version: 66.02
glider: 103
mission: 7
dive: 518
start: 2 12 108 6 9 52
data:
$ID,103
$MISSION,7
$DIVE,518
$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,-73632.828
$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
$GPS1,060226,6143.114,-845.467,42,1.6,42,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-58.4
$GPS2,060920,6143.156,-845.450,10,1.8,15,-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,180.0,30307,-11.1,-6.000
$D_GRID,784
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-60.60,0.000,2,0.000,0.000,44,2899,3382
$GC,94,-1.10,-146.6,3.4,-8.2,3,116,12.05,1.75,-2.15,0.000,4,0.157,0.114,2166,3776,3502
$GC,369,-1.10,-146.6,32.8,-7.3,15,373,0.00,1.60,0.00,0.000,6,0.000,0.059,2166,2900,3503
$GC,698,-1.10,-146.6,56.3,-6.4,31,702,0.00,1.75,0.00,0.000,4,0.000,0.097,2167,3785,3503
$GC,745,-1.10,-146.6,60.2,-8.6,33,748,0.00,1.60,0.00,0.000,6,0.000,0.056,2166,2893,3504
$GC,1078,-1.10,-146.6,83.9,-7.2,49,1082,0.00,2.58,0.00,0.000,4,0.000,0.065,2167,1487,3504
$GC,1118,-1.10,-146.6,86.9,-7.0,51,1123,0.00,2.67,0.00,0.000,6,0.000,0.076,2167,2903,3504
$GC,1445,-1.10,-146.6,110.1,-7.0,67,1450,0.00,2.62,0.00,0.000,4,0.000,0.063,2167,1477,3504
$GC,1479,-1.10,-146.6,112.5,-7.2,68,1485,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2906,3504
$GC,1796,-1.10,-146.6,133.1,-6.3,84,1801,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1485,3504
$GC,1824,-1.10,-146.6,135.0,-6.6,85,1829,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2901,3504
$GC,2141,-1.10,-146.6,155.4,-6.1,100,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3504
$GC,2449,-1.10,-146.6,174.9,-6.5,115,2454,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1484,3504
$GC,2522,-1.10,-146.6,179.7,-6.2,118,2527,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2906,3504
$GC,2844,-1.10,-146.6,200.0,-6.2,134,2848,0.00,2.58,0.00,0.000,4,0.000,0.053,2167,1479,3504
$GC,2893,-1.10,-146.6,203.3,-6.9,136,2898,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2898,3504
$GC,3215,-1.10,-146.6,225.0,-7.0,152,3220,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1481,3504
$GC,3254,-1.10,-146.6,228.0,-7.2,153,3260,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2906,3504
$GC,3572,-1.10,-146.6,250.8,-7.3,169,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3504
$GC,3880,-1.10,-146.6,271.7,-6.8,184,3884,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,1483,3504
$GC,3942,-1.10,-146.6,276.1,-6.7,187,3946,0.00,2.65,0.00,0.000,6,0.000,0.072,2167,2898,3504
$GC,4268,-1.10,-146.6,298.3,-6.8,203,4273,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1486,3504
$GC,4303,-1.10,-146.6,300.6,-6.7,204,4309,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2906,3504
$GC,4618,-1.10,-146.6,321.9,-6.6,220,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3504
$GC,4928,-1.10,-146.6,340.1,-5.5,235,4932,0.00,2.58,0.00,0.000,4,0.000,0.057,2166,1476,3504
$GC,4978,-1.10,-146.6,343.1,-6.0,237,4983,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2900,3504
$GC,5295,-1.10,-146.6,360.4,-5.7,252,5299,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1477,3504
$GC,5322,-1.10,-146.6,362.1,-6.0,253,5326,0.00,2.65,0.00,0.000,6,0.000,0.066,2167,2905,3504
$GC,5638,-1.10,-146.6,382.7,-6.3,268,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3504
$GC,5947,-1.10,-146.6,401.4,-5.8,283,5951,0.00,1.67,0.00,0.000,4,0.000,0.093,2167,3782,3504
$GC,6003,-1.10,-146.6,405.1,-6.5,285,6007,0.00,1.58,0.00,0.000,6,0.000,0.043,2167,2893,3504
