version: 66.02
glider: 103
mission: 7
dive: 467
start: 2 2 108 10 35 5
data:
$ID,103
$MISSION,7
$DIVE,467
$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,-72610.516
$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,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
$GPS1,101838,6126.486,-914.114,39,1.3,39,-9.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-58.3
$GPS2,103433,6126.366,-913.950,14,1.4,14,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6137.166,-913.950
$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,557
$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,33,-1.10,-146.6,0.0,0.0,0,103,0.00,0.00,-68.03,0.000,6,0.000,0.000,42,2899,3500
$GC,106,-1.10,-146.6,2.2,-5.7,3,128,12.05,2.62,0.00,0.000,4,0.160,0.058,2164,1488,3502
$GC,274,-1.10,-146.6,29.1,-10.3,10,279,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2902,3502
$GC,591,-1.10,-146.6,61.3,-9.9,25,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,901,-1.10,-146.6,81.3,-7.1,40,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,1209,-1.10,-146.6,108.3,-7.6,55,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,1518,-1.10,-146.6,126.6,-6.8,70,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,1827,-1.10,-146.6,142.8,-5.0,85,1832,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1485,3502
$GC,1861,-1.10,-146.6,144.3,-4.3,86,1867,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2899,3502
$GC,2177,-1.10,-146.6,162.7,-5.9,102,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,2486,-1.10,-146.6,179.2,-4.9,117,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,2795,-1.10,-146.6,199.0,-7.1,132,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,3105,-1.10,-146.6,220.4,-5.1,147,3109,0.00,2.58,0.00,0.000,4,0.000,0.067,2164,1485,3502
$GC,3145,-1.10,-146.6,222.4,-5.4,149,3149,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2903,3502
$GC,3471,-1.10,-146.6,244.4,-7.2,165,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,3781,-1.10,-146.6,267.2,-7.7,180,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,4090,-1.10,-146.6,287.0,-5.4,195,4094,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1485,3502
$GC,4118,-1.10,-146.6,288.6,-5.7,196,4123,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2904,3502
$GC,4441,-1.10,-146.6,306.4,-5.5,212,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,4750,-1.10,-146.6,325.6,-5.6,227,4754,0.00,2.58,0.00,0.000,4,0.000,0.059,2164,1483,3502
$GC,4790,-1.10,-146.6,328.1,-6.1,229,4794,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2898,3502
$GC,5117,-1.10,-146.6,348.0,-5.1,245,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3502
$GC,5425,-1.10,-146.6,366.9,-7.0,260,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3502
$GC,5735,-1.10,-146.6,389.2,-7.4,275,5739,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1482,3502
$GC,5768,-1.10,-146.6,391.8,-8.2,276,5774,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2904,3502
$GC,6083,-1.10,-146.6,415.4,-8.1,292,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,6393,-1.10,-146.6,435.5,-6.0,307,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,6702,-1.10,-146.6,453.9,-6.1,322,6707,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1480,3502
$GC,6759,-1.10,-146.6,457.1,-5.3,324,6765,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2903,3502
$GC,7075,-1.10,-146.6,474.7,-5.5,340,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,7384,-1.10,-146.6,492.2,-6.1,355,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3502
$GC,7693,-1.10,-146.6,515.0,-7.6,370,7697,0.00,2.55,0.00,0.000,4,0.000,0.052,2164,1477,3502
$GC,7733,-1.10,-146.6,518.3,-8.6,372,7738,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2899,3502
$GC,8061,-1.10,-146.6,545.1,-8.6,388,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$STATE,8223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8223,begin apogee
$GC,8231,-0.42,0.0,558.0,7.7,396,8365,0.77,0.00,125.88,1.170,6,0.093,0.000,2320,2089,2901
$STATE,8365,end apogee,CONTROL_FINISHED_OK
$STATE,8365,begin climb
