version: 66.02
glider: 103
mission: 7
dive: 514
start: 2 11 108 6 34 37
data:
$ID,103
$MISSION,7
$DIVE,514
$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,-73535.922
$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,17
$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
$GPS1,062307,6143.088,-846.206,37,1.4,42,-9.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-54.2
$GPS2,063403,6143.269,-846.696,18,1.3,18,-9.2
$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,178.1,30707,-11.1,-6.000
$D_GRID,794
$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,25,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-75.90,0.000,6,0.000,0.000,44,2901,3501
$GC,110,-1.10,-146.6,5.1,-8.8,4,131,12.12,1.73,0.00,0.000,4,0.160,0.084,2165,3785,3503
$GC,181,-1.10,-146.6,20.3,-7.3,7,185,0.00,1.62,0.00,0.000,6,0.000,0.059,2166,2898,3503
$GC,511,-1.10,-146.6,43.8,-10.2,23,515,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1480,3503
$GC,566,-1.10,-146.6,51.7,-12.5,25,573,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2900,3503
$GC,883,-1.10,-146.6,72.6,-5.2,41,886,0.00,1.73,0.00,0.000,4,0.000,0.098,2166,3785,3503
$GC,952,-1.10,-146.6,77.6,-6.9,44,956,0.00,1.58,0.00,0.000,6,0.000,0.052,2166,2896,3503
$GC,1287,-1.10,-146.6,98.3,-5.5,60,1291,0.00,2.58,0.00,0.000,4,0.000,0.063,2166,1484,3503
$GC,1365,-1.10,-146.6,103.2,-6.3,63,1371,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,1683,-1.10,-146.6,122.5,-6.2,79,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,1991,-1.10,-146.6,143.8,-6.7,94,1995,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1482,3503
$GC,2046,-1.10,-146.6,146.9,-6.0,96,2052,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2901,3503
$GC,2362,-1.10,-146.6,174.3,-9.4,112,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2671,-1.10,-146.6,206.7,-10.0,127,2675,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1483,3503
$GC,2698,-1.10,-146.6,209.5,-10.0,128,2703,0.00,2.67,0.00,0.000,6,0.000,0.070,2166,2904,3503
$GC,3015,-1.10,-146.6,236.7,-8.5,143,3019,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1479,3503
$GC,3042,-1.10,-146.6,239.1,-8.2,144,3046,0.00,2.67,0.00,0.000,6,0.000,0.068,2166,2904,3503
$GC,3358,-1.10,-146.6,263.8,-8.0,159,3362,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1484,3503
$GC,3398,-1.10,-146.6,266.9,-8.2,161,3403,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,3726,-1.10,-146.6,288.5,-5.8,177,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,4036,-1.10,-146.6,300.2,-2.5,192,4040,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1485,3503
$GC,4104,-1.10,-146.6,301.7,-3.0,195,4108,0.00,2.65,0.00,0.000,6,0.000,0.066,2166,2908,3503
$GC,4426,-1.10,-146.6,310.1,-3.6,211,4430,0.00,2.60,0.00,0.000,4,0.000,0.057,2166,1479,3503
$GC,4448,-1.10,-146.6,310.9,-3.0,212,4452,0.00,2.65,0.00,0.000,6,0.000,0.066,2166,2900,3504
$GC,4769,-1.10,-146.6,329.0,-7.8,228,4773,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1480,3504
$GC,4796,-1.10,-146.6,331.4,-8.2,229,4801,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2900,3504
$GC,5112,-1.10,-146.6,365.1,-12.1,244,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,5422,-1.10,-146.6,404.7,-12.8,259,5426,0.00,2.58,0.00,0.000,4,0.000,0.056,2166,1482,3504
$GC,5517,-1.10,-146.6,417.3,-12.4,263,5521,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2901,3504
$GC,5833,-1.10,-146.6,448.4,-7.9,278,5838,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1484,3504
$GC,5861,-1.10,-146.6,450.6,-7.6,279,5866,0.00,2.65,0.00,0.000,6,0.000,0.066,2166,2908,3504
