version: 66.02
glider: 103
mission: 7
dive: 498
start: 2 8 108 12 41 53
data:
$ID,103
$MISSION,7
$DIVE,498
$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,-73225.117
$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,7
$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
$GPS1,123352,6132.953,-836.811,40,2.0,54,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.42
$_SM_ANGLEo,-57.3
$GPS2,124122,6132.839,-836.672,17,2.0,36,-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,161.7,22589,-11.1,-6.000
$D_GRID,822
$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,27,-1.10,-146.6,0.0,0.0,0,108,0.00,0.00,-74.25,0.000,6,0.000,0.000,41,2897,3500
$GC,111,-1.10,-146.6,5.8,-10.1,4,133,12.05,2.65,0.00,0.000,4,0.158,0.059,2164,1480,3503
$GC,323,-1.10,-146.6,34.2,-7.9,13,328,0.00,2.70,0.00,0.000,6,0.000,0.073,2164,2904,3503
$GC,641,-1.10,-146.6,57.2,-7.3,28,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3503
$GC,949,-1.10,-146.6,75.3,-5.5,43,954,0.00,2.65,0.00,0.000,4,0.000,0.067,2164,1482,3503
$GC,983,-1.10,-146.6,77.4,-5.8,44,990,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2901,3503
$GC,1301,-1.10,-146.6,97.3,-6.0,60,1305,0.00,1.73,0.00,0.000,4,0.000,0.104,2165,3785,3503
$GC,1329,-1.10,-146.6,99.0,-6.0,61,1333,0.00,1.60,0.00,0.000,6,0.000,0.054,2165,2895,3503
$GC,1658,-1.10,-146.6,114.8,-4.7,77,1662,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1479,3503
$GC,1702,-1.10,-146.6,116.9,-4.4,79,1707,0.00,2.67,0.00,0.000,6,0.000,0.070,2165,2899,3503
$GC,2025,-1.10,-146.6,133.0,-5.5,95,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3503
$GC,2333,-1.10,-146.6,152.1,-6.3,110,2338,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1483,3503
$GC,2366,-1.10,-146.6,154.4,-6.7,111,2372,0.00,2.67,0.00,0.000,6,0.000,0.071,2164,2902,3503
$GC,2682,-1.10,-146.6,173.9,-6.0,127,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,2992,-1.10,-146.6,196.4,-7.7,142,2996,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1484,3503
$GC,3031,-1.10,-146.6,199.6,-8.0,144,3039,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2902,3503
$GC,3366,-1.10,-146.6,224.7,-9.0,160,3374,0.00,1.70,0.00,0.000,4,0.000,0.098,2164,3786,3503
$GC,3460,-1.10,-146.6,233.5,-9.4,164,3464,0.00,1.60,0.00,0.000,6,0.000,0.050,2164,2897,3503
$GC,3793,-1.10,-146.6,268.6,-8.5,180,3797,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1485,3503
$GC,3855,-1.10,-146.6,274.7,-9.7,183,3859,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2907,3503
$GC,4187,-1.10,-146.6,306.5,-8.1,199,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3503
$GC,4496,-1.10,-146.6,333.6,-8.1,214,4500,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1487,3503
$GC,4536,-1.10,-146.6,337.0,-8.4,216,4541,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2904,3503
$GC,4863,-1.10,-146.6,362.9,-8.3,232,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,5172,-1.10,-146.6,389.4,-8.7,247,5177,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1482,3503
$GC,5228,-1.10,-146.6,394.1,-8.3,249,5234,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2902,3503
$GC,5544,-1.10,-146.6,418.6,-7.0,265,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3503
$GC,5853,-1.10,-146.6,441.8,-7.9,280,5857,0.00,2.55,0.00,0.000,4,0.000,0.055,2164,1484,3503
$GC,5881,-1.10,-146.6,444.1,-7.7,281,5885,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2901,3503
$GC,6197,-1.10,-146.6,468.0,-6.9,296,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3503
$GC,6506,-1.10,-146.6,487.5,-6.2,311,6511,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1480,3503
