version: 66.02
glider: 103
mission: 7
dive: 486
start: 2 6 108 7 28 17
data:
$ID,103
$MISSION,7
$DIVE,486
$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,-72956.438
$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,19
$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
$GPS1,072031,6140.355,-837.322,38,1.3,43,-9.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-55.5
$GPS2,072744,6140.486,-837.240,11,1.3,16,-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,101.7,19568,-11.1,-6.000
$D_GRID,762
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,96,0.00,0.00,-68.12,0.000,6,0.000,0.000,44,2899,3500
$GC,100,-1.10,-146.6,2.6,-6.6,3,116,11.98,1.75,0.00,0.000,4,0.156,0.086,2165,3788,3502
$GC,368,-1.10,-146.6,36.5,-11.3,14,372,0.00,1.62,0.00,0.000,6,0.000,0.061,2165,2900,3502
$GC,697,-1.10,-146.6,55.8,-4.7,30,701,0.00,1.77,0.00,0.000,4,0.000,0.102,2165,3787,3502
$GC,844,-1.10,-146.6,64.7,-4.7,36,848,0.00,1.62,0.00,0.000,6,0.000,0.055,2165,2902,3502
$GC,1166,-1.10,-146.6,82.6,-7.5,52,1170,0.00,2.62,0.00,0.000,4,0.000,0.069,2165,1480,3502
$GC,1228,-1.10,-146.6,87.0,-6.9,55,1233,0.00,2.67,0.00,0.000,6,0.000,0.073,2165,2901,3502
$GC,1556,-1.10,-146.6,110.2,-6.7,71,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,1865,-1.10,-146.6,127.5,-6.1,86,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,2176,-1.10,-146.6,151.6,-9.7,101,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,2483,-1.10,-146.6,174.3,-6.3,116,2487,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1481,3502
$GC,2539,-1.10,-146.6,177.7,-6.5,118,2544,0.00,2.67,0.00,0.000,6,0.000,0.070,2165,2908,3502
$GC,2855,-1.10,-146.6,197.4,-6.4,133,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,3165,-1.10,-146.6,216.9,-6.2,148,3169,0.00,2.62,0.00,0.000,4,0.000,0.062,2165,1478,3502
$GC,3209,-1.10,-146.6,219.8,-7.1,150,3213,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2900,3502
$GC,3532,-1.10,-146.6,239.6,-5.9,166,3536,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1480,3502
$GC,3559,-1.10,-146.6,241.4,-5.9,167,3564,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2903,3502
$GC,3876,-1.10,-146.6,256.3,-4.2,182,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,4185,-1.10,-146.6,269.3,-4.8,197,4190,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1474,3502
$GC,4230,-1.10,-146.6,271.7,-5.3,199,4235,0.00,2.65,0.00,0.000,6,0.000,0.064,2165,2902,3502
$GC,4552,-1.10,-146.6,292.2,-6.9,215,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,4862,-1.10,-146.6,316.6,-8.8,230,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5170,-1.10,-146.6,343.5,-8.1,245,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5479,-1.10,-146.6,370.5,-8.6,260,5484,0.00,2.58,0.00,0.000,4,0.000,0.055,2165,1479,3502
$GC,5507,-1.10,-146.6,373.0,-8.2,261,5512,0.00,2.62,0.00,0.000,6,0.000,0.063,2165,2900,3502
$GC,5824,-1.10,-146.6,394.5,-5.4,276,5829,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1474,3502
$GC,5875,-1.10,-146.6,396.3,-3.7,278,5880,0.00,2.62,0.00,0.000,6,0.000,0.063,2165,2900,3502
$GC,6192,-1.10,-146.6,401.8,-1.6,293,6196,0.00,2.58,0.00,0.000,4,0.000,0.056,2165,1473,3502
$GC,6236,-1.10,-146.6,403.0,-2.8,295,6241,0.00,2.65,0.00,0.000,6,0.000,0.064,2165,2903,3502
$GC,6559,-1.10,-146.6,417.6,-5.9,311,6563,0.00,1.67,0.00,0.000,4,0.000,0.093,2165,3782,3502
