version: 66.02
glider: 103
mission: 7
dive: 466
start: 2 2 108 6 43 43
data:
$ID,103
$MISSION,7
$DIVE,466
$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,-72595.453
$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
$GPS1,063738,6125.069,-914.169,40,1.0,40,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-54.1
$GPS2,064309,6125.034,-914.168,12,1.7,12,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6135.833,-914.168
$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,522
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,29,-1.10,-146.6,0.0,0.0,0,111,0.00,0.00,-80.47,0.000,2,0.000,0.000,49,2900,3323
$GC,115,-1.10,-146.6,3.1,-5.6,4,136,12.10,2.60,-3.30,0.000,4,0.160,0.068,2163,1484,3500
$GC,177,-1.10,-146.6,16.2,-12.4,7,181,0.00,2.70,0.00,0.000,6,0.000,0.074,2163,2901,3500
$GC,498,-1.10,-146.6,51.5,-12.0,23,502,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1489,3501
$GC,538,-1.10,-146.6,56.2,-11.8,25,542,0.00,2.67,0.00,0.000,6,0.000,0.075,2163,2901,3500
$GC,865,-1.10,-146.6,96.4,-13.6,41,868,0.00,1.73,0.00,0.000,4,0.000,0.104,2163,3785,3501
$GC,913,-1.10,-146.6,102.8,-13.8,43,916,0.00,1.58,0.00,0.000,6,0.000,0.054,2163,2900,3500
$GC,1247,-1.10,-146.6,143.2,-13.4,59,1252,0.00,2.60,0.00,0.000,4,0.000,0.065,2163,1480,3501
$GC,1280,-1.10,-146.6,147.8,-12.4,60,1287,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2902,3501
$GC,1597,-1.10,-146.6,183.4,-10.4,76,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3500
$GC,1906,-1.10,-146.6,205.6,-5.2,91,1910,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1486,3500
$GC,1984,-1.10,-146.6,210.1,-5.5,94,1990,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2903,3500
$GC,2300,-1.10,-146.6,224.9,-4.2,110,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3500
$GC,2609,-1.10,-146.6,249.4,-8.5,125,2612,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3783,3500
$GC,2659,-1.10,-146.6,254.0,-10.0,127,2662,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2898,3500
$GC,2986,-1.10,-146.6,295.7,-11.7,143,2991,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1481,3500
$GC,3050,-1.10,-146.6,298.7,-4.8,146,3054,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2903,3501
$GC,3377,-1.10,-146.6,315.5,-5.2,162,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3500
$GC,3686,-1.10,-146.6,333.9,-5.5,177,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3500
$GC,3995,-1.10,-146.6,349.1,-5.6,192,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3500
$GC,4305,-1.10,-146.6,372.6,-8.1,207,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3500
$GC,4613,-1.10,-146.6,395.4,-7.4,222,4618,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1484,3501
$GC,4680,-1.10,-146.6,401.2,-8.8,225,4685,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2900,3500
$GC,5003,-1.10,-146.6,432.2,-10.4,241,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,5312,-1.10,-146.6,454.8,-7.8,256,5316,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1477,3500
$GC,5356,-1.10,-146.6,459.3,-10.8,258,5360,0.00,2.60,0.00,0.000,6,0.000,0.059,2163,2900,3500
$GC,5677,-1.10,-146.6,486.2,-6.5,274,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3500
$GC,5986,-1.10,-146.6,506.4,-7.2,289,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3500
$STATE,6209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6209,begin apogee
$GC,6218,-0.42,0.0,522.5,7.0,300,6346,0.75,0.00,124.43,1.154,6,0.073,0.000,2319,2085,2901
$STATE,6346,end apogee,CONTROL_FINISHED_OK
$STATE,6347,begin climb
