version: 66.02
glider: 103
mission: 7
dive: 488
start: 2 6 108 17 38 4
data:
$ID,103
$MISSION,7
$DIVE,488
$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,-73007.461
$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,20
$R_STBD_OVSHOOT,11
$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
$GPS1,172708,6142.914,-832.814,33,1.4,33,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-54.2
$GPS2,173731,6142.967,-832.815,13,3.3,32,-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,118.4,16594,-11.1,-6.000
$D_GRID,542
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-75.22,0.000,6,0.000,0.000,49,2900,3499
$GC,110,-1.10,-146.6,5.4,-8.8,4,126,12.00,1.75,0.00,0.000,4,0.158,0.090,2163,3784,3501
$GC,379,-1.10,-146.6,43.4,-7.5,15,383,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2893,3501
$GC,708,-1.10,-146.6,64.9,-5.7,31,711,0.00,1.75,0.00,0.000,4,0.000,0.097,2163,3783,3501
$GC,776,-1.10,-146.6,69.5,-7.2,34,780,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2896,3501
$GC,1109,-1.10,-146.6,96.2,-8.3,50,1114,0.00,2.60,0.00,0.000,4,0.000,0.069,2163,1484,3501
$GC,1177,-1.10,-146.6,101.5,-8.1,53,1181,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2899,3501
$GC,1498,-1.10,-146.6,125.2,-7.0,69,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,1807,-1.10,-146.6,146.8,-7.1,84,1812,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1485,3502
$GC,1875,-1.10,-146.6,151.9,-8.0,87,1879,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2909,3501
$GC,2196,-1.10,-146.6,174.1,-7.3,103,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3502
$GC,2505,-1.10,-146.6,196.8,-7.1,118,2509,0.00,2.65,0.00,0.000,4,0.000,0.068,2163,1484,3502
$GC,2545,-1.10,-146.6,199.5,-7.1,120,2549,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2903,3502
$GC,2872,-1.10,-146.6,222.3,-7.4,136,2876,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1484,3502
$GC,2905,-1.10,-146.6,224.8,-7.6,137,2912,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2905,3502
$GC,3221,-1.10,-146.6,248.6,-7.7,153,3225,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1487,3502
$GC,3283,-1.10,-146.6,253.5,-7.7,156,3288,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2899,3502
$GC,3610,-1.10,-146.6,276.8,-7.1,172,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,3919,-1.10,-146.6,296.4,-5.8,187,3924,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1487,3502
$GC,3960,-1.10,-146.6,298.6,-5.4,189,3964,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2901,3501
$GC,4286,-1.10,-146.6,317.2,-6.0,205,4290,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1484,3502
$GC,4319,-1.10,-146.6,319.3,-6.0,206,4325,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2905,3502
$GC,4635,-1.10,-146.6,339.7,-6.6,222,4639,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1482,3502
$GC,4662,-1.10,-146.6,341.7,-6.9,223,4667,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2906,3502
$GC,4978,-1.10,-146.6,362.4,-6.1,238,4983,0.00,2.58,0.00,0.000,4,0.000,0.056,2164,1482,3502
$GC,5034,-1.10,-146.6,366.0,-7.0,240,5041,0.00,2.60,0.00,0.000,6,0.000,0.065,2163,2898,3502
$GC,5351,-1.10,-146.6,386.4,-6.8,256,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,5660,-1.10,-146.6,407.7,-6.5,271,5665,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1484,3502
$GC,5711,-1.10,-146.6,411.0,-6.2,273,5715,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2903,3501
$GC,6027,-1.10,-146.6,430.0,-5.9,288,6030,0.00,1.67,0.00,0.000,4,0.000,0.092,2163,3784,3502
$GC,6106,-1.10,-146.6,435.1,-6.5,291,6109,0.00,1.58,0.00,0.000,6,0.000,0.041,2164,2894,3502
$GC,6427,-1.10,-146.6,456.3,-6.9,307,6430,0.00,1.73,0.00,0.000,4,0.000,0.087,2163,3789,3502
$GC,6556,-1.10,-146.6,465.4,-7.4,312,6562,0.00,1.55,0.00,0.000,6,0.000,0.038,2163,2906,3502
$GC,6872,-1.10,-146.6,489.2,-6.9,328,6876,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1485,3502
$GC,6916,-1.10,-146.6,492.0,-6.4,330,6921,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2906,3501
$GC,7238,-1.10,-146.6,511.7,-6.4,346,7242,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1488,3502
$GC,7287,-1.10,-146.6,515.0,-6.9,348,7292,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2899,3502