$GC,6655,-1.10,-146.6,424.6,-6.7,315,6658,0.00,1.58,0.00,0.000,6,0.000,0.044,2165,2876,3502
$GC,6983,-1.10,-146.6,446.4,-6.2,331,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2876,3502
$GC,7292,-1.10,-146.6,468.2,-7.3,346,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2876,3502
$GC,7601,-1.10,-146.6,492.5,-8.2,361,7606,0.00,2.47,0.00,0.000,4,0.000,0.054,2165,1482,3502
$GC,7692,-1.10,-146.6,500.3,-8.8,365,7696,0.00,2.60,0.00,0.000,6,0.000,0.059,2165,2902,3502
$GC,8013,-1.10,-146.6,521.8,-7.2,381,8017,0.00,2.53,0.00,0.000,4,0.000,0.053,2165,1487,3502
$GC,8131,-1.10,-146.6,531.5,-9.0,386,8135,0.00,2.58,0.00,0.000,6,0.000,0.058,2165,2900,3502
$GC,8447,-1.10,-146.6,556.3,-7.3,401,8450,0.00,1.67,0.00,0.000,4,0.000,0.085,2165,3790,3502
$GC,8704,-1.10,-146.6,573.8,-6.4,412,8708,0.00,1.55,0.00,0.000,6,0.000,0.035,2165,2897,3502
$GC,9026,-1.10,-146.6,594.3,-7.3,428,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2897,3502
$GC,9336,-1.10,-146.6,613.8,-5.8,443,9339,0.00,1.70,0.00,0.000,4,0.000,0.086,2165,3786,3502
$GC,9437,-1.10,-146.6,621.4,-8.5,447,9440,0.00,1.55,0.00,0.000,6,0.000,0.038,2165,2900,3502
$GC,9759,-1.10,-146.6,646.4,-5.8,463,9763,0.00,2.50,0.00,0.000,4,0.000,0.052,2165,1491,3501
$GC,9871,-1.10,-146.6,655.0,-9.8,468,9875,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2899,3501
$GC,10192,-1.10,-146.6,678.1,-5.6,484,10196,0.00,2.58,0.00,0.000,4,0.000,0.065,2165,1497,3500
$GC,10254,-1.10,-146.6,682.4,-7.7,487,10259,0.00,2.65,0.00,0.000,6,0.000,0.075,2165,2902,3500
$GC,10581,-1.10,-146.6,708.2,-10.2,503,10584,0.00,1.73,0.00,0.000,4,0.000,0.103,2165,3789,3499
$GC,10637,-1.10,-146.6,713.3,-9.2,505,10641,0.00,1.60,0.00,0.000,6,0.000,0.051,2165,2905,3499
$STATE,10770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10770,begin apogee
$GC,10779,-0.42,0.0,726.3,8.2,512,10913,0.77,0.00,128.48,1.397,6,0.098,0.000,2317,2096,2901
$STATE,10913,end apogee,CONTROL_FINISHED_OK
$STATE,10914,begin climb
$GC,10917,1.10,146.6,735.9,0.0,519,11052,1.58,2.70,126.10,1.348,4,0.063,0.066,2648,696,2303
$GC,11187,1.25,266.8,735.2,2.7,531,11299,0.15,2.53,103.72,1.339,6,0.045,0.045,2687,2108,1813
$GC,11627,1.25,266.8,703.5,8.3,553,11632,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3516,1810
$GC,11667,1.25,266.8,700.5,6.8,555,11672,0.00,2.58,0.00,0.000,6,0.000,0.049,2687,2092,1810
$GC,11995,1.25,266.8,674.0,8.5,571,11999,0.00,2.72,0.00,0.000,4,0.000,0.077,2687,3514,1809
$GC,12028,1.25,266.8,671.1,8.3,572,12034,0.00,2.58,0.00,0.000,6,0.000,0.049,2687,2093,1809
$GC,12344,1.25,266.8,641.0,11.4,588,12348,0.00,2.60,0.00,0.000,4,0.000,0.068,2687,688,1808
$GC,12429,1.25,266.8,631.8,10.5,592,12434,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2099,1808
$GC,12757,1.25,266.8,603.0,8.0,608,12761,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3511,1807
$GC,12846,1.25,266.8,596.2,7.2,612,12850,0.00,2.53,0.00,0.000,6,0.000,0.044,2687,2098,1806
$GC,13167,1.28,289.2,577.2,5.4,628,13192,0.00,2.75,19.45,1.284,4,0.000,0.074,2687,3515,1722
$GC,13220,1.28,289.2,573.6,6.4,630,13227,0.00,2.55,0.00,0.000,6,0.000,0.044,2687,2095,1721
$GC,13537,1.28,289.2,541.8,13.0,646,13538,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2095,1721
$GC,13846,1.28,289.2,510.6,8.3,661,13850,0.00,2.55,0.00,0.000,4,0.000,0.063,2688,695,1721
$GC,13886,1.28,289.2,507.2,8.6,663,13890,0.00,2.47,0.00,0.000,6,0.000,0.043,2687,2102,1721
