version: 66.02
glider: 103
mission: 7
dive: 464
start: 2 1 108 23 7 27
data:
$ID,103
$MISSION,7
$DIVE,464
$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,0
$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,-72564.391
$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,9
$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
$GPS1,225708,6122.517,-910.699,32,1.1,32,-9.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-59.1
$GPS2,230656,6122.390,-910.878,35,2.0,47,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6133.189,-910.878
$TGT_RADIUS,1852.000
$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,9.3,20000,-11.1,-6.000
$D_GRID,453
$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,29,end surface,CONTROL_FINISHED_OK
$STATE,29,begin dive
$GC,32,-1.10,-146.6,0.0,0.0,0,103,0.00,0.00,-69.25,0.000,6,0.000,0.000,33,2891,3500
$GC,107,-1.10,-146.6,2.1,-4.7,3,129,12.20,2.62,0.00,0.000,4,0.163,0.060,2163,1489,3502
$GC,300,-1.10,-146.6,24.5,-5.2,11,304,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2905,3502
$GC,616,-1.10,-146.6,47.1,-6.1,26,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3502
$GC,925,-1.10,-146.6,69.5,-8.5,41,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2905,3502
$GC,1234,-1.10,-146.6,92.3,-6.1,56,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3502
$GC,1544,-1.10,-146.6,117.1,-8.5,71,1548,0.00,2.58,0.00,0.000,4,0.000,0.056,2163,1488,3502
$GC,1577,-1.10,-146.6,119.3,-6.3,72,1583,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2901,3502
$GC,1894,-1.10,-146.6,137.8,-6.2,88,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,2203,-1.10,-146.6,153.1,-4.3,103,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,2511,-1.10,-146.6,169.4,-6.3,118,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,2820,-1.10,-146.6,191.7,-10.8,133,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,3130,-1.10,-146.6,208.7,-5.9,148,3135,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1491,3502
$GC,3170,-1.10,-146.6,211.3,-6.2,150,3175,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2903,3502
$GC,3498,-1.10,-146.6,230.6,-6.3,166,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,3810,-1.10,-146.6,251.1,-6.3,181,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,4116,-1.10,-146.6,273.1,-7.5,196,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,4426,-1.10,-146.6,293.5,-6.0,211,4430,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1490,3502
$GC,4466,-1.10,-146.6,295.9,-6.7,213,4470,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2902,3502
$GC,4792,-1.10,-146.6,316.9,-6.4,229,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,5101,-1.10,-146.6,339.1,-8.1,244,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,5411,-1.10,-146.6,362.7,-7.4,259,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,5720,-1.10,-146.6,383.0,-6.2,274,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,6031,-1.10,-146.6,401.6,-6.1,289,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,6339,-1.10,-146.6,420.4,-6.0,304,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,6648,-1.10,-146.6,439.1,-6.2,319,6652,0.00,2.55,0.00,0.000,4,0.000,0.055,2163,1488,3502
$GC,6681,-1.10,-146.6,441.3,-6.4,320,6687,0.00,2.58,0.00,0.000,6,0.000,0.059,2163,2903,3502
$STATE,6870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6870,begin apogee
$GC,6879,-0.42,0.0,454.3,7.2,330,7006,0.77,0.00,123.30,1.132,6,0.097,0.000,2316,2100,2901
$STATE,7006,end apogee,CONTROL_FINISHED_OK
$STATE,7006,begin climb
$GC,7009,1.10,146.6,459.4,0.0,336,7136,1.58,2.60,118.22,1.119,4,0.062,0.053,2649,688,2303
