version: 66.02
glider: 103
mission: 7
dive: 512
start: 2 10 108 20 54 20
data:
$ID,103
$MISSION,7
$DIVE,512
$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,-73502.055
$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,18
$R_STBD_OVSHOOT,7
$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
$GPS1,204731,6137.528,-824.981,37,2.0,42,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-57.2
$GPS2,205347,6137.693,-825.057,15,2.4,34,-8.9
$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,222.6,23815,-11.1,-6.000
$D_GRID,696
$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,26,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-60.67,0.000,2,0.000,0.000,39,2895,3383
$GC,92,-1.10,-146.6,3.5,-8.5,3,109,12.10,0.00,-2.10,0.000,6,0.156,0.000,2163,2896,3501
$GC,419,-1.10,-146.6,36.6,-6.4,19,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2896,3502
$GC,727,-1.10,-146.6,57.2,-7.1,34,732,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1487,3503
$GC,755,-1.10,-146.6,59.3,-7.3,35,760,0.00,2.67,0.00,0.000,6,0.000,0.073,2164,2903,3503
$GC,1071,-1.10,-146.6,84.5,-7.3,50,1076,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1486,3503
$GC,1113,-1.10,-146.6,87.9,-8.6,52,1117,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2907,3503
$GC,1440,-1.10,-146.6,118.3,-10.6,68,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3503
$GC,1749,-1.10,-146.6,145.8,-8.7,83,1753,0.00,2.62,0.00,0.000,4,0.000,0.062,2164,1480,3503
$GC,1789,-1.10,-146.6,149.3,-8.9,85,1793,0.00,2.67,0.00,0.000,6,0.000,0.075,2164,2900,3503
$GC,2116,-1.10,-146.6,173.3,-6.5,101,2121,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1486,3504
$GC,2150,-1.10,-146.6,175.5,-6.0,102,2156,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2901,3503
$GC,2467,-1.10,-146.6,190.3,-3.9,118,2471,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1485,3503
$GC,2500,-1.10,-146.6,191.6,-3.5,119,2505,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2906,3504
$GC,2817,-1.10,-146.6,206.4,-5.8,134,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3504
$GC,3126,-1.10,-146.6,233.7,-10.3,149,3130,0.00,2.62,0.00,0.000,4,0.000,0.065,2164,1482,3504
$GC,3153,-1.10,-146.6,237.0,-11.4,150,3158,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2902,3504
$GC,3469,-1.10,-146.6,274.7,-11.8,165,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3504
$GC,3779,-1.10,-146.6,304.1,-7.6,180,3783,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1482,3504
$GC,3841,-1.10,-146.6,307.9,-6.3,183,3846,0.00,2.65,0.00,0.000,6,0.000,0.072,2164,2901,3504
$GC,4168,-1.10,-146.6,313.2,1.4,199,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3504
$GC,4478,-1.10,-146.6,314.0,-3.9,214,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3504
$GC,4786,-1.10,-146.6,339.3,-9.9,229,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3504
$GC,5096,-1.10,-146.6,374.6,-12.3,244,5100,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1483,3504
