version: 66.02
glider: 103
mission: 7
dive: 519
start: 2 12 108 11 35 41
data:
$ID,103
$MISSION,7
$DIVE,519
$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,-73649.484
$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,16
$R_STBD_OVSHOOT,12
$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
$GPS1,112838,6146.959,-849.617,29,1.5,29,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-56.6
$GPS2,113509,6147.104,-849.558,16,1.5,16,-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,176.4,38183,-11.1,-6.000
$D_GRID,666
$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,-146.6,0.0,0.0,0,101,0.00,0.00,-71.60,0.000,6,0.000,0.000,47,2903,3500
$GC,105,-1.10,-146.6,2.2,-5.5,3,126,12.10,1.73,0.00,0.000,4,0.161,0.084,2163,3783,3502
$GC,379,-1.10,-146.6,35.6,-7.8,15,383,0.00,1.60,0.00,0.000,6,0.000,0.055,2163,2900,3502
$GC,707,-1.10,-146.6,58.8,-7.3,31,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,1018,-1.10,-146.6,82.4,-7.6,46,1022,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1476,3502
$GC,1058,-1.10,-146.6,85.3,-6.9,48,1063,0.00,2.67,0.00,0.000,6,0.000,0.069,2163,2902,3502
$GC,1386,-1.10,-146.6,108.3,-7.1,64,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,1696,-1.10,-146.6,131.1,-7.1,79,1700,0.00,2.62,0.00,0.000,4,0.000,0.066,2163,1483,3503
$GC,1746,-1.10,-146.6,135.1,-7.8,81,1750,0.00,2.67,0.00,0.000,6,0.000,0.070,2163,2904,3502
$GC,2062,-1.10,-146.6,159.0,-7.7,96,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2905,3503
$GC,2372,-1.10,-146.6,182.7,-7.7,111,2376,0.00,2.62,0.00,0.000,4,0.000,0.063,2163,1478,3503
$GC,2434,-1.10,-146.6,187.3,-7.2,114,2439,0.00,2.67,0.00,0.000,6,0.000,0.068,2163,2912,3502
$GC,2762,-1.10,-146.6,211.8,-7.4,130,2766,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,1486,3503
$GC,2806,-1.10,-146.6,215.4,-8.1,132,2811,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2898,3503
$GC,3128,-1.10,-146.6,240.0,-7.6,148,3132,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1480,3503
$GC,3151,-1.10,-146.6,241.6,-7.3,149,3155,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2900,3502
$GC,3472,-1.10,-146.6,265.2,-7.4,165,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,3781,-1.10,-146.6,287.3,-7.3,180,3786,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1480,3503
$GC,3826,-1.10,-146.6,290.6,-6.8,182,3831,0.00,2.67,0.00,0.000,6,0.000,0.069,2163,2907,3502
$GC,4147,-1.10,-146.6,312.3,-6.9,198,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3503
$GC,4457,-1.10,-146.6,332.1,-5.6,213,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,4766,-1.10,-146.6,349.1,-5.5,228,4770,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1482,3502
$GC,4856,-1.10,-146.6,353.8,-4.8,232,4860,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2904,3503
$GC,5178,-1.10,-146.6,370.5,-5.1,248,5182,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1477,3503
$GC,5223,-1.10,-146.6,372.8,-5.4,250,5227,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2900,3502
$GC,5545,-1.10,-146.6,389.9,-5.9,266,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,5854,-1.10,-146.6,406.8,-5.2,281,5858,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1481,3502
$GC,5877,-1.10,-146.6,407.9,-4.9,282,5881,0.00,2.65,0.00,0.000,6,0.000,0.066,2163,2907,3502
$GC,6198,-1.10,-146.6,423.1,-5.4,298,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,6507,-1.10,-146.6,443.7,-8.5,313,6510,0.00,1.67,0.00,0.000,4,0.000,0.093,2163,3780,3503
$GC,6598,-1.10,-146.6,452.4,-9.9,317,6602,0.00,1.55,0.00,0.000,6,0.000,0.041,2163,2893,3502
$GC,6931,-1.10,-146.6,479.4,-5.8,333,6935,0.00,1.73,0.00,0.000,4,0.000,0.091,2163,3787,3502
$GC,6988,-1.10,-146.6,483.3,-6.9,335,6991,0.00,1.58,0.00,0.000,6,0.000,0.043,2163,2879,3502
$GC,7310,-1.10,-146.6,503.9,-7.1,351,7314,0.00,2.47,0.00,0.000,4,0.000,0.057,2163,1495,3502
$GC,7399,-1.10,-146.6,509.1,-6.4,355,7404,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2898,3502
$GC,7722,-1.10,-146.6,518.1,-3.3,371,7725,0.00,1.70,0.00,0.000,4,0.000,0.093,2163,3784,3502
$GC,7800,-1.10,-146.6,526.0,-11.3,374,7804,0.00,1.55,0.00,0.000,6,0.000,0.040,2163,2901,3502
$GC,8122,-1.10,-146.6,552.2,-7.0,390,8126,0.00,2.55,0.00,0.000,4,0.000,0.061,2163,1492,3502
$GC,8172,-1.10,-146.6,554.0,0.2,392,8177,0.00,2.62,0.00,0.000,6,0.000,0.069,2163,2898,3502
$STATE,8341,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8341,begin apogee