$GC,6569,-1.10,-146.6,491.6,-6.7,314,6574,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2906,3503
$GC,6896,-1.10,-146.6,511.0,-5.1,330,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3503
$GC,7205,-1.10,-146.6,530.0,-6.1,345,7210,0.00,2.55,0.00,0.000,4,0.000,0.051,2164,1482,3503
$GC,7247,-1.10,-146.6,532.5,-6.9,347,7252,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2903,3503
$GC,7574,-1.10,-146.6,557.6,-9.7,363,7578,0.00,1.70,0.00,0.000,4,0.000,0.088,2165,3783,3503
$GC,7670,-1.10,-146.6,567.1,-9.5,367,7674,0.00,1.55,0.00,0.000,6,0.000,0.038,2165,2897,3503
$GC,7997,-1.10,-146.6,590.4,-7.0,383,8001,0.00,2.50,0.00,0.000,4,0.000,0.053,2164,1488,3503
$GC,8047,-1.10,-146.6,594.2,-7.4,385,8052,0.00,2.60,0.00,0.000,6,0.000,0.062,2165,2900,3503
$GC,8364,-1.10,-146.6,603.5,-1.2,400,8367,0.00,1.67,0.00,0.000,4,0.000,0.086,2164,3789,3503
$GC,8410,-1.10,-146.6,604.6,-2.5,402,8414,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2886,3503
$GC,8743,-1.10,-146.6,617.1,-4.7,418,8747,0.00,1.73,0.00,0.000,4,0.000,0.087,2164,3776,3503
$GC,8867,-1.10,-146.6,624.9,-6.4,423,8872,0.00,1.50,0.00,0.000,6,0.000,0.038,2164,2914,3503
$GC,9188,-1.10,-146.6,643.5,-5.9,439,9193,0.00,2.50,0.00,0.000,4,0.000,0.051,2164,1492,3503
$GC,9244,-1.10,-146.6,647.6,-7.5,441,9250,0.00,2.60,0.00,0.000,6,0.000,0.064,2164,2899,3503
$GC,9561,-1.10,-146.6,673.9,-8.4,457,9565,0.00,2.55,0.00,0.000,4,0.000,0.063,2164,1496,3503
$GC,9672,-1.10,-146.6,682.5,-7.6,462,9677,0.00,2.65,0.00,0.000,6,0.000,0.073,2165,2902,3503
$GC,9993,-1.10,-146.6,705.0,-8.1,478,9998,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1490,3503
$GC,10056,-1.10,-146.6,709.8,-7.4,481,10061,0.00,2.65,0.00,0.000,6,0.000,0.074,2164,2900,3503
$GC,10383,-1.10,-146.6,735.0,-6.9,497,10388,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,10418,-1.10,-146.6,737.4,-7.1,498,10423,0.00,2.67,0.00,0.000,6,0.000,0.076,2164,2900,3502
$GC,10733,-1.10,-146.6,756.7,-6.5,514,10738,0.00,2.60,0.00,0.000,4,0.000,0.067,2165,1495,3501
$GC,10773,-1.10,-146.6,759.8,-7.8,516,10778,0.00,2.67,0.00,0.000,6,0.000,0.077,2165,2908,3500
$GC,11101,-1.10,-146.6,779.1,-5.7,532,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3499
$GC,11410,-1.10,-146.6,800.8,-9.3,547,11414,0.00,2.62,0.00,0.000,4,0.000,0.067,2164,1492,3497
$GC,11437,-1.10,-146.6,802.9,-7.9,548,11442,0.00,2.70,0.00,0.000,4,0.000,0.080,2164,2904,3497
$STATE,11442,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11442,begin apogee
$GC,11452,-0.42,0.0,803.3,7.5,548,11599,0.70,0.00,134.18,1.442,6,0.072,0.000,2311,2105,2901
$STATE,11599,end apogee,CONTROL_FINISHED_OK
$STATE,11599,begin climb
$GC,11603,1.10,146.6,809.0,0.0,556,11741,1.55,2.80,128.15,1.410,4,0.049,0.078,2650,685,2303
$GC,11800,1.25,267.0,808.2,2.7,565,11913,0.15,2.58,106.40,1.383,6,0.041,0.041,2694,2122,1812
$GC,12222,1.25,267.0,771.6,11.3,585,12226,0.00,2.70,0.00,0.000,4,0.000,0.070,2694,689,1810
$GC,12451,1.25,267.0,748.4,9.0,595,12455,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2091,1809
$GC,12767,1.25,267.0,718.8,11.3,610,12771,0.00,2.70,0.00,0.000,4,0.000,0.079,2694,3510,1807
$GC,12794,1.25,267.0,715.3,12.7,611,12799,0.00,2.55,0.00,0.000,6,0.000,0.048,2694,2093,1807
$GC,13110,1.25,267.0,680.9,11.0,626,13115,0.00,2.72,0.00,0.000,4,0.000,0.079,2694,3509,1807
$GC,13138,1.25,267.0,677.7,12.1,627,13142,0.00,2.55,0.00,0.000,6,0.000,0.048,2694,2100,1807
$GC,13454,1.25,267.0,648.1,7.6,642,13458,0.00,2.72,0.00,0.000,4,0.000,0.081,2694,3515,1806
$GC,13516,1.25,267.0,643.5,6.9,645,13520,0.00,2.55,0.00,0.000,6,0.000,0.049,2694,2101,1805
$GC,13843,1.25,267.0,617.6,9.5,661,13847,0.00,2.70,0.00,0.000,4,0.000,0.077,2694,3516,1804
