version: 66.02
glider: 103
mission: 7
dive: 503
start: 2 9 108 10 11 11
data:
$ID,103
$MISSION,7
$DIVE,503
$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,-73314.352
$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,5
$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
$GPS1,100108,6121.192,-819.307,26,1.0,26,-8.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-51.6
$GPS2,101039,6121.245,-818.980,14,1.8,14,-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,293.5,5523,-11.1,-6.000
$D_GRID,474
$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,-146.6,0.0,0.0,0,106,0.00,0.00,-77.30,0.000,6,0.000,0.000,42,2896,3500
$GC,110,-1.10,-146.6,5.4,-8.9,4,131,12.02,2.65,0.00,0.000,4,0.157,0.062,2162,1484,3502
$GC,216,-1.10,-146.6,24.5,-4.4,8,223,0.00,2.67,0.00,0.000,6,0.000,0.073,2163,2906,3502
$GC,533,-1.10,-146.6,44.0,-5.3,24,537,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1486,3502
$GC,555,-1.10,-146.6,45.5,-6.3,25,559,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2899,3502
$GC,876,-1.10,-146.6,74.5,-9.6,41,880,0.00,1.73,0.00,0.000,4,0.000,0.100,2163,3784,3502
$GC,932,-1.10,-146.6,81.0,-11.0,43,936,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2903,3502
$GC,1254,-1.10,-146.6,108.5,-8.0,59,1258,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1477,3502
$GC,1304,-1.10,-146.6,112.4,-8.4,61,1309,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2900,3502
$GC,1620,-1.10,-146.6,140.4,-8.6,76,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,1930,-1.10,-146.6,163.9,-7.6,91,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,2239,-1.10,-146.6,179.7,-6.1,106,2243,0.00,2.58,0.00,0.000,4,0.000,0.054,2163,1476,3502
$GC,2311,-1.10,-146.6,184.1,-6.3,109,2316,0.00,2.65,0.00,0.000,6,0.000,0.064,2163,2902,3502
$GC,2627,-1.10,-146.6,206.9,-8.2,124,2628,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,2936,-1.10,-146.6,232.0,-7.3,139,2941,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1478,3502
$GC,2981,-1.10,-146.6,237.3,-12.9,141,2986,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2907,3502
$GC,3304,-1.10,-146.6,277.1,-11.8,157,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2162,2908,3503
$GC,3612,-1.10,-146.6,307.9,-9.7,172,3616,0.00,2.58,0.00,0.000,4,0.000,0.055,2163,1481,3502
$GC,3656,-1.10,-146.6,312.5,-9.7,174,3661,0.00,2.62,0.00,0.000,6,0.000,0.063,2163,2902,3502
$GC,3978,-1.10,-146.6,336.0,-7.4,190,3983,0.00,2.58,0.00,0.000,4,0.000,0.054,2163,1473,3502
$GC,4029,-1.10,-146.6,340.0,-7.3,192,4033,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2899,3502
$GC,4345,-1.10,-146.6,361.5,-5.3,207,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,4655,-1.10,-146.6,378.5,-5.6,222,4659,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1482,3502
$GC,4699,-1.10,-146.6,380.8,-4.7,224,4704,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2899,3502
$GC,5022,-1.10,-146.6,398.1,-5.0,240,5026,0.00,2.53,0.00,0.000,4,0.000,0.054,2163,1482,3502
$GC,5049,-1.10,-146.6,399.8,-5.5,241,5054,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2899,3502
$GC,5370,-1.10,-146.6,418.3,-6.4,257,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,5680,-1.10,-146.6,438.8,-6.3,272,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$GC,5989,-1.10,-146.6,462.6,-8.8,287,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3502
$STATE,6110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6110,begin apogee
$GC,6119,-0.42,0.0,475.1,10.4,293,6252,0.77,0.00,126.57,1.127,6,0.098,0.000,2316,2090,2901
