version: 66.02
glider: 103
mission: 7
dive: 478
start: 2 4 108 16 4 47
data:
$ID,103
$MISSION,7
$DIVE,478
$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,-72791.945
$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,20
$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
$GPS1,154738,6159.182,-910.822,35,0.9,35,-9.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.46
$_SM_ANGLEo,-57.7
$GPS2,160415,6159.291,-910.897,12,1.5,12,-9.5
$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,164.9,65758,-11.1,-6.000
$D_GRID,495
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.10,-146.6,0.0,0.0,0,98,0.00,0.00,-68.50,0.000,6,0.000,0.000,43,2900,3500
$GC,102,-1.10,-146.6,2.1,-6.4,3,123,12.07,2.62,0.00,0.000,4,0.159,0.055,2166,1481,3501
$GC,207,-1.10,-146.6,20.0,-7.9,7,214,0.00,2.70,0.00,0.000,6,0.000,0.076,2166,2906,3501
$GC,524,-1.10,-146.6,44.6,-6.7,23,528,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1488,3502
$GC,570,-1.10,-146.6,47.3,-5.6,25,574,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2900,3502
$GC,891,-1.10,-146.6,66.8,-6.4,41,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3501
$GC,1202,-1.10,-146.6,86.8,-7.0,56,1206,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1486,3502
$GC,1266,-1.10,-146.6,91.2,-7.3,59,1270,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2900,3502
$GC,1594,-1.10,-146.6,116.3,-9.4,75,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,1903,-1.10,-146.6,137.2,-6.5,90,1907,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1487,3501
$GC,1952,-1.10,-146.6,140.5,-6.2,92,1957,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2900,3502
$GC,2268,-1.10,-146.6,160.8,-6.8,107,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,2578,-1.10,-146.6,180.7,-7.0,122,2582,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1488,3502
$GC,2624,-1.10,-146.6,183.9,-7.3,124,2628,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2903,3502
$GC,2950,-1.10,-146.6,208.0,-7.2,140,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3501
$GC,3260,-1.10,-146.6,230.6,-6.7,155,3264,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1483,3502
$GC,3304,-1.10,-146.6,233.9,-7.7,157,3309,0.00,2.67,0.00,0.000,6,0.000,0.074,2166,2903,3501
$GC,3625,-1.10,-146.6,254.8,-6.1,173,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,3938,-1.10,-146.6,275.3,-7.5,188,3942,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1482,3502
$GC,3982,-1.10,-146.6,278.6,-7.0,190,3986,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3501
$GC,4303,-1.10,-146.6,302.7,-7.7,206,4307,0.00,1.70,0.00,0.000,4,0.000,0.098,2166,3784,3501
$GC,4360,-1.10,-146.6,306.9,-7.7,208,4363,0.00,1.58,0.00,0.000,6,0.000,0.048,2167,2893,3502
$GC,4681,-1.10,-146.6,331.5,-8.8,224,4685,0.00,2.53,0.00,0.000,4,0.000,0.063,2166,1487,3501
$GC,4742,-1.10,-146.6,336.9,-8.7,226,4749,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2906,3502
$GC,5059,-1.10,-146.6,363.7,-8.2,242,5063,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1484,3502
$GC,5098,-1.10,-146.6,367.0,-8.0,244,5103,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2900,3501
$GC,5425,-1.10,-146.6,393.8,-8.3,260,5428,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1480,3502
$GC,5452,-1.10,-146.6,396.2,-8.4,261,5457,0.00,2.65,0.00,0.000,6,0.000,0.068,2166,2900,3502
$GC,5774,-1.10,-146.6,422.1,-7.5,277,5778,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1482,3502
$GC,5814,-1.10,-146.6,425.0,-7.4,279,5818,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2905,3502
$GC,6141,-1.10,-146.6,446.8,-6.4,295,6145,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1483,3502
$GC,6173,-1.10,-146.6,449.0,-6.4,296,6179,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,6489,-1.10,-146.6,469.0,-6.7,312,6493,0.00,1.67,0.00,0.000,4,0.000,0.092,2166,3782,3502
$GC,6718,-1.10,-146.6,485.4,-7.4,322,6722,0.00,1.58,0.00,0.000,6,0.000,0.044,2166,2882,3501
$STATE,6816,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6816,begin apogee
$GC,6825,-0.42,0.0,492.1,6.8,327,6953,0.75,0.00,125.22,1.141,6,0.095,0.000,2315,2089,2901
$STATE,6954,end apogee,CONTROL_FINISHED_OK
$STATE,6954,begin climb
$GC,6957,1.10,146.6,496.2,0.0,333,7088,1.58,2.62,121.70,1.095,4,0.065,0.057,2647,696,2303