$GC,7286,1.15,184.4,453.6,5.0,349,7328,0.00,2.50,32.20,1.084,6,0.000,0.032,2649,2121,2149
$GC,7637,1.15,184.4,432.3,6.7,366,7642,0.00,2.53,0.00,0.000,4,0.000,0.065,2649,3502,2148
$GC,7700,1.15,184.4,427.7,7.5,369,7704,0.00,2.47,0.00,0.000,6,0.000,0.036,2649,2086,2148
$GC,8027,1.15,184.4,401.0,8.8,385,8031,0.00,2.62,0.00,0.000,4,0.000,0.064,2649,3502,2148
$GC,8190,1.15,184.4,387.6,7.3,392,8195,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2096,2147
$GC,8506,1.15,184.4,362.9,7.7,407,8511,0.00,2.62,0.00,0.000,4,0.000,0.066,2649,3504,2147
$GC,8546,1.15,184.4,359.9,7.4,409,8550,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2098,2147
$GC,8873,1.15,185.5,338.3,6.0,425,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2098,2147
$GC,9182,1.15,185.5,318.4,7.2,440,9186,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3505,2147
$GC,9244,1.15,185.5,313.7,7.9,443,9248,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2098,2147
$GC,9576,1.15,185.5,288.2,8.4,459,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2098,2147
$GC,9886,1.15,185.5,262.9,7.1,474,9890,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3501,2147
$GC,9952,1.15,185.5,257.6,8.3,477,9956,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2098,2147
$GC,10273,1.15,185.5,232.7,8.8,493,10277,0.00,2.55,0.00,0.000,4,0.000,0.060,2649,691,2147
$GC,10336,1.15,185.5,227.6,8.4,496,10340,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2098,2147
$GC,10662,1.15,185.5,201.8,8.4,512,10667,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3511,2147
$GC,10707,1.15,185.5,197.7,9.7,514,10711,0.00,2.50,0.00,0.000,6,0.000,0.041,2649,2096,2147
$GC,11028,1.15,185.5,172.9,6.3,530,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2096,2147
$GC,11337,1.21,231.3,158.6,4.7,545,11383,0.12,2.78,37.97,0.956,4,0.048,0.074,2684,3511,1957
$GC,11411,1.21,231.3,153.6,7.7,548,11416,0.00,2.55,0.00,0.000,6,0.000,0.044,2684,2099,1957
$GC,11728,1.23,253.1,133.3,5.4,563,11749,0.00,0.00,18.92,0.895,6,0.000,0.000,2685,2099,1869
$GC,12059,1.31,316.3,112.7,4.3,579,12117,0.00,0.00,51.65,0.898,6,0.000,0.000,2684,2098,1611
$GC,12428,1.31,316.3,82.1,11.9,597,12433,0.00,2.70,0.00,0.000,4,0.000,0.078,2684,3508,1610
$GC,12456,1.31,316.3,78.1,12.9,598,12460,0.00,2.58,0.00,0.000,6,0.000,0.053,2684,2097,1610
$GC,12772,1.31,316.3,44.3,11.3,613,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,1610
$GC,13082,1.31,316.3,11.8,7.9,628,13086,0.00,2.67,0.00,0.000,4,0.000,0.075,2685,3508,1610
$GC,13109,1.31,316.3,8.6,11.2,629,13113,0.00,2.55,0.00,0.000,6,0.000,0.053,2684,2100,1610
$STATE,13176,end climb,SURFACE_DEPTH_REACHED
$STATE,13176,begin surface coast
$FINISH,-1.0,1.004770
$STATE,13197,end surface coast,CONTROL_FINISHED_OK
$STATE,13197,begin surface
$SM_CCo,13282,0.00,0.000,0,0,1608,317.17
$SM_GC,-0.01,11.48,0.00,0.00,0.023,0.000,0.000,41,2894,1608,-10.80,-0.17,317.17
$IRIDIUM_FIX,6059.36,-910.03,270497,232344
$TT8_MAMPS,0.028379
$HUMID,2076
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.2,100.5
$24V_AH,23.2,77.438
$10V_AH,10.1,35.881
$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,26.150,85.350,382.275,0.000,0.000,76.238,76.509,223.649,3.500,0.000,0.000,47.953,1150.706,10233.933,469.595,1381.001,651.788,0.000,1156.553,0.000,1335.133,0.000,21.829
$DEVICE_MAMPS,162.604,78.234,1132.092,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.964,438.552,465.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31701,633
$CFSIZE,260165632,233623552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,020208,025001,6123.283,-913.775,37,1.6,37,-9.3