$GC,8350,-0.42,0.0,563.0,7.9,400,8484,0.80,0.00,127.53,1.249,6,0.103,0.000,2320,2102,2901
$STATE,8484,end apogee,CONTROL_FINISHED_OK
$STATE,8485,begin climb
$GC,8488,1.10,146.6,569.5,0.0,407,8620,1.58,2.65,123.72,1.205,4,0.068,0.059,2647,691,2303
$GC,8630,1.16,195.3,559.6,4.7,414,8680,0.00,2.55,43.00,1.153,6,0.000,0.037,2647,2126,2104
$GC,9005,1.20,226.8,541.7,5.1,432,9040,0.12,2.67,27.42,1.166,4,0.042,0.071,2687,3494,1977
$GC,9294,1.20,226.8,522.2,8.8,445,9299,0.00,2.47,0.00,0.000,6,0.000,0.041,2687,2090,1975
$GC,9622,1.20,226.8,493.3,7.3,461,9627,0.00,2.67,0.00,0.000,4,0.000,0.072,2687,3502,1974
$GC,9656,1.20,226.8,490.7,7.2,462,9662,0.00,2.50,0.00,0.000,6,0.000,0.043,2687,2102,1974
$GC,9973,1.20,226.8,464.6,7.8,478,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2102,1974
$GC,10282,1.20,226.8,442.0,6.9,493,10286,0.00,2.62,0.00,0.000,4,0.000,0.072,2687,3503,1973
$GC,10359,1.20,226.8,436.0,8.5,496,10365,0.00,2.53,0.00,0.000,6,0.000,0.046,2687,2094,1973
$GC,10675,1.20,226.8,412.0,7.4,512,10680,0.00,2.62,0.00,0.000,4,0.000,0.072,2687,3503,1972
$GC,10765,1.20,226.8,404.3,9.2,516,10770,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2096,1972
$GC,11086,1.20,226.8,377.9,8.0,532,11091,0.00,2.65,0.00,0.000,4,0.000,0.071,2687,3504,1972
$GC,11113,1.20,226.8,375.6,8.5,533,11118,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2101,1972
$GC,11430,1.20,226.8,350.9,7.6,548,11431,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2101,1972
$GC,11739,1.20,226.8,326.4,8.0,563,11743,0.00,2.62,0.00,0.000,4,0.000,0.072,2687,3500,1972
$GC,11789,1.20,226.8,322.2,9.0,565,11793,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,2100,1972
$GC,12105,1.20,226.8,297.3,7.8,580,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1973
$GC,12414,1.20,226.8,273.8,7.5,595,12418,0.00,2.62,0.00,0.000,4,0.000,0.073,2688,3498,1973
$GC,12449,1.20,226.8,270.9,9.0,596,12455,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2094,1973
$GC,12765,1.20,226.8,244.4,7.9,612,12769,0.00,2.55,0.00,0.000,4,0.000,0.063,2687,694,1974
$GC,12792,1.20,226.8,242.0,8.5,613,12797,0.00,2.47,0.00,0.000,6,0.000,0.043,2688,2090,1974
$GC,13108,1.20,226.8,216.3,8.2,628,13113,0.00,2.65,0.00,0.000,4,0.000,0.074,2687,3511,1975
$GC,13149,1.20,226.8,213.1,7.4,630,13154,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2104,1975
$GC,13476,1.20,227.2,188.3,6.0,646,13481,0.00,2.58,0.00,0.000,4,0.000,0.061,2687,684,1975
$GC,13499,1.20,227.2,186.7,6.5,647,13503,0.00,2.50,0.00,0.000,6,0.000,0.041,2688,2100,1975
$GC,13821,1.20,227.2,163.8,7.2,663,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2100,1975
$GC,14130,1.26,270.5,143.4,4.8,678,14169,0.00,0.00,36.88,0.940,6,0.000,0.000,2687,2100,1798
$GC,14481,1.26,270.5,120.7,7.7,695,14485,0.00,2.67,0.00,0.000,4,0.000,0.079,2687,3508,1797
$GC,14514,1.26,270.5,117.5,8.8,696,14520,0.00,2.53,0.00,0.000,6,0.000,0.047,2687,2097,1797
$GC,14832,1.26,270.5,94.6,7.1,712,14833,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1797
$GC,15140,1.26,270.5,69.7,8.7,727,15141,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2097,1797
$GC,15450,1.26,270.5,43.1,9.0,742,15454,0.00,2.67,0.00,0.000,4,0.000,0.076,2687,3511,1797
$GC,15471,1.26,270.5,40.8,9.9,743,15475,0.00,2.55,0.00,0.000,6,0.000,0.050,2687,2097,1797
$GC,15793,1.26,270.5,11.8,9.8,759,15794,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2097,1797
$STATE,15913,end climb,SURFACE_DEPTH_REACHED
$STATE,15913,begin surface coast
$FINISH,-0.1,1.026935
$STATE,15935,end surface coast,CONTROL_FINISHED_OK
$STATE,15935,begin surface
$SM_CCo,15961,26.08,0.798,1,0,1678,300.00
$SM_GC,0.33,0.00,0.00,26.08,0.000,0.000,0.798,50,2896,1678,-10.86,-0.11,300.00
$IRIDIUM_FIX,6121.73,-848.91,080597,060645
$TT8_MAMPS,0.029913
$HUMID,2070
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,501.1,71.8
$24V_AH,22.8,86.632
$10V_AH,10.1,40.181
$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,26.275,140.550,358.550,26.075,0.000,33.352,36.306,176.264,4.500,0.000,0.000,16.030,1424.700,12119.858,510.406,1728.082,609.809,0.000,1388.734,0.000,1700.212,0.000,28.226
$DEVICE_MAMPS,161.070,92.807,1248.676,797.680,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.622,527.965,513.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37956,766
$CFSIZE,260165632,230506496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,120208,160332,6149.582,-850.076,40,1.4,40,-9.2