version: 66.02
glider: 103
mission: 7
dive: 465
start: 2 2 108 2 56 16
data:
$ID,103
$MISSION,7
$DIVE,465
$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,-72580.273
$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,10
$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
$GPS1,025001,6123.283,-913.775,37,1.6,37,-9.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-57.4
$GPS2,025544,6123.262,-913.810,10,1.6,15,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6134.062,-913.810
$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,500
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,30,-1.10,-146.6,0.0,0.0,0,100,0.00,0.00,-68.07,0.000,6,0.000,0.000,41,2898,3500
$GC,104,-1.10,-146.6,2.3,-5.7,3,118,12.05,0.00,0.00,0.000,6,0.160,0.000,2164,2898,3501
$GC,432,-1.10,-146.6,34.3,-12.5,18,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,739,-1.10,-146.6,68.9,-11.0,33,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,1048,-1.10,-146.6,104.9,-12.8,48,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,1358,-1.10,-146.6,135.8,-10.5,63,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,1667,-1.10,-146.6,159.6,-8.1,78,1671,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1487,3502
$GC,1700,-1.10,-146.6,162.9,-9.3,79,1706,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2901,3502
$GC,2016,-1.10,-146.6,190.6,-7.6,95,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,2326,-1.10,-146.6,208.7,-4.5,110,2330,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1489,3502
$GC,2375,-1.10,-146.6,211.7,-6.4,112,2380,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2901,3502
$GC,2691,-1.10,-146.6,230.0,-5.8,127,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,3001,-1.10,-146.6,248.1,-6.0,142,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3310,-1.10,-146.6,265.7,-6.4,157,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,3619,-1.10,-146.6,287.8,-7.3,172,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,3929,-1.10,-146.6,309.9,-6.6,187,3933,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1478,3502
$GC,3956,-1.10,-146.6,311.5,-5.9,188,3961,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2908,3502
$GC,4272,-1.10,-146.6,329.2,-6.0,203,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,4582,-1.10,-146.6,350.5,-6.9,218,4587,0.00,2.58,0.00,0.000,4,0.000,0.056,2164,1486,3502
$GC,4622,-1.10,-146.6,353.3,-7.6,220,4627,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,4950,-1.10,-146.6,379.5,-7.0,236,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,5260,-1.10,-146.6,401.0,-7.1,251,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,5568,-1.10,-146.6,422.0,-8.5,266,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,5878,-1.10,-146.6,441.6,-5.0,281,5883,0.00,2.55,0.00,0.000,4,0.000,0.052,2165,1481,3502
$GC,5929,-1.10,-146.6,444.4,-5.9,283,5934,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2902,3502
$GC,6246,-1.10,-146.6,458.6,-3.7,298,6249,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3783,3502
$GC,6296,-1.10,-146.6,461.6,-6.3,300,6299,0.00,1.55,0.00,0.000,6,0.000,0.037,2164,2898,3502
$GC,6624,-1.10,-146.6,483.8,-5.4,316,6628,0.00,2.50,0.00,0.000,4,0.000,0.053,2165,1483,3502
$GC,6663,-1.10,-146.6,486.1,-5.5,317,6669,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2905,3502
$STATE,6935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6935,begin apogee
$GC,6944,-0.42,0.0,500.9,6.0,331,7071,0.75,0.00,123.53,1.165,6,0.087,0.000,2315,2093,2901
$STATE,7071,end apogee,CONTROL_FINISHED_OK
