version: 66.02
glider: 103
mission: 7
dive: 485
start: 2 6 108 1 40 30
data:
$ID,103
$MISSION,7
$DIVE,485
$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,-72939.359
$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,10
$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
$GPS1,012607,6135.132,-842.865,38,1.4,43,-9.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-55.6
$GPS2,013959,6135.128,-842.338,15,2.1,34,-9.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FP_DS
$TGT_LATLONG,6140.000,-815.000
$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,78.5,25667,-11.1,-6.000
$D_GRID,840
$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,28,-1.10,-146.6,0.0,0.0,0,98,0.00,0.00,-68.70,0.000,6,0.000,0.000,49,2901,3500
$GC,101,-1.10,-146.6,2.3,-6.8,3,123,11.93,2.65,0.00,0.000,4,0.156,0.060,2164,1487,3502
$GC,376,-1.10,-146.6,38.4,-9.3,15,381,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2902,3502
$GC,698,-1.10,-146.6,64.9,-7.5,31,703,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1489,3502
$GC,874,-1.10,-146.6,79.3,-5.8,39,879,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2908,3502
$GC,1204,-1.10,-146.6,98.9,-6.4,55,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,1511,-1.10,-146.6,118.7,-9.5,70,1515,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1487,3502
$GC,1529,-1.10,-146.6,120.4,-9.6,71,1533,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2903,3503
$GC,1858,-1.10,-146.6,147.3,-5.2,87,1862,0.00,2.60,0.00,0.000,4,0.000,0.062,2164,1489,3503
$GC,1908,-1.10,-146.6,151.1,-6.9,89,1912,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2902,3503
$GC,2223,-1.10,-146.6,178.0,-8.4,104,2227,0.00,1.70,0.00,0.000,4,0.000,0.100,2164,3783,3502
$GC,2270,-1.10,-146.6,182.1,-9.7,106,2274,0.00,1.58,0.00,0.000,6,0.000,0.053,2164,2891,3502
$GC,2604,-1.10,-146.6,207.8,-8.4,122,2608,0.00,2.53,0.00,0.000,4,0.000,0.061,2164,1490,3503
$GC,2659,-1.10,-146.6,211.3,-6.2,124,2665,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2899,3503
$GC,2975,-1.10,-146.6,231.9,-7.6,140,2979,0.00,1.70,0.00,0.000,4,0.000,0.096,2164,3783,3503
$GC,3021,-1.10,-146.6,237.5,-13.6,142,3024,0.00,1.58,0.00,0.000,6,0.000,0.052,2164,2886,3503
$GC,3353,-1.10,-146.6,273.6,-9.1,158,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2886,3503
$GC,3663,-1.10,-146.6,294.0,-6.9,173,3667,0.00,1.75,0.00,0.000,4,0.000,0.093,2164,3786,3503
$GC,3736,-1.10,-146.6,299.1,-7.6,176,3740,0.00,1.58,0.00,0.000,6,0.000,0.049,2164,2886,3503
$GC,4063,-1.10,-146.6,314.4,-4.3,192,4067,0.00,2.47,0.00,0.000,4,0.000,0.059,2164,1492,3503
$GC,4159,-1.10,-146.6,319.7,-6.6,196,4163,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2900,3502
$GC,4480,-1.10,-146.6,337.6,-6.7,212,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4790,-1.10,-146.6,361.2,-6.4,227,4794,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1496,3503
$GC,4839,-1.10,-146.6,364.4,-6.7,229,4844,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2901,3502
$GC,5155,-1.10,-146.6,382.8,-5.5,244,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,5465,-1.10,-146.6,401.7,-6.1,259,5469,0.00,2.53,0.00,0.000,4,0.000,0.055,2164,1494,3502
$GC,5520,-1.10,-146.6,404.7,-5.3,261,5526,0.00,2.60,0.00,0.000,6,0.000,0.066,2164,2899,3502
$GC,5837,-1.10,-146.6,425.2,-6.7,277,5841,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1492,3502
$GC,5870,-1.10,-146.6,427.7,-7.0,278,5876,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2900,3503
$GC,6186,-1.10,-146.6,449.5,-7.4,294,6190,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1491,3503
