version: 66.02
glider: 103
mission: 7
dive: 496
start: 2 8 108 0 49 1
data:
$ID,103
$MISSION,7
$DIVE,496
$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,-73173.961
$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,19
$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
$GPS1,002432,6135.465,-827.656,39,1.5,39,-9.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.60
$_SM_ANGLEo,-47.8
$GPS2,004827,6135.374,-827.764,14,1.2,14,-9.0
$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,183.3,24889,-11.1,-6.000
$D_GRID,762
$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,-146.6,0.0,0.0,0,134,0.00,0.00,-107.45,0.000,6,0.000,0.000,37,2900,3500
$GC,138,-1.10,-146.6,2.2,-3.3,5,160,12.23,2.62,0.00,0.000,4,0.163,0.058,2166,1491,3502
$GC,199,-1.10,-146.6,17.9,-6.9,7,206,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2903,3503
$GC,516,-1.10,-146.6,40.4,-7.6,23,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,825,-1.10,-146.6,63.0,-7.7,38,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,1134,-1.10,-146.6,84.9,-7.1,53,1138,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1483,3503
$GC,1184,-1.10,-146.6,88.2,-6.6,55,1189,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2901,3502
$GC,1500,-1.10,-146.6,107.1,-6.8,70,1505,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1481,3503
$GC,1541,-1.10,-146.6,110.3,-8.6,72,1545,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2903,3502
$GC,1868,-1.10,-146.6,135.4,-6.1,88,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,2177,-1.10,-146.6,151.2,-4.5,103,2181,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1484,3502
$GC,2217,-1.10,-146.6,152.9,-4.5,105,2221,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2906,3502
$GC,2544,-1.10,-146.6,173.7,-7.6,121,2548,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1487,3502
$GC,2577,-1.10,-146.6,176.4,-7.8,122,2584,0.00,2.67,0.00,0.000,6,0.000,0.076,2166,2901,3502
$GC,2895,-1.10,-146.6,201.6,-8.4,138,2900,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1481,3502
$GC,2931,-1.10,-146.6,205.0,-9.3,139,2937,0.00,2.70,0.00,0.000,6,0.000,0.074,2166,2906,3502
$GC,3247,-1.10,-146.6,235.4,-10.5,155,3251,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1486,3503
$GC,3274,-1.10,-146.6,238.6,-11.6,156,3278,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,3591,-1.10,-146.6,268.2,-8.2,171,3595,0.00,2.58,0.00,0.000,4,0.000,0.057,2166,1488,3502
$GC,3625,-1.10,-146.6,271.3,-8.7,172,3632,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2909,3503
$GC,3942,-1.10,-146.6,301.8,-10.2,188,3946,0.00,1.73,0.00,0.000,4,0.000,0.099,2166,3781,3502
$GC,3976,-1.10,-146.6,305.3,-10.0,189,3980,0.00,1.58,0.00,0.000,6,0.000,0.048,2166,2895,3503
$GC,4298,-1.10,-146.6,335.2,-9.3,205,4302,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1480,3503
$GC,4353,-1.10,-146.6,340.5,-9.4,207,4359,0.00,2.65,0.00,0.000,6,0.000,0.068,2166,2903,3503
$GC,4669,-1.10,-146.6,366.8,-7.7,223,4674,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1489,3502
$GC,4742,-1.10,-146.6,372.7,-8.2,226,4747,0.00,2.60,0.00,0.000,6,0.000,0.065,2166,2900,3502
$GC,5058,-1.10,-146.6,391.6,-7.3,241,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,5368,-1.10,-146.6,415.0,-7.2,256,5372,0.00,1.67,0.00,0.000,4,0.000,0.091,2166,3781,3502
$GC,5414,-1.10,-146.6,418.4,-7.3,258,5418,0.00,1.55,0.00,0.000,6,0.000,0.043,2166,2892,3502
$GC,5747,-1.10,-146.6,442.9,-8.7,274,5751,0.00,2.50,0.00,0.000,4,0.000,0.057,2166,1496,3502
$GC,5825,-1.10,-146.6,448.9,-6.9,277,5831,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2898,3502
$GC,6142,-1.10,-146.6,465.2,-3.9,293,6145,0.00,1.67,0.00,0.000,4,0.000,0.089,2166,3783,3502
$GC,6372,-1.10,-146.6,478.0,-8.2,303,6376,0.00,1.52,0.00,0.000,6,0.000,0.039,2166,2910,3502
