version: 66.02
glider: 103
mission: 7
dive: 468
start: 2 2 108 14 56 41
data:
$ID,103
$MISSION,7
$DIVE,468
$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,-72624.711
$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,21
$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
$GPS1,145008,6128.487,-912.576,51,1.0,51,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-57.6
$GPS2,145609,6128.490,-912.489,13,1.3,13,-9.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6139.290,-912.489
$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,585
$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,27,end surface,CONTROL_FINISHED_OK
$STATE,27,begin dive
$GC,31,-1.10,-146.6,0.0,0.0,0,98,0.00,0.00,-65.97,0.000,6,0.000,0.000,32,2883,3499
$GC,102,-1.10,-146.6,2.5,-5.9,3,124,12.15,2.60,0.00,0.000,4,0.160,0.060,2165,1491,3502
$GC,248,-1.10,-146.6,26.1,-11.7,9,252,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2904,3502
$GC,564,-1.10,-146.6,46.5,-4.8,24,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,873,-1.10,-146.6,75.8,-13.0,39,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,1183,-1.10,-146.6,105.0,-10.4,54,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,1492,-1.10,-146.6,133.5,-12.5,69,1496,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1488,3502
$GC,1536,-1.10,-146.6,138.8,-10.9,71,1540,0.00,2.65,0.00,0.000,6,0.000,0.066,2166,2909,3502
$GC,1857,-1.10,-146.6,165.5,-8.1,87,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,2166,-1.10,-146.6,188.2,-7.5,102,2171,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1483,3502
$GC,2206,-1.10,-146.6,191.4,-7.8,104,2211,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2906,3502
$GC,2533,-1.10,-146.6,215.5,-6.8,120,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3502
$GC,2842,-1.10,-146.6,238.6,-7.2,135,2846,0.00,2.60,0.00,0.000,4,0.000,0.059,2165,1480,3502
$GC,2909,-1.10,-146.6,243.5,-7.5,138,2913,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2909,3502
$GC,3230,-1.10,-146.6,266.1,-6.9,154,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,3539,-1.10,-146.6,283.0,-5.3,169,3543,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1487,3502
$GC,3572,-1.10,-146.6,284.6,-4.7,170,3579,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,3889,-1.10,-146.6,299.1,-4.6,186,3893,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1488,3502
$GC,3933,-1.10,-146.6,301.3,-4.5,188,3938,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2898,3502
$GC,4255,-1.10,-146.6,318.6,-5.1,204,4259,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1485,3502
$GC,4299,-1.10,-146.6,321.4,-6.0,206,4304,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2899,3502
$GC,4621,-1.10,-146.6,340.8,-5.9,222,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,4930,-1.10,-146.6,359.9,-7.6,237,4934,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1489,3502
$GC,4998,-1.10,-146.6,365.2,-7.4,240,5002,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2908,3502
$GC,5319,-1.10,-146.6,385.3,-5.6,256,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,5629,-1.10,-146.6,403.3,-5.5,271,5633,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1486,3502
$GC,5673,-1.10,-146.6,406.3,-6.5,273,5678,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2899,3502
$GC,5995,-1.10,-146.6,426.5,-7.3,289,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,6304,-1.10,-146.6,447.4,-7.8,304,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,6614,-1.10,-146.6,472.6,-8.3,319,6618,0.00,2.53,0.00,0.000,4,0.000,0.050,2165,1482,3502
$GC,6649,-1.10,-146.6,475.4,-8.5,320,6655,0.00,2.58,0.00,0.000,6,0.000,0.059,2165,2902,3502
$GC,6965,-1.10,-146.6,496.5,-6.0,336,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,7275,-1.10,-146.6,515.8,-6.3,351,7279,0.00,2.53,0.00,0.000,4,0.000,0.048,2165,1480,3502
$GC,7309,-1.10,-146.6,518.1,-7.0,352,7315,0.00,2.60,0.00,0.000,6,0.000,0.058,2165,2902,3502
$GC,7625,-1.10,-146.6,537.8,-6.2,368,7629,0.00,2.53,0.00,0.000,4,0.000,0.047,2165,1477,3502
$GC,7689,-1.10,-146.6,541.7,-6.4,371,7694,0.00,2.58,0.00,0.000,6,0.000,0.058,2165,2899,3502
$GC,8016,-1.10,-146.6,564.0,-6.9,387,8021,0.00,2.53,0.00,0.000,4,0.000,0.049,2165,1477,3502