$GC,8368,1.10,146.6,564.2,0.0,403,8500,1.55,2.60,122.15,1.137,4,0.061,0.051,2649,691,2303
$GC,8677,1.15,184.6,556.3,4.9,417,8716,0.00,2.47,33.35,1.101,6,0.000,0.031,2649,2119,2148
$GC,9048,1.17,200.5,537.1,5.6,435,9070,0.00,2.55,14.98,1.058,4,0.000,0.058,2649,3501,2083
$GC,9143,1.17,200.5,531.0,6.1,439,9147,0.00,2.45,0.00,0.000,6,0.000,0.031,2649,2091,2083
$GC,9464,1.17,200.5,509.8,7.2,455,9468,0.00,2.60,0.00,0.000,4,0.000,0.059,2649,3505,2083
$GC,9521,1.17,200.5,505.2,8.8,457,9527,0.00,2.45,0.00,0.000,6,0.000,0.031,2649,2093,2083
$GC,9837,1.17,200.5,475.7,9.9,473,9841,0.00,2.60,0.00,0.000,4,0.000,0.061,2649,3503,2082
$GC,9877,1.17,200.5,471.5,10.4,475,9881,0.00,2.42,0.00,0.000,6,0.000,0.033,2649,2100,2082
$GC,10203,1.17,200.5,440.4,9.2,491,10208,0.00,2.60,0.00,0.000,4,0.000,0.064,2649,3504,2082
$GC,10254,1.17,200.5,435.2,9.7,493,10258,0.00,2.45,0.00,0.000,6,0.000,0.035,2649,2101,2082
$GC,10570,1.17,200.5,405.8,8.3,508,10574,0.00,2.58,0.00,0.000,4,0.000,0.064,2649,3499,2082
$GC,10609,1.17,200.5,402.3,9.3,510,10613,0.00,2.42,0.00,0.000,6,0.000,0.039,2649,2101,2082
$GC,10942,1.17,200.5,374.5,8.2,526,10947,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3499,2082
$GC,10987,1.17,200.5,370.8,7.9,528,10991,0.00,2.45,0.00,0.000,6,0.000,0.040,2649,2102,2082
$GC,11308,1.17,200.5,347.1,8.3,544,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2103,2082
$GC,11617,1.17,200.5,321.2,8.8,559,11621,0.00,2.62,0.00,0.000,4,0.000,0.070,2649,3507,2082
$GC,11650,1.17,200.5,318.0,9.2,560,11656,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2094,2082
$GC,11967,1.17,200.5,287.7,9.2,576,11971,0.00,2.62,0.00,0.000,4,0.000,0.071,2649,3500,2082
$GC,12016,1.17,200.5,282.6,10.4,578,12020,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2098,2082
$GC,12332,1.17,200.5,250.0,10.1,593,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2098,2082
$GC,12641,1.17,200.5,218.5,10.6,608,12646,0.00,2.62,0.00,0.000,4,0.000,0.072,2649,3505,2082
$GC,12687,1.17,200.5,213.6,10.5,610,12691,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2101,2082
$GC,13008,1.17,200.5,179.9,10.0,626,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2101,2082
$GC,13318,1.18,206.3,154.9,5.8,641,13331,0.00,2.67,6.30,0.793,4,0.000,0.074,2649,3501,2059
$GC,13400,1.18,206.3,151.7,6.1,644,13406,0.00,2.50,0.00,0.000,6,0.000,0.043,2649,2094,2059
$GC,13717,1.18,206.3,128.5,8.3,660,13718,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2093,2059
$GC,14025,1.18,206.3,92.7,12.0,675,14030,0.00,2.65,0.00,0.000,4,0.000,0.074,2649,3498,2059
$GC,14075,1.18,206.3,86.6,10.8,677,14080,0.00,2.50,0.00,0.000,6,0.000,0.048,2649,2100,2059
$GC,14392,1.19,221.2,60.4,5.6,692,14414,0.00,2.70,13.25,0.851,4,0.000,0.072,2649,3499,1999
$GC,14448,1.23,253.7,58.0,5.1,694,14481,0.12,2.53,27.27,0.858,6,0.045,0.048,2688,2100,1866
$GC,14794,1.23,253.7,29.4,10.0,711,14795,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2100,1865
$GC,15100,1.23,253.7,2.7,8.7,726,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2100,1865
$STATE,15117,end climb,SURFACE_DEPTH_REACHED
$STATE,15117,begin surface coast
$FINISH,-1.1,1.013763
$STATE,15139,end surface coast,CONTROL_FINISHED_OK
$STATE,15139,begin surface
$SM_CCo,15164,39.47,0.771,2,0,1678,300.00
$SM_GC,-0.44,0.00,0.00,39.47,0.000,0.000,0.771,32,2880,1678,-10.94,-0.57,300.00
$IRIDIUM_FIX,6103.81,-915.18,280497,101020
$TT8_MAMPS,0.028379
$HUMID,2068
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,501.0,91.2
$24V_AH,23.2,77.876
$10V_AH,10.1,36.080
$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,26.100,110.750,343.175,39.475,0.000,156.651,223.212,265.667,4.500,0.000,0.000,14.437,1320.934,11862.887,499.861,1531.501,971.595,0.000,1287.405,0.000,1517.254,0.000,28.281
$DEVICE_MAMPS,159.536,88.205,1169.675,770.835,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,536.894,508.504,484.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34830,728
$CFSIZE,260165632,233472000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
$GPS,020208,145008,6128.487,-912.576,51,1.0,51,-9.3