version: 66.02
glider: 103
mission: 7
dive: 495
start: 2 7 108 19 21 11
data:
$ID,103
$MISSION,7
$DIVE,495
$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,571.30371
$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,-73156.539
$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,10
$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
$GPS1,190008,6137.121,-824.409,41,1.0,41,-8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-61.9
$GPS2,192039,6137.256,-824.342,14,1.1,14,-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,190.1,28261,-11.1,-6.000
$D_GRID,679
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,89,0.00,0.00,-60.30,0.000,2,0.000,0.000,30,2900,3297
$GC,93,-1.10,-146.6,3.1,-8.2,3,115,12.32,1.80,-3.65,0.000,4,0.165,0.130,2166,3785,3500
$GC,368,-1.10,-146.6,31.6,-12.4,15,372,0.00,1.60,0.00,0.000,6,0.000,0.060,2166,2908,3501
$GC,697,-1.10,-146.6,56.5,-7.6,31,700,0.00,1.75,0.00,0.000,4,0.000,0.103,2166,3786,3501
$GC,838,-1.10,-146.6,67.9,-8.0,37,841,0.00,1.60,0.00,0.000,6,0.000,0.054,2166,2894,3502
$GC,1165,-1.10,-146.6,89.5,-7.1,53,1169,0.00,2.60,0.00,0.000,4,0.000,0.071,2166,1484,3502
$GC,1243,-1.10,-146.6,95.2,-6.3,56,1250,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2899,3502
$GC,1560,-1.10,-146.6,115.2,-6.0,72,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,1869,-1.10,-146.6,138.9,-8.7,87,1873,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1484,3502
$GC,1909,-1.10,-146.6,141.7,-6.3,89,1913,0.00,2.65,0.00,0.000,6,0.000,0.074,2166,2901,3502
$GC,2236,-1.10,-146.6,162.9,-5.9,105,2241,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1480,3502
$GC,2264,-1.10,-146.6,164.5,-5.8,106,2269,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2899,3502
$GC,2582,-1.10,-146.6,187.2,-9.0,121,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,2890,-1.10,-146.6,215.0,-8.2,136,2894,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1483,3502
$GC,2917,-1.10,-146.6,217.3,-7.8,137,2922,0.00,2.70,0.00,0.000,6,0.000,0.074,2166,2907,3502
$GC,3234,-1.10,-146.6,233.9,-3.8,152,3238,0.00,1.73,0.00,0.000,4,0.000,0.100,2166,3780,3502
$GC,3285,-1.10,-146.6,236.6,-5.4,154,3289,0.00,1.58,0.00,0.000,6,0.000,0.050,2166,2896,3502
$GC,3612,-1.10,-146.6,259.0,-7.3,170,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2895,3502
$GC,3922,-1.10,-146.6,281.9,-7.5,185,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2895,3502
$GC,4231,-1.10,-146.6,299.9,-5.2,200,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2895,3502
$GC,4540,-1.10,-146.6,312.7,-4.0,215,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2895,3502
$GC,4851,-1.10,-146.6,326.1,-5.2,230,4855,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1482,3502
$GC,4879,-1.10,-146.6,327.9,-6.0,231,4883,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2909,3502
$GC,5195,-1.10,-146.6,348.1,-6.4,246,5199,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1483,3502
$GC,5235,-1.10,-146.6,350.9,-6.7,248,5239,0.00,2.65,0.00,0.000,6,0.000,0.069,2166,2906,3502
$GC,5562,-1.10,-146.6,375.2,-8.0,264,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,5871,-1.10,-146.6,402.0,-9.1,279,5875,0.00,2.60,0.00,0.000,4,0.000,0.059,2166,1476,3502
$GC,5971,-1.10,-146.6,412.2,-9.6,283,5977,0.00,2.67,0.00,0.000,6,0.000,0.069,2166,2903,3502
