version: 66.02
glider: 103
mission: 7
dive: 448
start: 1 30 108 13 26 11
data:
$ID,103
$MISSION,7
$DIVE,448
$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,-71111.633
$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,22
$R_STBD_OVSHOOT,8
$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
$GPS1,131555,6123.094,-901.823,30,1.3,40,-9.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-56.0
$GPS2,132539,6123.088,-901.827,16,1.3,16,-9.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$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,173.4,5945,-11.1,-6.000
$D_GRID,362
$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,27,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-64.68,0.000,6,0.000,0.000,29,2889,3500
$GC,97,-1.10,-146.6,2.9,-7.5,3,111,12.18,0.00,0.00,0.000,6,0.160,0.000,2163,2889,3501
$GC,424,-1.10,-146.6,43.3,-8.1,18,428,0.00,1.75,0.00,0.000,4,0.000,0.099,2163,3787,3502
$GC,547,-1.10,-146.6,56.1,-9.8,23,551,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2903,3502
$GC,871,-1.10,-146.6,83.8,-9.2,39,875,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1481,3502
$GC,926,-1.10,-146.6,88.1,-6.9,41,933,0.00,2.67,0.00,0.000,6,0.000,0.068,2163,2909,3503
$GC,1242,-1.10,-146.6,109.0,-7.1,57,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3502
$GC,1552,-1.10,-146.6,131.8,-8.4,72,1556,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,1483,3502
$GC,1584,-1.10,-146.6,135.1,-10.1,73,1591,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2901,3502
$GC,1900,-1.10,-146.6,156.8,-7.0,89,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,2210,-1.10,-146.6,180.2,-7.7,104,2214,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1486,3502
$GC,2276,-1.10,-146.6,185.3,-7.8,107,2281,0.00,2.62,0.00,0.000,6,0.000,0.062,2163,2907,3502
$GC,2597,-1.10,-146.6,207.7,-6.7,123,2602,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1487,3503
$GC,2619,-1.10,-146.6,209.2,-6.7,124,2624,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2907,3502
$GC,2940,-1.10,-146.6,231.8,-7.5,140,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3502
$GC,3249,-1.10,-146.6,256.3,-8.0,155,3254,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1487,3502
$GC,3290,-1.10,-146.6,259.4,-8.2,157,3294,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2901,3502
$GC,3616,-1.10,-146.6,286.4,-8.4,173,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,3925,-1.10,-146.6,311.4,-7.7,188,3930,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1485,3502
$GC,3948,-1.10,-146.6,313.2,-7.6,189,3952,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2900,3502
$GC,4268,-1.10,-146.6,335.8,-6.8,205,4273,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1487,3502
$GC,4296,-1.10,-146.6,337.7,-6.7,206,4300,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2904,3502
$GC,4612,-1.10,-146.6,358.0,-6.7,221,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3502
$STATE,4670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4671,begin apogee
$GC,4679,-0.42,0.0,362.2,6.8,224,4806,0.77,0.00,123.60,1.042,6,0.091,0.000,2317,2092,2901
$STATE,4806,end apogee,CONTROL_FINISHED_OK
$STATE,4806,begin climb
$GC,4809,1.10,146.6,367.0,0.0,230,4936,1.58,2.60,118.80,1.019,4,0.064,0.059,2649,691,2303
$GC,5147,1.11,150.4,356.3,5.9,245,5157,0.00,2.50,4.95,0.754,6,0.000,0.038,2649,2113,2287
