version: 66.02
glider: 103
mission: 7
dive: 462
start: 2 1 108 16 27 58
data:
$ID,103
$MISSION,7
$DIVE,462
$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,-72482.07
$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,18
$R_STBD_OVSHOOT,11
$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
$GPS1,160037,6124.009,-904.471,36,1.1,42,-9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-47.4
$GPS2,162726,6123.661,-905.133,11,2.0,16,-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,83.7,23089,-11.1,-6.000
$D_GRID,392
$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,-146.6,0.0,0.0,0,135,0.00,0.00,-106.28,0.000,6,0.000,0.000,38,2900,3501
$GC,138,-1.10,-146.6,2.4,-3.4,5,160,12.15,2.62,0.00,0.000,4,0.163,0.060,2164,1490,3503
$GC,413,-1.10,-146.6,31.4,-13.4,17,417,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2902,3503
$GC,735,-1.10,-146.6,54.9,-5.0,33,739,0.00,2.62,0.00,0.000,4,0.000,0.064,2164,1483,3503
$GC,801,-1.10,-146.6,59.4,-8.8,36,806,0.00,2.70,0.00,0.000,6,0.000,0.074,2164,2906,3503
$GC,1123,-1.10,-146.6,85.5,-7.3,52,1127,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1486,3503
$GC,1156,-1.10,-146.6,87.3,-4.7,53,1163,0.00,2.65,0.00,0.000,6,0.000,0.073,2164,2899,3503
$GC,1474,-1.10,-146.6,110.3,-8.3,69,1478,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1483,3503
$GC,1507,-1.10,-146.6,113.0,-8.0,70,1513,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2900,3503
$GC,1823,-1.10,-146.6,138.3,-7.6,86,1828,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1484,3503
$GC,1874,-1.10,-146.6,140.7,-5.1,88,1878,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2900,3503
$GC,2190,-1.10,-146.6,159.8,-5.4,103,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,2499,-1.10,-146.6,183.2,-8.1,118,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,2808,-1.10,-146.6,206.8,-7.6,133,2812,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1485,3503
$GC,2847,-1.10,-146.6,210.0,-8.6,135,2852,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3503
$GC,3175,-1.10,-146.6,235.6,-7.9,151,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,3484,-1.10,-146.6,258.6,-7.1,166,3488,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1487,3503
$GC,3534,-1.10,-146.6,262.3,-7.4,168,3538,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,3850,-1.10,-146.6,283.9,-6.4,183,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4159,-1.10,-146.6,303.0,-6.8,198,4163,0.00,2.58,0.00,0.000,4,0.000,0.057,2164,1478,3503
$GC,4203,-1.10,-146.6,306.4,-7.8,200,4208,0.00,2.65,0.00,0.000,6,0.000,0.064,2164,2907,3503
$GC,4525,-1.10,-146.6,329.3,-7.6,216,4529,0.00,2.55,0.00,0.000,4,0.000,0.055,2164,1484,3503
$GC,4552,-1.10,-146.6,331.5,-7.6,217,4556,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2901,3503
$GC,4867,-1.10,-146.6,355.7,-7.5,232,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,5177,-1.10,-146.6,378.7,-7.0,247,5182,0.00,2.55,0.00,0.000,4,0.000,0.053,2164,1484,3503
$GC,5211,-1.10,-146.6,381.3,-7.4,248,5217,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2898,3503
$STATE,5359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5359,begin apogee
$GC,5368,-0.42,0.0,392.9,7.7,256,5494,0.77,0.00,123.18,1.082,6,0.090,0.000,2320,2089,2900
$STATE,5495,end apogee,CONTROL_FINISHED_OK
$STATE,5495,begin climb
