version: 66.02
glider: 103
mission: 7
dive: 513
start: 2 11 108 1 27 42
data:
$ID,103
$MISSION,7
$DIVE,513
$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,-73517.18
$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,9
$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
$GPS1,012037,6140.851,-833.692,28,1.2,28,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-50.1
$GPS2,012709,6141.007,-833.874,14,1.3,14,-9.0
$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,200.8,26502,-11.1,-6.000
$D_GRID,735
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.10,-146.6,0.0,0.0,0,117,0.00,0.00,-90.15,0.000,6,0.000,0.000,38,2899,3500
$GC,120,-1.10,-146.6,2.1,-3.8,4,142,12.05,2.62,0.00,0.000,4,0.157,0.056,2163,1487,3503
$GC,148,-1.10,-146.6,15.0,-34.6,5,152,0.00,2.70,0.00,0.000,6,0.000,0.071,2163,2907,3503
$GC,470,-1.10,-146.6,41.1,-6.5,21,474,0.00,2.62,0.00,0.000,4,0.000,0.061,2163,1483,3503
$GC,503,-1.10,-146.6,43.8,-7.8,22,509,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2905,3503
$GC,820,-1.10,-146.6,64.1,-6.9,38,825,0.00,2.60,0.00,0.000,4,0.000,0.059,2163,1488,3503
$GC,861,-1.10,-146.6,66.6,-6.6,40,866,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2902,3503
$GC,1189,-1.10,-146.6,89.0,-7.6,56,1192,0.00,1.73,0.00,0.000,4,0.000,0.104,2163,3785,3503
$GC,1257,-1.10,-146.6,96.3,-11.6,59,1260,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2899,3503
$GC,1591,-1.10,-146.6,121.6,-4.2,75,1595,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1483,3503
$GC,1663,-1.10,-146.6,126.9,-8.3,78,1668,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2904,3503
$GC,1979,-1.10,-146.6,156.8,-5.8,93,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3503
$GC,2289,-1.10,-146.6,171.9,-5.9,108,2294,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1484,3503
$GC,2347,-1.10,-146.6,176.1,-7.3,110,2353,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2905,3503
$GC,2663,-1.10,-146.6,198.0,-7.2,126,2667,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1482,3503
$GC,2705,-1.10,-146.6,200.9,-7.7,128,2709,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2900,3503
$GC,3031,-1.10,-146.6,226.7,-6.9,144,3036,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1482,3503
$GC,3073,-1.10,-146.6,229.4,-7.1,146,3078,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2901,3503
$GC,3402,-1.10,-146.6,250.3,-5.8,162,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3503
$GC,3710,-1.10,-146.6,274.4,-8.8,177,3715,0.00,2.58,0.00,0.000,4,0.000,0.063,2163,1487,3503
$GC,3750,-1.10,-146.6,278.2,-9.0,178,3756,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2902,3503
$GC,4067,-1.10,-146.6,313.5,-11.4,194,4071,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1483,3503
$GC,4094,-1.10,-146.6,316.7,-11.2,195,4098,0.00,2.65,0.00,0.000,6,0.000,0.066,2163,2906,3503
$GC,4412,-1.10,-146.6,351.7,-10.8,210,4416,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1487,3503
$GC,4440,-1.10,-146.6,355.0,-10.7,211,4444,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,4756,-1.10,-146.6,386.3,-9.4,226,4761,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1480,3503
$GC,4790,-1.10,-146.6,389.5,-8.8,227,4796,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2900,3503
$GC,5106,-1.10,-146.6,416.3,-8.8,243,5111,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1480,3504
