version: 66.02
glider: 103
mission: 7
dive: 505
start: 2 9 108 17 17 54
data:
$ID,103
$MISSION,7
$DIVE,505
$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,-73361.32
$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,23
$R_STBD_OVSHOOT,12
$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
$GPS1,170729,6120.810,-821.294,62,2.6,81,-8.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-55.0
$GPS2,171723,6120.846,-821.156,11,4.0,30,-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,310.9,4026,-11.1,-6.000
$D_GRID,387
$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,24,begin dive
$GC,28,-1.10,-146.6,0.0,0.0,0,94,0.00,0.00,-65.15,0.000,6,0.000,0.000,28,2898,3499
$GC,98,-1.10,-146.6,2.3,-4.6,3,120,12.23,2.60,0.00,0.000,4,0.161,0.054,2166,1490,3502
$GC,296,-1.10,-146.6,33.0,-11.8,11,302,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2900,3502
$GC,613,-1.10,-146.6,54.3,-5.6,27,617,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1491,3502
$GC,663,-1.10,-146.6,57.1,-5.6,29,668,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2898,3502
$GC,979,-1.10,-146.6,78.9,-7.3,44,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,1289,-1.10,-146.6,101.0,-8.2,59,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,1598,-1.10,-146.6,118.5,-5.4,74,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,1909,-1.10,-146.6,139.4,-7.5,89,1913,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1487,3502
$GC,1949,-1.10,-146.6,142.3,-7.0,91,1954,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2904,3502
$GC,2276,-1.10,-146.6,166.0,-8.2,107,2281,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1485,3502
$GC,2321,-1.10,-146.6,169.8,-8.5,109,2326,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2904,3502
$GC,2642,-1.10,-146.6,195.3,-7.5,125,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,2951,-1.10,-146.6,217.8,-6.6,140,2955,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1485,3502
$GC,2984,-1.10,-146.6,220.0,-6.3,141,2990,0.00,2.65,0.00,0.000,6,0.000,0.068,2166,2908,3502
$GC,3301,-1.10,-146.6,232.3,-2.7,157,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,3609,-1.10,-146.6,243.0,-4.7,172,3614,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1491,3502
$GC,3655,-1.10,-146.6,245.3,-4.9,174,3659,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2905,3502
$GC,3976,-1.10,-146.6,264.8,-6.4,190,3980,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1485,3502
$GC,4009,-1.10,-146.6,267.0,-7.4,191,4015,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2904,3502
$GC,4325,-1.10,-146.6,289.3,-6.8,207,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,4634,-1.10,-146.6,312.3,-6.1,222,4639,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1489,3502
$GC,4720,-1.10,-146.6,318.1,-6.7,226,4725,0.00,2.62,0.00,0.000,6,0.000,0.068,2166,2907,3502
$GC,5048,-1.10,-146.6,335.9,-5.3,242,5052,0.00,2.55,0.00,0.000,4,0.000,0.057,2166,1490,3502
$GC,5115,-1.10,-146.6,339.8,-5.8,245,5120,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2907,3502
$GC,5437,-1.10,-146.6,356.6,-5.2,261,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,5747,-1.10,-146.6,370.7,-4.2,276,5751,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1487,3502
$GC,5810,-1.10,-146.6,372.6,-2.6,279,5815,0.00,2.60,0.00,0.000,6,0.000,0.067,2166,2901,3502
$GC,6138,-1.10,-146.6,385.7,-3.6,295,6142,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1489,3502
