version: 66.02
glider: 103
mission: 7
dive: 501
start: 2 9 108 3 29 35
data:
$ID,103
$MISSION,7
$DIVE,501
$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,-73286.531
$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,20
$R_STBD_OVSHOOT,14
$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
$GPS1,032238,6120.897,-818.245,34,1.7,34,-8.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-53.1
$GPS2,032903,6120.900,-818.114,12,1.9,12,-8.8
$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,297.2,6442,-11.1,-6.000
$D_GRID,468
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-60.05,0.000,2,0.000,0.000,49,2905,3481
$GC,91,-1.10,-146.6,5.3,-13.6,3,113,12.00,2.62,-0.32,0.000,4,0.157,0.074,2166,1498,3502
$GC,366,-1.10,-146.6,46.2,-7.8,15,371,0.00,2.67,0.00,0.000,6,0.000,0.075,2167,2903,3503
$GC,689,-1.10,-146.6,76.0,-12.5,31,693,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,1485,3503
$GC,729,-1.10,-146.6,80.7,-10.9,33,733,0.00,2.67,0.00,0.000,6,0.000,0.073,2166,2905,3503
$GC,1056,-1.10,-146.6,106.2,-7.7,49,1060,0.00,2.62,0.00,0.000,4,0.000,0.064,2167,1482,3503
$GC,1100,-1.10,-146.6,109.7,-7.9,51,1105,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2901,3503
$GC,1422,-1.10,-146.6,132.0,-6.5,67,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,1731,-1.10,-146.6,155.0,-7.7,82,1735,0.00,2.62,0.00,0.000,4,0.000,0.066,2167,1485,3503
$GC,1770,-1.10,-146.6,157.9,-8.1,84,1775,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2902,3503
$GC,2097,-1.10,-146.6,182.2,-6.7,100,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3503
$GC,2406,-1.10,-146.6,204.0,-7.3,115,2411,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1484,3503
$GC,2446,-1.10,-146.6,206.7,-6.4,117,2451,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2910,3503
$GC,2773,-1.10,-146.6,230.5,-7.5,133,2778,0.00,2.62,0.00,0.000,4,0.000,0.065,2167,1490,3503
$GC,2806,-1.10,-146.6,233.2,-7.6,134,2812,0.00,2.62,0.00,0.000,6,0.000,0.066,2167,2902,3503
$GC,3122,-1.10,-146.6,255.7,-7.5,150,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2901,3503
$GC,3432,-1.10,-146.6,277.3,-6.7,165,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,3741,-1.10,-146.6,295.0,-5.1,180,3745,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1486,3503
$GC,3791,-1.10,-146.6,297.8,-5.9,182,3796,0.00,2.62,0.00,0.000,6,0.000,0.064,2167,2905,3503
$GC,4108,-1.10,-146.6,313.1,-4.4,197,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3503
$GC,4416,-1.10,-146.6,331.0,-6.5,212,4421,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1480,3503
$GC,4461,-1.10,-146.6,334.0,-6.6,214,4466,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2900,3503
$GC,4783,-1.10,-146.6,360.3,-8.1,230,4787,0.00,1.70,0.00,0.000,4,0.000,0.094,2167,3787,3503
$GC,4829,-1.10,-146.6,364.8,-9.6,232,4833,0.00,1.58,0.00,0.000,6,0.000,0.047,2167,2886,3503
$GC,5162,-1.10,-146.6,397.5,-10.5,248,5166,0.00,2.53,0.00,0.000,4,0.000,0.058,2167,1480,3503
$GC,5189,-1.10,-146.6,400.9,-12.2,249,5193,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2899,3503
$GC,5505,-1.10,-146.6,434.2,-10.5,264,5509,0.00,2.55,0.00,0.000,4,0.000,0.056,2167,1485,3503
$GC,5526,-1.10,-146.6,436.6,-10.4,265,5531,0.00,2.62,0.00,0.000,6,0.000,0.065,2167,2899,3503
$GC,5849,-1.10,-146.6,462.7,-6.8,281,5852,0.00,1.70,0.00,0.000,4,0.000,0.091,2167,3790,3503
$GC,5922,-1.10,-146.6,467.6,-6.0,284,5926,0.00,1.58,0.00,0.000,6,0.000,0.043,2167,2900,3503
$STATE,5929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5929,begin apogee
