version: 66.02
glider: 103
mission: 7
dive: 494
start: 2 7 108 14 30 11
data:
$ID,103
$MISSION,7
$DIVE,494
$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,-73141.781
$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,24
$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
$GPS1,142038,6139.058,-823.099,52,1.8,52,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.41
$_SM_ANGLEo,-45.4
$GPS2,142940,6138.909,-823.121,22,1.5,22,-8.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB_US
$TGT_LATLONG,6122.000,-825.000
$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,191.9,31360,-11.1,-6.000
$D_GRID,588
$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,-146.6,0.0,0.0,0,107,0.00,0.00,-80.90,0.000,2,0.000,0.000,41,2894,3156
$GC,112,-1.10,-146.6,3.1,-5.3,4,137,12.10,1.75,-6.60,0.000,4,0.159,0.110,2167,3780,3502
$GC,391,-1.10,-146.6,34.3,-9.3,16,394,0.00,1.58,0.00,0.000,6,0.000,0.048,2167,2897,3502
$GC,714,-1.10,-146.6,54.6,-10.1,32,718,0.00,1.75,0.00,0.000,4,0.000,0.097,2167,3786,3502
$GC,957,-1.10,-146.6,76.2,-11.2,42,963,0.00,1.60,0.00,0.000,6,0.000,0.049,2167,2903,3502
$GC,1274,-1.10,-146.6,103.5,-9.5,58,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,1583,-1.10,-146.6,136.1,-12.6,73,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,1892,-1.10,-146.6,165.7,-6.6,88,1895,0.00,1.75,0.00,0.000,4,0.000,0.093,2167,3786,3502
$GC,1948,-1.10,-146.6,168.8,-5.3,90,1951,0.00,1.58,0.00,0.000,6,0.000,0.045,2167,2896,3502
$GC,2270,-1.10,-146.6,185.3,-4.1,106,2274,0.00,2.55,0.00,0.000,4,0.000,0.062,2167,1485,3502
$GC,2310,-1.10,-146.6,188.4,-7.2,108,2314,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,2637,-1.10,-146.6,222.8,-11.2,124,2640,0.00,1.70,0.00,0.000,4,0.000,0.094,2167,3786,3502
$GC,2670,-1.10,-146.6,226.5,-10.0,125,2674,0.00,1.58,0.00,0.000,6,0.000,0.041,2167,2883,3502
$GC,2992,-1.10,-146.6,251.8,-7.8,141,2996,0.00,2.53,0.00,0.000,4,0.000,0.062,2167,1489,3502
$GC,3093,-1.10,-146.6,258.7,-7.1,145,3099,0.00,2.67,0.00,0.000,6,0.000,0.072,2167,2906,3502
$GC,3409,-1.10,-146.6,283.4,-8.1,161,3414,0.00,2.58,0.00,0.000,4,0.000,0.055,2167,1484,3502
$GC,3476,-1.10,-146.6,288.5,-7.2,164,3481,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2902,3502
$GC,3798,-1.10,-146.6,310.9,-6.9,180,3801,0.00,1.67,0.00,0.000,4,0.000,0.091,2167,3783,3502
$GC,3871,-1.10,-146.6,316.5,-7.2,183,3874,0.00,1.58,0.00,0.000,6,0.000,0.045,2167,2899,3502
$GC,4198,-1.10,-146.6,342.4,-8.0,199,4202,0.00,2.53,0.00,0.000,4,0.000,0.055,2167,1489,3502
$GC,4283,-1.10,-146.6,350.0,-9.6,203,4288,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2906,3502
$GC,4616,-1.10,-146.6,375.4,-7.8,219,4621,0.00,2.58,0.00,0.000,4,0.000,0.059,2167,1488,3502
$GC,4808,-1.10,-146.6,387.7,-5.1,227,4814,0.00,2.60,0.00,0.000,6,0.000,0.063,2167,2899,3502
$GC,5124,-1.10,-146.6,406.6,-4.1,243,5128,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1482,3502
$GC,5164,-1.10,-146.6,408.5,-4.2,245,5169,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2904,3502