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6257,1.10,146.6,482.9,0.0,300,6389,1.55,2.60,122.15,1.092,4,0.058,0.052,2647,697,2303
$GC,6588,1.16,190.8,476.4,4.8,315,6633,0.00,2.47,38.47,1.073,6,0.000,0.034,2647,2117,2123
$GC,6959,1.16,192.6,455.3,5.9,333,6963,0.00,2.55,0.00,0.000,4,0.000,0.064,2647,3502,2123
$GC,7014,1.16,192.6,451.0,7.3,335,7021,0.00,2.45,0.00,0.000,6,0.000,0.035,2647,2093,2122
$GC,7331,1.16,192.6,425.8,9.3,351,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2093,2122
$GC,7640,1.16,192.6,398.1,9.3,366,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2093,2122
$GC,7949,1.16,192.6,372.1,9.8,381,7953,0.00,2.62,0.00,0.000,4,0.000,0.067,2647,3507,2122
$GC,8005,1.16,192.6,366.5,9.6,383,8011,0.00,2.47,0.00,0.000,6,0.000,0.041,2647,2099,2122
$GC,8321,1.16,192.6,339.8,7.8,399,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2099,2122
$GC,8631,1.16,194.6,319.0,5.9,414,8640,0.00,2.60,4.85,0.794,4,0.000,0.068,2647,3501,2107
$GC,8703,1.16,194.6,314.3,6.2,417,8707,0.00,2.47,0.00,0.000,6,0.000,0.042,2647,2101,2107
$GC,9024,1.18,212.0,295.5,5.5,433,9043,0.00,0.00,16.00,0.973,6,0.000,0.000,2647,2101,2036
$GC,9353,1.18,212.0,274.6,6.8,449,9357,0.00,2.62,0.00,0.000,4,0.000,0.069,2647,3504,2036
$GC,9416,1.18,212.0,270.1,7.0,452,9420,0.00,2.47,0.00,0.000,6,0.000,0.044,2647,2101,2035
$GC,9743,1.19,218.4,250.2,5.8,468,9752,0.10,0.00,7.00,0.859,6,0.051,0.000,2682,2099,2010
$GC,10052,1.19,218.4,228.2,7.0,483,10053,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2099,2010
$GC,10362,1.19,218.4,205.2,7.3,498,10366,0.00,2.62,0.00,0.000,4,0.000,0.070,2682,3501,2010
$GC,10417,1.19,218.4,200.1,10.4,500,10424,0.00,2.47,0.00,0.000,6,0.000,0.045,2682,2103,2010
$GC,10733,1.19,218.4,172.6,8.5,516,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2103,2010
$GC,11043,1.19,218.4,143.7,9.3,531,11048,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3505,2010
$GC,11084,1.19,218.4,139.6,10.9,533,11088,0.00,2.50,0.00,0.000,6,0.000,0.046,2682,2093,2010
$GC,11412,1.19,218.4,112.0,7.9,549,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2093,2010
$GC,11721,1.19,218.4,89.0,7.2,564,11725,0.00,2.65,0.00,0.000,4,0.000,0.074,2682,3501,2010
$GC,11793,1.19,218.4,83.0,8.2,567,11797,0.00,2.50,0.00,0.000,6,0.000,0.048,2682,2099,2010
$GC,12111,1.19,218.4,57.4,8.8,582,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2099,2010
$GC,12419,1.19,218.4,26.0,11.6,597,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2099,2010
$STATE,12725,end climb,SURFACE_DEPTH_REACHED
$STATE,12725,begin surface coast
$FINISH,-0.1,1.027360
$STATE,12747,end surface coast,CONTROL_FINISHED_OK
$STATE,12747,begin surface
$SM_CCo,12772,66.38,0.824,1,0,1678,300.00
$SM_GC,-0.24,0.00,0.00,66.38,0.000,0.000,0.824,37,2897,1678,-10.92,-0.08,300.00
$IRIDIUM_FIX,6059.36,-819.86,050597,101046
$TT8_MAMPS,0.029146
$HUMID,2052
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.1,83.812
$10V_AH,10.1,38.915
$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,25.950,94.050,315.050,66.375,0.000,74.253,74.434,236.714,4.000,0.000,0.000,14.625,1121.287,9820.998,497.473,1313.494,681.298,0.000,1172.194,0.000,1305.054,0.000,23.617
$DEVICE_MAMPS,157.235,99.710,1127.490,823.758,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.373,435.602,436.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31673,613
$CFSIZE,260165632,231444480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,090208,134638,6120.804,-818.912,45,1.3,45,-8.8