version: 66.02
glider: 103
mission: 7
dive: 477
start: 2 4 108 12 14 22
data:
$ID,103
$MISSION,7
$DIVE,477
$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,-72778.734
$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,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
$GPS1,120337,6159.979,-913.494,41,1.1,41,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-55.4
$GPS2,121350,6200.053,-913.444,13,1.6,13,-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,163.7,67996,-11.1,-6.000
$D_GRID,489
$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,-146.6,0.0,0.0,0,94,0.00,0.00,-65.32,0.000,6,0.000,0.000,42,2900,3499
$GC,98,-1.10,-146.6,2.9,-8.2,3,119,12.00,2.62,0.00,0.000,4,0.156,0.057,2165,1488,3501
$GC,166,-1.10,-146.6,19.7,-10.0,6,170,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2895,3501
$GC,494,-1.10,-146.6,43.6,-8.0,22,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3501
$GC,802,-1.10,-146.6,67.7,-8.1,37,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3501
$GC,1111,-1.10,-146.6,92.1,-7.7,52,1115,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1491,3501
$GC,1151,-1.10,-146.6,95.3,-7.6,54,1155,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2900,3501
$GC,1478,-1.10,-146.6,121.3,-7.7,70,1483,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1484,3501
$GC,1506,-1.10,-146.6,123.6,-7.9,71,1510,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2902,3501
$GC,1823,-1.10,-146.6,146.3,-6.9,86,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3501
$GC,2131,-1.10,-146.6,167.5,-7.3,101,2135,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1489,3501
$GC,2175,-1.10,-146.6,170.8,-7.7,103,2180,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2903,3502
$GC,2496,-1.10,-146.6,195.8,-8.1,119,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3501
$GC,2806,-1.10,-146.6,219.5,-7.2,134,2810,0.00,2.62,0.00,0.000,4,0.000,0.068,2165,1489,3502
$GC,2846,-1.10,-146.6,222.0,-6.4,136,2850,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2901,3502
$GC,3172,-1.10,-146.6,245.3,-7.3,152,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,3482,-1.10,-146.6,265.0,-6.6,167,3486,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1488,3502
$GC,3526,-1.10,-146.6,268.1,-6.5,169,3530,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2901,3502
$GC,3847,-1.10,-146.6,289.1,-6.7,185,3851,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1486,3501
$GC,3879,-1.10,-146.6,291.7,-8.3,186,3885,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2900,3502
$GC,4196,-1.10,-146.6,316.5,-8.2,202,4199,0.00,1.73,0.00,0.000,4,0.000,0.098,2165,3779,3502
$GC,4246,-1.10,-146.6,320.8,-8.2,204,4250,0.00,1.58,0.00,0.000,6,0.000,0.046,2165,2882,3502
$GC,4573,-1.10,-146.6,345.9,-7.5,220,4577,0.00,2.53,0.00,0.000,4,0.000,0.062,2165,1484,3502
$GC,4651,-1.10,-146.6,352.3,-7.9,223,4657,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2902,3501
$GC,4967,-1.10,-146.6,379.1,-8.4,239,4971,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1487,3502
$GC,5007,-1.10,-146.6,382.3,-8.2,241,5011,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2899,3502
$GC,5334,-1.10,-146.6,405.5,-6.8,257,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,5642,-1.10,-146.6,427.5,-7.4,272,5647,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1480,3502
$GC,5671,-1.10,-146.6,429.7,-8.1,273,5675,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2900,3502
$GC,5986,-1.10,-146.6,456.5,-9.0,288,5990,0.00,1.67,0.00,0.000,4,0.000,0.092,2165,3782,3502
$GC,6020,-1.10,-146.6,459.7,-9.5,289,6023,0.00,1.55,0.00,0.000,6,0.000,0.042,2165,2904,3502
$GC,6341,-1.10,-146.6,485.6,-7.1,305,6345,0.00,2.50,0.00,0.000,4,0.000,0.055,2165,1489,3502
$STATE,6388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6388,begin apogee
$GC,6397,-0.42,0.0,489.2,7.0,307,6528,0.75,0.00,125.38,1.135,6,0.097,0.000,2317,2113,2901