$GC,5169,-1.10,-146.6,384.1,-14.0,247,5173,0.00,2.65,0.00,0.000,6,0.000,0.066,2164,2906,3504
$GC,5490,-1.10,-146.6,414.0,-6.6,263,5493,0.00,1.67,0.00,0.000,4,0.000,0.093,2164,3782,3504
$GC,5680,-1.10,-146.6,432.3,-11.8,271,5683,0.00,1.58,0.00,0.000,6,0.000,0.044,2164,2879,3504
$GC,6002,-1.10,-146.6,457.1,-4.5,287,6006,0.00,2.50,0.00,0.000,4,0.000,0.060,2164,1490,3504
$GC,6088,-1.10,-146.6,459.1,-4.2,291,6092,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2899,3504
$GC,6415,-1.10,-146.6,465.9,-2.7,307,6419,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1484,3504
$GC,6448,-1.10,-146.6,468.0,-6.5,308,6454,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2909,3504
$GC,6765,-1.10,-146.6,497.5,-7.7,324,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3504
$GC,7073,-1.10,-146.6,522.9,-8.3,339,7077,0.00,1.67,0.00,0.000,4,0.000,0.095,2164,3783,3504
$GC,7085,-1.10,-146.6,523.5,-8.0,339,7088,0.00,1.58,0.00,0.000,6,0.000,0.044,2164,2882,3504
$GC,7406,-1.10,-146.6,554.7,-13.0,355,7410,0.00,1.77,0.00,0.000,4,0.000,0.094,2164,3782,3502
$GC,7479,-1.10,-146.6,558.1,-7.6,358,7483,0.00,1.58,0.00,0.000,6,0.000,0.044,2164,2883,3502
$GC,7806,-1.10,-146.6,599.6,-11.1,374,7816,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1480,3501
$GC,7839,-1.10,-146.6,603.9,-12.9,375,7843,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2903,3500
$GC,8161,-1.10,-146.6,616.6,0.2,391,8165,0.00,1.67,0.00,0.000,4,0.000,0.094,2164,3783,3499
$GC,8207,-1.10,-146.6,619.0,-8.5,393,8211,0.00,1.55,0.00,0.000,6,0.000,0.041,2164,2902,3499
$GC,8540,-1.10,-146.6,624.1,-7.4,409,8544,0.00,2.58,0.00,0.000,4,0.000,0.062,2164,1480,3498
$GC,8729,-1.10,-146.6,635.8,-0.6,417,8734,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2899,3497
$GC,9045,-1.10,-146.6,651.0,-9.1,432,9050,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1483,3496
$GC,9142,-1.10,-146.6,660.2,-4.5,436,9146,0.00,2.67,0.00,0.000,6,0.000,0.072,2164,2904,3496
$GC,9458,-1.10,-146.6,667.0,-12.1,451,9462,0.00,1.75,0.00,0.000,4,0.000,0.104,2164,3785,3495
$GC,9642,-1.10,-146.6,679.6,-3.4,459,9645,0.00,1.58,0.00,0.000,6,0.000,0.052,2164,2896,3495
$STATE,9724,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9724,begin apogee
$GC,9733,-0.42,0.0,684.0,5.6,463,9867,0.77,0.00,127.95,1.379,6,0.095,0.000,2318,2097,2900
$STATE,9868,end apogee,CONTROL_FINISHED_OK
$STATE,9868,begin climb
$GC,9871,1.10,146.6,687.4,0.0,470,10010,1.58,2.72,126.35,1.324,4,0.067,0.066,2647,691,2303
$GC,10108,1.10,146.6,683.3,10.5,481,10112,0.00,2.53,0.00,0.000,6,0.000,0.044,2647,2106,2302
$GC,10435,1.10,146.6,636.4,20.8,497,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2110,2301
$GC,10744,1.12,160.4,606.7,5.6,512,10765,0.00,2.75,13.20,1.233,4,0.000,0.067,2647,687,2247
$GC,10812,1.12,160.4,602.0,8.1,515,10816,0.00,2.55,0.00,0.000,6,0.000,0.043,2647,2107,2247
$GC,11139,1.29,296.2,594.3,2.2,531,11264,0.17,2.78,116.47,1.335,4,0.037,0.080,2701,3511,1692
$GC,11292,1.49,461.3,595.1,1.4,538,11445,0.15,2.58,141.40,1.289,6,0.046,0.042,2740,2087,1020