$GC,6178,-1.10,-146.6,470.7,-4.9,294,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3503
$GC,6487,-1.10,-146.6,484.8,-2.7,309,6491,0.00,1.70,0.00,0.000,4,0.000,0.091,2166,3784,3504
$GC,6534,-1.10,-146.6,486.5,-4.5,311,6538,0.00,1.58,0.00,0.000,6,0.000,0.044,2166,2876,3504
$GC,6868,-1.10,-146.6,493.5,-2.4,327,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2876,3504
$GC,7177,-1.10,-146.6,499.3,-2.6,342,7181,0.00,1.77,0.00,0.000,4,0.000,0.088,2166,3780,3504
$GC,7228,-1.10,-146.6,501.1,-4.4,344,7232,0.00,1.55,0.00,0.000,6,0.000,0.043,2166,2910,3504
$GC,7555,-1.10,-146.6,520.0,-8.2,360,7560,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1486,3503
$GC,7584,-1.10,-146.6,522.5,-9.5,361,7588,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2901,3503
$GC,7900,-1.10,-146.6,558.1,-12.5,376,7903,0.00,1.70,0.00,0.000,4,0.000,0.093,2166,3790,3504
$GC,7991,-1.10,-146.6,569.1,-13.2,380,7994,0.00,1.58,0.00,0.000,6,0.000,0.041,2166,2879,3504
$GC,8325,-1.10,-146.6,611.3,-10.2,396,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2880,3503
$GC,8634,-1.10,-146.6,632.5,-4.5,411,8638,0.00,2.53,0.00,0.000,4,0.000,0.061,2166,1489,3503
$GC,8747,-1.10,-146.6,638.8,-6.0,416,8752,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2904,3503
$GC,9069,-1.10,-146.6,642.1,1.4,432,9073,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1489,3502
$GC,9109,-1.10,-146.6,641.8,0.5,434,9113,0.00,2.67,0.00,0.000,6,0.000,0.078,2166,2900,3502
$GC,9437,-1.10,-146.6,651.0,-6.4,450,9441,0.00,2.62,0.00,0.000,4,0.000,0.069,2166,1489,3500
$GC,9515,-1.10,-146.6,657.5,-8.2,453,9521,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2907,3500
$GC,9831,-1.10,-146.6,687.8,-12.8,469,9835,0.00,2.65,0.00,0.000,4,0.000,0.070,2166,1485,3498
$GC,9893,-1.10,-146.6,694.5,-7.9,472,9898,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2899,3497
$GC,10223,-1.10,-146.6,710.2,-4.1,488,10226,0.00,1.75,0.00,0.000,4,0.000,0.109,2166,3786,3496
$GC,10400,-1.10,-146.6,723.6,-4.8,495,10406,0.00,1.60,0.00,0.000,6,0.000,0.054,2166,2912,3495
$GC,10716,-1.10,-146.6,759.1,-8.8,511,10721,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1485,3494
$GC,10802,-1.10,-146.6,765.2,-8.4,515,10807,0.00,2.72,0.00,0.000,6,0.000,0.083,2166,2908,3494
$GC,11129,-1.10,-146.6,785.8,-1.6,531,11134,0.00,2.67,0.00,0.000,4,0.000,0.072,2166,1480,3493
$GC,11192,-1.10,-146.6,788.4,-5.6,534,11197,0.00,2.72,0.00,0.000,6,0.000,0.086,2165,2899,3493
$STATE,11330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11331,begin apogee
$GC,11340,-0.42,0.0,790.8,2.4,541,11473,0.82,0.00,130.02,1.496,6,0.137,0.000,2315,2099,2901
$STATE,11474,end apogee,CONTROL_FINISHED_OK
$STATE,11474,begin climb
$GC,11478,1.10,146.6,789.0,0.0,548,11614,1.60,2.72,128.35,1.431,4,0.066,0.067,2648,683,2303
$GC,11624,1.13,168.1,786.5,5.4,555,11650,0.00,2.58,20.58,1.347,6,0.000,0.041,2648,2116,2215
$GC,11975,1.34,342.5,762.3,1.2,572,12141,0.22,2.80,152.90,1.426,4,0.037,0.069,2709,690,1504
$GC,12383,1.34,342.5,712.7,20.0,590,12389,0.00,2.55,0.00,0.000,6,0.000,0.050,2709,2092,1503
$GC,12700,1.34,342.5,668.8,11.9,606,12704,0.00,2.72,0.00,0.000,4,0.000,0.084,2709,3516,1501
$GC,12727,1.34,342.5,665.1,13.1,607,12731,0.00,2.58,0.00,0.000,6,0.000,0.049,2709,2091,1501
$GC,13043,1.34,342.5,614.5,19.6,622,13047,0.00,2.60,0.00,0.000,4,0.000,0.071,2709,686,1501
$GC,13065,1.34,342.5,610.5,16.7,623,13069,0.00,2.55,0.00,0.000,6,0.000,0.048,2709,2102,1501
$GC,13386,1.34,342.5,565.0,13.1,639,13390,0.00,2.70,0.00,0.000,4,0.000,0.085,2709,3509,1500
$GC,13430,1.34,342.5,559.5,11.7,641,13434,0.00,2.58,0.00,0.000,6,0.000,0.053,2709,2093,1500
$GC,13751,1.34,342.5,520.7,11.9,657,13756,0.00,2.72,0.00,0.000,4,0.000,0.086,2709,3510,1498