$GC,6326,-1.10,-146.6,428.0,-7.7,301,6330,0.00,2.55,0.00,0.000,4,0.000,0.061,2166,1485,3504
$GC,6388,-1.10,-146.6,433.3,-8.5,304,6393,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2903,3504
$GC,6715,-1.10,-146.6,461.6,-9.0,320,6719,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1489,3504
$GC,6777,-1.10,-146.6,467.2,-8.9,323,6782,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2902,3504
$GC,7104,-1.10,-146.6,495.5,-8.2,339,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3504
$GC,7414,-1.10,-146.6,517.4,-6.2,354,7418,0.00,2.55,0.00,0.000,4,0.000,0.053,2167,1482,3504
$GC,7442,-1.10,-146.6,519.1,-6.0,355,7446,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2904,3504
$GC,7758,-1.10,-146.6,536.6,-5.5,370,7762,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1489,3504
$GC,7803,-1.10,-146.6,539.1,-5.2,372,7808,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2901,3504
$GC,8126,-1.10,-146.6,556.3,-5.0,388,8130,0.00,2.53,0.00,0.000,4,0.000,0.054,2167,1487,3504
$GC,8215,-1.10,-146.6,560.1,-3.8,392,8220,0.00,2.62,0.00,0.000,6,0.000,0.063,2167,2909,3504
$GC,8538,-1.10,-146.6,574.8,-5.4,408,8543,0.00,2.55,0.00,0.000,4,0.000,0.051,2167,1483,3504
$GC,8588,-1.10,-146.6,577.9,-5.8,410,8593,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2903,3504
$GC,8910,-1.10,-146.6,595.4,-7.4,426,8914,0.00,1.70,0.00,0.000,4,0.000,0.091,2167,3780,3504
$GC,9051,-1.10,-146.6,606.7,-10.4,432,9055,0.00,1.55,0.00,0.000,6,0.000,0.040,2167,2902,3504
$GC,9378,-1.10,-146.6,631.7,-7.1,448,9382,0.00,1.67,0.00,0.000,4,0.000,0.087,2167,3786,3503
$GC,9474,-1.10,-146.6,639.6,-8.2,452,9478,0.00,1.58,0.00,0.000,6,0.000,0.043,2167,2881,3503
$GC,9802,-1.10,-146.6,666.6,-8.6,468,9806,0.00,2.53,0.00,0.000,4,0.000,0.062,2167,1486,3503
$GC,9829,-1.10,-146.6,669.3,-9.7,469,9834,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2903,3502
$GC,10146,-1.10,-146.6,696.1,-7.5,484,10150,0.00,1.73,0.00,0.000,4,0.000,0.098,2167,3780,3503
$GC,10253,-1.10,-146.6,704.9,-6.3,488,10258,0.00,1.58,0.00,0.000,6,0.000,0.048,2167,2888,3503
$GC,10569,-1.10,-146.6,710.1,-1.4,504,10573,0.00,2.55,0.00,0.000,4,0.000,0.067,2167,1488,3502
$GC,10677,-1.10,-146.6,718.3,-9.2,509,10681,0.00,2.67,0.00,0.000,6,0.000,0.079,2167,2898,3502
$GC,11004,-1.10,-146.6,734.3,-2.0,525,11007,0.00,1.73,0.00,0.000,4,0.000,0.105,2167,3782,3500
$GC,11073,-1.10,-146.6,740.1,-9.0,528,11076,0.00,1.58,0.00,0.000,6,0.000,0.049,2167,2886,3499
$STATE,11320,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11320,begin apogee
$GC,11329,-0.42,0.0,761.1,8.7,540,11463,0.82,0.00,130.27,1.419,6,0.132,0.000,2317,2100,2901
$STATE,11464,end apogee,CONTROL_FINISHED_OK
$STATE,11464,begin climb
$GC,11467,1.10,146.6,765.3,0.0,547,11605,1.58,2.70,127.03,1.382,4,0.054,0.063,2651,3515,2303
$GC,11676,1.10,146.6,745.7,8.2,557,11681,0.00,2.58,0.00,0.000,6,0.000,0.047,2651,2090,2302
$GC,12003,1.10,146.6,708.7,18.0,573,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2084,2301
$GC,12313,1.10,146.6,684.7,10.5,588,12317,0.00,2.58,0.00,0.000,4,0.000,0.071,2651,697,2299
$GC,12483,1.10,146.6,670.8,6.9,595,12489,0.00,2.53,0.00,0.000,6,0.000,0.044,2651,2107,2299
$GC,12800,1.27,286.2,658.5,2.1,611,12927,0.17,2.75,120.30,1.386,4,0.041,0.078,2703,3508,1734
$GC,12987,1.27,286.2,642.1,9.8,620,12992,0.00,2.55,0.00,0.000,6,0.000,0.046,2703,2096,1734
$GC,13315,1.36,352.7,623.0,4.2,636,13380,0.00,2.83,58.60,1.346,4,0.000,0.081,2703,3501,1463
$GC,13414,1.36,352.7,617.7,7.7,640,13421,0.00,2.55,0.00,0.000,6,0.000,0.050,2703,2102,1463