$GC,6288,-1.10,-146.6,438.7,-5.5,299,6292,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1479,3502
$GC,6332,-1.10,-146.6,441.9,-7.3,301,6336,0.00,2.67,0.00,0.000,6,0.000,0.068,2166,2910,3502
$GC,6653,-1.10,-146.6,463.9,-6.3,317,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2910,3501
$GC,6962,-1.10,-146.6,482.7,-5.8,332,6967,0.00,2.60,0.00,0.000,4,0.000,0.059,2166,1482,3501
$GC,7003,-1.10,-146.6,485.2,-6.7,334,7007,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2908,3501
$GC,7330,-1.10,-146.6,503.7,-5.7,350,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3501
$GC,7639,-1.10,-146.6,525.6,-8.1,365,7643,0.00,2.58,0.00,0.000,4,0.000,0.054,2166,1480,3500
$GC,7657,-1.10,-146.6,527.0,-7.3,366,7661,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2902,3500
$GC,7984,-1.10,-146.6,545.3,-4.9,382,7988,0.00,1.67,0.00,0.000,4,0.000,0.092,2166,3782,3500
$GC,8053,-1.10,-146.6,549.9,-4.6,385,8060,0.00,1.55,0.00,0.000,6,0.000,0.041,2166,2899,3500
$GC,8389,-1.10,-146.6,567.5,-4.5,401,8393,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1484,3499
$GC,8462,-1.10,-146.6,571.3,-5.0,404,8466,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2904,3499
$GC,8778,-1.10,-146.6,590.0,-6.9,419,8782,0.00,2.53,0.00,0.000,4,0.000,0.053,2166,1486,3498
$GC,8863,-1.10,-146.6,595.9,-8.5,423,8867,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3498
$GC,9189,-1.10,-146.6,619.0,-5.8,439,9193,0.00,1.67,0.00,0.000,4,0.000,0.090,2166,3784,3497
$GC,9229,-1.10,-146.6,621.6,-6.1,440,9235,0.00,1.55,0.00,0.000,6,0.000,0.039,2166,2900,3497
$GC,9546,-1.10,-146.6,647.0,-5.4,456,9550,0.00,2.53,0.00,0.000,4,0.000,0.054,2166,1484,3496
$GC,9586,-1.10,-146.6,649.1,-4.4,458,9590,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2905,3496
$GC,9913,-1.10,-146.6,673.5,-6.6,474,9917,0.00,1.70,0.00,0.000,4,0.000,0.091,2166,3783,3495
$GC,9968,-1.10,-146.6,678.2,-9.6,476,9972,0.00,1.55,0.00,0.000,6,0.000,0.040,2166,2900,3495
$STATE,9977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9978,begin apogee
$GC,9986,-0.42,0.0,679.1,9.4,477,10121,0.75,0.00,128.68,1.346,6,0.081,0.000,2318,2099,2901
$STATE,10121,end apogee,CONTROL_FINISHED_OK
$STATE,10121,begin climb
$GC,10125,1.10,146.6,686.5,0.0,484,10261,1.55,2.70,126.40,1.297,4,0.058,0.066,2649,701,2303
$GC,10354,1.17,203.2,681.8,4.4,494,10410,0.00,2.50,50.20,1.269,6,0.000,0.038,2649,2114,2072
$GC,10726,1.28,287.5,667.7,3.7,513,10809,0.17,2.70,73.18,1.302,4,0.037,0.068,2701,3497,1729
$GC,10878,1.28,287.5,657.7,7.7,520,10882,0.00,2.50,0.00,0.000,6,0.000,0.041,2701,2096,1728
$GC,11205,1.28,287.5,637.2,7.0,536,11209,0.00,2.60,0.00,0.000,4,0.000,0.068,2701,697,1726
$GC,11290,1.28,287.5,630.2,8.8,540,11294,0.00,2.47,0.00,0.000,6,0.000,0.041,2702,2097,1726
$GC,11617,1.28,287.5,605.3,6.3,556,11621,0.00,2.58,0.00,0.000,4,0.000,0.063,2701,699,1726
$GC,11661,1.28,287.5,602.3,6.6,558,11665,0.00,2.47,0.00,0.000,6,0.000,0.041,2701,2097,1726
$GC,11982,1.28,287.5,576.8,8.9,574,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2097,1725
$GC,12292,1.28,287.5,546.7,9.9,589,12296,0.00,2.62,0.00,0.000,4,0.000,0.071,2701,3508,1724
$GC,12392,1.28,287.5,536.7,9.0,593,12398,0.00,2.50,0.00,0.000,6,0.000,0.041,2701,2095,1724
$GC,12708,1.28,287.5,504.2,11.1,609,12712,0.00,2.65,0.00,0.000,4,0.000,0.071,2702,3507,1724