$GC,7603,-1.10,-146.6,536.4,-6.9,363,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$STATE,7663,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7663,begin apogee
$GC,7672,-0.42,0.0,540.6,6.8,366,7805,0.77,0.00,127.07,1.182,6,0.090,0.000,2318,2092,2901
$STATE,7806,end apogee,CONTROL_FINISHED_OK
$STATE,7806,begin climb
$GC,7809,1.10,146.6,545.9,0.0,373,7940,1.58,2.65,122.35,1.172,4,0.071,0.058,2645,695,2303
$GC,8028,1.13,168.3,539.8,5.4,383,8053,0.00,2.50,19.90,1.119,6,0.000,0.035,2645,2118,2214
$GC,8369,1.14,174.5,520.0,5.8,400,8382,0.00,2.65,6.50,0.946,4,0.000,0.062,2646,3508,2189
$GC,8487,1.14,174.5,512.5,6.5,405,8491,0.00,2.50,0.00,0.000,6,0.000,0.037,2646,2087,2189
$GC,8808,1.14,174.5,491.1,7.3,421,8813,0.00,2.62,0.00,0.000,4,0.000,0.064,2646,3502,2189
$GC,8836,1.14,174.5,489.3,6.3,422,8840,0.00,2.47,0.00,0.000,6,0.000,0.037,2646,2095,2189
$GC,9152,1.15,184.1,470.5,5.7,437,9164,0.00,0.00,9.57,1.055,6,0.000,0.000,2646,2094,2150
$GC,9461,1.24,256.7,451.9,4.0,452,9525,0.15,0.00,61.45,1.178,6,0.041,0.000,2691,2094,1854
$GC,9832,1.24,256.7,423.2,8.6,470,9837,0.00,2.65,0.00,0.000,4,0.000,0.071,2690,3501,1852
$GC,9918,1.24,256.7,415.7,8.8,474,9922,0.00,2.47,0.00,0.000,6,0.000,0.046,2691,2104,1852
$GC,10244,1.24,256.7,383.2,10.4,490,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2104,1852
$GC,10554,1.24,256.7,353.0,9.8,505,10558,0.00,2.62,0.00,0.000,4,0.000,0.073,2691,3499,1852
$GC,10611,1.24,256.7,347.1,10.5,507,10617,0.00,2.50,0.00,0.000,6,0.000,0.046,2691,2101,1852
$GC,10927,1.24,256.7,314.6,10.3,523,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2101,1852
$GC,11236,1.24,256.7,281.9,10.8,538,11241,0.00,2.65,0.00,0.000,4,0.000,0.075,2691,3501,1852
$GC,11270,1.24,256.7,277.9,11.6,539,11276,0.00,2.50,0.00,0.000,6,0.000,0.048,2691,2101,1852
$GC,11586,1.24,256.7,242.8,10.8,555,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2101,1852
$GC,11895,1.24,256.7,212.0,9.7,570,11897,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2101,1852
$GC,12205,1.24,256.7,185.1,8.5,585,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2101,1852
$GC,12514,1.24,256.7,160.8,7.6,600,12518,0.00,2.55,0.00,0.000,4,0.000,0.063,2691,694,1853
$GC,12547,1.24,256.7,158.2,8.1,601,12553,0.00,2.47,0.00,0.000,6,0.000,0.044,2691,2091,1853
$GC,12863,1.24,256.7,136.1,7.1,617,12868,0.00,2.67,0.00,0.000,4,0.000,0.077,2691,3511,1852
$GC,12914,1.24,256.7,132.0,7.7,619,12918,0.00,2.53,0.00,0.000,6,0.000,0.048,2691,2101,1852
$GC,13230,1.24,256.7,108.9,6.7,634,13234,0.00,2.67,0.00,0.000,4,0.000,0.077,2691,3508,1853
$GC,13274,1.24,256.7,106.2,6.2,636,13279,0.00,2.53,0.00,0.000,6,0.000,0.050,2691,2095,1853
$GC,13602,1.24,256.7,84.0,6.8,652,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2095,1853
$GC,13911,1.24,256.7,60.2,7.0,667,13912,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2095,1853
$GC,14222,1.24,256.7,32.9,9.8,682,14227,0.00,2.58,0.00,0.000,4,0.000,0.067,2691,693,1854
$GC,14250,1.24,256.7,29.9,10.3,683,14255,0.00,2.50,0.00,0.000,6,0.000,0.047,2691,2096,1854
$GC,14567,1.24,256.7,5.0,9.2,698,14571,0.00,2.67,0.00,0.000,4,0.000,0.080,2691,3512,1854
$GC,14588,1.24,256.7,2.8,9.6,699,14593,0.00,2.55,0.00,0.000,6,0.000,0.051,2691,2097,1853
$STATE,14597,end climb,SURFACE_DEPTH_REACHED
$STATE,14597,begin surface coast
$FINISH,-0.2,1.027375
$STATE,14619,end surface coast,CONTROL_FINISHED_OK
$STATE,14619,begin surface
$SM_CCo,14644,37.47,0.796,2,0,1677,300.00
$SM_GC,-0.37,0.00,0.00,37.47,0.000,0.000,0.796,44,2901,1677,-10.88,0.03,300.00
$IRIDIUM_FIX,6121.73,-830.95,020597,171709
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.5,99.4
$24V_AH,23.0,81.303
$10V_AH,10.1,37.786
$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,26.100,135.500,346.850,37.475,0.000,77.269,81.609,244.769,4.000,0.000,0.000,35.624,1307.980,11143.850,526.180,1618.311,732.911,0.000,1342.768,0.000,1573.964,0.000,25.068
$DEVICE_MAMPS,158.002,96.642,1181.947,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.452,483.129,484.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34760,701
$CFSIZE,260165632,232226816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,060208,214408,6143.160,-828.613,34,1.0,34,-9.0