version: 66.02
glider: 103
mission: 7
dive: 479
start: 2 4 108 20 13 11
data:
$ID,103
$MISSION,7
$DIVE,479
$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,-72804.852
$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,13
$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
$GPS1,200638,6159.256,-907.493,54,1.0,54,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.49
$_SM_ANGLEo,-57.4
$GPS2,201239,6159.275,-907.446,12,1.9,12,-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,167.4,64521,-11.1,-6.000
$D_GRID,475
$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,21,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-67.38,0.000,6,0.000,0.000,38,2901,3500
$GC,98,-1.10,-146.6,2.4,-7.0,3,119,12.15,2.65,0.00,0.000,4,0.160,0.059,2167,1487,3502
$GC,257,-1.10,-146.6,27.8,-9.6,10,261,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2897,3502
$GC,585,-1.10,-146.6,58.2,-9.6,26,589,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1483,3502
$GC,629,-1.10,-146.6,62.2,-9.1,28,633,0.00,2.70,0.00,0.000,6,0.000,0.073,2167,2905,3502
$GC,951,-1.10,-146.6,99.0,-12.8,44,954,0.00,1.73,0.00,0.000,4,0.000,0.100,2167,3789,3502
$GC,1052,-1.10,-146.6,106.9,-5.5,48,1055,0.00,1.58,0.00,0.000,6,0.000,0.051,2167,2902,3502
$GC,1374,-1.10,-146.6,123.5,-5.2,64,1378,0.00,2.58,0.00,0.000,4,0.000,0.063,2167,1487,3502
$GC,1446,-1.10,-146.6,128.2,-7.1,67,1451,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2907,3502
$GC,1764,-1.10,-146.6,144.8,-5.1,82,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3502
$GC,2071,-1.10,-146.6,164.2,-6.4,97,2076,0.00,2.62,0.00,0.000,4,0.000,0.063,2167,1480,3502
$GC,2105,-1.10,-146.6,166.3,-6.2,98,2111,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,2421,-1.10,-146.6,190.8,-7.0,114,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,2730,-1.10,-146.6,209.6,-5.3,129,2735,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1485,3502
$GC,2772,-1.10,-146.6,211.8,-5.2,131,2776,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2902,3502
$GC,3098,-1.10,-146.6,229.6,-5.3,147,3103,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1487,3502
$GC,3139,-1.10,-146.6,231.9,-5.3,149,3144,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2908,3502
$GC,3466,-1.10,-146.6,253.2,-6.5,165,3469,0.00,1.67,0.00,0.000,4,0.000,0.093,2167,3782,3502
$GC,3534,-1.10,-146.6,258.0,-6.3,168,3538,0.00,1.58,0.00,0.000,6,0.000,0.045,2167,2875,3502
$GC,3867,-1.10,-146.6,279.9,-6.7,184,3871,0.00,2.50,0.00,0.000,4,0.000,0.060,2167,1484,3502
$GC,3917,-1.10,-146.6,283.4,-6.5,186,3921,0.00,2.60,0.00,0.000,6,0.000,0.067,2167,2896,3502
$GC,4233,-1.10,-146.6,303.0,-6.4,201,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2896,3502
$GC,4543,-1.10,-146.6,323.4,-6.9,216,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2896,3502
$GC,4851,-1.10,-146.6,346.5,-8.0,231,4855,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1486,3502
$GC,4885,-1.10,-146.6,349.7,-9.0,232,4892,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2908,3502
$GC,5208,-1.10,-146.6,380.1,-10.0,248,5213,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1482,3502
$GC,5236,-1.10,-146.6,383.0,-10.4,249,5240,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2903,3502
$GC,5552,-1.10,-146.6,412.2,-8.4,264,5556,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1481,3502
$GC,5592,-1.10,-146.6,415.5,-8.8,266,5597,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2908,3502
$GC,5919,-1.10,-146.6,439.5,-7.2,282,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2908,3502
$GC,6229,-1.10,-146.6,461.8,-7.4,297,6233,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1483,3502
$GC,6318,-1.10,-146.6,468.1,-7.5,301,6323,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2902,3502
$STATE,6430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6430,begin apogee
$GC,6439,-0.42,0.0,476.0,6.9,307,6572,0.75,0.00,125.95,1.120,6,0.090,0.000,2317,2096,2901
$STATE,6572,end apogee,CONTROL_FINISHED_OK