$GC,13888,1.25,267.0,612.7,11.2,663,13892,0.00,2.55,0.00,0.000,6,0.000,0.046,2694,2098,1804
$GC,14209,1.25,267.0,582.8,7.8,679,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1804
$GC,14518,1.25,267.0,555.5,9.0,694,14523,0.00,2.67,0.00,0.000,4,0.000,0.074,2693,3512,1803
$GC,14552,1.25,267.0,552.3,8.9,695,14559,0.00,2.50,0.00,0.000,6,0.000,0.044,2694,2100,1803
$GC,14869,1.25,267.0,523.2,9.0,711,14872,0.00,2.58,0.00,0.000,4,0.000,0.062,2693,689,1803
$GC,14937,1.25,267.0,516.5,9.6,714,14942,0.00,2.50,0.00,0.000,6,0.000,0.041,2694,2107,1804
$GC,15264,1.25,267.0,483.2,10.9,730,15269,0.00,2.60,0.00,0.000,4,0.000,0.071,2694,3509,1804
$GC,15331,1.25,267.0,475.2,12.6,733,15336,0.00,2.53,0.00,0.000,6,0.000,0.044,2694,2095,1805
$GC,15653,1.25,267.0,438.0,11.8,749,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2095,1805
$GC,15963,1.25,267.0,407.3,9.6,764,15967,0.00,2.67,0.00,0.000,4,0.000,0.074,2694,3511,1806
$GC,15990,1.25,267.0,404.4,10.1,765,15994,0.00,2.50,0.00,0.000,6,0.000,0.042,2694,2100,1806
$GC,16306,1.25,267.0,374.1,9.3,780,16310,0.00,2.58,0.00,0.000,4,0.000,0.063,2694,689,1807
$GC,16333,1.25,267.0,371.6,9.1,781,16338,0.00,2.50,0.00,0.000,6,0.000,0.043,2694,2098,1807
$GC,16650,1.25,267.0,340.9,9.5,796,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1809
$GC,16959,1.25,267.0,306.4,10.6,811,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1809
$GC,17269,1.25,267.0,272.9,10.9,826,17270,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1809
$GC,17577,1.25,267.0,236.4,12.3,841,17578,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1810
$GC,17887,1.25,267.0,202.0,10.9,856,17891,0.00,2.65,0.00,0.000,4,0.000,0.073,2694,3515,1811
$GC,17927,1.25,267.0,198.1,9.7,858,17931,0.00,2.50,0.00,0.000,6,0.000,0.045,2694,2098,1811
$GC,18253,1.25,267.0,166.4,9.7,874,18254,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1811
$GC,18563,1.25,267.0,133.6,11.3,889,18564,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1812
$GC,18873,1.25,267.0,102.2,10.5,904,18877,0.00,2.67,0.00,0.000,4,0.000,0.074,2693,3512,1813
$GC,18900,1.25,267.0,99.7,7.7,905,18904,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2099,1813
$GC,19218,1.25,267.0,70.1,9.7,920,19222,0.00,2.67,0.00,0.000,4,0.000,0.075,2694,3512,1813
$GC,19245,1.25,267.0,67.6,8.6,921,19249,0.00,2.55,0.00,0.000,6,0.000,0.049,2694,2095,1813
$GC,19561,1.25,267.0,39.4,9.1,936,19563,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2095,1813
$GC,19870,1.25,267.0,11.2,9.0,951,19871,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2095,1813
$STATE,19992,end climb,SURFACE_DEPTH_REACHED
$STATE,19992,begin surface coast
$FINISH,-1.1,1.027411
$STATE,20013,end surface coast,CONTROL_FINISHED_OK
$STATE,20013,begin surface
$SM_CCo,20038,31.23,0.747,3,0,1678,300.00
$SM_GC,-0.31,0.00,0.00,31.23,0.000,0.000,0.747,32,2893,1678,-10.93,-0.20,300.00
$IRIDIUM_FIX,6108.28,-832.07,040597,060602
$TT8_MAMPS,0.028379
$HUMID,2095
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.90
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,726.1,87.0
$24V_AH,22.6,83.042
$10V_AH,10.1,38.570
$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,26.050,186.500,368.725,31.225,0.000,40.414,39.841,202.701,11.000,0.000,0.000,36.032,1768.047,15337.119,568.028,2169.812,698.020,0.000,1665.708,0.000,2101.657,0.000,42.878
$DEVICE_MAMPS,158.002,103.545,1441.960,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.308,658.102,580.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50545,958
$CFSIZE,260165632,231632896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,4,0
$GPS,080208,181815,6128.820,-835.291,39,1.2,58,-9.0