version: 66.02
glider: 103
mission: 7
dive: 475
start: 2 4 108 4 1 38
data:
$ID,103
$MISSION,7
$DIVE,475
$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,-72753.445
$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,24
$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
$GPS1,035008,6154.769,-923.110,31,1.4,31,-9.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.50
$_SM_ANGLEo,-54.6
$GPS2,040103,6154.949,-922.874,12,1.5,18,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6205.748,-922.874
$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,9.6,20000,-11.1,-6.000
$D_GRID,560
$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,26,begin dive
$GC,29,-1.10,-146.6,0.0,0.0,0,97,0.00,0.00,-65.70,0.000,6,0.000,0.000,46,2910,3499
$GC,100,-1.10,-146.6,3.0,-8.6,3,122,11.98,2.67,0.00,0.000,4,0.156,0.061,2166,1484,3502
$GC,374,-1.10,-146.6,34.6,-9.6,15,379,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2887,3502
$GC,697,-1.10,-146.6,59.4,-7.6,31,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2887,3502
$GC,1007,-1.10,-146.6,83.5,-7.8,46,1011,0.00,2.60,0.00,0.000,4,0.000,0.069,2166,1490,3502
$GC,1051,-1.10,-146.6,87.1,-7.3,48,1055,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2909,3502
$GC,1372,-1.10,-146.6,111.9,-8.0,64,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,1682,-1.10,-146.6,135.3,-7.5,79,1686,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1488,3502
$GC,1744,-1.10,-146.6,140.3,-7.6,82,1749,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2902,3502
$GC,2071,-1.10,-146.6,164.0,-7.1,98,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,2381,-1.10,-146.6,185.4,-7.2,113,2385,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1490,3502
$GC,2447,-1.10,-146.6,190.6,-7.5,116,2452,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2903,3502
$GC,2769,-1.10,-146.6,214.6,-7.4,132,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,3077,-1.10,-146.6,237.4,-7.2,147,3082,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1488,3502
$GC,3133,-1.10,-146.6,241.1,-6.8,149,3139,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,3449,-1.10,-146.6,263.6,-7.4,165,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,3758,-1.10,-146.6,287.7,-8.1,180,3762,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1483,3502
$GC,3820,-1.10,-146.6,293.4,-9.4,183,3824,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,4147,-1.10,-146.6,322.6,-9.3,199,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,4456,-1.10,-146.6,349.6,-8.1,214,4460,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1488,3502
$GC,4511,-1.10,-146.6,353.7,-7.0,216,4515,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,4828,-1.10,-146.6,372.7,-6.1,231,4832,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1487,3502
$GC,4874,-1.10,-146.6,375.4,-5.8,233,4878,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2900,3502
$GC,5201,-1.10,-146.6,389.7,-3.7,249,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,5510,-1.10,-146.6,403.2,-6.8,264,5514,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1485,3502
$GC,5610,-1.10,-146.6,411.2,-8.4,268,5616,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,5926,-1.10,-146.6,436.1,-7.5,284,5930,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1483,3502
$GC,5976,-1.10,-146.6,439.7,-7.0,286,5980,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,6293,-1.10,-146.6,452.0,-3.2,301,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,6601,-1.10,-146.6,471.6,-8.9,316,6606,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1480,3502
$GC,6635,-1.10,-146.6,475.0,-10.3,317,6647,0.00,2.62,0.00,0.000,6,0.000,0.063,2166,2903,3502
$GC,6951,-1.10,-146.6,502.5,-6.0,333,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,7260,-1.10,-146.6,516.8,-7.5,348,7265,0.00,2.53,0.00,0.000,4,0.000,0.049,2166,1483,3502
