version: 66.02
glider: 103
mission: 7
dive: 499
start: 2 8 108 18 42 14
data:
$ID,103
$MISSION,7
$DIVE,499
$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,-73237.93
$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,8
$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
$GPS1,181815,6128.820,-835.291,39,1.2,58,-9.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-58.7
$GPS2,184139,6128.617,-834.832,12,1.9,12,-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,153.5,15043,-11.1,-6.000
$D_GRID,616
$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,-146.6,0.0,0.0,0,92,0.00,0.00,-65.57,0.000,6,0.000,0.000,33,2896,3500
$GC,96,-1.10,-146.6,2.8,-7.2,3,117,12.20,1.77,0.00,0.000,4,0.160,0.092,2165,3787,3502
$GC,288,-1.10,-146.6,28.6,-9.0,11,292,0.00,1.65,0.00,0.000,6,0.000,0.060,2165,2902,3502
$GC,610,-1.10,-146.6,53.2,-7.4,27,615,0.00,2.62,0.00,0.000,4,0.000,0.071,2165,1485,3502
$GC,651,-1.10,-146.6,56.2,-7.5,29,655,0.00,2.70,0.00,0.000,6,0.000,0.076,2165,2903,3502
$GC,978,-1.10,-146.6,79.9,-7.4,45,982,0.00,1.73,0.00,0.000,4,0.000,0.100,2165,3787,3502
$GC,1029,-1.10,-146.6,83.6,-7.3,47,1032,0.00,1.60,0.00,0.000,6,0.000,0.053,2165,2897,3503
$GC,1356,-1.10,-146.6,110.0,-7.9,63,1361,0.00,2.60,0.00,0.000,4,0.000,0.068,2165,1483,3502
$GC,1412,-1.10,-146.6,115.0,-9.5,65,1419,0.00,2.67,0.00,0.000,6,0.000,0.075,2165,2899,3502
$GC,1730,-1.10,-146.6,141.2,-8.2,81,1734,0.00,1.73,0.00,0.000,4,0.000,0.100,2165,3783,3502
$GC,1769,-1.10,-146.6,144.6,-7.9,82,1775,0.00,1.60,0.00,0.000,6,0.000,0.051,2165,2896,3502
$GC,2086,-1.10,-146.6,170.8,-8.1,98,2090,0.00,2.58,0.00,0.000,4,0.000,0.066,2165,1489,3502
$GC,2126,-1.10,-146.6,174.1,-8.3,100,2130,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2900,3503
$GC,2453,-1.10,-146.6,200.3,-8.1,116,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,2762,-1.10,-146.6,224.7,-8.3,131,2770,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1487,3503
$GC,2812,-1.10,-146.6,228.6,-7.7,133,2817,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2905,3503
$GC,3139,-1.10,-146.6,254.4,-8.3,149,3144,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1490,3503
$GC,3167,-1.10,-146.6,256.9,-8.5,150,3172,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2903,3503
$GC,3484,-1.10,-146.6,280.9,-7.0,165,3488,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1489,3503
$GC,3516,-1.10,-146.6,283.9,-9.1,166,3523,0.00,2.67,0.00,0.000,6,0.000,0.072,2165,2909,3503
$GC,3832,-1.10,-146.6,307.1,-8.0,182,3837,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1483,3503
$GC,3873,-1.10,-146.6,310.7,-9.4,184,3878,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2899,3503
$GC,4200,-1.10,-146.6,339.1,-7.2,200,4204,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1484,3503
$GC,4232,-1.10,-146.6,342.0,-8.6,201,4238,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2906,3503
$GC,4549,-1.10,-146.6,368.4,-9.3,217,4553,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1487,3503
$GC,4576,-1.10,-146.6,370.4,-6.7,218,4580,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2900,3503