$GC,6219,-1.10,-146.6,452.3,-8.1,295,6225,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2901,3502
$GC,6535,-1.10,-146.6,478.0,-9.0,311,6540,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1491,3502
$GC,6592,-1.10,-146.6,482.6,-8.0,313,6598,0.00,2.60,0.00,0.000,6,0.000,0.062,2164,2901,3503
$GC,6907,-1.10,-146.6,507.4,-8.2,329,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,7217,-1.10,-146.6,537.7,-9.7,344,7221,0.00,2.50,0.00,0.000,4,0.000,0.046,2164,1487,3502
$GC,7284,-1.10,-146.6,544.0,-9.0,347,7288,0.00,2.60,0.00,0.000,6,0.000,0.059,2164,2910,3502
$GC,7604,-1.10,-146.6,569.3,-7.6,363,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2910,3502
$GC,7914,-1.10,-146.6,589.2,-6.6,378,7918,0.00,2.47,0.00,0.000,4,0.000,0.046,2164,1487,3502
$GC,7987,-1.10,-146.6,593.7,-5.6,381,7992,0.00,2.55,0.00,0.000,6,0.000,0.057,2164,2900,3503
$GC,8304,-1.10,-146.6,613.4,-6.3,396,8308,0.00,2.50,0.00,0.000,4,0.000,0.045,2164,1480,3502
$GC,8488,-1.10,-146.6,626.9,-7.2,404,8492,0.00,2.60,0.00,0.000,6,0.000,0.057,2164,2908,3503
$GC,8804,-1.10,-146.6,650.0,-7.5,419,8812,0.00,2.50,0.00,0.000,4,0.000,0.044,2164,1486,3502
$GC,8946,-1.10,-146.6,661.7,-8.4,425,8951,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2901,3502
$GC,9269,-1.10,-146.6,678.9,-4.4,441,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,9578,-1.10,-146.6,691.6,-4.4,456,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,9887,-1.10,-146.6,712.8,-7.6,471,9892,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1489,3502
$GC,9932,-1.10,-146.6,716.6,-8.5,473,9936,0.00,2.62,0.00,0.000,6,0.000,0.072,2164,2898,3502
$GC,10253,-1.10,-146.6,743.5,-8.4,489,10257,0.00,2.55,0.00,0.000,4,0.000,0.060,2164,1494,3502
$GC,10353,-1.10,-146.6,750.8,-9.9,493,10360,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3502
$GC,10672,-1.10,-146.6,775.2,-7.0,509,10676,0.00,1.75,0.00,0.000,4,0.000,0.103,2164,3786,3501
$GC,10756,-1.10,-146.6,781.7,-8.4,512,10762,0.00,1.58,0.00,0.000,6,0.000,0.049,2164,2899,3501
$GC,11072,-1.10,-146.6,806.5,-6.5,528,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2897,3500
$GC,11382,-1.10,-146.6,824.4,-7.2,543,11386,0.00,2.58,0.00,0.000,4,0.000,0.070,2164,1487,3499
$GC,11415,-1.10,-146.6,827.0,-7.6,544,11421,0.00,2.70,0.00,0.000,6,0.000,0.079,2164,2903,3499
$STATE,11646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11646,begin apogee
$GC,11655,-0.42,0.0,840.5,8.5,556,11789,0.75,0.00,131.35,1.463,6,0.082,0.000,2315,2094,2901
$STATE,11790,end apogee,CONTROL_FINISHED_OK
$STATE,11790,begin climb
$GC,11793,1.10,146.6,845.5,0.0,563,11930,1.58,2.80,127.95,1.412,4,0.059,0.075,2651,3521,2303
$GC,12191,1.10,146.6,827.3,7.7,581,12195,0.00,2.55,0.00,0.000,6,0.000,0.044,2651,2092,2301
$GC,12518,1.10,146.6,798.4,7.6,597,12519,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2090,2299
$GC,12827,1.32,321.5,788.8,1.2,612,12992,0.17,2.85,151.12,1.450,4,0.040,0.081,2704,3515,1589
$GC,13038,1.32,321.5,769.8,14.0,622,13043,0.00,2.55,0.00,0.000,6,0.000,0.046,2704,2101,1589
$GC,13365,1.32,321.5,730.1,11.0,638,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2101,1588
$GC,13675,1.32,321.5,699.2,10.4,653,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2100,1587
$GC,13984,1.32,321.5,663.6,13.0,668,13988,0.00,2.70,0.00,0.000,4,0.000,0.075,2704,3519,1586
$GC,14050,1.32,321.5,654.4,13.0,671,14055,0.00,2.55,0.00,0.000,6,0.000,0.046,2704,2100,1585
$GC,14372,1.32,321.5,613.4,11.5,687,14377,0.00,2.58,0.00,0.000,4,0.000,0.063,2704,694,1585
$GC,14496,1.32,321.5,596.7,8.7,692,14502,0.00,2.53,0.00,0.000,6,0.000,0.044,2704,2108,1585
