version: 66.02
glider: 103
mission: 7
dive: 487
start: 2 6 108 12 58 12
data:
$ID,103
$MISSION,7
$DIVE,487
$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,-72971.211
$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,5
$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
$GPS1,125108,6142.735,-835.430,35,1.3,35,-9.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-52.5
$GPS2,125739,6142.761,-835.360,14,1.6,14,-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,115.0,18612,-11.1,-6.000
$D_GRID,663
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-60.03,0.000,2,0.000,0.000,47,2895,3435
$GC,92,-1.10,-146.6,4.5,-11.3,3,114,11.93,2.60,-1.10,0.000,4,0.155,0.071,2164,1492,3501
$GC,367,-1.10,-146.6,34.3,-5.6,15,372,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2905,3502
$GC,691,-1.10,-146.6,56.1,-7.0,31,695,0.00,2.62,0.00,0.000,4,0.000,0.064,2164,1484,3503
$GC,836,-1.10,-146.6,67.8,-8.4,37,843,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2908,3503
$GC,1152,-1.10,-146.6,92.6,-7.1,53,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,1462,-1.10,-146.6,115.0,-6.3,68,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2908,3503
$GC,1773,-1.10,-146.6,133.4,-8.2,83,1777,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1487,3503
$GC,1851,-1.10,-146.6,140.2,-8.0,86,1857,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2904,3503
$GC,2167,-1.10,-146.6,162.8,-7.5,102,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,2476,-1.10,-146.6,185.6,-7.5,117,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,2785,-1.10,-146.6,209.3,-7.9,132,2790,0.00,2.60,0.00,0.000,4,0.000,0.062,2164,1490,3503
$GC,2835,-1.10,-146.6,213.6,-8.1,134,2840,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2904,3503
$GC,3152,-1.10,-146.6,239.7,-8.7,149,3156,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1490,3503
$GC,3180,-1.10,-146.6,242.3,-9.3,150,3185,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2909,3503
$GC,3496,-1.10,-146.6,268.9,-8.4,165,3501,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1489,3503
$GC,3524,-1.10,-146.6,271.3,-8.8,166,3529,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,3841,-1.10,-146.6,297.9,-8.1,181,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4150,-1.10,-146.6,320.6,-7.2,196,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,4460,-1.10,-146.6,341.9,-7.0,211,4464,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1487,3503
$GC,4504,-1.10,-146.6,345.0,-6.4,213,4508,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2901,3503
$GC,4825,-1.10,-146.6,364.9,-6.2,229,4829,0.00,2.55,0.00,0.000,4,0.000,0.056,2164,1488,3503
$GC,4881,-1.10,-146.6,368.7,-6.7,231,4887,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2904,3503
$GC,5197,-1.10,-146.6,390.9,-6.5,247,5201,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1487,3503
$GC,5230,-1.10,-146.6,392.9,-6.6,248,5236,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2901,3503
$GC,5547,-1.10,-146.6,410.9,-4.3,264,5551,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1480,3503
$GC,5648,-1.10,-146.6,417.6,-6.7,268,5654,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2900,3503
$GC,5965,-1.10,-146.6,440.4,-7.8,284,5969,0.00,1.70,0.00,0.000,4,0.000,0.090,2164,3779,3503
$GC,6026,-1.10,-146.6,445.9,-7.7,286,6032,0.00,1.55,0.00,0.000,6,0.000,0.040,2164,2890,3503
$GC,6342,-1.10,-146.6,470.6,-7.8,302,6346,0.00,2.47,0.00,0.000,4,0.000,0.054,2164,1494,3503
$GC,6415,-1.10,-146.6,476.4,-7.7,305,6419,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2902,3503
$GC,6736,-1.10,-146.6,497.4,-6.6,321,6740,0.00,2.53,0.00,0.000,4,0.000,0.051,2164,1491,3503
$GC,6780,-1.10,-146.6,500.7,-7.8,323,6785,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2903,3503
$GC,7102,-1.10,-146.6,523.1,-6.9,339,7106,0.00,2.47,0.00,0.000,4,0.000,0.049,2164,1494,3503
$GC,7151,-1.10,-146.6,526.7,-7.0,341,7156,0.00,2.58,0.00,0.000,6,0.000,0.059,2164,2901,3503
$GC,7467,-1.10,-146.6,549.8,-7.9,356,7472,0.00,2.47,0.00,0.000,4,0.000,0.048,2164,1492,3503
$GC,7529,-1.10,-146.6,555.0,-8.4,358,7535,0.00,2.58,0.00,0.000,6,0.000,0.060,2164,2900,3503
$GC,7845,-1.10,-146.6,580.6,-7.4,374,7849,0.00,2.47,0.00,0.000,4,0.000,0.047,2164,1490,3503
$GC,7917,-1.10,-146.6,585.8,-6.2,377,7922,0.00,2.58,0.00,0.000,6,0.000,0.061,2164,2901,3503
$GC,8234,-1.10,-146.6,604.9,-7.4,392,8238,0.00,2.50,0.00,0.000,4,0.000,0.047,2164,1492,3503
$GC,8312,-1.10,-146.6,611.0,-8.0,395,8318,0.00,2.58,0.00,0.000,6,0.000,0.062,2164,2904,3503
$GC,8628,-1.10,-146.6,633.3,-6.1,411,8632,0.00,1.67,0.00,0.000,4,0.000,0.084,2164,3782,3502