$GC,14212,1.28,289.2,476.0,9.0,679,14217,0.00,2.60,0.00,0.000,4,0.000,0.061,2687,692,1721
$GC,14257,1.28,289.2,471.5,10.3,681,14261,0.00,2.50,0.00,0.000,6,0.000,0.042,2688,2102,1721
$GC,14578,1.28,289.2,437.8,10.4,697,14583,0.00,2.65,0.00,0.000,4,0.000,0.075,2687,3512,1721
$GC,14650,1.28,289.2,429.5,11.8,700,14655,0.00,2.53,0.00,0.000,6,0.000,0.044,2687,2100,1721
$GC,14967,1.28,289.2,396.5,9.3,715,14970,0.00,2.58,0.00,0.000,4,0.000,0.067,2687,694,1721
$GC,15006,1.28,289.2,393.0,8.2,716,15012,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,2098,1721
$GC,15322,1.28,289.2,366.5,8.4,732,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1722
$GC,15631,1.28,289.2,338.3,9.8,747,15635,0.00,2.67,0.00,0.000,4,0.000,0.077,2687,3515,1722
$GC,15671,1.28,289.2,334.0,10.7,749,15675,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2101,1722
$GC,15997,1.28,289.2,302.2,9.2,765,15999,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1723
$GC,16307,1.28,289.2,276.6,7.8,780,16311,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3511,1724
$GC,16362,1.28,289.2,272.0,8.4,782,16368,0.00,2.53,0.00,0.000,6,0.000,0.047,2687,2101,1724
$GC,16678,1.28,289.2,246.4,8.2,798,16682,0.00,2.58,0.00,0.000,4,0.000,0.063,2687,686,1725
$GC,16718,1.28,289.2,242.9,9.5,800,16722,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2098,1725
$GC,17045,1.28,289.2,212.9,9.5,816,17049,0.00,2.65,0.00,0.000,4,0.000,0.076,2687,3512,1725
$GC,17089,1.28,289.2,208.4,9.8,818,17093,0.00,2.53,0.00,0.000,6,0.000,0.047,2688,2099,1725
$GC,17410,1.28,289.2,180.5,8.4,834,17415,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3511,1726
$GC,17440,1.28,289.2,178.1,8.8,835,17445,0.00,2.53,0.00,0.000,6,0.000,0.048,2687,2098,1726
$GC,17756,1.28,289.2,154.0,7.6,850,17757,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1726
$GC,18066,1.28,289.2,122.3,10.7,865,18067,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2098,1727
$GC,18375,1.28,289.2,89.6,11.2,880,18380,0.00,2.67,0.00,0.000,4,0.000,0.074,2687,3515,1727
$GC,18403,1.28,289.2,86.3,12.1,881,18407,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2101,1727
$GC,18719,1.28,289.2,48.4,12.8,896,18720,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1728
$GC,19030,1.28,289.2,21.7,8.2,911,19031,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1728
$STATE,19231,end climb,SURFACE_DEPTH_REACHED
$STATE,19231,begin surface coast
$FINISH,-0.9,1.027370
$STATE,19255,end surface coast,CONTROL_FINISHED_OK
$STATE,19255,begin surface
$SM_CCo,19280,12.62,0.712,1,0,1678,300.00
$SM_GC,-0.55,0.00,0.00,12.62,0.000,0.000,0.712,46,2892,1678,-10.87,-0.23,300.00
$IRIDIUM_FIX,6108.28,-855.07,020597,010107
$TT8_MAMPS,0.029146
$HUMID,2076
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.00
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,626.0,109.2
$24V_AH,22.8,80.985
$10V_AH,10.1,37.636
$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,26.100,168.225,377.750,12.625,0.000,34.210,41.260,208.423,6.750,0.000,0.000,16.450,1713.738,14691.013,522.370,2121.836,689.910,0.000,1590.553,0.000,2090.950,0.000,36.422
$DEVICE_MAMPS,156.468,102.778,1396.707,711.776,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,689.093,635.325,545.738,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47342,922
$CFSIZE,260165632,232304640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,060208,125108,6142.735,-835.430,35,1.3,35,-9.1