$STATE,7071,begin climb
$GC,7074,1.10,146.6,504.1,0.0,337,7202,1.60,2.58,119.28,1.133,4,0.066,0.050,2649,695,2303
$GC,7289,1.10,146.6,497.5,8.1,347,7293,0.00,2.47,0.00,0.000,6,0.000,0.031,2649,2116,2303
$GC,7610,1.14,180.5,479.2,5.1,363,7644,0.00,2.60,29.25,1.080,4,0.000,0.059,2649,3502,2165
$GC,7724,1.14,180.5,473.1,6.2,368,7728,0.00,2.45,0.00,0.000,6,0.000,0.031,2649,2092,2165
$GC,8045,1.14,180.5,452.7,9.0,384,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2091,2164
$GC,8354,1.14,180.5,427.3,7.8,399,8358,0.00,2.62,0.00,0.000,4,0.000,0.064,2649,3505,2164
$GC,8416,1.14,180.5,422.3,7.8,402,8420,0.00,2.42,0.00,0.000,6,0.000,0.035,2649,2095,2164
$GC,8743,1.14,180.5,397.6,6.0,418,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2095,2164
$GC,9052,1.14,180.5,378.2,7.3,433,9056,0.00,2.60,0.00,0.000,4,0.000,0.064,2649,3502,2164
$GC,9115,1.15,187.4,373.9,5.8,436,9129,0.00,2.45,7.57,0.927,6,0.000,0.040,2649,2103,2137
$GC,9446,1.25,263.4,356.6,3.9,452,9512,0.15,0.00,62.50,1.068,6,0.038,0.000,2693,2102,1827
$GC,9815,1.25,263.4,330.3,6.3,470,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2102,1826
$GC,10125,1.25,263.4,307.6,8.7,485,10129,0.00,2.65,0.00,0.000,4,0.000,0.072,2693,3508,1826
$GC,10158,1.25,263.4,303.9,10.3,486,10164,0.00,2.53,0.00,0.000,6,0.000,0.048,2693,2106,1826
$GC,10473,1.25,263.4,275.9,12.2,502,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2106,1826
$GC,10783,1.26,278.2,251.1,5.6,517,10805,0.00,2.67,13.57,0.951,4,0.000,0.062,2693,692,1766
$GC,10838,1.26,278.2,246.4,10.8,519,10843,0.00,2.50,0.00,0.000,6,0.000,0.045,2693,2087,1766
$GC,11155,1.41,394.2,229.2,2.8,534,11257,0.10,2.80,93.00,0.986,4,0.053,0.076,2719,3510,1293
$GC,11305,1.41,394.2,218.9,11.3,541,11310,0.00,2.53,0.00,0.000,6,0.000,0.045,2720,2098,1293
$GC,11632,1.41,394.2,177.1,14.1,557,11636,0.00,2.58,0.00,0.000,4,0.000,0.062,2720,691,1293
$GC,11676,1.41,394.2,170.3,15.3,559,11681,0.00,2.53,0.00,0.000,6,0.000,0.047,2720,2100,1293
$GC,11997,1.45,428.0,148.9,5.1,575,12032,0.00,2.78,28.48,0.899,4,0.000,0.077,2720,3512,1156
$GC,12067,1.45,428.0,144.2,11.2,578,12072,0.00,2.55,0.00,0.000,6,0.000,0.050,2719,2102,1155
$GC,12389,1.45,428.0,95.5,14.8,594,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2102,1155
$GC,12698,1.45,428.0,50.1,13.1,609,12702,0.00,2.70,0.00,0.000,4,0.000,0.077,2720,3517,1155
$GC,12719,1.45,428.0,47.3,12.3,610,12724,0.00,2.55,0.00,0.000,6,0.000,0.049,2720,2101,1155
$GC,13042,1.45,428.0,9.9,14.2,626,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2100,1155
$STATE,13100,end climb,SURFACE_DEPTH_REACHED
$STATE,13100,begin surface coast
$FINISH,-0.9,1.027550
$STATE,13122,end surface coast,CONTROL_FINISHED_OK
$STATE,13122,begin surface
$SM_CCo,13207,0.00,0.000,0,0,1154,428.78
$SM_GC,-0.20,11.80,0.00,0.00,0.031,0.000,0.000,49,2897,1154,-10.79,-0.08,428.78
$IRIDIUM_FIX,6059.36,-914.46,270497,232331
$TT8_MAMPS,0.029146
$HUMID,2049
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.5,86.8
$24V_AH,23.2,77.595
$10V_AH,10.1,35.943
$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,26.450,88.900,477.175,0.000,0.000,38.189,34.172,147.047,4.000,0.000,0.000,15.257,1133.516,10098.896,532.007,1303.197,497.022,0.000,1227.870,0.000,1290.408,0.000,25.028
$DEVICE_MAMPS,160.303,92.040,1165.073,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.859,433.596,386.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31706,630
$CFSIZE,260165632,233582592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,020208,063738,6125.069,-914.169,40,1.0,40,-9.3