$GC,5498,1.10,146.6,398.0,0.0,262,5626,1.55,2.60,119.35,1.042,4,0.061,0.056,2648,691,2303
$GC,5769,1.12,164.1,390.7,5.5,274,5796,0.00,2.50,16.67,0.960,6,0.000,0.035,2648,2115,2231
$GC,6105,1.14,173.2,372.4,5.7,291,6119,0.00,2.62,8.93,0.904,4,0.000,0.068,2649,3502,2194
$GC,6160,1.15,187.6,369.3,5.6,293,6179,0.00,2.50,13.38,0.955,6,0.000,0.038,2648,2091,2136
$GC,6502,1.15,187.6,349.2,6.0,310,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2092,2136
$GC,6811,1.18,208.6,329.4,5.4,325,6836,0.00,2.72,18.73,0.991,4,0.000,0.069,2649,3494,2050
$GC,6904,1.18,208.6,323.5,6.5,329,6909,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2095,2049
$GC,7226,1.20,229.3,305.2,5.4,345,7247,0.10,0.00,18.40,0.969,6,0.049,0.000,2685,2094,1966
$GC,7555,1.20,229.3,281.0,7.8,361,7560,0.00,2.65,0.00,0.000,4,0.000,0.071,2685,3503,1966
$GC,7589,1.20,229.3,278.2,7.3,362,7595,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2105,1966
$GC,7905,1.20,229.3,253.9,7.2,378,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2105,1965
$GC,8214,1.20,229.3,229.4,7.9,393,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2105,1965
$GC,8524,1.20,229.3,202.7,9.4,408,8528,0.00,2.62,0.00,0.000,4,0.000,0.074,2685,3502,1965
$GC,8556,1.20,229.3,199.4,10.1,409,8562,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2096,1964
$GC,8872,1.20,229.3,173.5,8.0,425,8876,0.00,2.53,0.00,0.000,4,0.000,0.060,2685,691,1965
$GC,8927,1.20,229.3,169.3,7.6,427,8933,0.00,2.50,0.00,0.000,6,0.000,0.044,2685,2098,1965
$GC,9244,1.20,229.3,140.0,8.2,443,9248,0.00,2.67,0.00,0.000,4,0.000,0.078,2685,3514,1965
$GC,9276,1.20,229.3,136.7,9.3,444,9282,0.00,2.53,0.00,0.000,6,0.000,0.048,2685,2099,1965
$GC,9594,1.20,229.3,109.6,9.9,460,9598,0.00,2.55,0.00,0.000,4,0.000,0.061,2685,691,1965
$GC,9658,1.20,229.3,103.0,10.5,463,9662,0.00,2.47,0.00,0.000,6,0.000,0.043,2685,2099,1965
$GC,9985,1.20,229.3,75.0,7.7,479,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,1965
$GC,10295,1.20,229.3,51.1,7.6,494,10300,0.00,2.58,0.00,0.000,4,0.000,0.059,2685,689,1965
$GC,10374,1.20,229.3,42.1,11.1,497,10381,0.00,2.50,0.00,0.000,6,0.000,0.045,2685,2101,1965
$GC,10690,1.20,229.3,17.9,9.0,513,10694,0.00,2.58,0.00,0.000,4,0.000,0.061,2685,692,1965
$GC,10752,1.20,229.3,13.4,8.7,516,10757,0.00,2.53,0.00,0.000,6,0.000,0.054,2685,2098,1965
$STATE,10911,end climb,SURFACE_DEPTH_REACHED
$STATE,10911,begin surface coast
$FINISH,-0.4,1.027360
$STATE,10934,end surface coast,CONTROL_FINISHED_OK
$STATE,10934,begin surface
$SM_CCo,10959,270.58,0.784,2,0,572,571.30
$SM_GC,-0.52,0.00,0.00,270.58,0.000,0.000,0.784,45,2899,572,-10.87,-0.06,571.30
$IRIDIUM_FIX,6059.36,-901.16,270497,161636
$TT8_MAMPS,0.029146
$HUMID,1998
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,351.1,75.4
$24V_AH,23.3,77.151
$10V_AH,10.1,35.752
$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,26.225,106.600,318.625,270.575,0.000,195.800,259.602,770.773,3.000,0.000,0.000,16.401,985.867,8417.558,742.680,1227.828,1494.877,0.000,1378.005,0.000,1203.779,0.000,18.525
$DEVICE_MAMPS,163.371,78.234,1082.237,783.874,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,384.902,358.575,426.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25427,525
$CFSIZE,260165632,233660416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,2,0
$GPS,010208,193637,6122.700,-905.826,37,1.9,42,-9.2