$GC,8657,-1.10,-146.6,635.2,-6.9,412,8660,0.00,1.52,0.00,0.000,6,0.000,0.038,2164,2904,3502
$GC,8984,-1.10,-146.6,653.2,-5.6,428,8988,0.00,1.73,0.00,0.000,4,0.000,0.097,2164,3785,3501
$GC,9040,-1.10,-146.6,657.4,-7.7,430,9044,0.00,1.55,0.00,0.000,6,0.000,0.043,2164,2910,3501
$STATE,9131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9132,begin apogee
$GC,9141,-0.42,0.0,663.3,6.4,435,9275,0.77,0.00,128.73,1.308,6,0.103,0.000,2314,2102,2901
$STATE,9275,end apogee,CONTROL_FINISHED_OK
$STATE,9276,begin climb
$GC,9279,1.10,146.6,668.9,0.0,442,9414,1.55,2.75,125.55,1.265,4,0.052,0.069,2651,3518,2303
$GC,9424,1.23,251.3,667.8,3.1,449,9521,0.12,2.55,90.25,1.246,6,0.046,0.039,2688,2091,1876
$GC,9831,1.36,359.5,644.4,3.0,468,9934,0.00,2.80,93.12,1.262,4,0.000,0.071,2688,3514,1435
$GC,10051,1.36,359.5,627.5,18.8,478,10056,0.00,2.55,0.00,0.000,6,0.000,0.045,2688,2102,1434
$GC,10372,1.36,359.5,585.0,12.5,494,10377,0.00,2.60,0.00,0.000,4,0.000,0.064,2688,691,1433
$GC,10400,1.36,359.5,581.8,12.1,495,10404,0.00,2.53,0.00,0.000,6,0.000,0.044,2688,2103,1433
$GC,10716,1.36,359.5,545.2,10.7,510,10720,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3514,1432
$GC,10778,1.36,359.5,538.4,10.6,513,10782,0.00,2.53,0.00,0.000,6,0.000,0.043,2688,2093,1431
$GC,11105,1.36,359.5,503.5,10.7,529,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1431
$GC,11413,1.36,359.5,471.3,10.7,544,11418,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,3514,1430
$GC,11509,1.36,359.5,460.4,11.3,548,11513,0.00,2.53,0.00,0.000,6,0.000,0.044,2688,2100,1430
$GC,11825,1.36,359.5,427.5,10.4,563,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2100,1430
$GC,12134,1.36,359.5,395.0,10.0,578,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2100,1430
$GC,12443,1.36,359.5,360.3,11.4,593,12447,0.00,2.67,0.00,0.000,4,0.000,0.076,2688,3509,1431
$GC,12499,1.36,359.5,354.3,10.6,595,12506,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2103,1431
$GC,12815,1.36,359.5,320.5,11.1,611,12816,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2103,1431
$GC,13124,1.36,359.5,288.4,9.9,626,13128,0.00,2.67,0.00,0.000,4,0.000,0.076,2688,3509,1432
$GC,13174,1.36,359.5,283.2,9.8,628,13179,0.00,2.55,0.00,0.000,6,0.000,0.050,2688,2096,1432
$GC,13490,1.36,359.5,251.2,10.4,643,13494,0.00,2.67,0.00,0.000,4,0.000,0.076,2688,3508,1433
$GC,13517,1.36,359.5,248.1,10.6,644,13522,0.00,2.55,0.00,0.000,6,0.000,0.049,2688,2093,1433
$GC,13833,1.36,359.5,216.4,10.1,659,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1433
$GC,14142,1.36,359.5,185.9,9.8,674,14147,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3508,1433
$GC,14198,1.36,359.5,180.0,10.8,676,14204,0.00,2.55,0.00,0.000,6,0.000,0.049,2688,2093,1433
$GC,14514,1.36,359.5,149.1,9.8,692,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2093,1433
$GC,14825,1.36,359.5,118.8,10.1,707,14829,0.00,2.70,0.00,0.000,4,0.000,0.077,2688,3508,1433
$GC,14875,1.36,359.5,113.1,10.1,709,14879,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2094,1433
$GC,15193,1.36,359.5,79.3,11.2,724,15197,0.00,2.67,0.00,0.000,4,0.000,0.073,2688,3511,1433
$GC,15220,1.36,359.5,75.9,12.2,725,15225,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2102,1433
$GC,15536,1.36,359.5,43.8,8.3,740,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1434
$GC,15846,1.36,359.5,13.2,12.7,755,15851,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3508,1434
$GC,15864,1.36,359.5,11.4,10.5,756,15868,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2099,1434
$STATE,15961,end climb,SURFACE_DEPTH_REACHED
$STATE,15961,begin surface coast
$FINISH,-1.0,1.017113
$STATE,15983,end surface coast,CONTROL_FINISHED_OK
$STATE,15983,begin surface
$SM_CCo,16068,0.00,0.000,0,0,1433,360.10
$SM_GC,-0.07,11.62,0.00,0.00,0.031,0.000,0.000,49,2898,1433,-10.79,-0.03,360.10
$IRIDIUM_FIX,6112.75,-837.89,020597,070738
$TT8_MAMPS,0.028379
$HUMID,2076
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,600.1,75.0
$24V_AH,22.9,81.157
$10V_AH,10.1,37.712
$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,26.000,158.150,437.650,0.000,0.000,37.508,34.955,177.105,5.500,0.000,0.000,14.150,1419.954,12132.562,534.020,1770.588,609.061,0.000,1468.477,0.000,1743.368,0.000,34.716
$DEVICE_MAMPS,154.934,97.409,1307.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.074,525.781,484.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38002,762
$CFSIZE,260165632,232271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,060208,172708,6142.914,-832.814,33,1.4,33,-9.0