$GC,5140,-1.10,-146.6,419.2,-8.3,244,5147,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2900,3503
$GC,5456,-1.10,-146.6,444.7,-7.7,260,5460,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1481,3504
$GC,5530,-1.10,-146.6,450.0,-7.4,263,5534,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2899,3504
$GC,5848,-1.10,-146.6,475.9,-9.5,278,5851,0.00,1.67,0.00,0.000,4,0.000,0.092,2163,3782,3504
$GC,6106,-1.10,-146.6,487.6,-0.5,289,6110,0.00,1.58,0.00,0.000,6,0.000,0.044,2163,2881,3504
$GC,6428,-1.10,-146.6,491.7,-1.8,305,6432,0.00,1.75,0.00,0.000,4,0.000,0.093,2163,3783,3504
$GC,6520,-1.10,-146.6,496.4,-6.5,309,6523,0.00,1.55,0.00,0.000,6,0.000,0.044,2163,2909,3505
$GC,6852,-1.10,-146.6,516.5,-6.0,325,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3504
$GC,7162,-1.10,-146.6,539.2,-7.2,340,7166,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1486,3504
$GC,7251,-1.10,-146.6,547.4,-10.0,344,7256,0.00,2.65,0.00,0.000,6,0.000,0.072,2163,2897,3504
$GC,7573,-1.10,-146.6,575.5,-8.2,360,7578,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1485,3504
$GC,7614,-1.10,-146.6,578.6,-7.5,362,7618,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2906,3504
$GC,7941,-1.10,-146.6,603.0,-7.2,378,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3503
$GC,8249,-1.10,-146.6,634.8,-10.6,393,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,8559,-1.10,-146.6,657.6,-8.8,408,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,8869,-1.10,-146.6,671.0,-5.8,423,8873,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1489,3500
$GC,8919,-1.10,-146.6,672.4,-2.2,425,8924,0.00,2.67,0.00,0.000,6,0.000,0.077,2163,2898,3499
$GC,9236,-1.10,-146.6,685.3,-3.9,440,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3497
$GC,9544,-1.10,-146.6,694.7,-2.5,455,9549,0.00,2.62,0.00,0.000,4,0.000,0.069,2163,1487,3496
$GC,9623,-1.10,-146.6,697.7,-2.2,458,9629,0.00,2.72,0.00,0.000,6,0.000,0.081,2163,2906,3496
$GC,9941,-1.10,-146.6,702.0,-3.6,474,9945,0.00,1.73,0.00,0.000,4,0.000,0.105,2163,3787,3495
$GC,10100,-1.10,-146.6,714.1,-18.3,481,10103,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2892,3494
$STATE,10244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10244,begin apogee
$GC,10253,-0.42,0.0,735.7,14.8,488,10387,0.80,0.00,129.07,1.456,6,0.106,0.000,2318,2099,2901
$STATE,10388,end apogee,CONTROL_FINISHED_OK
$STATE,10388,begin climb
$GC,10392,1.10,146.6,750.3,0.0,495,10527,1.60,0.00,127.22,1.426,6,0.062,0.000,2649,2098,2302
$GC,10841,1.37,367.5,752.7,-0.1,517,11049,0.22,2.85,192.90,1.408,4,0.038,0.081,2712,3509,1402
$GC,11083,1.37,367.5,746.9,7.0,528,11087,0.00,2.60,0.00,0.000,6,0.000,0.048,2713,2091,1401
$GC,11399,1.37,367.5,708.7,8.5,543,11403,0.00,2.60,0.00,0.000,4,0.000,0.071,2713,692,1400
$GC,11495,1.37,367.5,696.6,10.7,547,11500,0.00,2.58,0.00,0.000,6,0.000,0.051,2712,2105,1400
$GC,11811,1.37,367.5,663.1,13.1,562,11816,0.00,2.70,0.00,0.000,4,0.000,0.084,2713,3511,1399
$GC,11874,1.37,367.5,656.7,9.6,565,11879,0.00,2.55,0.00,0.000,6,0.000,0.046,2713,2091,1398
$GC,12201,1.37,367.5,613.7,12.2,581,12206,0.00,2.75,0.00,0.000,4,0.000,0.082,2713,3517,1398
$GC,12219,1.37,367.5,611.2,13.4,582,12223,0.00,2.53,0.00,0.000,6,0.000,0.044,2713,2098,1397
$GC,12545,1.37,367.5,563.9,12.7,598,12550,0.00,2.60,0.00,0.000,4,0.000,0.069,2713,698,1398
