version: 66.02
glider: 103
mission: 7
dive: 502
start: 2 9 108 6 52 22
data:
$ID,103
$MISSION,7
$DIVE,502
$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,-73299.102
$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,22
$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
$GPS1,064532,6120.379,-819.181,39,1.2,39,-8.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.27
$_SM_ANGLEo,-50.4
$GPS2,065150,6120.428,-819.099,11,1.4,11,-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,307.9,5992,-11.1,-6.000
$D_GRID,437
$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,28,-1.10,-146.6,0.0,0.0,0,107,0.00,0.00,-77.57,0.000,2,0.000,0.000,46,2896,3435
$GC,111,-1.10,-146.6,3.3,-5.5,4,133,12.00,1.77,-1.15,0.000,4,0.156,0.107,2166,3796,3501
$GC,386,-1.10,-146.6,40.5,-10.4,16,389,0.00,1.62,0.00,0.000,6,0.000,0.061,2167,2907,3502
$GC,715,-1.10,-146.6,70.5,-9.5,32,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3502
$GC,1023,-1.10,-146.6,93.0,-6.0,47,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3502
$GC,1332,-1.10,-146.6,119.8,-11.9,62,1336,0.00,2.60,0.00,0.000,4,0.000,0.065,2167,1482,3502
$GC,1376,-1.10,-146.6,124.4,-9.7,64,1381,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2903,3502
$GC,1698,-1.10,-146.6,147.4,-6.9,80,1702,0.00,2.60,0.00,0.000,4,0.000,0.058,2167,1476,3502
$GC,1743,-1.10,-146.6,150.4,-6.1,82,1747,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2900,3502
$GC,2064,-1.10,-146.6,170.7,-5.5,98,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,2374,-1.10,-146.6,193.2,-8.8,113,2378,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1476,3502
$GC,2407,-1.10,-146.6,196.3,-8.7,114,2413,0.00,2.67,0.00,0.000,6,0.000,0.071,2167,2901,3502
$GC,2723,-1.10,-146.6,226.5,-9.1,130,2728,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1482,3502
$GC,2752,-1.10,-146.6,229.2,-9.2,131,2756,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2903,3502
$GC,3069,-1.10,-146.6,250.6,-7.1,146,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2903,3502
$GC,3377,-1.10,-146.6,273.3,-7.9,161,3382,0.00,2.60,0.00,0.000,4,0.000,0.064,2167,1484,3502
$GC,3406,-1.10,-146.6,275.6,-8.3,162,3410,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2899,3502
$GC,3721,-1.10,-146.6,301.9,-9.1,177,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2899,3502
$GC,4031,-1.10,-146.6,328.1,-8.3,192,4035,0.00,2.60,0.00,0.000,4,0.000,0.061,2167,1476,3502
$GC,4075,-1.10,-146.6,331.5,-7.4,194,4080,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2901,3502
$GC,4397,-1.10,-146.6,352.2,-6.6,210,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2902,3502
$GC,4707,-1.10,-146.6,375.3,-7.3,225,4711,0.00,2.58,0.00,0.000,4,0.000,0.060,2167,1482,3502
$GC,4740,-1.10,-146.6,378.2,-8.2,226,4746,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2908,3502
$GC,5056,-1.10,-146.6,403.2,-7.7,242,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2907,3502
$GC,5365,-1.10,-146.6,432.7,-7.8,257,5370,0.00,2.58,0.00,0.000,4,0.000,0.058,2167,1480,3502
$GC,5410,-1.10,-146.6,436.3,-8.7,259,5415,0.00,2.65,0.00,0.000,6,0.000,0.068,2167,2903,3502
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5428,-0.42,0.0,437.3,8.8,260,5557,0.77,0.00,125.68,1.099,6,0.104,0.000,2316,2087,2901
$STATE,5558,end apogee,CONTROL_FINISHED_OK