$GC,13734,1.36,352.7,601.5,6.7,656,13738,0.00,2.72,0.00,0.000,4,0.000,0.082,2703,3510,1461
$GC,13796,1.36,352.7,597.1,7.0,659,13800,0.00,2.55,0.00,0.000,6,0.000,0.050,2703,2100,1461
$GC,14122,1.36,352.7,565.9,10.6,675,14127,0.00,2.72,0.00,0.000,4,0.000,0.083,2703,3508,1461
$GC,14231,1.36,352.7,553.5,11.1,680,14235,0.00,2.53,0.00,0.000,6,0.000,0.048,2703,2099,1461
$GC,14558,1.36,352.7,520.4,10.3,696,14563,0.00,2.67,0.00,0.000,4,0.000,0.077,2703,3508,1461
$GC,14608,1.36,352.7,514.8,10.4,698,14612,0.00,2.53,0.00,0.000,6,0.000,0.044,2703,2097,1461
$GC,14924,1.36,352.7,480.1,11.9,713,14925,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2097,1461
$GC,15233,1.36,352.7,440.5,13.0,728,15237,0.00,2.67,0.00,0.000,4,0.000,0.078,2703,3510,1462
$GC,15273,1.36,352.7,435.2,13.0,730,15277,0.00,2.50,0.00,0.000,6,0.000,0.045,2703,2094,1462
$GC,15600,1.36,352.7,391.8,13.0,746,15605,0.00,2.70,0.00,0.000,4,0.000,0.078,2703,3510,1462
$GC,15622,1.36,352.7,388.7,13.1,747,15626,0.00,2.53,0.00,0.000,6,0.000,0.046,2703,2100,1462
$GC,15943,1.36,352.7,347.9,12.3,763,15947,0.00,2.70,0.00,0.000,4,0.000,0.078,2703,3515,1463
$GC,15976,1.36,352.7,343.7,12.2,764,15982,0.00,2.53,0.00,0.000,6,0.000,0.048,2703,2102,1463
$GC,16292,1.36,352.7,305.9,11.7,780,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2102,1464
$GC,16601,1.36,352.7,269.1,12.4,795,16606,0.00,2.67,0.00,0.000,4,0.000,0.078,2703,3511,1465
$GC,16630,1.36,352.7,265.4,12.6,796,16634,0.00,2.55,0.00,0.000,6,0.000,0.050,2703,2094,1464
$GC,16946,1.36,352.7,228.5,11.7,811,16947,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,1465
$GC,17255,1.36,352.7,192.5,11.3,826,17260,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,3508,1465
$GC,17289,1.36,352.7,188.4,11.1,827,17295,0.00,2.55,0.00,0.000,6,0.000,0.050,2703,2095,1465
$GC,17605,1.36,352.7,153.9,10.7,843,17606,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2095,1466
$GC,17915,1.36,352.7,119.8,11.1,858,17919,0.00,2.70,0.00,0.000,4,0.000,0.079,2703,3507,1466
$GC,17956,1.36,352.7,114.9,11.2,860,17960,0.00,2.53,0.00,0.000,6,0.000,0.052,2703,2095,1466
$GC,18283,1.36,352.7,76.6,11.5,876,18287,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,3507,1466
$GC,18305,1.36,352.7,73.9,11.2,877,18309,0.00,2.55,0.00,0.000,6,0.000,0.052,2703,2101,1466
$GC,18627,1.36,352.7,37.2,11.2,893,18631,0.00,2.70,0.00,0.000,4,0.000,0.081,2703,3508,1467
$GC,18660,1.36,352.7,33.1,11.7,894,18666,0.00,2.55,0.00,0.000,6,0.000,0.052,2703,2094,1467
$STATE,18952,end climb,SURFACE_DEPTH_REACHED
$STATE,18952,begin surface coast
$FINISH,-0.9,1.027324
$STATE,18976,end surface coast,CONTROL_FINISHED_OK
$STATE,18976,begin surface
$SM_CCo,19061,0.00,0.000,0,0,1466,352.01
$SM_GC,-0.02,11.60,0.00,0.00,0.025,0.000,0.000,47,2900,1466,-10.79,0.00,352.01
$IRIDIUM_FIX,6117.23,-843.05,080597,000059
$TT8_MAMPS,0.028379
$HUMID,2112
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,676.4,93.9
$24V_AH,22.6,86.491
$10V_AH,10.1,40.104
$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,26.225,198.600,436.200,0.000,0.000,41.218,34.326,187.478,8.000,0.000,0.000,15.504,1702.974,14401.664,550.708,2136.929,685.459,0.000,1667.019,0.000,2091.343,0.000,39.653
$DEVICE_MAMPS,157.235,113.516,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,676.629,627.237,528.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47398,910
$CFSIZE,260165632,230531072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,120208,112838,6146.959,-849.617,29,1.5,29,-9.2