$GC,12669,1.37,367.5,547.4,12.2,603,12675,0.00,2.55,0.00,0.000,6,0.000,0.049,2713,2106,1398
$GC,12985,1.37,367.5,505.8,14.2,619,12990,0.00,2.67,0.00,0.000,4,0.000,0.078,2713,3518,1397
$GC,13115,1.37,367.5,490.5,10.0,625,13119,0.00,2.55,0.00,0.000,6,0.000,0.050,2713,2102,1397
$GC,13442,1.37,367.5,452.6,13.4,641,13446,0.00,2.72,0.00,0.000,4,0.000,0.083,2713,3513,1396
$GC,13471,1.37,367.5,448.3,14.2,642,13476,0.00,2.55,0.00,0.000,6,0.000,0.051,2713,2099,1396
$GC,13787,1.37,367.5,405.0,12.6,657,13788,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2099,1396
$GC,14096,1.37,367.5,368.8,10.7,672,14101,0.00,2.58,0.00,0.000,4,0.000,0.064,2713,691,1396
$GC,14125,1.37,367.5,365.6,11.5,673,14129,0.00,2.53,0.00,0.000,6,0.000,0.047,2713,2101,1397
$GC,14441,1.37,367.5,334.4,9.6,688,14445,0.00,2.67,0.00,0.000,4,0.000,0.079,2713,3515,1398
$GC,14474,1.37,367.5,331.4,9.0,689,14479,0.00,2.55,0.00,0.000,6,0.000,0.049,2713,2100,1398
$GC,14790,1.37,367.5,307.9,7.6,705,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2100,1398
$GC,15099,1.37,367.5,281.3,9.1,720,15103,0.00,2.70,0.00,0.000,4,0.000,0.077,2713,3515,1399
$GC,15120,1.37,367.5,279.3,8.8,721,15125,0.00,2.55,0.00,0.000,6,0.000,0.049,2713,2101,1400
$GC,15442,1.37,367.5,250.1,9.2,737,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2101,1400
$GC,15751,1.37,367.5,222.8,8.4,752,15755,0.00,2.70,0.00,0.000,4,0.000,0.077,2713,3516,1401
$GC,15773,1.37,367.5,220.8,9.3,753,15777,0.00,2.55,0.00,0.000,6,0.000,0.046,2713,2093,1401
$GC,16094,1.37,367.5,187.7,10.5,769,16095,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2093,1401
$GC,16403,1.37,367.5,148.3,13.4,784,16408,0.00,2.70,0.00,0.000,4,0.000,0.080,2713,3511,1402
$GC,16431,1.37,367.5,144.5,14.6,785,16435,0.00,2.55,0.00,0.000,6,0.000,0.050,2713,2097,1402
$GC,16749,1.37,367.5,103.9,13.3,800,16753,0.00,2.67,0.00,0.000,4,0.000,0.075,2713,3509,1402
$GC,16767,1.37,367.5,101.2,13.6,801,16771,0.00,2.53,0.00,0.000,6,0.000,0.051,2713,2096,1402
$GC,17094,1.37,367.5,58.3,13.0,817,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2096,1402
$GC,17403,1.37,367.5,18.1,13.4,832,17408,0.00,2.70,0.00,0.000,4,0.000,0.077,2713,3514,1402
$GC,17432,1.37,367.5,14.3,15.1,833,17436,0.00,2.53,0.00,0.000,6,0.000,0.048,2713,2102,1403
$STATE,17538,end climb,SURFACE_DEPTH_REACHED
$STATE,17539,begin surface coast
$FINISH,-1.0,1.027400
$STATE,17562,end surface coast,CONTROL_FINISHED_OK
$STATE,17562,begin surface
$SM_CCo,17647,0.00,0.000,0,0,1402,367.70
$SM_GC,-0.42,11.75,0.00,0.00,0.031,0.000,0.000,45,2899,1402,-10.78,-0.06,367.70
$IRIDIUM_FIX,6112.75,-828.94,060597,202025
$TT8_MAMPS,0.028379
$HUMID,2096
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.00
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,700.6,85.4
$24V_AH,22.5,85.455
$10V_AH,10.1,39.621
$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,26.425,178.675,449.200,0.000,0.000,32.784,59.536,164.907,13.500,0.000,0.000,14.498,1573.055,13328.098,600.873,1910.047,638.223,0.000,1595.651,0.000,1870.677,0.000,41.216
$DEVICE_MAMPS,157.235,105.079,1455.766,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.908,574.616,480.934,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44272,839
$CFSIZE,260165632,230899712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
$GPS,110208,062307,6143.088,-846.206,37,1.4,42,-9.2