version: 66.02
glider: 103
mission: 7
dive: 500
start: 2 8 108 23 32 32
data:
$ID,103
$MISSION,7
$DIVE,500
$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,-73273
$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,18
$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
$GPS1,231425,6124.684,-826.244,38,2.0,38,-8.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-55.0
$GPS2,233159,6124.553,-825.395,14,2.2,33,-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,184.7,4741,-11.1,-6.000
$D_GRID,496
$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,-146.6,0.0,0.0,0,87,0.00,0.00,-60.42,0.000,2,0.000,0.000,46,2898,3320
$GC,91,-1.10,-146.6,3.1,-7.5,3,113,12.02,1.75,-3.38,0.000,4,0.158,0.118,2167,3786,3501
$GC,205,-1.10,-146.6,19.7,-11.2,8,209,0.00,1.60,0.00,0.000,6,0.000,0.060,2167,2902,3502
$GC,540,-1.10,-146.6,47.1,-6.8,24,544,0.00,2.60,0.00,0.000,4,0.000,0.067,2167,1484,3502
$GC,590,-1.10,-146.6,50.7,-7.1,26,594,0.00,2.72,0.00,0.000,6,0.000,0.077,2167,2908,3502
$GC,908,-1.10,-146.6,75.6,-7.7,41,911,0.00,1.73,0.00,0.000,4,0.000,0.103,2167,3786,3502
$GC,954,-1.10,-146.6,79.0,-7.4,43,957,0.00,1.60,0.00,0.000,6,0.000,0.054,2167,2891,3502
$GC,1287,-1.10,-146.6,102.1,-7.8,59,1292,0.00,2.58,0.00,0.000,4,0.000,0.067,2167,1486,3502
$GC,1328,-1.10,-146.6,105.5,-8.6,61,1332,0.00,2.65,0.00,0.000,6,0.000,0.073,2167,2901,3502
$GC,1655,-1.10,-146.6,132.7,-7.2,77,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,1964,-1.10,-146.6,157.3,-8.9,92,1968,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,1486,3502
$GC,1991,-1.10,-146.6,159.4,-6.8,93,1996,0.00,2.70,0.00,0.000,6,0.000,0.074,2167,2906,3502
$GC,2307,-1.10,-146.6,182.7,-7.5,108,2311,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1489,3502
$GC,2340,-1.10,-146.6,185.4,-7.7,109,2346,0.00,2.65,0.00,0.000,6,0.000,0.069,2167,2900,3502
$GC,2656,-1.10,-146.6,208.9,-7.6,125,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,2965,-1.10,-146.6,230.8,-7.1,140,2969,0.00,2.62,0.00,0.000,4,0.000,0.067,2167,1482,3502
$GC,2992,-1.10,-146.6,232.8,-6.7,141,2997,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2902,3502
$GC,3310,-1.10,-146.6,255.7,-8.5,156,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,3618,-1.10,-146.6,280.5,-7.3,171,3622,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1487,3502
$GC,3662,-1.10,-146.6,284.0,-7.0,173,3666,0.00,2.67,0.00,0.000,6,0.000,0.074,2167,2900,3502
$GC,3984,-1.10,-146.6,308.9,-8.0,189,3988,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1482,3502
$GC,4006,-1.10,-146.6,310.8,-8.3,190,4011,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2907,3502
$GC,4327,-1.10,-146.6,333.9,-7.1,206,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3502
$GC,4638,-1.10,-146.6,355.5,-7.2,221,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3502
$GC,4946,-1.10,-146.6,380.8,-8.0,236,4949,0.00,1.67,0.00,0.000,4,0.000,0.094,2167,3785,3502
$GC,4974,-1.10,-146.6,383.4,-8.6,237,4977,0.00,1.58,0.00,0.000,6,0.000,0.045,2167,2890,3502
$GC,5301,-1.10,-146.6,410.3,-7.3,253,5305,0.00,2.53,0.00,0.000,4,0.000,0.061,2167,1484,3502
$GC,5370,-1.10,-146.6,414.9,-7.3,256,5375,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2903,3502
$GC,5697,-1.10,-146.6,439.6,-8.1,272,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,6008,-1.10,-146.6,460.1,-5.8,287,6012,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1484,3502
$GC,6048,-1.10,-146.6,462.5,-5.7,289,6052,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2906,3502
$GC,6374,-1.10,-146.6,483.2,-7.0,305,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3502
$STATE,6577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6577,begin apogee
$GC,6586,-0.42,0.0,496.1,5.8,315,6715,0.77,0.00,125.15,1.168,6,0.104,0.000,2318,2093,2901
$STATE,6716,end apogee,CONTROL_FINISHED_OK
$STATE,6716,begin climb
$GC,6719,1.10,146.6,498.6,0.0,321,6850,1.55,2.65,120.78,1.144,4,0.061,0.054,2647,687,2303
$GC,6982,1.16,192.4,490.1,4.7,333,7028,0.00,2.50,39.92,1.101,6,0.000,0.035,2647,2113,2116
