version: 66.02
glider: 103
mission: 7
dive: 476
start: 2 4 108 8 2 57
data:
$ID,103
$MISSION,7
$DIVE,476
$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,-1
$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,-72764.133
$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,16
$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
$GPS1,075608,6159.789,-919.310,36,0.8,36,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-58.7
$GPS2,080226,6159.888,-919.179,10,1.8,10,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$TGT_RADIUS,3704.000
$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,159.9,70089,-11.1,-6.000
$D_GRID,516
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-75.07,0.000,6,0.000,0.000,46,2896,3499
$GC,110,-1.10,-146.6,5.3,-9.2,4,131,11.90,2.65,0.00,0.000,4,0.154,0.062,2166,1486,3501
$GC,200,-1.10,-146.6,21.7,-7.3,8,205,0.00,2.72,0.00,0.000,6,0.000,0.079,2166,2909,3502
$GC,527,-1.10,-146.6,44.6,-7.1,24,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,836,-1.10,-146.6,69.4,-8.9,39,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,1146,-1.10,-146.6,93.4,-6.2,54,1150,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1484,3502
$GC,1174,-1.10,-146.6,94.9,-5.3,55,1178,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2897,3502
$GC,1491,-1.10,-146.6,112.1,-7.6,70,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2897,3502
$GC,1799,-1.10,-146.6,130.6,-6.6,85,1803,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3502
$GC,1849,-1.10,-146.6,133.7,-6.4,87,1854,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2903,3502
$GC,2165,-1.10,-146.6,154.1,-6.4,102,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,2475,-1.10,-146.6,175.4,-7.4,117,2479,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1484,3502
$GC,2525,-1.10,-146.6,179.3,-7.3,119,2529,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2900,3502
$GC,2841,-1.10,-146.6,203.7,-7.8,134,2845,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1481,3502
$GC,2868,-1.10,-146.6,206.1,-8.5,135,2872,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2899,3502
$GC,3184,-1.10,-146.6,232.8,-8.8,150,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,3493,-1.10,-146.6,260.3,-8.8,165,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,3802,-1.10,-146.6,287.1,-8.8,180,3806,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1483,3502
$GC,3842,-1.10,-146.6,290.4,-8.6,182,3847,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2898,3502
$GC,4168,-1.10,-146.6,317.8,-8.2,198,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,4478,-1.10,-146.6,340.7,-6.9,213,4482,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1479,3502
$GC,4518,-1.10,-146.6,343.3,-7.7,215,4522,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2901,3502
$GC,4844,-1.10,-146.6,368.5,-7.7,231,4849,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1480,3502
$GC,4895,-1.10,-146.6,372.4,-7.8,233,4899,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2900,3502
$GC,5211,-1.10,-146.6,395.8,-6.9,248,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,5520,-1.10,-146.6,410.8,-4.4,263,5524,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1484,3502
$GC,5570,-1.10,-146.6,413.0,-4.7,265,5574,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2900,3502
$GC,5886,-1.10,-146.6,430.2,-5.9,280,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,6195,-1.10,-146.6,452.5,-8.5,295,6198,0.00,1.70,0.00,0.000,4,0.000,0.095,2166,3787,3502
$GC,6246,-1.10,-146.6,457.2,-9.3,297,6250,0.00,1.58,0.00,0.000,6,0.000,0.043,2166,2899,3502
$GC,6573,-1.10,-146.6,485.9,-8.5,313,6577,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1480,3502
$GC,6612,-1.10,-146.6,489.1,-8.6,315,6617,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2903,3502
$GC,6940,-1.10,-146.6,512.8,-5.8,331,6944,0.00,1.67,0.00,0.000,4,0.000,0.091,2166,3784,3502
$STATE,6954,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6954,begin apogee
$GC,6964,-0.42,0.0,514.2,6.6,331,7092,0.73,0.00,124.80,1.174,6,0.096,0.000,2313,2099,2901
$STATE,7093,end apogee,CONTROL_FINISHED_OK
$STATE,7093,begin climb
$GC,7096,1.10,146.6,520.3,0.0,338,7227,1.58,2.62,121.47,1.135,4,0.063,0.054,2646,699,2303