$GC,5493,-1.10,-146.6,426.3,-5.7,261,5498,0.00,2.55,0.00,0.000,4,0.000,0.058,2167,1488,3502
$GC,5589,-1.10,-146.6,432.3,-5.4,265,5594,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2900,3502
$GC,5906,-1.10,-146.6,452.0,-5.4,280,5909,0.00,1.67,0.00,0.000,4,0.000,0.089,2167,3786,3502
$GC,5963,-1.10,-146.6,455.4,-6.4,282,5967,0.00,1.55,0.00,0.000,6,0.000,0.038,2167,2896,3502
$GC,6286,-1.10,-146.6,469.7,-3.0,298,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3502
$GC,6594,-1.10,-146.6,486.0,-7.0,313,6598,0.00,2.50,0.00,0.000,4,0.000,0.054,2167,1491,3502
$GC,6672,-1.10,-146.6,488.8,-1.7,316,6678,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2902,3502
$GC,6989,-1.10,-146.6,503.0,-2.8,332,6992,0.00,1.67,0.00,0.000,4,0.000,0.087,2167,3785,3501
$GC,7045,-1.10,-146.6,504.8,-5.7,334,7049,0.00,1.55,0.00,0.000,6,0.000,0.038,2167,2896,3501
$GC,7367,-1.10,-146.6,527.9,-8.9,350,7371,0.00,2.50,0.00,0.000,4,0.000,0.053,2167,1490,3500
$GC,7389,-1.10,-146.6,529.7,-8.3,351,7394,0.00,2.60,0.00,0.000,6,0.000,0.064,2167,2899,3500
$GC,7711,-1.10,-146.6,553.7,-7.0,367,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3499
$GC,8020,-1.10,-146.6,564.3,-3.1,382,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3499
$STATE,8285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8285,begin apogee
$GC,8294,-0.42,0.0,588.3,10.4,395,8428,0.75,0.00,127.07,1.272,6,0.089,0.000,2316,2106,2901
$STATE,8429,end apogee,CONTROL_FINISHED_OK
$STATE,8429,begin climb
$GC,8432,1.10,146.6,597.8,0.0,402,8567,1.55,2.65,124.25,1.233,4,0.058,0.059,2646,699,2303
$GC,8697,1.17,203.8,596.2,4.4,414,8752,0.00,2.47,49.80,1.203,6,0.000,0.036,2646,2115,2070
$GC,9077,1.20,224.4,579.3,5.4,433,9102,0.10,2.65,19.02,1.178,4,0.048,0.064,2684,3518,1986
$GC,9143,1.20,224.4,574.6,8.4,436,9148,0.00,2.50,0.00,0.000,6,0.000,0.038,2684,2094,1986
$GC,9470,1.20,224.4,546.9,10.3,452,9474,0.00,2.55,0.00,0.000,4,0.000,0.062,2684,699,1985
$GC,9497,1.20,224.4,543.1,12.7,453,9501,0.00,2.45,0.00,0.000,6,0.000,0.038,2684,2098,1985
$GC,9813,1.20,224.4,518.5,8.3,468,9817,0.00,2.60,0.00,0.000,4,0.000,0.066,2684,3508,1984
$GC,9834,1.20,224.4,516.7,7.7,469,9839,0.00,2.47,0.00,0.000,6,0.000,0.038,2684,2101,1984
$GC,10156,1.20,224.4,486.2,9.6,485,10160,0.00,2.62,0.00,0.000,4,0.000,0.067,2684,3508,1983
$GC,10196,1.20,224.4,482.7,9.0,487,10200,0.00,2.47,0.00,0.000,6,0.000,0.038,2684,2093,1983
$GC,10522,1.20,224.4,457.6,6.6,503,10527,0.00,2.62,0.00,0.000,4,0.000,0.067,2684,3502,1982
$GC,10608,1.20,224.4,451.7,6.9,507,10612,0.00,2.45,0.00,0.000,6,0.000,0.041,2684,2102,1982
$GC,10935,1.20,224.4,428.7,8.5,523,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1982
$GC,11244,1.20,224.4,401.5,9.6,538,11248,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,693,1981
$GC,11322,1.20,224.4,394.8,8.1,541,11328,0.00,2.47,0.00,0.000,6,0.000,0.041,2684,2096,1981
$GC,11638,1.20,224.4,366.4,9.6,557,11642,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,698,1981
$GC,11710,1.20,224.4,359.1,10.0,560,11715,0.00,2.47,0.00,0.000,6,0.000,0.041,2684,2098,1981