$GC,7347,1.16,192.4,466.4,7.4,351,7352,0.00,2.58,0.00,0.000,4,0.000,0.063,2647,3510,2114
$GC,7443,1.19,216.5,460.6,5.3,355,7469,0.00,2.50,20.98,1.092,6,0.000,0.037,2647,2090,2018
$GC,7780,1.19,216.5,443.0,6.6,371,7784,0.00,2.62,0.00,0.000,4,0.000,0.064,2647,3508,2017
$GC,7831,1.19,216.5,439.3,7.2,373,7835,0.00,2.47,0.00,0.000,6,0.000,0.035,2647,2096,2017
$GC,8147,1.19,216.5,416.2,7.3,388,8151,0.00,2.62,0.00,0.000,4,0.000,0.066,2647,3509,2017
$GC,8180,1.19,216.5,413.7,7.4,389,8186,0.00,2.47,0.00,0.000,6,0.000,0.036,2647,2098,2017
$GC,8496,1.19,216.5,392.8,6.2,405,8500,0.00,2.62,0.00,0.000,4,0.000,0.068,2647,3502,2017
$GC,8553,1.19,216.5,389.0,7.0,407,8559,0.00,2.47,0.00,0.000,6,0.000,0.040,2647,2100,2017
$GC,8870,1.19,216.5,367.2,7.8,423,8874,0.00,2.62,0.00,0.000,4,0.000,0.070,2647,3501,2016
$GC,8903,1.19,216.5,364.2,8.8,424,8909,0.00,2.50,0.00,0.000,6,0.000,0.043,2647,2093,2017
$GC,9219,1.19,216.5,338.9,7.5,440,9224,0.00,2.65,0.00,0.000,4,0.000,0.070,2647,3505,2016
$GC,9270,1.19,216.5,335.3,7.3,442,9274,0.00,2.50,0.00,0.000,6,0.000,0.044,2647,2102,2017
$GC,9586,1.20,228.2,317.1,5.7,457,9607,0.12,2.72,11.20,0.989,4,0.044,0.077,2687,3502,1969
$GC,9676,1.20,228.2,310.2,8.0,461,9681,0.00,2.50,0.00,0.000,6,0.000,0.047,2688,2102,1969
$GC,10003,1.20,228.2,282.7,8.5,477,10008,0.00,2.62,0.00,0.000,4,0.000,0.075,2688,3502,1969
$GC,10026,1.20,228.2,280.8,8.6,478,10030,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2097,1969
$GC,10347,1.20,228.2,256.8,6.8,494,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1969
$GC,10656,1.20,228.2,238.3,6.3,509,10657,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1969
$GC,10966,1.20,228.2,214.3,9.4,524,10970,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3506,1969
$GC,10987,1.20,228.2,211.8,11.1,525,10992,0.00,2.53,0.00,0.000,6,0.000,0.048,2688,2096,1969
$GC,11309,1.20,228.2,178.2,9.6,541,11314,0.00,2.62,0.00,0.000,4,0.000,0.073,2688,3501,1969
$GC,11343,1.20,228.2,174.1,11.8,542,11349,0.00,2.53,0.00,0.000,6,0.000,0.050,2688,2096,1969
$GC,11660,1.20,228.2,147.8,8.2,558,11664,0.00,2.58,0.00,0.000,4,0.000,0.065,2688,689,1969
$GC,11687,1.20,228.2,145.3,8.6,559,11691,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2091,1969
$GC,12004,1.20,228.2,120.0,8.5,574,12008,0.00,2.70,0.00,0.000,4,0.000,0.081,2688,3514,1969
$GC,12044,1.20,228.2,116.7,7.7,576,12048,0.00,2.53,0.00,0.000,6,0.000,0.051,2688,2100,1969
$GC,12377,1.20,228.2,89.6,9.2,592,12381,0.00,2.58,0.00,0.000,4,0.000,0.065,2688,692,1969
$GC,12450,1.20,228.2,83.9,7.2,595,12454,0.00,2.50,0.00,0.000,6,0.000,0.045,2688,2102,1969
$GC,12768,1.20,228.2,57.5,8.9,610,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1969
$GC,13075,1.20,228.2,35.0,6.6,625,13080,0.00,2.60,0.00,0.000,4,0.000,0.064,2688,691,1969
$GC,13172,1.20,229.1,30.3,6.0,629,13176,0.00,2.53,0.00,0.000,6,0.000,0.051,2688,2096,1969
$GC,13488,1.20,229.1,12.0,7.6,644,13492,0.00,2.65,0.00,0.000,4,0.000,0.076,2688,3511,1969
$GC,13515,1.20,229.1,9.2,9.5,645,13520,0.00,2.53,0.00,0.000,6,0.000,0.047,2688,2096,1969
$STATE,13622,end climb,SURFACE_DEPTH_REACHED
$STATE,13622,begin surface coast
$FINISH,-0.9,1.027371
$STATE,13644,end surface coast,CONTROL_FINISHED_OK
$STATE,13644,begin surface
$SM_CCo,13670,58.90,0.828,1,0,1678,300.00
$SM_GC,-0.14,0.00,0.00,58.90,0.000,0.000,0.828,50,2901,1678,-10.86,0.03,300.00
$IRIDIUM_FIX,6103.81,-825.62,040597,232349
$TT8_MAMPS,0.029146
$HUMID,2040
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.0,83.381
$10V_AH,10.1,38.732
$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,25.950,142.550,318.025,58.900,0.000,151.900,216.890,333.202,4.000,0.000,0.000,34.442,1225.131,10531.870,494.256,1489.790,1059.998,0.000,1264.348,0.000,1456.699,0.000,23.607
$DEVICE_MAMPS,158.002,118.118,1168.141,828.360,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,481.082,452.891,470.555,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31590,651
$CFSIZE,260165632,231567360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,090208,032238,6120.897,-818.245,34,1.7,34,-8.8