version: 66.02
glider: 103
mission: 7
dive: 480
start: 2 5 108 0 5 13
data:
$ID,103
$MISSION,7
$DIVE,480
$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,-72817.078
$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,21
$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
$GPS1,235852,6156.664,-905.692,42,2.3,61,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.43
$_SM_ANGLEo,-58.9
$GPS2,000439,6156.570,-905.737,11,1.4,11,-9.4
$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,166.8,59313,-11.1,-6.000
$D_GRID,520
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,92,0.00,0.00,-66.57,0.000,6,0.000,0.000,48,2893,3500
$GC,96,-1.10,-146.6,3.0,-8.4,3,117,12.00,2.62,0.00,0.000,4,0.158,0.058,2163,1487,3503
$GC,299,-1.10,-146.6,29.2,-6.0,12,303,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2904,3503
$GC,625,-1.10,-146.6,49.2,-6.3,28,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,935,-1.10,-146.6,68.8,-6.4,43,939,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1491,3503
$GC,985,-1.10,-146.6,71.8,-5.8,45,990,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2901,3502
$GC,1302,-1.10,-146.6,94.4,-7.6,60,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,1611,-1.10,-146.6,116.8,-6.5,75,1615,0.00,2.62,0.00,0.000,4,0.000,0.066,2164,1482,3503
$GC,1644,-1.10,-146.6,119.2,-7.1,76,1650,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2909,3503
$GC,1962,-1.10,-146.6,139.1,-6.1,92,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,2269,-1.10,-146.6,158.0,-6.0,107,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,2578,-1.10,-146.6,177.7,-6.5,122,2582,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,1484,3503
$GC,2611,-1.10,-146.6,180.0,-6.3,123,2617,0.00,2.65,0.00,0.000,6,0.000,0.065,2163,2909,3503
$GC,2929,-1.10,-146.6,200.8,-6.9,139,2934,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1486,3503
$GC,2970,-1.10,-146.6,203.8,-7.1,141,2974,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2911,3503
$GC,3297,-1.10,-146.6,226.4,-7.0,157,3301,0.00,2.62,0.00,0.000,4,0.000,0.065,2163,1488,3503
$GC,3330,-1.10,-146.6,228.8,-6.8,158,3336,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2904,3503
$GC,3646,-1.10,-146.6,251.4,-7.1,174,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,3958,-1.10,-146.6,275.1,-7.5,189,3962,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1482,3503
$GC,4002,-1.10,-146.6,278.5,-7.4,191,4006,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2906,3503
$GC,4323,-1.10,-146.6,299.6,-6.3,207,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3503
$GC,4633,-1.10,-146.6,319.8,-6.6,222,4637,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1488,3503
$GC,4673,-1.10,-146.6,322.6,-6.9,224,4677,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,4999,-1.10,-146.6,344.1,-6.4,240,5003,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1484,3503
$GC,5055,-1.10,-146.6,347.5,-6.2,242,5061,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2904,3503
$GC,5370,-1.10,-146.6,367.9,-7.0,258,5375,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1489,3503
$GC,5404,-1.10,-146.6,370.3,-7.3,259,5410,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2902,3503
$GC,5720,-1.10,-146.6,390.4,-6.0,275,5724,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1484,3503
$GC,5760,-1.10,-146.6,392.7,-5.6,277,5764,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2903,3503
$GC,6086,-1.10,-146.6,412.6,-6.6,293,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3503
$GC,6396,-1.10,-146.6,432.9,-6.5,308,6400,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1484,3503
$GC,6451,-1.10,-146.6,436.7,-6.8,310,6458,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2901,3503
$GC,6768,-1.10,-146.6,459.7,-7.5,326,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,7077,-1.10,-146.6,482.9,-7.7,341,7082,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1486,3503
$GC,7105,-1.10,-146.6,485.5,-8.5,342,7109,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2900,3503
$GC,7421,-1.10,-146.6,511.4,-7.9,357,7422,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$STATE,7541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7542,begin apogee
$GC,7551,-0.42,0.0,520.1,7.0,363,7684,0.75,0.00,126.40,1.154,6,0.077,0.000,2320,2089,2901