$STATE,5558,begin climb
$GC,5561,1.10,146.6,444.8,0.0,266,5692,1.58,2.60,121.32,1.074,4,0.065,0.055,2647,695,2303
$GC,5945,1.10,146.6,437.8,7.4,283,5951,0.00,2.47,0.00,0.000,6,0.000,0.036,2647,2107,2302
$GC,6262,1.19,218.8,424.7,4.0,299,6329,0.10,2.67,61.50,1.071,4,0.052,0.068,2676,3507,2008
$GC,6399,1.19,218.8,416.9,6.4,305,6404,0.00,2.53,0.00,0.000,6,0.000,0.039,2676,2084,2007
$GC,6715,1.19,218.8,397.8,6.2,320,6720,0.00,2.65,0.00,0.000,4,0.000,0.067,2676,3507,2007
$GC,6755,1.19,218.8,395.1,6.6,322,6759,0.00,2.47,0.00,0.000,6,0.000,0.041,2676,2101,2007
$GC,7082,1.19,218.8,375.3,6.7,338,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2101,2007
$GC,7391,1.19,218.8,350.0,8.3,353,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2101,2006
$GC,7700,1.19,218.8,322.9,8.8,368,7705,0.00,2.62,0.00,0.000,4,0.000,0.069,2676,3505,2006
$GC,7740,1.19,218.8,319.1,9.3,370,7745,0.00,2.47,0.00,0.000,6,0.000,0.042,2676,2098,2006
$GC,8068,1.19,218.8,292.9,7.2,386,8072,0.00,2.62,0.00,0.000,4,0.000,0.069,2676,3505,2006
$GC,8108,1.19,218.8,290.1,7.1,388,8112,0.00,2.47,0.00,0.000,6,0.000,0.044,2676,2100,2006
$GC,8434,1.19,218.8,269.9,6.2,404,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2100,2006
$GC,8744,1.19,218.8,248.4,7.2,419,8748,0.00,2.62,0.00,0.000,4,0.000,0.071,2676,3507,2006
$GC,8788,1.19,218.8,245.5,6.5,421,8793,0.00,2.50,0.00,0.000,6,0.000,0.044,2676,2099,2006
$GC,9110,1.40,390.2,230.3,1.3,437,9260,0.15,2.65,140.10,0.968,4,0.040,0.064,2726,691,1310
$GC,9288,1.40,390.2,212.7,11.9,445,9295,0.00,2.53,0.00,0.000,6,0.000,0.044,2726,2098,1310
$GC,9604,1.40,390.2,178.0,12.6,461,9609,0.00,2.67,0.00,0.000,4,0.000,0.077,2726,3512,1309
$GC,9651,1.40,390.2,172.1,12.6,463,9655,0.00,2.55,0.00,0.000,6,0.000,0.048,2726,2096,1309
$GC,9972,1.40,390.2,140.9,8.9,479,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2095,1309
$GC,10281,1.40,390.2,98.9,13.9,494,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2095,1309
$GC,10591,1.40,390.2,68.7,8.7,509,10595,0.00,2.58,0.00,0.000,4,0.000,0.065,2726,689,1309
$GC,10664,1.40,390.2,60.2,12.0,512,10668,0.00,2.55,0.00,0.000,6,0.000,0.051,2726,2101,1309
$GC,10982,1.40,390.2,21.7,6.4,527,10986,0.00,2.65,0.00,0.000,4,0.000,0.077,2726,3512,1308
$GC,11009,1.40,390.2,18.2,12.2,528,11013,0.00,2.58,0.00,0.000,6,0.000,0.054,2726,2093,1308
$STATE,11159,end climb,SURFACE_DEPTH_REACHED
$STATE,11159,begin surface coast
$FINISH,-1.0,1.027366
$STATE,11179,end surface coast,CONTROL_FINISHED_OK
$STATE,11179,begin surface
$SM_CCo,11265,0.00,0.000,0,0,1307,391.25
$SM_GC,-0.24,11.77,0.00,0.00,0.028,0.000,0.000,42,2896,1307,-10.80,-0.11,391.25
$IRIDIUM_FIX,6059.36,-716.41,050597,030343
$TT8_MAMPS,0.028379
$HUMID,2053
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.1,83.679
$10V_AH,10.1,38.851
$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,26.375,99.975,448.600,0.000,0.000,39.377,34.860,184.580,3.500,0.000,0.000,11.944,996.885,8371.737,510.863,1253.505,524.214,0.000,1185.375,0.000,1233.645,0.000,20.366
$DEVICE_MAMPS,156.468,106.613,1099.111,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,386.979,376.926,380.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25388,536
$CFSIZE,260165632,231497728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,090208,100108,6121.192,-819.307,26,1.0,26,-8.8