$GC,6699,-1.10,-146.6,506.4,-9.8,319,6704,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1480,3502
$GC,6846,-1.10,-146.6,521.5,-10.9,325,6852,0.00,2.60,0.00,0.000,6,0.000,0.061,2166,2903,3502
$GC,7162,-1.10,-146.6,547.4,-7.0,341,7167,0.00,2.55,0.00,0.000,4,0.000,0.050,2166,1479,3502
$GC,7248,-1.10,-146.6,554.6,-8.8,345,7252,0.00,2.60,0.00,0.000,6,0.000,0.062,2166,2899,3503
$GC,7575,-1.10,-146.6,579.3,-7.3,361,7579,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1483,3502
$GC,7632,-1.10,-146.6,584.1,-9.9,363,7636,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2899,3502
$GC,7948,-1.10,-146.6,608.5,-7.6,378,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,8258,-1.10,-146.6,628.6,-6.3,393,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3501
$GC,8567,-1.10,-146.6,645.3,-5.3,408,8571,0.00,2.55,0.00,0.000,4,0.000,0.052,2165,1480,3501
$GC,8611,-1.10,-146.6,647.5,-4.6,410,8616,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2899,3500
$GC,8934,-1.10,-146.6,664.6,-5.6,426,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3499
$GC,9243,-1.10,-146.6,683.4,-5.8,441,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3498
$GC,9552,-1.10,-146.6,711.5,-9.1,456,9557,0.00,2.53,0.00,0.000,4,0.000,0.050,2166,1487,3496
$GC,9597,-1.10,-146.6,714.7,-6.2,458,9601,0.00,2.62,0.00,0.000,6,0.000,0.065,2166,2900,3496
$GC,9918,-1.10,-146.6,742.2,-9.6,474,9922,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1487,3495
$GC,9968,-1.10,-146.6,747.7,-9.3,476,9972,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2900,3495
$STATE,10136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10136,begin apogee
$GC,10145,-0.42,0.0,762.7,8.9,484,10280,0.75,0.00,129.68,1.429,6,0.092,0.000,2315,2102,2901
$STATE,10280,end apogee,CONTROL_FINISHED_OK
$STATE,10280,begin climb
$GC,10284,1.10,146.6,767.3,0.0,491,10420,1.58,2.72,127.72,1.368,4,0.061,0.069,2647,688,2303
$GC,10508,1.10,146.6,757.4,7.6,501,10512,0.00,2.55,0.00,0.000,6,0.000,0.042,2647,2110,2303
$GC,10824,1.10,146.6,735.9,9.8,516,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2111,2301
$GC,11134,1.17,201.6,719.7,4.5,531,11189,0.00,2.72,48.58,1.374,4,0.000,0.071,2647,3494,2079
$GC,11230,1.23,252.8,716.2,4.6,535,11283,0.15,2.55,45.58,1.350,6,0.042,0.044,2689,2086,1871
$GC,11591,1.23,252.8,695.1,6.5,553,11596,0.00,2.72,0.00,0.000,4,0.000,0.078,2689,3509,1868
$GC,11632,1.23,252.8,692.4,6.5,555,11636,0.00,2.55,0.00,0.000,6,0.000,0.048,2689,2097,1869
$GC,11959,1.23,252.8,667.4,7.8,571,11963,0.00,2.67,0.00,0.000,4,0.000,0.077,2689,3504,1868
$GC,12021,1.23,252.8,662.4,8.1,574,12026,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2098,1868
$GC,12348,1.23,252.8,634.4,9.5,590,12353,0.00,2.67,0.00,0.000,4,0.000,0.076,2689,3511,1867
$GC,12393,1.23,252.8,630.1,9.8,592,12397,0.00,2.55,0.00,0.000,6,0.000,0.048,2689,2098,1867
$GC,12715,1.23,252.8,599.0,9.2,608,12719,0.00,2.67,0.00,0.000,4,0.000,0.078,2689,3502,1866
$GC,12754,1.23,252.8,595.5,8.7,610,12759,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2094,1866
$GC,13082,1.23,252.8,562.8,10.7,626,13086,0.00,2.60,0.00,0.000,4,0.000,0.069,2689,695,1866
$GC,13122,1.23,252.8,558.7,9.6,628,13127,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,2097,1866
$GC,13449,1.23,252.8,532.7,7.4,644,13453,0.00,2.65,0.00,0.000,4,0.000,0.075,2689,3510,1865
$GC,13482,1.23,252.8,530.2,7.4,645,13488,0.00,2.50,0.00,0.000,6,0.000,0.043,2689,2098,1865
$GC,13799,1.23,252.8,508.8,6.7,661,13803,0.00,2.60,0.00,0.000,4,0.000,0.067,2689,688,1865
$GC,13843,1.23,252.8,505.1,8.6,663,13847,0.00,2.53,0.00,0.000,6,0.000,0.043,2689,2103,1865
$GC,14164,1.23,252.8,479.0,8.7,679,14168,0.00,2.62,0.00,0.000,4,0.000,0.072,2689,3510,1864
$GC,14265,1.23,252.8,468.4,9.6,683,14271,0.00,2.50,0.00,0.000,6,0.000,0.039,2689,2092,1864