$STATE,6573,begin climb
$GC,6576,1.10,146.6,481.1,0.0,314,6707,1.55,2.65,121.43,1.092,4,0.060,0.058,2648,695,2303
$GC,6868,1.10,146.6,472.7,6.2,327,6873,0.00,2.50,0.00,0.000,6,0.000,0.035,2648,2120,2302
$GC,7185,1.12,156.9,455.2,5.7,342,7197,0.00,0.00,10.40,0.973,6,0.000,0.000,2648,2120,2261
$GC,7493,1.12,156.9,432.9,7.3,357,7497,0.00,2.55,0.00,0.000,4,0.000,0.064,2648,3505,2260
$GC,7526,1.12,156.9,430.5,7.0,358,7532,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2093,2260
$GC,7841,1.12,156.9,409.6,6.7,374,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2093,2260
$GC,8151,1.12,156.9,389.9,6.1,389,8156,0.00,2.60,0.00,0.000,4,0.000,0.066,2648,3504,2260
$GC,8218,1.12,156.9,385.5,7.0,392,8223,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2101,2260
$GC,8540,1.15,183.8,368.4,5.3,408,8566,0.00,0.00,23.77,1.032,6,0.000,0.000,2648,2101,2151
$GC,8869,1.21,234.5,352.1,4.6,424,8920,0.12,2.75,42.83,1.052,4,0.045,0.071,2688,3503,1943
$GC,8977,1.21,234.5,345.3,6.8,429,8982,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2104,1942
$GC,9304,1.21,234.5,322.4,7.3,445,9309,0.00,2.58,0.00,0.000,4,0.000,0.060,2688,689,1942
$GC,9338,1.21,234.5,319.9,7.7,446,9344,0.00,2.50,0.00,0.000,6,0.000,0.042,2688,2093,1942
$GC,9653,1.21,234.5,297.8,7.1,462,9655,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1942
$GC,9963,1.21,234.5,275.2,7.3,477,9968,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3511,1942
$GC,10003,1.21,234.5,272.2,7.8,479,10007,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2100,1942
$GC,10329,1.21,234.5,247.6,7.8,495,10333,0.00,2.67,0.00,0.000,4,0.000,0.075,2688,3510,1942
$GC,10362,1.21,234.5,245.0,8.1,496,10368,0.00,2.53,0.00,0.000,6,0.000,0.044,2688,2095,1942
$GC,10678,1.21,234.5,221.5,7.2,512,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2095,1942
$GC,10987,1.21,234.5,195.2,9.3,527,10992,0.00,2.70,0.00,0.000,4,0.000,0.075,2688,3518,1942
$GC,11005,1.21,234.5,193.5,9.8,528,11009,0.00,2.53,0.00,0.000,6,0.000,0.047,2688,2096,1942
$GC,11331,1.21,234.5,166.1,8.2,544,11332,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1942
$GC,11641,1.21,234.5,138.7,9.1,559,11643,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1942
$GC,11951,1.21,234.5,114.3,6.4,574,11955,0.00,2.67,0.00,0.000,4,0.000,0.076,2688,3512,1942
$GC,11972,1.21,234.5,112.7,6.9,575,11977,0.00,2.53,0.00,0.000,6,0.000,0.046,2688,2098,1942
$GC,12294,1.21,234.5,87.0,6.8,591,12298,0.00,2.55,0.00,0.000,4,0.000,0.063,2688,694,1942
$GC,12361,1.21,234.5,81.2,6.5,594,12365,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2103,1942
$GC,12682,1.21,234.5,50.8,9.6,610,12687,0.00,2.62,0.00,0.000,4,0.000,0.073,2688,3512,1942
$GC,12723,1.21,234.5,47.1,9.5,612,12727,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2098,1942
$GC,13051,1.21,236.2,26.0,6.0,628,13055,0.00,2.58,0.00,0.000,4,0.000,0.065,2688,691,1942
$GC,13145,1.21,236.2,17.8,8.2,632,13150,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2102,1942
$STATE,13335,end climb,SURFACE_DEPTH_REACHED
$STATE,13335,begin surface coast
$FINISH,-0.7,1.027358
$STATE,13357,end surface coast,CONTROL_FINISHED_OK
$STATE,13357,begin surface
$SM_CCo,13382,53.83,0.799,1,0,1678,300.00
$SM_GC,-0.38,0.00,0.00,53.83,0.000,0.000,0.799,48,2892,1678,-10.87,-0.23,300.00
$IRIDIUM_FIX,6135.28,-907.41,300497,161603
$TT8_MAMPS,0.029146
$HUMID,2063
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,401.4,89.2
$24V_AH,23.2,79.802
$10V_AH,10.1,37.032
$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,26.200,128.775,324.375,53.825,0.000,41.257,40.382,149.413,3.500,0.000,0.000,12.281,1205.407,10122.668,502.521,1453.549,532.796,0.000,1253.890,0.000,1432.341,0.000,21.808
$DEVICE_MAMPS,160.303,99.710,1119.820,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,473.159,444.154,458.522,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31676,642
$CFSIZE,260165632,232792064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,040208,235852,6156.664,-905.692,42,2.3,61,-9.4