$GC,12748,1.28,287.5,499.8,11.1,611,12753,0.00,2.50,0.00,0.000,6,0.000,0.042,2701,2096,1724
$GC,13075,1.28,287.5,467.9,10.0,627,13080,0.00,2.67,0.00,0.000,4,0.000,0.074,2701,3511,1724
$GC,13109,1.28,287.5,464.4,9.9,628,13115,0.00,2.53,0.00,0.000,6,0.000,0.044,2701,2095,1724
$GC,13425,1.28,287.5,433.4,8.6,644,13430,0.00,2.58,0.00,0.000,4,0.000,0.065,2701,692,1724
$GC,13443,1.28,287.5,431.5,10.0,645,13448,0.00,2.50,0.00,0.000,6,0.000,0.044,2702,2101,1724
$GC,13770,1.28,287.5,405.8,7.1,661,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2102,1724
$GC,14080,1.28,287.5,376.6,9.9,676,14084,0.00,2.65,0.00,0.000,4,0.000,0.080,2701,3511,1724
$GC,14157,1.28,287.5,368.7,9.9,679,14164,0.00,2.53,0.00,0.000,6,0.000,0.048,2701,2104,1724
$GC,14473,1.28,287.5,337.2,9.9,695,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2104,1724
$GC,14783,1.28,287.5,308.0,9.3,710,14784,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2104,1724
$GC,15092,1.28,287.5,280.1,9.4,725,15096,0.00,2.67,0.00,0.000,4,0.000,0.077,2701,3517,1725
$GC,15136,1.28,287.5,275.7,9.2,727,15140,0.00,2.55,0.00,0.000,6,0.000,0.049,2702,2098,1725
$GC,15457,1.28,287.5,246.0,9.9,743,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2098,1725
$GC,15766,1.28,287.5,215.1,10.1,758,15770,0.00,2.67,0.00,0.000,4,0.000,0.078,2701,3509,1726
$GC,15793,1.28,287.5,212.2,10.6,759,15798,0.00,2.55,0.00,0.000,6,0.000,0.050,2701,2093,1726
$GC,16110,1.28,287.5,179.4,11.0,774,16114,0.00,2.58,0.00,0.000,4,0.000,0.066,2702,684,1727
$GC,16154,1.28,287.5,173.9,12.6,776,16158,0.00,2.55,0.00,0.000,6,0.000,0.048,2702,2106,1727
$GC,16475,1.28,287.5,141.7,9.7,792,16477,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2107,1728
$GC,16785,1.28,287.5,110.5,9.8,807,16786,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2107,1728
$GC,17094,1.28,287.5,76.1,10.2,822,17098,0.00,2.65,0.00,0.000,4,0.000,0.077,2702,3515,1729
$GC,17121,1.28,287.5,72.7,13.5,823,17125,0.00,2.55,0.00,0.000,6,0.000,0.051,2702,2101,1729
$GC,17437,1.28,287.5,36.9,10.9,838,17438,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2101,1730
$GC,17748,1.28,287.5,11.3,9.1,853,17753,0.00,2.60,0.00,0.000,4,0.000,0.069,2702,689,1730
$GC,17776,1.28,287.5,7.8,10.9,854,17781,0.00,2.55,0.00,0.000,6,0.000,0.051,2702,2103,1730
$STATE,17842,end climb,SURFACE_DEPTH_REACHED
$STATE,17842,begin surface coast
$FINISH,-1.0,1.027430
$STATE,17864,end surface coast,CONTROL_FINISHED_OK
$STATE,17864,begin surface
$SM_CCo,17889,227.93,0.802,1,0,572,571.30
$SM_GC,-0.73,0.00,0.00,227.93,0.000,0.000,0.802,37,2900,572,-10.91,0.00,571.30
$IRIDIUM_FIX,6112.75,-815.49,030597,191916
$TT8_MAMPS,0.029146
$HUMID,2045
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,651.6,78.5
$24V_AH,22.8,82.459
$10V_AH,10.1,38.273
$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,26.375,162.925,378.450,227.925,0.000,197.711,359.898,270.464,8.000,0.000,0.000,14.132,1590.469,13868.641,725.652,1938.073,1244.076,0.000,1725.384,0.000,1902.053,0.000,40.909
$DEVICE_MAMPS,164.905,130.390,1346.085,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,640.889,588.395,518.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44217,858
$CFSIZE,260165632,231845888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
$GPS,080208,002432,6135.465,-827.656,39,1.5,39,-9.0