$GC,14581,1.23,252.8,442.0,8.0,699,14585,0.00,2.55,0.00,0.000,4,0.000,0.065,2689,699,1864
$GC,14598,1.23,252.8,440.4,8.6,700,14602,0.00,2.47,0.00,0.000,6,0.000,0.040,2689,2102,1865
$GC,14926,1.23,252.8,410.5,9.8,716,14930,0.00,2.58,0.00,0.000,4,0.000,0.064,2689,698,1865
$GC,14994,1.23,252.8,403.2,9.9,719,14998,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,2106,1865
$GC,15321,1.23,252.8,371.0,9.9,735,15325,0.00,2.62,0.00,0.000,4,0.000,0.077,2689,3509,1865
$GC,15354,1.23,252.8,367.4,10.7,736,15360,0.00,2.53,0.00,0.000,6,0.000,0.047,2689,2098,1865
$GC,15670,1.23,252.8,339.3,8.7,752,15674,0.00,2.67,0.00,0.000,4,0.000,0.077,2689,3512,1866
$GC,15720,1.23,252.8,334.6,9.2,754,15724,0.00,2.53,0.00,0.000,6,0.000,0.047,2689,2102,1866
$GC,16038,1.23,252.8,307.5,8.8,769,16039,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2102,1868
$GC,16345,1.23,252.8,281.0,8.2,784,16349,0.00,2.67,0.00,0.000,4,0.000,0.076,2689,3509,1869
$GC,16378,1.23,252.8,278.2,8.0,785,16384,0.00,2.50,0.00,0.000,6,0.000,0.046,2689,2101,1869
$GC,16694,1.23,252.8,252.7,8.2,801,16699,0.00,2.67,0.00,0.000,4,0.000,0.075,2689,3511,1869
$GC,16722,1.23,252.8,250.1,8.8,802,16726,0.00,2.55,0.00,0.000,6,0.000,0.048,2689,2094,1869
$GC,17038,1.23,252.8,225.8,7.6,817,17042,0.00,2.67,0.00,0.000,4,0.000,0.076,2689,3510,1870
$GC,17065,1.23,252.8,223.4,8.1,818,17070,0.00,2.55,0.00,0.000,6,0.000,0.049,2689,2093,1870
$GC,17381,1.23,252.8,198.7,7.7,833,17382,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2093,1871
$GC,17690,1.23,252.8,174.5,8.0,848,17695,0.00,2.67,0.00,0.000,4,0.000,0.077,2689,3508,1871
$GC,17737,1.23,252.8,170.6,8.9,850,17741,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2102,1871
$GC,18059,1.23,252.8,144.7,8.2,866,18060,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2101,1872
$GC,18367,1.23,252.8,120.4,7.8,881,18369,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2101,1872
$GC,18677,1.23,252.8,93.5,9.1,896,18682,0.00,2.60,0.00,0.000,4,0.000,0.065,2689,684,1872
$GC,18699,1.23,252.8,91.3,9.7,897,18704,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2099,1872
$GC,19022,1.23,252.8,62.4,8.8,913,19026,0.00,2.65,0.00,0.000,4,0.000,0.077,2689,3509,1872
$GC,19072,1.23,252.8,58.0,8.4,915,19077,0.00,2.55,0.00,0.000,6,0.000,0.051,2689,2098,1872
$GC,19390,1.23,252.8,31.3,8.0,930,19394,0.00,2.60,0.00,0.000,4,0.000,0.068,2689,686,1873
$GC,19417,1.23,252.8,28.9,7.8,931,19422,0.00,2.53,0.00,0.000,6,0.000,0.047,2689,2098,1873
$GC,19734,1.23,252.8,7.5,8.4,946,19739,0.00,2.67,0.00,0.000,4,0.000,0.080,2689,3511,1873
$GC,19746,1.23,252.8,6.2,10.1,946,19753,0.00,2.53,0.00,0.000,6,0.000,0.048,2689,2095,1873
$STATE,19791,end climb,SURFACE_DEPTH_REACHED
$STATE,19791,begin surface coast
$FINISH,-0.3,1.027424
$STATE,19813,end surface coast,CONTROL_FINISHED_OK
$STATE,19813,begin surface
$SM_CCo,19838,43.85,0.745,4,0,1678,300.00
$SM_GC,-0.28,0.00,0.00,43.85,0.000,0.000,0.745,43,2899,1678,-10.89,-0.03,300.00
$IRIDIUM_FIX,6112.75,-832.07,040597,000035
$TT8_MAMPS,0.029146
$HUMID,2067
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.60
$XPDR_PINGS,36
$ALTIM_BOTTOM_PING,750.1,73.5
$24V_AH,22.7,82.664
$10V_AH,10.1,38.375
$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,26.275,215.475,351.550,43.850,0.000,195.979,188.275,634.681,15.500,0.000,0.000,16.798,1767.530,15345.357,612.303,2120.952,1504.884,0.000,1719.288,0.000,2087.547,0.000,44.411
$DEVICE_MAMPS,162.604,98.943,1428.921,744.757,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,711.874,656.730,581.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50563,950
$CFSIZE,260165632,231763968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,4,0
$GPS,080208,062207,6134.507,-832.370,39,1.2,44,-9.0