$GC,5938,-0.42,0.0,468.3,6.0,284,6067,0.75,0.00,125.18,1.136,6,0.100,0.000,2316,2092,2901
$STATE,6068,end apogee,CONTROL_FINISHED_OK
$STATE,6068,begin climb
$GC,6071,1.10,146.6,471.2,0.0,291,6202,1.55,2.62,120.28,1.121,4,0.059,0.054,2646,685,2303
$GC,6321,1.11,154.7,461.0,5.8,302,6335,0.00,2.50,8.50,0.935,6,0.000,0.035,2646,2114,2270
$GC,6658,1.16,193.3,440.4,4.9,319,6700,0.00,2.65,33.80,1.068,4,0.000,0.063,2646,3498,2112
$GC,6751,1.16,193.3,432.4,9.7,323,6755,0.00,2.47,0.00,0.000,6,0.000,0.035,2646,2092,2112
$GC,7073,1.24,261.9,419.5,4.1,339,7138,0.15,2.75,57.85,1.074,4,0.041,0.072,2695,3492,1833
$GC,7205,1.24,261.9,410.5,6.1,345,7209,0.00,2.50,0.00,0.000,6,0.000,0.045,2695,2099,1832
$GC,7532,1.24,262.2,384.4,6.0,361,7537,0.00,2.55,0.00,0.000,4,0.000,0.058,2695,691,1832
$GC,7622,1.33,330.7,378.2,4.1,365,7688,0.00,2.47,58.35,1.048,6,0.000,0.040,2695,2093,1552
$GC,8011,1.33,330.7,346.3,8.7,384,8015,0.00,2.67,0.00,0.000,4,0.000,0.074,2695,3515,1551
$GC,8123,1.33,330.7,334.0,10.7,389,8127,0.00,2.55,0.00,0.000,6,0.000,0.048,2695,2100,1551
$GC,8444,1.33,330.7,302.4,9.6,405,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2100,1550
$GC,8753,1.33,330.7,272.1,10.3,420,8758,0.00,2.67,0.00,0.000,4,0.000,0.073,2695,3514,1550
$GC,8798,1.33,330.7,267.5,10.6,422,8803,0.00,2.55,0.00,0.000,6,0.000,0.047,2695,2090,1550
$GC,9119,1.33,330.7,237.6,9.5,438,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2090,1550
$GC,9429,1.33,330.7,208.9,9.4,453,9433,0.00,2.67,0.00,0.000,4,0.000,0.072,2695,3507,1550
$GC,9473,1.33,330.7,204.2,10.3,455,9477,0.00,2.53,0.00,0.000,6,0.000,0.049,2695,2106,1550
$GC,9794,1.33,330.7,174.9,8.9,471,9799,0.00,2.65,0.00,0.000,4,0.000,0.071,2695,3515,1550
$GC,9817,1.33,330.7,172.6,9.0,472,9821,0.00,2.55,0.00,0.000,6,0.000,0.049,2695,2095,1550
$GC,10138,1.33,330.7,145.4,9.4,488,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2095,1550
$GC,10447,1.33,330.7,119.3,10.4,503,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2093,1550
$GC,10758,1.33,330.7,87.3,9.7,518,10762,0.00,2.67,0.00,0.000,4,0.000,0.074,2695,3509,1550
$GC,10780,1.33,330.7,84.6,11.3,519,10785,0.00,2.53,0.00,0.000,6,0.000,0.051,2695,2100,1550
$GC,11103,1.39,379.6,53.4,4.6,535,11145,0.00,0.00,40.45,0.859,6,0.000,0.000,2695,2098,1353
$GC,11456,1.39,379.6,13.9,10.3,552,11460,0.00,2.65,0.00,0.000,4,0.000,0.079,2695,699,1352
$GC,11489,1.39,379.6,8.3,14.5,553,11495,0.00,2.50,0.00,0.000,6,0.000,0.048,2695,2097,1352
$STATE,11576,end climb,SURFACE_DEPTH_REACHED
$STATE,11576,begin surface coast
$FINISH,-0.8,1.027365
$STATE,11597,end surface coast,CONTROL_FINISHED_OK
$STATE,11597,begin surface
$SM_CCo,11683,0.00,0.000,0,0,1349,380.71
$SM_GC,-0.13,11.62,0.00,0.00,0.027,0.000,0.000,46,2896,1349,-10.79,-0.11,380.71
$IRIDIUM_FIX,6050.49,-1119.47,040597,232336
$TT8_MAMPS,0.029146
$HUMID,2055
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,450.4,86.5
$24V_AH,23.0,83.531
$10V_AH,10.1,38.793
$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,26.075,113.750,444.400,0.000,0.000,37.628,45.779,170.769,4.000,0.000,0.000,12.903,1053.886,8656.482,500.007,1324.738,543.842,0.000,1213.177,0.000,1303.741,0.000,25.029
$DEVICE_MAMPS,157.235,94.341,1135.927,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.450,389.459,398.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28511,559
$CFSIZE,260165632,231538688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,090208,064532,6120.379,-819.181,39,1.2,39,-8.8