$GC,4892,-1.10,-146.6,395.7,-6.8,233,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3503
$GC,5201,-1.10,-146.6,416.6,-7.2,248,5205,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1484,3503
$GC,5228,-1.10,-146.6,418.5,-6.8,249,5233,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2900,3503
$GC,5544,-1.10,-146.6,438.6,-6.1,264,5548,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1483,3503
$GC,5586,-1.10,-146.6,441.1,-6.4,266,5590,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2899,3503
$GC,5912,-1.10,-146.6,463.3,-7.1,282,5917,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1486,3503
$GC,5957,-1.10,-146.6,466.7,-7.8,284,5962,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2900,3503
$GC,6278,-1.10,-146.6,491.3,-7.9,300,6283,0.00,2.58,0.00,0.000,4,0.000,0.056,2165,1479,3503
$GC,6306,-1.10,-146.6,493.4,-7.2,301,6311,0.00,2.65,0.00,0.000,6,0.000,0.065,2165,2904,3503
$GC,6623,-1.10,-146.6,516.6,-6.9,316,6627,0.00,2.58,0.00,0.000,4,0.000,0.054,2165,1476,3503
$GC,6673,-1.10,-146.6,520.4,-6.8,318,6678,0.00,2.62,0.00,0.000,6,0.000,0.062,2165,2903,3503
$GC,6989,-1.10,-146.6,542.2,-6.2,333,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,7298,-1.10,-146.6,566.6,-6.3,348,7302,0.00,1.67,0.00,0.000,4,0.000,0.089,2165,3786,3503
$GC,7371,-1.10,-146.6,571.4,-7.0,351,7375,0.00,1.58,0.00,0.000,6,0.000,0.041,2165,2895,3503
$GC,7698,-1.10,-146.6,594.5,-7.8,367,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2895,3503
$STATE,7984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7984,begin apogee
$GC,7994,-0.42,0.0,616.8,7.6,381,8127,0.77,0.00,127.50,1.253,6,0.097,0.000,2317,2100,2901
$STATE,8128,end apogee,CONTROL_FINISHED_OK
$STATE,8128,begin climb
$GC,8131,1.10,146.6,621.8,0.0,388,8262,1.55,2.62,122.85,1.241,4,0.059,0.057,2647,692,2303
$GC,8322,1.10,146.6,614.8,6.4,397,8327,0.00,2.50,0.00,0.000,6,0.000,0.035,2647,2122,2303
$GC,8650,1.15,187.6,596.5,4.9,413,8692,0.00,2.62,35.70,1.224,4,0.000,0.064,2647,3504,2136
$GC,8709,1.21,233.2,593.7,4.7,415,8757,0.12,2.50,39.70,1.210,6,0.045,0.036,2684,2088,1950
$GC,9070,1.21,233.2,569.9,7.0,433,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2088,1948
$GC,9375,1.21,233.2,545.6,6.7,448,9379,0.00,2.65,0.00,0.000,4,0.000,0.070,2684,3503,1947
$GC,9487,1.21,233.2,537.3,8.1,453,9491,0.00,2.47,0.00,0.000,6,0.000,0.040,2684,2105,1947
$GC,9808,1.21,233.2,513.3,7.4,469,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2105,1947
$GC,10117,1.21,233.2,489.6,7.7,484,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2105,1946
$GC,10427,1.21,233.2,465.3,7.5,499,10431,0.00,2.62,0.00,0.000,4,0.000,0.071,2684,3500,1946
$GC,10454,1.21,233.2,463.0,7.9,500,10459,0.00,2.47,0.00,0.000,6,0.000,0.041,2684,2104,1946
$GC,10770,1.21,233.2,439.3,7.0,515,10774,0.00,2.62,0.00,0.000,4,0.000,0.071,2684,3504,1946
$GC,10792,1.21,233.2,437.7,7.2,516,10796,0.00,2.50,0.00,0.000,6,0.000,0.042,2684,2095,1946
$GC,11113,1.21,233.2,411.4,9.7,532,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2095,1946
$GC,11422,1.21,233.2,383.9,7.8,547,11426,0.00,2.65,0.00,0.000,4,0.000,0.071,2684,3505,1946