$GC,12026,1.20,224.4,329.5,9.5,575,12031,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,698,1981
$GC,12122,1.20,224.4,318.4,11.3,579,12126,0.00,2.50,0.00,0.000,6,0.000,0.043,2684,2105,1981
$GC,12437,1.20,224.4,283.8,10.6,594,12442,0.00,2.62,0.00,0.000,4,0.000,0.075,2684,3516,1981
$GC,12522,1.20,224.4,274.6,10.6,598,12527,0.00,2.50,0.00,0.000,6,0.000,0.048,2684,2102,1981
$GC,12849,1.20,224.4,247.6,6.9,614,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1982
$GC,13159,1.20,224.4,227.1,6.3,629,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2102,1982
$GC,13467,1.20,224.4,207.2,7.1,644,13472,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,689,1983
$GC,13501,1.20,224.4,204.7,6.9,645,13507,0.00,2.47,0.00,0.000,6,0.000,0.044,2684,2101,1983
$GC,13817,1.20,224.4,179.1,9.0,661,13821,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3515,1983
$GC,13890,1.20,224.4,172.7,8.8,664,13894,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2098,1983
$GC,14206,1.20,224.4,149.7,6.9,679,14210,0.00,2.65,0.00,0.000,4,0.000,0.073,2684,3515,1984
$GC,14227,1.20,224.4,148.2,7.1,680,14232,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2099,1984
$GC,14550,1.20,224.4,122.0,8.4,696,14551,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1984
$GC,14858,1.20,224.4,91.2,9.4,711,14863,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,689,1984
$GC,14899,1.20,224.4,87.3,10.5,713,14903,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2112,1985
$GC,15226,1.20,224.4,60.8,7.9,729,15227,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2112,1985
$GC,15535,1.20,224.4,35.5,8.3,744,15540,0.00,2.62,0.00,0.000,4,0.000,0.079,2684,3505,1986
$GC,15580,1.20,224.4,32.0,7.3,746,15584,0.00,2.53,0.00,0.000,6,0.000,0.049,2684,2093,1986
$GC,15901,1.20,224.4,9.2,6.9,762,15906,0.00,2.53,0.00,0.000,4,0.000,0.061,2684,697,1986
$GC,15952,1.20,224.4,3.5,10.0,764,15956,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2097,1987
$STATE,15997,end climb,SURFACE_DEPTH_REACHED
$STATE,15997,begin surface coast
$FINISH,-1.2,1.002784
$STATE,16019,end surface coast,CONTROL_FINISHED_OK
$STATE,16019,begin surface
$SM_CCo,16044,63.62,0.798,2,0,1678,300.00
$SM_GC,-0.24,0.00,0.00,63.62,0.000,0.000,0.798,30,2900,1678,-10.95,0.00,300.00
$IRIDIUM_FIX,6117.23,-819.98,030597,141419
$TT8_MAMPS,0.029146
$HUMID,2069
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.80
$XPDR_PINGS,3
$24V_AH,22.9,82.228
$10V_AH,10.1,38.180
$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,25.925,153.750,320.150,63.625,0.000,73.366,77.656,199.540,5.250,0.000,0.000,22.668,1461.338,12105.056,529.311,1874.180,710.311,0.000,1480.587,0.000,1837.451,0.000,30.086
$DEVICE_MAMPS,158.769,109.681,1272.453,798.447,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.750,524.959,489.833,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41075,767
$CFSIZE,260165632,231936000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,070208,190008,6137.121,-824.409,41,1.0,41,-8.9