$GC,7333,1.10,146.6,477.5,7.8,350,7337,0.00,2.47,0.00,0.000,6,0.000,0.037,2647,2109,2302
$GC,7655,1.10,146.6,452.5,6.9,366,7659,0.00,2.58,0.00,0.000,4,0.000,0.066,2647,3507,2301
$GC,7766,1.10,146.6,445.5,6.3,371,7770,0.00,2.47,0.00,0.000,6,0.000,0.038,2647,2098,2301
$GC,8087,1.10,146.6,425.7,6.1,387,8092,0.00,2.62,0.00,0.000,4,0.000,0.066,2647,3512,2301
$GC,8176,1.10,146.6,419.8,6.0,391,8181,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2095,2300
$GC,8497,1.10,146.6,400.5,6.1,407,8501,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3511,2300
$GC,8541,1.10,146.6,397.6,6.6,409,8546,0.00,2.50,0.00,0.000,6,0.000,0.041,2647,2097,2300
$GC,8863,1.10,146.6,377.5,6.5,425,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2097,2300
$GC,9172,1.10,146.6,355.4,7.1,440,9176,0.00,2.62,0.00,0.000,4,0.000,0.068,2647,3507,2300
$GC,9205,1.10,146.6,352.8,7.9,441,9211,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2095,2300
$GC,9521,1.10,146.6,331.3,6.7,457,9525,0.00,2.55,0.00,0.000,4,0.000,0.062,2647,689,2300
$GC,9593,1.10,146.6,326.0,7.2,460,9597,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2098,2300
$GC,9909,1.10,146.6,303.9,7.2,475,9913,0.00,2.60,0.00,0.000,4,0.000,0.070,2647,3508,2299
$GC,9959,1.10,146.6,300.1,7.5,477,9963,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2098,2300
$GC,10280,1.10,146.6,278.0,6.6,493,10284,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3515,2300
$GC,10313,1.10,146.6,275.6,7.4,494,10319,0.00,2.50,0.00,0.000,6,0.000,0.042,2647,2099,2300
$GC,10629,1.10,146.6,253.4,6.9,510,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2099,2300
$GC,10939,1.13,167.1,234.2,5.4,525,10963,0.00,2.72,17.92,0.946,4,0.000,0.069,2647,3508,2219
$GC,11022,1.13,169.3,229.2,5.9,528,11028,0.00,2.53,0.00,0.000,6,0.000,0.044,2647,2096,2219
$GC,11338,1.15,184.6,210.9,5.6,544,11359,0.00,2.72,15.73,0.920,4,0.000,0.071,2647,3511,2148
$GC,11388,1.15,184.6,207.9,6.3,546,11392,0.00,2.53,0.00,0.000,6,0.000,0.043,2647,2101,2148
$GC,11709,1.15,184.6,188.8,6.5,562,11713,0.00,2.65,0.00,0.000,4,0.000,0.072,2647,3505,2147
$GC,11730,1.15,184.6,187.1,7.3,563,11735,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2095,2147
$GC,12052,1.15,184.6,166.6,6.3,579,12056,0.00,2.65,0.00,0.000,4,0.000,0.069,2647,3510,2147
$GC,12102,1.15,184.6,162.7,7.4,581,12106,0.00,2.53,0.00,0.000,6,0.000,0.044,2647,2093,2148
$GC,12418,1.20,229.2,140.7,4.8,596,12459,0.12,0.00,37.67,0.904,6,0.046,0.000,2688,2092,1966
$GC,12769,1.20,229.2,113.8,6.9,613,12774,0.00,2.70,0.00,0.000,4,0.000,0.074,2687,3512,1965
$GC,12792,1.20,229.2,111.9,7.6,614,12796,0.00,2.55,0.00,0.000,6,0.000,0.051,2688,2098,1965
$GC,13113,1.20,229.2,84.0,9.8,630,13117,0.00,2.55,0.00,0.000,4,0.000,0.061,2688,696,1965
$GC,13162,1.20,229.2,80.2,6.7,632,13167,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2096,1965
$GC,13479,1.20,229.2,57.0,6.6,647,13480,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1965
$GC,13788,1.20,229.2,39.8,7.2,662,13792,0.00,2.58,0.00,0.000,4,0.000,0.059,2688,689,1965
$GC,13815,1.20,229.2,37.0,10.8,663,13819,0.00,2.55,0.00,0.000,6,0.000,0.050,2688,2107,1965
$GC,14133,1.20,229.2,13.3,6.9,678,14138,0.00,2.62,0.00,0.000,4,0.000,0.076,2687,3508,1965
$GC,14156,1.20,229.2,11.7,6.7,679,14160,0.00,2.53,0.00,0.000,6,0.000,0.047,2688,2098,1965
$STATE,14309,end climb,SURFACE_DEPTH_REACHED
$STATE,14309,begin surface coast
$FINISH,-1.2,1.027364
$STATE,14331,end surface coast,CONTROL_FINISHED_OK
$STATE,14331,begin surface
$SM_CCo,14356,58.03,0.795,1,0,1678,300.00
$SM_GC,-0.42,0.00,0.00,58.03,0.000,0.000,0.795,38,2899,1678,-10.91,-0.03,300.00
$IRIDIUM_FIX,6135.28,-911.93,300497,161601
$TT8_MAMPS,0.029146
$HUMID,2062
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,400.4,101.1
$24V_AH,23.2,79.676
$10V_AH,10.1,36.965
$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,26.125,154.625,318.250,58.025,0.000,152.713,155.232,368.588,3.500,0.000,0.000,12.586,1306.710,10982.775,515.177,1611.295,1018.025,0.000,1340.602,0.000,1586.541,0.000,21.833
$DEVICE_MAMPS,158.769,98.176,1141.296,794.612,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.986,489.677,506.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34773,688
$CFSIZE,260165632,232828928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,040208,200638,6159.256,-907.493,54,1.0,54,-9.5