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1479,3502
$GC,2110,-1.10,-146.6,150.8,-5.1,99,2116,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2900,3502
$GC,2428,-1.10,-146.6,175.8,-10.8,115,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,2736,-1.10,-146.6,201.3,-8.3,130,2740,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1480,3502
$GC,2775,-1.10,-146.6,204.4,-7.5,132,2780,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2902,3501
$GC,3102,-1.10,-146.6,233.1,-10.2,148,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,3412,-1.10,-146.6,261.5,-6.0,163,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,3721,-1.10,-146.6,281.5,-9.1,178,3725,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1480,3501
$GC,3760,-1.10,-146.6,285.5,-10.0,180,3765,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2900,3502
$GC,4088,-1.10,-146.6,313.5,-9.0,196,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4397,-1.10,-146.6,337.3,-5.9,211,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,4706,-1.10,-146.6,357.3,-7.0,226,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5015,-1.10,-146.6,379.0,-6.6,241,5019,0.00,2.55,0.00,0.000,4,0.000,0.059,2163,1482,3502
$GC,5071,-1.10,-146.6,382.5,-5.5,243,5077,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2904,3502
$GC,5387,-1.10,-146.6,399.9,-5.7,259,5391,0.00,2.58,0.00,0.000,4,0.000,0.056,2163,1473,3502
$GC,5437,-1.10,-146.6,403.2,-6.6,261,5441,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2899,3502
$STATE,5523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5523,begin apogee
$GC,5531,-0.42,0.0,409.6,7.5,265,5658,0.77,0.00,123.35,1.076,6,0.092,0.000,2318,2089,2901
$STATE,5659,end apogee,CONTROL_FINISHED_OK
$STATE,5659,begin climb
$GC,5662,1.10,146.6,415.2,0.0,271,5790,1.55,2.58,119.55,1.045,4,0.058,0.050,2650,688,2303
$GC,6001,1.16,195.0,407.7,4.7,286,6048,0.00,2.47,41.35,1.016,6,0.000,0.033,2650,2115,2106
$GC,6357,1.16,195.0,387.6,6.3,304,6361,0.00,2.55,0.00,0.000,4,0.000,0.064,2650,3504,2105
$GC,6419,1.16,195.0,383.2,7.3,307,6423,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2088,2105
$GC,6745,1.16,195.0,360.6,6.6,323,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2088,2105
$GC,7054,1.16,195.0,340.5,6.5,338,7059,0.00,2.65,0.00,0.000,4,0.000,0.071,2650,3505,2105
$GC,7100,1.16,195.0,337.7,6.4,340,7104,0.00,2.47,0.00,0.000,6,0.000,0.040,2649,2101,2105
$GC,7422,1.30,304.3,324.4,3.0,356,7517,0.17,2.60,89.55,1.012,4,0.038,0.059,2699,697,1660
$GC,7540,1.30,304.3,312.2,14.0,361,7546,0.00,2.50,0.00,0.000,6,0.000,0.041,2700,2092,1660
$GC,7856,1.30,304.3,285.1,7.1,377,7860,0.00,2.67,0.00,0.000,4,0.000,0.075,2700,3515,1659
$GC,7895,1.30,304.3,281.9,7.9,379,7900,0.00,2.50,0.00,0.000,6,0.000,0.044,2699,2102,1659
$GC,8222,1.30,304.3,251.0,9.2,395,8227,0.00,2.58,0.00,0.000,4,0.000,0.061,2700,686,1660
$GC,8272,1.30,304.3,245.8,10.9,397,8277,0.00,2.53,0.00,0.000,6,0.000,0.044,2700,2107,1660
$GC,8589,1.30,304.3,209.6,13.6,412,8593,0.00,2.60,0.00,0.000,4,0.000,0.060,2700,688,1660
$GC,8628,1.30,304.3,204.5,12.5,414,8632,0.00,2.50,0.00,0.000,6,0.000,0.044,2700,2100,1660
$GC,8954,1.30,304.3,171.3,9.4,430,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2101,1660
$GC,9264,1.30,304.3,150.4,7.7,445,9268,0.00,2.65,0.00,0.000,4,0.000,0.077,2700,3508,1659
$GC,9281,1.30,304.3,148.9,10.6,446,9286,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,2093,1659
$GC,9609,1.30,304.3,109.2,10.8,462,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2093,1659
$GC,9918,1.30,304.3,70.8,12.9,477,9923,0.00,2.55,0.00,0.000,4,0.000,0.064,2700,692,1659
$GC,9982,1.30,304.3,62.2,10.2,480,9986,0.00,2.53,0.00,0.000,6,0.000,0.051,2700,2104,1659
$GC,10310,1.30,304.3,38.5,8.6,496,10314,0.00,2.60,0.00,0.000,4,0.000,0.062,2700,689,1659
$GC,10350,1.30,304.3,35.5,6.2,498,10355,0.00,2.50,0.00,0.000,6,0.000,0.048,2700,2098,1659
$GC,10677,1.30,304.3,6.8,14.9,514,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2102,1660
$STATE,10736,end climb,SURFACE_DEPTH_REACHED
$STATE,10736,begin surface coast
$FINISH,-0.5,1.027348
$STATE,10758,end surface coast,CONTROL_FINISHED_OK
$STATE,10758,begin surface
$SM_CCo,10783,211.68,0.788,1,0,572,571.30
$SM_GC,-0.29,0.00,0.00,211.68,0.000,0.000,0.788,43,2903,572,-10.89,0.08,571.30
$IRIDIUM_FIX,6103.81,-907.02,270497,090924
$TT8_MAMPS,0.029146
$HUMID,1995
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,350.1,90.5
$24V_AH,23.3,76.712
$10V_AH,10.1,35.608
$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,25.950,93.850,373.800,211.675,0.000,194.043,285.786,782.958,3.000,0.000,0.000,34.300,965.670,8263.285,687.172,1226.976,1544.408,0.000,1325.777,0.000,1192.446,0.000,18.561
$DEVICE_MAMPS,154.934,99.710,1076.101,788.476,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.736,356.442,412.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25425,518
$CFSIZE,260165632,233750528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,010208,123009,6124.697,-903.792,39,1.7,40,-9.2