$GC,6350,1.10,146.6,526.9,0.0,306,6481,1.55,2.60,121.30,1.110,4,0.057,0.050,2650,688,2303
$GC,6503,1.10,146.6,524.6,6.6,313,6508,0.00,2.50,0.00,0.000,6,0.000,0.030,2650,2127,2303
$GC,6820,1.11,153.0,504.4,5.8,328,6833,0.00,2.60,7.20,0.913,4,0.000,0.059,2650,3502,2277
$GC,6919,1.13,168.1,498.2,5.6,332,6938,0.00,2.47,14.40,1.027,6,0.000,0.032,2650,2079,2215
$GC,7261,1.13,168.1,478.4,6.3,349,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2079,2215
$GC,7571,1.15,189.0,460.3,5.4,364,7596,0.00,2.70,18.70,1.058,4,0.000,0.064,2650,3507,2130
$GC,7705,1.15,189.0,452.6,6.3,370,7709,0.00,2.45,0.00,0.000,6,0.000,0.037,2650,2105,2130
$GC,8032,1.15,189.0,429.9,7.3,386,8037,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3497,2129
$GC,8073,1.16,189.9,427.3,6.0,388,8077,0.00,2.45,0.00,0.000,6,0.000,0.040,2650,2101,2129
$GC,8399,1.26,271.2,413.6,3.8,404,8471,0.15,0.00,68.45,1.083,6,0.045,0.000,2696,2100,1795
$GC,8774,1.31,312.8,389.4,4.8,422,8811,0.00,0.00,35.62,1.037,6,0.000,0.000,2696,2100,1626
$GC,9120,1.31,312.8,360.2,10.0,439,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2100,1625
$GC,9429,1.31,312.8,326.1,11.4,454,9434,0.00,2.62,0.00,0.000,4,0.000,0.073,2696,3492,1624
$GC,9485,1.31,312.8,320.8,9.3,456,9491,0.00,2.50,0.00,0.000,6,0.000,0.046,2696,2097,1624
$GC,9801,1.31,312.8,292.4,7.7,472,9805,0.00,2.58,0.00,0.000,4,0.000,0.064,2696,688,1624
$GC,9863,1.31,312.8,284.1,14.2,475,9867,0.00,2.45,0.00,0.000,6,0.000,0.044,2696,2081,1625
$GC,10195,1.31,312.8,244.4,13.8,491,10200,0.00,2.67,0.00,0.000,4,0.000,0.075,2696,3511,1624
$GC,10245,1.31,312.8,236.2,17.2,493,10250,0.00,2.53,0.00,0.000,6,0.000,0.047,2696,2103,1624
$GC,10561,1.31,312.8,201.4,9.3,508,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2103,1624
$GC,10870,1.31,312.8,179.9,6.9,523,10871,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2102,1624
$GC,11179,1.31,312.8,159.7,8.1,538,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2102,1624
$GC,11490,1.31,312.8,127.2,12.9,553,11494,0.00,2.60,0.00,0.000,4,0.000,0.065,2696,684,1624
$GC,11530,1.31,312.8,122.3,11.4,555,11534,0.00,2.53,0.00,0.000,6,0.000,0.048,2696,2099,1624
$GC,11857,1.31,312.8,82.7,10.8,571,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2099,1624
$GC,12166,1.31,312.8,59.5,9.5,586,12171,0.00,2.65,0.00,0.000,4,0.000,0.079,2696,3508,1624
$GC,12211,1.31,312.8,54.6,9.7,588,12215,0.00,2.55,0.00,0.000,6,0.000,0.053,2696,2096,1624
$GC,12532,1.31,312.8,22.4,11.5,604,12536,0.00,2.55,0.00,0.000,4,0.000,0.062,2696,686,1624
$GC,12605,1.31,312.8,13.6,11.7,607,12609,0.00,2.55,0.00,0.000,6,0.000,0.053,2696,2101,1624
$STATE,12713,end climb,SURFACE_DEPTH_REACHED
$STATE,12713,begin surface coast
$FINISH,-0.7,1.027347
$STATE,12735,end surface coast,CONTROL_FINISHED_OK
$STATE,12736,begin surface
$SM_CCo,12821,0.00,0.000,0,0,1622,313.98
$SM_GC,-0.09,11.57,0.00,0.00,0.027,0.000,0.000,42,2896,1622,-10.80,-0.11,313.98
$IRIDIUM_FIX,6059.36,-915.18,280497,030346
$TT8_MAMPS,0.028379
$HUMID,2069
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.3,92.5
$24V_AH,23.2,77.729
$10V_AH,10.1,36.003
$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,26.125,97.375,390.100,0.000,0.000,37.677,34.686,141.168,4.250,0.000,0.000,14.555,1123.539,9760.153,486.740,1309.178,489.055,0.000,1171.732,0.000,1297.818,0.000,26.659
$DEVICE_MAMPS,159.536,103.545,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.257,424.383,386.909,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31685,613
$CFSIZE,260165632,233537536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,020208,101838,6126.486,-914.114,39,1.3,39,-9.3