$GC,7386,-1.10,-146.6,526.3,-8.2,353,7392,0.00,2.62,0.00,0.000,6,0.000,0.063,2166,2906,3502
$GC,7702,-1.10,-146.6,545.2,-4.6,369,7706,0.00,2.55,0.00,0.000,4,0.000,0.052,2166,1482,3502
$GC,7764,-1.10,-146.6,550.1,-9.0,372,7768,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2899,3502
$STATE,7902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7902,begin apogee
$GC,7911,-0.42,0.0,560.0,5.8,379,8045,0.73,0.00,126.93,1.191,6,0.074,0.000,2318,2093,2901
$STATE,8046,end apogee,CONTROL_FINISHED_OK
$STATE,8046,begin climb
$GC,8049,1.10,146.6,560.8,0.0,386,8180,1.60,2.75,122.70,1.151,4,0.064,0.074,2651,3511,2303
$GC,8436,1.14,174.0,559.2,5.2,404,8466,0.00,2.50,24.58,1.141,6,0.000,0.037,2651,2083,2191
$GC,8783,1.14,174.0,532.1,9.1,421,8787,0.00,2.67,0.00,0.000,4,0.000,0.064,2651,3515,2190
$GC,8872,1.14,174.0,525.6,6.1,425,8876,0.00,2.47,0.00,0.000,6,0.000,0.036,2651,2101,2190
$GC,9194,1.35,349.1,519.4,1.2,441,9352,0.20,2.67,146.32,1.178,4,0.036,0.060,2710,703,1477
$GC,9404,1.35,349.1,497.3,16.0,451,9408,0.00,2.50,0.00,0.000,6,0.000,0.041,2711,2103,1477
$GC,9730,1.35,349.1,454.5,10.8,467,9735,0.00,2.65,0.00,0.000,4,0.000,0.075,2711,3510,1476
$GC,9775,1.35,349.1,450.0,10.0,469,9779,0.00,2.50,0.00,0.000,6,0.000,0.043,2711,2109,1475
$GC,10096,1.35,349.1,418.5,10.2,485,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2108,1475
$GC,10405,1.35,349.1,386.4,10.0,500,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2109,1475
$GC,10715,1.35,349.1,355.0,10.3,515,10719,0.00,2.67,0.00,0.000,4,0.000,0.077,2711,3513,1475
$GC,10748,1.35,349.1,351.2,11.0,516,10753,0.00,2.53,0.00,0.000,6,0.000,0.045,2711,2100,1474
$GC,11063,1.35,349.1,319.0,10.9,532,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2100,1474
$GC,11373,1.35,349.1,280.2,13.7,547,11378,0.00,2.67,0.00,0.000,4,0.000,0.079,2711,3513,1475
$GC,11401,1.35,349.1,276.2,13.9,548,11405,0.00,2.53,0.00,0.000,6,0.000,0.046,2711,2101,1475
$GC,11716,1.35,349.1,235.8,11.9,563,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2101,1475
$GC,12026,1.35,349.1,204.5,9.3,578,12031,0.00,2.65,0.00,0.000,4,0.000,0.077,2711,3508,1475
$GC,12059,1.35,349.1,201.0,9.3,579,12065,0.00,2.53,0.00,0.000,6,0.000,0.048,2711,2103,1475
$GC,12375,1.35,349.1,171.2,9.6,595,12379,0.00,2.67,0.00,0.000,4,0.000,0.079,2711,3516,1475
$GC,12410,1.35,349.1,167.7,10.9,596,12416,0.00,2.55,0.00,0.000,6,0.000,0.048,2711,2096,1475
$GC,12726,1.35,349.1,134.4,10.1,612,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2096,1475
$GC,13035,1.35,349.1,99.8,11.9,627,13036,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2096,1475
$GC,13345,1.35,349.1,59.6,11.9,642,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2095,1476
$GC,13655,1.35,349.1,26.3,12.9,657,13660,0.00,2.72,0.00,0.000,4,0.000,0.084,2711,3511,1475
$GC,13677,1.35,349.1,23.3,11.9,658,13682,0.00,2.55,0.00,0.000,6,0.000,0.052,2711,2103,1475
$STATE,13892,end climb,SURFACE_DEPTH_REACHED
$STATE,13893,begin surface coast
$FINISH,-1.2,1.014373
$STATE,13914,end surface coast,CONTROL_FINISHED_OK
$STATE,13914,begin surface
$SM_CCo,14000,0.00,0.000,0,0,1474,350.04
$SM_GC,-0.29,11.65,0.00,0.00,0.027,0.000,0.000,46,2893,1474,-10.80,-0.20,350.04
$IRIDIUM_FIX,6130.75,-929.24,300497,040422
$TT8_MAMPS,0.028379
$HUMID,2078
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.5,93.8
$24V_AH,23.1,79.262
$10V_AH,10.1,36.752
$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,26.150,117.700,420.525,0.000,0.000,78.702,161.277,205.081,4.250,0.000,0.000,18.560,1234.634,10622.374,504.977,1535.645,766.847,0.000,1304.257,0.000,1512.741,0.000,26.689
$DEVICE_MAMPS,156.468,91.273,1191.151,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,488.048,474.033,438.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34805,670
$CFSIZE,260165632,232988672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,040208,075608,6159.789,-919.310,36,0.8,36,-9.6