version: 66.02
glider: 103
mission: 7
dive: 461
start: 2 1 108 12 58 1
data:
$ID,103
$MISSION,7
$DIVE,461
$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,571.30371
$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,-72465.047
$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,15
$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
$GPS1,123009,6124.697,-903.792,39,1.7,40,-9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-49.1
$GPS2,125727,6124.352,-904.378,18,2.0,18,-9.2
$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,86.4,22128,-11.1,-6.000
$D_GRID,392
$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,-146.6,0.0,0.0,0,132,0.00,0.00,-105.62,0.000,6,0.000,0.000,42,2901,3501
$GC,136,-1.10,-146.6,2.9,-3.9,5,157,12.02,2.65,0.00,0.000,4,0.159,0.064,2164,1492,3502
$GC,354,-1.10,-146.6,27.8,-5.1,14,361,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2898,3503
$GC,672,-1.10,-146.6,49.7,-6.8,30,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,980,-1.10,-146.6,67.4,-5.6,45,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,1290,-1.10,-146.6,92.4,-11.6,60,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2898,3503
$GC,1599,-1.10,-146.6,120.2,-9.9,75,1603,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1480,3503
$GC,1671,-1.10,-146.6,125.3,-5.0,78,1676,0.00,2.70,0.00,0.000,6,0.000,0.074,2164,2906,3503
$GC,1990,-1.10,-146.6,150.9,-7.6,93,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,2296,-1.10,-146.6,181.6,-9.6,108,2301,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1485,3503
$GC,2360,-1.10,-146.6,188.7,-11.9,111,2364,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2903,3503
$GC,2686,-1.10,-146.6,220.6,-8.5,127,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,2996,-1.10,-146.6,244.7,-7.1,142,3000,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1489,3503
$GC,3035,-1.10,-146.6,247.6,-7.6,144,3040,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3503
$GC,3362,-1.10,-146.6,273.3,-8.3,160,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,3671,-1.10,-146.6,296.6,-7.1,175,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,3980,-1.10,-146.6,318.4,-7.0,190,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,4289,-1.10,-146.6,339.5,-7.0,205,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,4599,-1.10,-146.6,361.6,-7.3,220,4603,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1487,3503
$GC,4643,-1.10,-146.6,365.0,-7.8,222,4647,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2901,3503
$GC,4964,-1.10,-146.6,387.9,-6.9,238,4968,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1487,3503
$GC,5008,-1.10,-146.6,391.2,-7.2,240,5013,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2901,3503
$STATE,5018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5018,begin apogee
$GC,5026,-0.42,0.0,392.1,7.7,241,5154,0.75,0.00,124.00,1.062,6,0.089,0.000,2315,2099,2901
$STATE,5154,end apogee,CONTROL_FINISHED_OK
$STATE,5154,begin climb
$GC,5157,1.10,146.6,396.8,0.0,247,5285,1.58,2.60,119.55,1.035,4,0.064,0.054,2647,691,2303
$GC,5451,1.15,188.0,388.9,4.9,260,5492,0.00,2.47,35.25,1.002,6,0.000,0.034,2647,2119,2134
$GC,5805,1.16,189.5,368.7,6.0,277,5810,0.00,2.53,0.00,0.000,4,0.000,0.064,2647,3501,2133
$GC,5845,1.16,189.5,365.9,6.1,279,5850,0.00,2.45,0.00,0.000,6,0.000,0.035,2647,2092,2133
$GC,6172,1.16,189.5,342.9,6.8,295,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2092,2133
$GC,6482,1.16,189.5,322.0,7.1,310,6486,0.00,2.62,0.00,0.000,4,0.000,0.065,2647,3501,2133
$GC,6544,1.16,189.5,317.4,7.5,313,6548,0.00,2.45,0.00,0.000,6,0.000,0.036,2647,2094,2133
$GC,6870,1.16,189.5,294.3,6.7,329,6874,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3499,2133
$GC,6904,1.16,196.4,292.4,5.8,330,6918,0.00,2.45,8.52,0.889,6,0.000,0.038,2647,2094,2100
$GC,7240,1.16,196.4,269.3,6.5,347,7245,0.00,2.65,0.00,0.000,4,0.000,0.068,2647,3508,2100
$GC,7274,1.16,196.4,267.1,6.4,348,7280,0.00,2.47,0.00,0.000,6,0.000,0.040,2647,2102,2100
$GC,7590,1.23,248.0,250.2,4.6,364,7636,0.15,0.00,43.03,0.971,6,0.044,0.000,2688,2101,1890
$GC,7939,1.23,248.0,225.8,6.9,381,7944,0.00,2.62,0.00,0.000,4,0.000,0.073,2688,3499,1889
$GC,7961,1.23,248.0,223.7,9.0,382,7966,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2099,1889
$GC,8283,1.23,248.0,194.7,8.8,398,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2099,1889
$GC,8592,1.23,248.0,169.0,7.7,413,8596,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3501,1889
$GC,8636,1.23,248.0,165.6,7.6,415,8640,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2097,1889
$GC,8957,1.23,248.0,139.2,8.2,431,8962,0.00,2.58,0.00,0.000,4,0.000,0.063,2688,685,1889
$GC,9024,1.23,248.0,134.0,7.9,434,9029,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2090,1889
$GC,9346,1.26,273.2,111.6,5.3,450,9375,0.00,2.67,21.80,0.877,4,0.000,0.060,2688,684,1787
$GC,9412,1.26,273.2,105.8,8.5,453,9416,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2099,1786
$GC,9739,1.26,273.2,77.2,8.2,469,9743,0.00,2.60,0.00,0.000,4,0.000,0.061,2688,687,1785
$GC,9766,1.26,273.2,74.5,10.6,470,9770,0.00,2.55,0.00,0.000,6,0.000,0.048,2688,2103,1786
$GC,10084,1.26,273.2,51.4,9.4,485,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2103,1785
$GC,10391,1.26,273.2,18.8,11.3,500,10396,0.00,2.60,0.00,0.000,4,0.000,0.060,2688,685,1785
$GC,10419,1.26,273.2,16.3,9.0,501,10423,0.00,2.58,0.00,0.000,6,0.000,0.054,2688,2106,1786
$STATE,10588,end climb,SURFACE_DEPTH_REACHED
$STATE,10588,begin surface coast
$FINISH,-0.9,1.016488
$STATE,10610,end surface coast,CONTROL_FINISHED_OK
$STATE,10610,begin surface
$SM_CCo,10635,235.70,0.785,1,0,572,571.30
$SM_GC,-0.40,0.00,0.00,235.70,0.000,0.000,0.785,37,2900,572,-10.91,0.00,571.30
$IRIDIUM_FIX,6059.36,-857.42,270497,121209
$TT8_MAMPS,0.029146
$HUMID,1993
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,325.3,105.4
$24V_AH,23.3,76.932
$10V_AH,10.1,35.679
$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,26.025,90.625,352.150,235.700,0.000,192.206,286.801,776.824,2.750,0.000,0.000,18.198,949.134,8199.701,711.461,1155.525,1519.482,0.000,1311.739,0.000,1134.906,0.000,16.986
$DEVICE_MAMPS,158.769,76.700,1062.295,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,380.013,349.701,414.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25446,510
$CFSIZE,260165632,233709568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,010208,160037,6124.009,-904.471,36,1.1,42,-9.2