$GC,11762,1.49,461.3,524.2,13.1,561,11766,0.00,2.58,0.00,0.000,4,0.000,0.067,2741,699,1019
$GC,11811,1.49,461.3,517.0,14.1,563,11816,0.00,2.55,0.00,0.000,6,0.000,0.052,2741,2093,1019
$GC,12128,1.49,461.3,480.9,12.7,578,12129,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2098,1018
$GC,12437,1.49,461.3,449.1,8.5,593,12441,0.00,2.62,0.00,0.000,4,0.000,0.070,2740,692,1018
$GC,12482,1.49,461.3,445.9,6.9,595,12487,0.00,2.58,0.00,0.000,6,0.000,0.057,2741,2099,1017
$GC,12805,1.49,461.3,418.7,10.3,611,12809,0.00,2.70,0.00,0.000,4,0.000,0.082,2741,3515,1016
$GC,12860,1.49,461.3,411.6,13.3,613,12866,0.00,2.55,0.00,0.000,6,0.000,0.051,2741,2107,1016
$GC,13176,1.49,461.3,374.5,12.6,629,13181,0.00,2.60,0.00,0.000,4,0.000,0.065,2741,689,1016
$GC,13204,1.49,461.3,370.6,14.3,630,13208,0.00,2.55,0.00,0.000,6,0.000,0.050,2741,2102,1016
$GC,13520,1.49,461.3,327.3,14.2,645,13524,0.00,2.67,0.00,0.000,4,0.000,0.078,2741,3516,1016
$GC,13553,1.49,461.3,321.8,15.8,646,13559,0.00,2.55,0.00,0.000,6,0.000,0.048,2741,2098,1016
$GC,13869,1.49,461.3,272.3,16.6,662,13874,0.00,2.67,0.00,0.000,4,0.000,0.074,2741,3515,1016
$GC,13896,1.49,461.3,267.3,16.5,663,13901,0.00,2.55,0.00,0.000,6,0.000,0.048,2741,2100,1017
$GC,14212,1.49,461.3,217.0,15.5,678,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2100,1017
$GC,14522,1.49,461.3,170.6,14.9,693,14526,0.00,2.67,0.00,0.000,4,0.000,0.077,2741,3512,1017
$GC,14555,1.49,461.3,165.8,13.4,694,14561,0.00,2.55,0.00,0.000,6,0.000,0.051,2741,2099,1017
$GC,14872,1.49,461.3,123.9,12.4,710,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2099,1017
$GC,15181,1.49,461.3,85.0,12.9,725,15185,0.00,2.70,0.00,0.000,4,0.000,0.075,2741,3519,1018
$GC,15202,1.49,461.3,81.9,13.3,726,15207,0.00,2.58,0.00,0.000,6,0.000,0.051,2741,2097,1018
$GC,15524,1.49,461.3,40.5,12.3,742,15528,0.00,2.60,0.00,0.000,4,0.000,0.069,2741,692,1018
$GC,15574,1.49,461.3,33.1,13.9,744,15579,0.00,2.58,0.00,0.000,6,0.000,0.054,2741,2109,1018
$STATE,15805,end climb,SURFACE_DEPTH_REACHED
$STATE,15805,begin surface coast
$FINISH,-1.0,1.027455
$STATE,15828,end surface coast,CONTROL_FINISHED_OK
$STATE,15829,begin surface
$SM_CCo,15914,0.00,0.000,0,0,1018,461.90
$SM_GC,-0.30,11.85,0.00,0.00,0.028,0.000,0.000,39,2896,1018,-10.80,-0.11,461.90
$IRIDIUM_FIX,6108.28,-818.67,060597,161606
$TT8_MAMPS,0.029146
$HUMID,2127
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,16.80
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,600.3,92.7
$24V_AH,22.7,85.258
$10V_AH,10.1,39.540
$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,26.625,150.325,525.375,0.000,0.000,40.498,36.782,150.790,7.000,0.000,0.000,37.813,1410.880,11942.698,586.266,1774.923,588.099,0.000,1529.055,0.000,1722.726,0.000,34.781
$DEVICE_MAMPS,155.701,104.312,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.428,520.690,450.183,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37988,756
$CFSIZE,260165632,230977536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,110208,012037,6140.851,-833.692,28,1.2,28,-9.0