$STATE,6179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6179,begin apogee
$GC,6188,-0.42,0.0,387.2,3.0,297,6315,0.75,0.00,123.75,1.084,6,0.104,0.000,2314,2102,2901
$STATE,6315,end apogee,CONTROL_FINISHED_OK
$STATE,6316,begin climb
$GC,6319,1.10,146.6,386.6,0.0,303,6445,1.58,2.62,118.35,1.078,4,0.064,0.055,2645,694,2303
$GC,6518,1.10,146.6,374.3,8.5,312,6523,0.00,2.50,0.00,0.000,6,0.000,0.035,2645,2118,2302
$GC,6835,1.13,171.0,355.6,5.3,327,6863,0.00,2.67,21.58,1.016,4,0.000,0.065,2645,3502,2203
$GC,6904,1.13,172.1,351.4,6.0,330,6909,0.00,2.47,0.00,0.000,6,0.000,0.035,2645,2092,2203
$GC,7227,1.22,238.8,336.8,4.2,346,7290,0.15,2.72,56.78,1.023,4,0.044,0.071,2684,3508,1927
$GC,7318,1.22,238.8,331.2,7.4,350,7325,0.00,2.50,0.00,0.000,6,0.000,0.044,2684,2106,1926
$GC,7635,1.22,238.8,308.0,7.6,366,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2106,1926
$GC,7944,1.22,238.8,284.8,6.1,381,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2106,1926
$GC,8253,1.22,238.8,261.1,7.6,396,8257,0.00,2.55,0.00,0.000,4,0.000,0.058,2684,684,1926
$GC,8326,1.22,238.8,253.5,11.1,399,8330,0.00,2.50,0.00,0.000,6,0.000,0.043,2684,2095,1926
$GC,8642,1.22,238.8,225.4,7.8,414,8646,0.00,2.62,0.00,0.000,4,0.000,0.072,2684,3508,1925
$GC,8714,1.22,238.8,220.2,7.2,417,8718,0.00,2.53,0.00,0.000,6,0.000,0.046,2684,2092,1925
$GC,9030,1.22,238.8,199.5,6.0,432,9035,0.00,2.53,0.00,0.000,4,0.000,0.058,2684,691,1925
$GC,9053,1.22,238.8,198.0,6.3,433,9057,0.00,2.50,0.00,0.000,6,0.000,0.043,2684,2100,1925
$GC,9373,1.22,238.8,173.7,8.7,449,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1925
$GC,9684,1.22,238.8,148.3,8.4,464,9688,0.00,2.58,0.00,0.000,4,0.000,0.059,2684,687,1925
$GC,9756,1.22,238.8,141.9,7.5,467,9760,0.00,2.50,0.00,0.000,6,0.000,0.045,2684,2100,1925
$GC,10072,1.22,238.8,118.0,10.4,482,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1925
$GC,10382,1.22,238.8,91.3,7.8,497,10387,0.00,2.62,0.00,0.000,4,0.000,0.073,2684,3514,1925
$GC,10405,1.28,292.9,90.3,4.5,498,10455,0.00,2.53,44.42,0.881,6,0.000,0.048,2684,2099,1706
$GC,10775,1.28,292.9,67.2,7.9,516,10779,0.00,2.58,0.00,0.000,4,0.000,0.064,2684,694,1705
$GC,10820,1.28,292.9,62.5,9.9,518,10824,0.00,2.50,0.00,0.000,6,0.000,0.046,2684,2098,1705
$GC,11141,1.28,292.9,28.3,13.6,534,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2100,1705
$STATE,11427,end climb,SURFACE_DEPTH_REACHED
$STATE,11427,begin surface coast
$FINISH,-0.8,1.016806
$STATE,11449,end surface coast,CONTROL_FINISHED_OK
$STATE,11449,begin surface
$SM_CCo,11475,7.05,0.733,0,0,1678,300.00
$SM_GC,0.44,0.00,0.00,7.05,0.000,0.000,0.733,41,2897,1678,-10.90,-0.06,300.00
$IRIDIUM_FIX,6054.92,-823.65,050597,171717
$TT8_MAMPS,0.028379
$HUMID,2074
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,2
$24V_AH,23.1,84.072
$10V_AH,10.1,39.038
$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,26.275,103.075,364.875,7.050,0.000,74.068,77.613,231.197,3.000,0.000,0.000,31.267,1024.896,8679.323,453.743,1264.600,670.141,0.000,1103.130,0.000,1231.202,0.000,17.130
$DEVICE_MAMPS,161.070,79.001,1083.771,733.252,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.750,388.292,438.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28520,549
$CFSIZE,260165632,231362560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,090208,203037,6122.473,-823.325,38,1.9,43,-8.8