$STATE,6529,end apogee,CONTROL_FINISHED_OK
$STATE,6529,begin climb
$GC,6532,1.10,146.6,494.7,0.0,314,6662,1.55,2.67,122.00,1.094,4,0.058,0.056,2648,698,2303
$GC,6745,1.10,146.6,488.1,6.8,324,6750,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2111,2303
$GC,7071,1.10,146.6,467.3,6.9,340,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2111,2302
$GC,7382,1.17,197.7,448.8,4.6,355,7431,0.00,2.67,43.62,1.089,4,0.000,0.059,2648,702,2095
$GC,7455,1.18,211.7,444.8,5.6,358,7475,0.00,2.50,13.50,1.012,6,0.000,0.039,2647,2102,2037
$GC,7798,1.24,254.3,426.5,4.8,375,7841,0.15,2.72,36.47,1.075,4,0.044,0.074,2688,3514,1864
$GC,7891,1.24,254.3,419.5,9.0,379,7896,0.00,2.53,0.00,0.000,6,0.000,0.044,2688,2104,1863
$GC,8213,1.24,254.3,395.3,7.5,395,8217,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3507,1862
$GC,8240,1.24,254.3,393.0,8.7,396,8245,0.00,2.53,0.00,0.000,6,0.000,0.043,2688,2091,1862
$GC,8557,1.24,254.3,367.5,8.4,411,8561,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3514,1862
$GC,8601,1.24,254.3,363.4,8.8,413,8605,0.00,2.53,0.00,0.000,6,0.000,0.043,2688,2096,1862
$GC,8922,1.24,254.3,335.3,8.8,429,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1862
$GC,9231,1.24,254.3,308.5,8.8,444,9235,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3508,1861
$GC,9271,1.24,254.3,304.9,9.4,446,9275,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2102,1861
$GC,9598,1.24,254.3,276.5,8.7,462,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1861
$GC,9907,1.24,254.3,249.1,8.6,477,9911,0.00,2.62,0.00,0.000,4,0.000,0.069,2688,3507,1861
$GC,9946,1.24,254.3,245.6,9.0,479,9950,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2095,1861
$GC,10273,1.24,254.3,218.1,8.4,495,10277,0.00,2.65,0.00,0.000,4,0.000,0.069,2688,3512,1862
$GC,10294,1.24,254.3,216.1,8.8,496,10299,0.00,2.53,0.00,0.000,6,0.000,0.045,2688,2089,1861
$GC,10615,1.24,254.3,189.0,9.2,512,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2088,1861
$GC,10925,1.24,254.3,160.8,9.2,527,10929,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3507,1862
$GC,10952,1.24,254.3,158.0,9.4,528,10956,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2099,1861
$GC,11268,1.24,254.3,129.7,9.4,543,11272,0.00,2.55,0.00,0.000,4,0.000,0.063,2688,697,1862
$GC,11296,1.24,254.3,127.0,10.1,544,11300,0.00,2.47,0.00,0.000,6,0.000,0.041,2688,2099,1862
$GC,11613,1.24,254.3,97.7,9.3,559,11617,0.00,2.65,0.00,0.000,4,0.000,0.077,2688,3512,1862
$GC,11630,1.24,254.3,96.0,9.5,560,11634,0.00,2.53,0.00,0.000,6,0.000,0.050,2688,2095,1862
$GC,11957,1.24,254.3,64.1,9.7,576,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2095,1862
$GC,12267,1.24,254.3,35.2,9.0,591,12271,0.00,2.67,0.00,0.000,4,0.000,0.075,2688,3512,1862
$GC,12294,1.24,254.3,32.4,9.6,592,12298,0.00,2.53,0.00,0.000,6,0.000,0.051,2688,2102,1862
$GC,12610,1.24,254.3,2.5,9.3,607,12614,0.00,2.12,0.00,0.000,3,0.000,0.064,2688,927,1862
$STATE,12614,end climb,SURFACE_DEPTH_REACHED
$STATE,12615,begin surface coast
$FINISH,-1.1,1.020395
$STATE,12652,end surface coast,CONTROL_FINISHED_OK
$STATE,12652,begin surface
$SM_CCo,12679,38.45,0.785,1,0,1678,300.00
$SM_GC,-0.59,0.00,0.00,38.45,0.000,0.000,0.785,44,2899,1678,-10.88,-0.03,300.00
$IRIDIUM_FIX,6135.28,-916.45,300497,121229
$TT8_MAMPS,0.029146
$HUMID,2083
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.8,90.8
$24V_AH,23.2,79.530
$10V_AH,10.1,36.887
$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,26.000,130.325,340.975,38.450,0.000,77.294,79.684,263.500,3.750,0.000,0.000,13.973,1130.803,9691.179,482.140,1333.264,713.299,0.000,1190.030,0.000,1311.459,0.000,23.422
$DEVICE_MAMPS,156.468,98.176,1135.160,785.408,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,440.390,428.700,432.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31721,609
$CFSIZE,260165632,232898560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,040208,154738,6159.182,-910.822,35,0.9,35,-9.5