$GC,14812,1.32,321.5,564.8,11.7,708,14816,0.00,2.58,0.00,0.000,4,0.000,0.058,2704,695,1584
$GC,14890,1.32,321.5,554.5,13.7,711,14896,0.00,2.50,0.00,0.000,6,0.000,0.042,2704,2098,1584
$GC,15206,1.32,321.5,515.2,12.5,727,15210,0.00,2.65,0.00,0.000,4,0.000,0.073,2704,3515,1584
$GC,15233,1.32,321.5,511.7,12.9,728,15237,0.00,2.50,0.00,0.000,6,0.000,0.040,2704,2096,1584
$GC,15549,1.32,321.5,472.9,13.1,743,15553,0.00,2.55,0.00,0.000,4,0.000,0.060,2704,695,1585
$GC,15582,1.32,321.5,468.3,13.5,744,15588,0.00,2.50,0.00,0.000,6,0.000,0.041,2704,2104,1585
$GC,15898,1.32,321.5,432.1,11.9,760,15902,0.00,2.65,0.00,0.000,4,0.000,0.077,2704,3510,1586
$GC,15925,1.32,321.5,428.8,11.8,761,15930,0.00,2.50,0.00,0.000,6,0.000,0.044,2704,2105,1587
$GC,16242,1.32,321.5,394.9,11.0,776,16246,0.00,2.67,0.00,0.000,4,0.000,0.077,2704,3510,1587
$GC,16269,1.32,321.5,391.5,11.9,777,16273,0.00,2.53,0.00,0.000,6,0.000,0.045,2704,2093,1587
$GC,16585,1.32,321.5,355.2,11.6,792,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,1587
$GC,16894,1.32,321.5,313.3,14.6,807,16898,0.00,2.70,0.00,0.000,4,0.000,0.077,2704,3511,1588
$GC,16921,1.32,321.5,309.0,14.4,808,16926,0.00,2.53,0.00,0.000,6,0.000,0.047,2704,2101,1588
$GC,17237,1.32,321.5,269.5,11.8,823,17239,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2101,1589
$GC,17546,1.32,321.5,239.3,9.0,838,17551,0.00,2.67,0.00,0.000,4,0.000,0.077,2704,3510,1589
$GC,17568,1.32,321.5,237.0,10.5,839,17573,0.00,2.53,0.00,0.000,6,0.000,0.047,2704,2098,1590
$GC,17889,1.32,321.5,202.7,9.8,855,17894,0.00,2.70,0.00,0.000,4,0.000,0.079,2704,3515,1590
$GC,17918,1.32,321.5,200.2,8.9,856,17922,0.00,2.55,0.00,0.000,6,0.000,0.048,2704,2096,1590
$GC,18234,1.32,321.5,171.1,9.5,871,18235,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,1591
$GC,18543,1.32,321.5,145.0,9.6,886,18548,0.00,2.58,0.00,0.000,4,0.000,0.064,2704,682,1591
$GC,18594,1.32,321.5,140.5,7.6,888,18598,0.00,2.55,0.00,0.000,6,0.000,0.051,2704,2099,1591
$GC,18912,1.32,321.5,116.2,8.3,903,18913,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,1591
$GC,19220,1.32,321.5,98.7,7.1,918,19224,0.00,2.60,0.00,0.000,4,0.000,0.062,2704,685,1591
$GC,19270,1.32,321.5,93.8,11.4,920,19274,0.00,2.55,0.00,0.000,6,0.000,0.051,2704,2104,1591
$GC,19586,1.32,321.5,68.1,8.2,935,19590,0.00,2.67,0.00,0.000,4,0.000,0.081,2704,3515,1592
$GC,19613,1.32,321.5,65.5,9.3,936,19617,0.00,2.55,0.00,0.000,6,0.000,0.048,2704,2092,1592
$GC,19930,1.32,321.5,33.5,12.4,951,19931,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,1593
$STATE,20215,end climb,SURFACE_DEPTH_REACHED
$STATE,20215,begin surface coast
$FINISH,-1.1,1.001794
$STATE,20237,end surface coast,CONTROL_FINISHED_OK
$STATE,20237,begin surface
$SM_CCo,20322,0.00,0.000,0,0,1591,321.34
$SM_GC,-0.24,11.60,0.00,0.00,0.026,0.000,0.000,44,2896,1591,-10.79,-0.11,321.34
$IRIDIUM_FIX,6112.75,-841.68,020597,010159
$TT8_MAMPS,0.028379
$HUMID,2077
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.10
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,775.2,96.8
$24V_AH,22.7,80.820
$10V_AH,10.1,37.546
$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,26.025,187.075,410.425,0.000,0.000,118.124,157.394,261.068,9.500,0.000,0.000,35.228,1781.563,15611.106,542.698,2270.238,950.828,0.000,1686.729,0.000,2204.725,0.000,46.118
$DEVICE_MAMPS,155.701,102.778,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.480,669.235,562.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50549,966
$CFSIZE,260165632,232361984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,060208,072031,6140.355,-837.322,38,1.3,43,-9.1