$STATE,7685,end apogee,CONTROL_FINISHED_OK
$STATE,7685,begin climb
$GC,7688,1.10,146.6,524.7,0.0,370,7820,1.55,2.62,122.35,1.116,4,0.064,0.056,2646,695,2302
$GC,7986,1.18,208.0,517.3,4.3,383,8046,0.00,2.47,52.60,1.113,6,0.000,0.035,2646,2113,2052
$GC,8365,1.18,208.0,494.9,7.3,402,8369,0.00,2.58,0.00,0.000,4,0.000,0.065,2646,3506,2051
$GC,8443,1.18,208.0,489.0,6.5,405,8450,0.00,2.47,0.00,0.000,6,0.000,0.038,2646,2095,2051
$GC,8760,1.19,220.9,470.8,5.6,421,8782,0.10,2.75,12.07,1.033,4,0.048,0.071,2678,3504,2000
$GC,8806,1.19,220.9,467.6,7.1,423,8810,0.00,2.50,0.00,0.000,6,0.000,0.041,2678,2098,2000
$GC,9132,1.19,220.9,442.6,7.7,439,9136,0.00,2.62,0.00,0.000,4,0.000,0.069,2678,3508,1999
$GC,9165,1.19,220.9,439.9,7.5,440,9171,0.00,2.47,0.00,0.000,6,0.000,0.041,2677,2102,1999
$GC,9481,1.19,220.9,416.6,7.5,456,9486,0.00,2.62,0.00,0.000,4,0.000,0.071,2678,3503,1999
$GC,9509,1.19,220.9,414.2,8.6,457,9513,0.00,2.50,0.00,0.000,6,0.000,0.041,2678,2091,1999
$GC,9825,1.19,220.9,390.2,7.6,472,9829,0.00,2.65,0.00,0.000,4,0.000,0.071,2678,3503,1999
$GC,9852,1.19,220.9,388.0,8.3,473,9856,0.00,2.47,0.00,0.000,6,0.000,0.041,2678,2098,1999
$GC,10168,1.19,220.9,363.8,7.5,488,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2098,1999
$GC,10477,1.19,220.9,341.7,7.5,503,10481,0.00,2.62,0.00,0.000,4,0.000,0.072,2678,3502,1999
$GC,10504,1.19,220.9,339.5,8.0,504,10508,0.00,2.47,0.00,0.000,6,0.000,0.044,2678,2099,1999
$GC,10820,1.19,220.9,317.5,6.8,519,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2099,1999
$GC,11129,1.19,220.9,296.3,7.1,534,11133,0.00,2.62,0.00,0.000,4,0.000,0.074,2677,3502,1998
$GC,11151,1.19,220.9,294.7,7.4,535,11155,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,2092,1999
$GC,11472,1.19,220.9,271.9,7.2,551,11477,0.00,2.65,0.00,0.000,4,0.000,0.073,2677,3502,1998
$GC,11517,1.19,220.9,268.3,7.5,553,11521,0.00,2.50,0.00,0.000,6,0.000,0.046,2678,2099,1998
$GC,11838,1.19,220.9,245.5,7.3,569,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2099,1998
$GC,12148,1.19,220.9,222.6,6.7,584,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2099,1998
$GC,12456,1.19,220.9,201.6,7.2,599,12461,0.00,2.65,0.00,0.000,4,0.000,0.076,2678,3509,1998
$GC,12501,1.19,220.9,198.1,8.6,601,12505,0.00,2.53,0.00,0.000,6,0.000,0.047,2678,2093,1998
$GC,12822,1.19,220.9,176.0,6.7,617,12823,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2093,1998
$GC,13131,1.19,220.9,153.8,7.7,632,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2093,1998
$GC,13441,1.19,220.9,129.9,7.4,647,13445,0.00,2.65,0.00,0.000,4,0.000,0.071,2678,3505,1998
$GC,13468,1.19,220.9,127.6,8.7,648,13473,0.00,2.50,0.00,0.000,6,0.000,0.046,2677,2100,1998
$GC,13785,1.19,220.9,101.0,8.9,663,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2100,1998
$GC,14095,1.19,220.9,77.8,7.9,678,14100,0.00,2.65,0.00,0.000,4,0.000,0.074,2678,3507,1998
$GC,14152,1.19,220.9,72.4,9.2,680,14158,0.00,2.50,0.00,0.000,6,0.000,0.050,2678,2101,1998
$GC,14468,1.19,220.9,48.2,6.6,696,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2101,1998
$GC,14777,1.19,220.9,26.1,7.6,711,14781,0.00,2.55,0.00,0.000,4,0.000,0.064,2678,698,1998
$GC,14795,1.19,220.9,24.6,7.8,712,14800,0.00,2.45,0.00,0.000,6,0.000,0.043,2678,2092,1999
$STATE,15120,end climb,SURFACE_DEPTH_REACHED
$STATE,15120,begin surface coast
$FINISH,-0.1,1.027359
$STATE,15144,end surface coast,CONTROL_FINISHED_OK
$STATE,15144,begin surface
$SM_CCo,15169,65.25,0.792,2,0,1678,300.00
$SM_GC,-0.37,0.00,0.00,65.25,0.000,0.000,0.792,50,2895,1678,-10.86,-0.11,300.00
$IRIDIUM_FIX,6135.28,-907.41,300497,202041
$TT8_MAMPS,0.029146
$HUMID,2058
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,476.5,109.2
$24V_AH,23.1,79.930
$10V_AH,10.1,37.104
$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,25.900,137.800,313.425,65.250,0.000,40.992,41.819,144.090,4.250,0.000,0.000,11.592,1324.286,11657.471,520.398,1557.788,549.774,0.000,1323.733,0.000,1538.768,0.000,26.711
$DEVICE_MAMPS,158.002,75.933,1153.568,791.544,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,535.890,503.729,513.029,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34805,729
$CFSIZE,260165632,232734720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
$GPS,050208,042038,6151.356,-906.931,42,0.9,42,-9.4