$GC,5485,1.11,150.4,336.4,6.0,262,5490,0.00,2.58,0.00,0.000,4,0.000,0.065,2649,3507,2287
$GC,5535,1.11,150.4,333.2,6.1,264,5540,0.00,2.50,0.00,0.000,6,0.000,0.038,2649,2089,2287
$GC,5851,1.11,150.4,313.8,6.2,279,5855,0.00,2.62,0.00,0.000,4,0.000,0.064,2649,3507,2287
$GC,5895,1.11,150.4,310.9,6.4,281,5900,0.00,2.47,0.00,0.000,6,0.000,0.038,2649,2092,2287
$GC,6217,1.16,194.8,293.9,4.8,297,6261,0.00,2.72,37.35,1.005,4,0.000,0.065,2649,3508,2106
$GC,6285,1.17,198.2,290.2,5.9,300,6294,0.00,2.53,4.32,0.711,6,0.000,0.041,2649,2094,2093
$GC,6612,1.19,215.3,271.9,5.5,316,6633,0.00,0.00,15.32,0.952,6,0.000,0.000,2649,2094,2023
$GC,6943,1.19,215.3,252.0,6.5,332,6947,0.00,2.62,0.00,0.000,4,0.000,0.066,2649,3507,2023
$GC,6998,1.19,215.3,248.2,7.0,334,7004,0.00,2.50,0.00,0.000,6,0.000,0.040,2649,2096,2023
$GC,7314,1.19,215.3,224.4,7.6,350,7318,0.00,2.62,0.00,0.000,4,0.000,0.065,2649,3508,2023
$GC,7353,1.19,215.3,221.3,8.1,352,7358,0.00,2.50,0.00,0.000,6,0.000,0.043,2649,2093,2022
$GC,7680,1.19,215.3,196.3,7.4,368,7684,0.00,2.65,0.00,0.000,4,0.000,0.068,2649,3512,2022
$GC,7724,1.19,215.3,192.8,7.9,370,7728,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2101,2022
$GC,8045,1.19,215.3,169.0,7.1,386,8049,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3507,2022
$GC,8084,1.19,215.3,166.0,7.5,388,8089,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2092,2022
$GC,8414,1.19,215.3,143.5,7.3,404,8418,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3505,2022
$GC,8441,1.19,215.3,140.9,9.1,405,8445,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2103,2022
$GC,8757,1.19,215.3,117.1,7.5,420,8762,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3514,2022
$GC,8802,1.19,215.3,114.0,7.1,422,8806,0.00,2.50,0.00,0.000,6,0.000,0.040,2649,2091,2022
$GC,9123,1.19,215.3,91.3,7.1,438,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2091,2022
$GC,9432,1.19,215.3,67.6,7.8,453,9437,0.00,2.65,0.00,0.000,4,0.000,0.071,2649,3506,2022
$GC,9483,1.19,215.3,63.7,7.3,455,9487,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2092,2022
$GC,9799,1.19,215.3,44.8,6.3,470,9803,0.00,2.65,0.00,0.000,4,0.000,0.068,2649,3514,2022
$GC,9849,1.19,215.3,40.9,8.6,472,9853,0.00,2.50,0.00,0.000,6,0.000,0.044,2649,2103,2022
$GC,10165,1.19,215.3,19.5,6.9,487,10169,0.00,2.60,0.00,0.000,4,0.000,0.067,2649,3505,2022
$GC,10209,1.20,224.0,16.9,5.8,489,10226,0.00,2.47,8.65,0.770,6,0.000,0.040,2649,2093,1987
$STATE,10450,end climb,SURFACE_DEPTH_REACHED
$STATE,10450,begin surface coast
$FINISH,-0.7,1.027350
$STATE,10473,end surface coast,CONTROL_FINISHED_OK
$STATE,10474,begin surface
$SM_CCo,10498,59.72,0.810,0,0,1678,300.00
$SM_GC,-0.36,0.00,0.00,59.72,0.000,0.000,0.810,46,2890,1678,-10.87,-0.28,300.00
$IRIDIUM_FIX,6112.75,-1304.08,250497,131335
$TT8_MAMPS,0.029146
$HUMID,2054
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,325.9,61.7
$24V_AH,23.3,74.702
$10V_AH,10.1,34.784
$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,25.900,109.525,313.000,59.725,0.000,78.248,79.814,247.142,2.750,0.000,0.000,16.349,959.787,7909.737,463.685,1181.722,648.820,0.000,1081.594,0.000,1159.541,0.000,16.865
$DEVICE_MAMPS,160.303,98.943,1042.353,809.952,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.713,344.643,426.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25461,502
$CFSIZE,260165632,234315776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,300108,162325,6120.581,-902.076,38,1.2,38,-9.2