$GC,7480,1.10,146.6,506.8,6.1,355,7484,0.00,2.47,0.00,0.000,6,0.000,0.035,2646,2112,2302
$GC,7796,1.17,198.9,490.3,4.6,370,7846,0.00,2.65,44.62,1.128,4,0.000,0.067,2646,3502,2090
$GC,7914,1.18,213.2,484.3,5.6,375,7935,0.00,2.47,13.62,1.050,6,0.000,0.039,2646,2093,2031
$GC,8251,1.18,213.2,462.4,7.4,392,8256,0.00,2.65,0.00,0.000,4,0.000,0.069,2646,3504,2029
$GC,8337,1.18,213.2,455.7,8.0,396,8342,0.00,2.47,0.00,0.000,6,0.000,0.043,2646,2102,2029
$GC,8663,1.18,213.2,429.0,8.3,412,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2102,2029
$GC,8973,1.18,213.2,406.8,6.6,427,8978,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3502,2028
$GC,9052,1.18,213.2,401.4,6.7,430,9058,0.00,2.47,0.00,0.000,6,0.000,0.043,2646,2102,2028
$GC,9368,1.18,213.2,380.5,6.7,446,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2102,2028
$GC,9678,1.18,213.2,359.3,6.5,461,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2102,2028
$GC,9986,1.18,213.2,335.9,8.0,476,9991,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3509,2028
$GC,10004,1.18,213.2,334.3,8.2,477,10008,0.00,2.50,0.00,0.000,6,0.000,0.046,2646,2100,2028
$GC,10331,1.18,213.2,304.4,9.8,493,10335,0.00,2.65,0.00,0.000,4,0.000,0.072,2646,3509,2028
$GC,10403,1.18,213.2,297.0,10.1,496,10407,0.00,2.53,0.00,0.000,6,0.000,0.046,2646,2093,2028
$GC,10719,1.18,213.2,268.0,9.6,511,10724,0.00,2.65,0.00,0.000,4,0.000,0.070,2646,3507,2028
$GC,10760,1.18,213.2,264.1,9.8,513,10764,0.00,2.47,0.00,0.000,6,0.000,0.044,2646,2099,2028
$GC,11086,1.18,213.2,235.1,8.6,529,11091,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3509,2028
$GC,11144,1.18,213.2,230.0,9.2,531,11150,0.00,2.50,0.00,0.000,6,0.000,0.042,2646,2097,2028
$GC,11460,1.18,213.2,204.4,7.8,547,11465,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3507,2028
$GC,11494,1.18,213.2,201.6,7.8,548,11499,0.00,2.50,0.00,0.000,6,0.000,0.042,2646,2095,2028
$GC,11809,1.18,213.2,178.9,7.0,564,11814,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3501,2029
$GC,11843,1.18,213.2,176.3,7.0,565,11850,0.00,2.47,0.00,0.000,6,0.000,0.045,2646,2100,2029
$GC,12160,1.18,213.2,152.8,7.5,581,12164,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3501,2029
$GC,12192,1.18,213.2,150.2,7.3,582,12198,0.00,2.47,0.00,0.000,6,0.000,0.044,2646,2099,2029
$GC,12509,1.18,213.2,127.5,7.4,598,12513,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3508,2029
$GC,12536,1.18,213.2,125.6,7.3,599,12541,0.00,2.50,0.00,0.000,6,0.000,0.045,2646,2101,2029
$GC,12854,1.18,213.2,103.9,7.1,614,12858,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3502,2029
$GC,12887,1.18,213.2,101.3,7.2,615,12893,0.00,2.50,0.00,0.000,6,0.000,0.048,2646,2093,2029
$GC,13203,1.18,213.2,78.1,7.5,631,13208,0.00,2.65,0.00,0.000,4,0.000,0.071,2646,3507,2029
$GC,13236,1.18,213.2,75.6,7.8,632,13243,0.00,2.50,0.00,0.000,6,0.000,0.045,2646,2093,2029
$GC,13554,1.18,213.2,51.8,8.6,648,13558,0.00,2.65,0.00,0.000,4,0.000,0.072,2646,3504,2029
$GC,13582,1.18,213.2,49.1,8.5,649,13586,0.00,2.50,0.00,0.000,6,0.000,0.048,2646,2102,2029
$GC,13898,1.18,213.2,26.4,7.5,664,13902,0.00,2.62,0.00,0.000,4,0.000,0.072,2646,3501,2030
$GC,13919,1.18,213.2,24.8,7.0,665,13924,0.00,2.50,0.00,0.000,6,0.000,0.048,2646,2100,2030
$STATE,14239,end climb,SURFACE_DEPTH_REACHED
$STATE,14239,begin surface coast
$FINISH,-0.0,1.027351
$STATE,14260,end surface coast,CONTROL_FINISHED_OK
$STATE,14260,begin surface
$SM_CCo,14285,70.07,0.798,1,0,1678,300.00
$SM_GC,-0.46,0.00,0.00,70.07,0.000,0.000,0.798,42,2899,1678,-10.89,-0.03,300.00
$IRIDIUM_FIX,6130.75,-820.09,300497,040400
$TT8_MAMPS,0.028379
$HUMID,2061
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.3,98.6
$24V_AH,23.1,79.392
$10V_AH,10.1,36.822
$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,25.525,144.150,304.525,70.075,0.000,39.860,36.576,183.135,3.750,0.000,0.000,10.062,1266.563,10878.402,514.569,1519.953,574.764,0.000,1303.936,0.000,1504.854,0.000,23.439
$DEVICE_MAMPS,154.167,95.108,1174.277,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.224,484.587,502.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34768,682
$CFSIZE,260165632,232935424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,040208,120337,6159.979,-913.494,41,1.1,41,-9.5