$GC,8044,-1.10,-146.6,565.7,-6.1,388,8048,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2899,3502
$STATE,8357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8357,begin apogee
$GC,8366,-0.42,0.0,586.5,7.3,403,8500,0.75,0.00,126.28,1.200,6,0.091,0.000,2317,2084,2901
$STATE,8500,end apogee,CONTROL_FINISHED_OK
$STATE,8500,begin climb
$GC,8503,1.10,146.6,593.1,0.0,410,8635,1.55,2.58,122.07,1.162,4,0.058,0.050,2649,698,2303
$GC,8764,1.23,248.1,589.7,3.2,422,8856,0.12,2.45,85.65,1.143,6,0.041,0.031,2690,2118,1889
$GC,9166,1.23,248.1,559.9,8.7,441,9171,0.00,2.50,0.00,0.000,4,0.000,0.058,2690,3495,1887
$GC,9211,1.23,248.1,555.6,10.1,443,9215,0.00,2.42,0.00,0.000,6,0.000,0.031,2690,2090,1888
$GC,9537,1.23,248.1,523.1,9.8,459,9542,0.00,2.60,0.00,0.000,4,0.000,0.061,2691,3498,1887
$GC,9578,1.23,248.1,518.6,11.6,461,9582,0.00,2.42,0.00,0.000,6,0.000,0.035,2691,2102,1887
$GC,9905,1.23,248.1,485.7,8.7,477,9909,0.00,2.53,0.00,0.000,4,0.000,0.054,2691,699,1887
$GC,9954,1.23,248.1,481.4,9.0,479,9959,0.00,2.42,0.00,0.000,6,0.000,0.036,2691,2090,1887
$GC,10271,1.23,248.1,453.3,8.3,494,10275,0.00,2.62,0.00,0.000,4,0.000,0.067,2690,3511,1887
$GC,10315,1.23,248.1,449.1,9.9,496,10319,0.00,2.47,0.00,0.000,6,0.000,0.038,2691,2101,1886
$GC,10642,1.23,248.1,420.9,9.6,512,10646,0.00,2.55,0.00,0.000,4,0.000,0.058,2690,689,1887
$GC,10697,1.23,248.1,415.2,10.6,514,10704,0.00,2.47,0.00,0.000,6,0.000,0.040,2691,2099,1886
$GC,11014,1.23,248.1,386.3,8.6,530,11018,0.00,2.62,0.00,0.000,4,0.000,0.072,2691,3509,1886
$GC,11053,1.23,248.1,382.5,9.5,532,11058,0.00,2.47,0.00,0.000,6,0.000,0.043,2691,2105,1886
$GC,11381,1.23,248.1,350.3,9.6,548,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2105,1887
$GC,11689,1.23,248.1,318.7,10.3,563,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2105,1887
$GC,11999,1.23,248.1,288.3,9.6,578,12000,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2105,1887
$GC,12308,1.23,248.1,261.0,8.0,593,12312,0.00,2.65,0.00,0.000,4,0.000,0.077,2691,3508,1887
$GC,12348,1.23,248.1,257.9,7.9,595,12352,0.00,2.50,0.00,0.000,6,0.000,0.046,2691,2101,1887
$GC,12676,1.23,248.1,230.1,8.7,611,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2101,1887
$GC,12984,1.23,248.1,200.8,9.9,626,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2101,1887
$GC,13294,1.23,248.1,172.8,10.2,641,13295,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2100,1887
$GC,13603,1.23,248.1,145.3,7.8,656,13607,0.00,2.67,0.00,0.000,4,0.000,0.077,2691,3508,1887
$GC,13636,1.23,248.1,142.4,8.5,657,13642,0.00,2.50,0.00,0.000,6,0.000,0.048,2690,2101,1886
$GC,13953,1.23,248.1,109.7,10.1,673,13957,0.00,2.58,0.00,0.000,4,0.000,0.065,2691,691,1886
$GC,14008,1.23,248.1,104.4,8.7,675,14015,0.00,2.50,0.00,0.000,6,0.000,0.048,2691,2096,1886
$GC,14326,1.23,248.1,74.0,10.1,691,14331,0.00,2.67,0.00,0.000,4,0.000,0.078,2691,3516,1887
$GC,14371,1.23,248.1,69.5,9.1,693,14375,0.00,2.55,0.00,0.000,6,0.000,0.049,2691,2093,1886
$GC,14692,1.23,248.1,37.6,8.3,709,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,1886
$GC,15001,1.23,248.1,12.5,7.2,724,15002,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,1887
$STATE,15122,end climb,SURFACE_DEPTH_REACHED
$STATE,15122,begin surface coast
$FINISH,-0.6,1.027342
$STATE,15145,end surface coast,CONTROL_FINISHED_OK
$STATE,15145,begin surface
$SM_CCo,15171,42.95,0.802,1,0,1678,300.00
$SM_GC,-0.42,0.00,0.00,42.95,0.000,0.000,0.802,50,2903,1678,-10.86,0.06,300.00
$IRIDIUM_FIX,6059.36,-915.18,280497,101030
$TT8_MAMPS,0.029146
$HUMID,2064
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$24V_AH,23.1,78.010
$10V_AH,10.1,36.150
$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,26.200,126.200,334.000,42.950,0.000,32.773,55.334,148.715,5.000,0.000,0.000,13.573,1331.342,11677.272,491.029,1541.170,554.127,0.000,1291.603,0.000,1529.305,0.000,30.084
$DEVICE_MAMPS,160.303,78.234,1199.588,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.768,507.972,460.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34779,731
$CFSIZE,260165632,233422848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,020208,191137,6130.995,-910.426,39,1.5,39,-9.3