$GC,13847,1.34,342.5,511.7,8.8,661,13851,0.00,2.55,0.00,0.000,6,0.000,0.052,2709,2100,1498
$GC,14164,1.37,365.5,491.3,5.4,676,14189,0.00,2.80,20.27,1.260,4,0.000,0.079,2709,3516,1411
$GC,14218,1.40,389.3,488.7,5.3,678,14273,0.00,2.60,37.20,1.011,6,0.000,0.050,2709,2096,1314
$GC,14598,1.47,442.5,471.3,4.5,697,14663,0.00,2.78,54.20,1.159,4,0.000,0.077,2709,3509,1097
$GC,14704,1.47,446.4,466.1,5.9,702,14714,0.00,2.58,5.35,0.960,6,0.000,0.051,2709,2099,1080
$GC,15025,1.47,446.4,441.2,8.4,717,15029,0.00,2.67,0.00,0.000,4,0.000,0.077,2709,3511,1081
$GC,15065,1.47,446.4,437.6,10.0,719,15069,0.00,2.55,0.00,0.000,6,0.000,0.051,2709,2100,1080
$GC,15391,1.47,446.4,410.5,8.8,735,15396,0.00,2.70,0.00,0.000,4,0.000,0.076,2709,3516,1081
$GC,15425,1.47,446.4,407.1,9.5,736,15431,0.00,2.58,0.00,0.000,6,0.000,0.049,2709,2094,1080
$GC,15741,1.47,446.4,373.4,11.8,752,15746,0.00,2.67,0.00,0.000,4,0.000,0.076,2709,3509,1080
$GC,15781,1.47,446.4,367.5,14.2,754,15785,0.00,2.53,0.00,0.000,6,0.000,0.050,2708,2095,1081
$GC,16107,1.47,446.4,323.5,12.7,770,16112,0.00,2.70,0.00,0.000,4,0.000,0.077,2709,3516,1082
$GC,16146,1.47,446.4,318.6,12.2,772,16151,0.00,2.55,0.00,0.000,6,0.000,0.049,2709,2094,1082
$GC,16473,1.47,446.4,281.0,11.1,788,16478,0.00,2.67,0.00,0.000,4,0.000,0.073,2709,3511,1083
$GC,16513,1.47,446.4,276.0,12.3,790,16518,0.00,2.53,0.00,0.000,6,0.000,0.051,2709,2104,1083
$GC,16841,1.47,446.4,236.8,12.2,806,16845,0.00,2.67,0.00,0.000,4,0.000,0.075,2709,3512,1083
$GC,16880,1.47,446.4,231.4,11.9,808,16885,0.00,2.55,0.00,0.000,6,0.000,0.052,2709,2093,1083
$GC,17208,1.47,446.4,190.7,12.1,824,17212,0.00,2.70,0.00,0.000,4,0.000,0.077,2709,3511,1083
$GC,17252,1.47,446.4,185.1,12.4,826,17257,0.00,2.55,0.00,0.000,6,0.000,0.048,2709,2096,1083
$GC,17574,1.47,446.4,148.5,10.9,842,17578,0.00,2.67,0.00,0.000,4,0.000,0.076,2709,3512,1084
$GC,17607,1.47,446.4,145.3,9.2,843,17613,0.00,2.53,0.00,0.000,6,0.000,0.049,2709,2101,1084
$GC,17924,1.47,446.4,112.0,12.0,859,17928,0.00,2.67,0.00,0.000,4,0.000,0.077,2709,3511,1084
$GC,17964,1.47,446.4,107.6,10.1,861,17968,0.00,2.53,0.00,0.000,6,0.000,0.049,2709,2095,1084
$GC,18291,1.47,446.4,69.8,10.0,877,18295,0.00,2.67,0.00,0.000,4,0.000,0.074,2709,3511,1085
$GC,18324,1.47,446.4,66.4,9.7,878,18330,0.00,2.53,0.00,0.000,6,0.000,0.051,2709,2101,1085
$GC,18642,1.47,446.4,31.1,13.4,894,18646,0.00,2.67,0.00,0.000,4,0.000,0.074,2709,3509,1085
$GC,18669,1.47,446.4,27.2,12.7,895,18674,0.00,2.55,0.00,0.000,6,0.000,0.052,2709,2099,1085
$STATE,18859,end climb,SURFACE_DEPTH_REACHED
$STATE,18859,begin surface coast
$FINISH,-0.8,1.027379
$STATE,18882,end surface coast,CONTROL_FINISHED_OK
$STATE,18882,begin surface
$SM_CCo,18969,0.00,0.000,0,0,1084,445.71
$SM_GC,-0.50,11.95,0.00,0.00,0.040,0.000,0.000,46,2896,1084,-10.80,-0.11,445.71
$IRIDIUM_FIX,6117.23,-848.22,070597,060616
$TT8_MAMPS,0.028379
$HUMID,2109
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,16.90
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,751.8,48.9
$24V_AH,22.5,85.695
$10V_AH,10.1,39.714
$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,26.725,217.900,548.875,0.000,0.000,79.694,81.473,281.392,15.500,0.000,0.000,18.121,1705.740,14219.804,665.289,2161.897,882.511,0.000,1826.224,0.000,2109.500,0.000,47.266
$DEVICE_MAMPS,160.303,108.914,1495.650,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,681.086,616.998,530.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47296,905
$CFSIZE,260165632,230805504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,3,0
$GPS,110208,115208,6142.321,-900.078,47,1.8,47,-9.3