$GC,11507,1.21,233.2,376.3,10.1,551,11512,0.00,2.47,0.00,0.000,6,0.000,0.045,2684,2105,1947
$GC,11834,1.21,233.2,351.6,7.8,567,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2105,1947
$GC,12144,1.21,233.2,328.2,7.8,582,12148,0.00,2.58,0.00,0.000,4,0.000,0.061,2684,690,1947
$GC,12184,1.21,233.2,325.1,7.8,584,12188,0.00,2.47,0.00,0.000,6,0.000,0.043,2684,2089,1947
$GC,12510,1.21,233.2,296.4,8.8,600,12515,0.00,2.67,0.00,0.000,4,0.000,0.075,2684,3516,1946
$GC,12533,1.21,233.2,294.4,8.6,601,12537,0.00,2.53,0.00,0.000,6,0.000,0.042,2684,2093,1947
$GC,12854,1.21,233.2,267.5,8.0,617,12858,0.00,2.53,0.00,0.000,4,0.000,0.059,2684,692,1947
$GC,12882,1.21,233.2,265.1,8.5,618,12886,0.00,2.50,0.00,0.000,6,0.000,0.043,2684,2099,1947
$GC,13198,1.21,233.2,239.1,9.9,633,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2099,1947
$GC,13508,1.21,233.2,215.3,7.1,648,13512,0.00,2.62,0.00,0.000,4,0.000,0.074,2684,3511,1946
$GC,13540,1.21,233.2,212.7,7.6,649,13546,0.00,2.53,0.00,0.000,6,0.000,0.048,2684,2101,1947
$GC,13856,1.21,233.2,190.4,7.7,665,13861,0.00,2.55,0.00,0.000,4,0.000,0.061,2684,685,1946
$GC,13901,1.21,233.2,187.1,7.5,667,13905,0.00,2.53,0.00,0.000,6,0.000,0.047,2684,2101,1947
$GC,14222,1.21,233.2,166.1,6.8,683,14227,0.00,2.65,0.00,0.000,4,0.000,0.077,2684,3509,1947
$GC,14250,1.21,233.2,163.9,8.0,684,14255,0.00,2.50,0.00,0.000,6,0.000,0.047,2684,2101,1947
$GC,14566,1.21,233.2,138.4,8.1,699,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1947
$GC,14876,1.21,233.2,111.3,9.0,714,14881,0.00,2.67,0.00,0.000,4,0.000,0.077,2684,3510,1947
$GC,14910,1.21,233.2,108.0,8.6,715,14916,0.00,2.50,0.00,0.000,6,0.000,0.049,2684,2101,1947
$GC,15228,1.21,233.2,80.5,8.7,731,15232,0.00,2.67,0.00,0.000,4,0.000,0.074,2684,3515,1947
$GC,15250,1.21,233.2,78.4,8.4,732,15255,0.00,2.55,0.00,0.000,6,0.000,0.050,2684,2101,1948
$GC,15571,1.21,233.2,51.8,7.9,748,15573,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2101,1948
$GC,15882,1.21,233.2,26.4,8.7,763,15887,0.00,2.67,0.00,0.000,4,0.000,0.074,2684,3516,1948
$GC,15946,1.21,233.2,22.3,6.4,766,15951,0.00,2.55,0.00,0.000,6,0.000,0.053,2684,2101,1948
$STATE,16148,end climb,SURFACE_DEPTH_REACHED
$STATE,16149,begin surface coast
$FINISH,-0.6,1.027383
$STATE,16169,end surface coast,CONTROL_FINISHED_OK
$STATE,16169,begin surface
$SM_CCo,16194,54.67,0.848,1,0,1678,300.00
$SM_GC,-0.07,0.00,0.00,54.67,0.000,0.000,0.848,46,2897,1678,-10.87,-0.08,300.00
$IRIDIUM_FIX,6103.81,-835.86,040597,181812
$TT8_MAMPS,0.029146
$HUMID,2044
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.90
$XPDR_PINGS,2
$24V_AH,22.9,83.229
$10V_AH,10.1,38.658
$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,26.200,166.700,325.750,54.675,0.000,153.684,151.734,758.125,5.250,0.000,0.000,12.190,1446.026,12553.755,519.769,1697.583,1453.304,0.000,1406.065,0.000,1667.979,0.000,31.714
$DEVICE_MAMPS,160.303,99.710,1253.278,847.535,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,570.193,536.880,497.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,777
$CFSIZE,260165632,231596032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,080208,231425,6124.684,-826.244,38,2.0,38,-8.9