version: 66.02
glider: 103
mission: 7
dive: 507
start: 2 10 108 1 4 5
data:
$ID,103
$MISSION,7
$DIVE,507
$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,-73387.898
$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,21
$R_STBD_OVSHOOT,6
$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
$GPS1,005356,6126.648,-818.693,68,1.4,68,-8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-56.3
$GPS2,010333,6126.728,-818.522,12,1.4,12,-8.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FP_US
$TGT_LATLONG,6130.000,-810.000
$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,60.0,9666,-11.1,-6.000
$D_GRID,742
$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,-60.42,0.000,2,0.000,0.000,51,2895,3277
$GC,91,-1.10,-146.6,3.6,-8.3,3,113,11.90,2.58,-4.20,0.000,4,0.154,0.068,2165,1484,3501
$GC,367,-1.10,-146.6,27.7,-2.6,15,372,0.00,2.67,0.00,0.000,6,0.000,0.070,2165,2903,3501
$GC,689,-1.10,-146.6,56.2,-11.2,31,693,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1481,3502
$GC,751,-1.10,-146.6,64.3,-13.5,34,756,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,1079,-1.10,-146.6,94.8,-8.5,50,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,1389,-1.10,-146.6,110.3,-6.0,65,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,1698,-1.10,-146.6,126.8,-5.3,80,1702,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1490,3502
$GC,1783,-1.10,-146.6,131.9,-6.7,84,1788,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2905,3502
$GC,2111,-1.10,-146.6,154.7,-7.0,100,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3502
$GC,2420,-1.10,-146.6,177.7,-7.3,115,2424,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1485,3502
$GC,2447,-1.10,-146.6,179.9,-7.9,116,2452,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2906,3502
$GC,2764,-1.10,-146.6,203.3,-7.1,131,2768,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1480,3502
$GC,2804,-1.10,-146.6,205.9,-6.0,133,2808,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2909,3502
$GC,3131,-1.10,-146.6,225.9,-6.4,149,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,3439,-1.10,-146.6,246.4,-6.7,164,3444,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1488,3502
$GC,3498,-1.10,-146.6,250.2,-7.1,166,3504,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2901,3502
$GC,3814,-1.10,-146.6,269.9,-6.1,182,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2902,3502
$GC,4124,-1.10,-146.6,287.4,-5.5,197,4128,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1482,3502
$GC,4164,-1.10,-146.6,289.6,-5.6,199,4169,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2910,3502
$GC,4491,-1.10,-146.6,305.9,-4.7,215,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2909,3502
$GC,4800,-1.10,-146.6,320.9,-4.8,230,4805,0.00,2.58,0.00,0.000,4,0.000,0.062,2165,1488,3502
$GC,4851,-1.10,-146.6,323.5,-5.7,232,4855,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2901,3502
$GC,5167,-1.10,-146.6,345.8,-8.4,247,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,5476,-1.10,-146.6,362.6,-4.3,262,5481,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1487,3502
$GC,5595,-1.10,-146.6,366.7,-3.6,267,5599,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2908,3501
$GC,5911,-1.10,-146.6,382.5,-5.6,282,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2908,3502
$GC,6220,-1.10,-146.6,402.8,-7.1,297,6224,0.00,2.58,0.00,0.000,4,0.000,0.057,2165,1480,3502
$GC,6260,-1.10,-146.6,405.6,-7.0,299,6264,0.00,2.62,0.00,0.000,6,0.000,0.064,2165,2905,3502
$GC,6587,-1.10,-146.6,427.0,-7.1,315,6591,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1486,3502
$GC,6636,-1.10,-146.6,430.9,-7.4,317,6641,0.00,2.60,0.00,0.000,6,0.000,0.063,2165,2899,3502
$GC,6952,-1.10,-146.6,453.3,-6.6,332,6957,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1486,3502
$GC,7020,-1.10,-146.6,458.1,-7.5,335,7025,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2899,3502
$GC,7341,-1.10,-146.6,482.1,-7.2,351,7346,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1480,3502
$GC,7530,-1.10,-146.6,495.4,-8.6,359,7534,0.00,2.62,0.00,0.000,6,0.000,0.063,2165,2900,3502
$GC,7846,-1.10,-146.6,514.1,-4.8,374,7850,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1486,3502
$GC,8050,-1.10,-146.6,526.0,-6.4,383,8055,0.00,2.60,0.00,0.000,6,0.000,0.061,2165,2908,3502
$GC,8379,-1.10,-146.6,550.2,-6.7,399,8384,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1486,3502
$GC,8498,-1.10,-146.6,559.1,-7.7,404,8502,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2908,3502
$GC,8814,-1.10,-146.6,584.7,-6.8,419,8818,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1479,3501
$GC,8869,-1.10,-146.6,588.3,-6.0,421,8875,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2899,3501
$GC,9186,-1.10,-146.6,611.9,-9.3,437,9190,0.00,1.70,0.00,0.000,4,0.000,0.095,2166,3773,3500
$GC,9259,-1.10,-146.6,617.6,-3.9,440,9263,0.00,1.55,0.00,0.000,6,0.000,0.044,2165,2899,3500
$GC,9587,-1.10,-146.6,637.5,-4.5,456,9591,0.00,1.73,0.00,0.000,4,0.000,0.098,2165,3780,3499
$GC,9689,-1.10,-146.6,642.2,-6.4,460,9692,0.00,1.58,0.00,0.000,6,0.000,0.045,2165,2883,3498
$GC,10011,-1.10,-146.6,664.8,-2.6,476,10014,0.00,1.77,0.00,0.000,4,0.000,0.102,2165,3782,3497
$STATE,10132,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10132,begin apogee
$GC,10143,-0.42,0.0,671.0,7.3,481,10282,0.70,0.00,130.27,1.331,6,0.075,0.000,2315,2098,2901
$STATE,10282,end apogee,CONTROL_FINISHED_OK
$STATE,10282,begin climb
$GC,10286,1.10,146.6,671.1,0.0,488,10418,1.60,2.67,124.07,1.330,4,0.071,0.063,2646,690,2303
$GC,10553,1.13,167.5,648.2,5.4,500,10581,0.00,2.50,19.12,1.248,6,0.000,0.041,2646,2108,2218
$GC,10890,1.13,167.5,627.1,9.0,517,10894,0.00,2.62,0.00,0.000,4,0.000,0.071,2646,3510,2217
$GC,11149,1.18,209.6,621.0,4.8,528,11196,0.00,2.55,36.97,1.334,6,0.000,0.048,2646,2095,2046
$GC,11508,1.40,388.9,614.5,1.0,546,11674,0.28,2.83,152.98,1.331,4,0.037,0.080,2716,3501,1314
$GC,11765,1.40,388.9,582.2,18.6,558,11770,0.00,2.55,0.00,0.000,6,0.000,0.049,2716,2099,1313
$GC,12093,1.40,388.9,527.4,17.0,574,12097,0.00,2.62,0.00,0.000,4,0.000,0.070,2716,692,1312
$GC,12159,1.40,388.9,515.4,18.0,577,12164,0.00,2.53,0.00,0.000,6,0.000,0.050,2716,2091,1312
$GC,12481,1.40,388.9,464.8,15.1,593,12485,0.00,2.62,0.00,0.000,4,0.000,0.067,2716,685,1311
$GC,12559,1.40,388.9,453.3,13.5,596,12565,0.00,2.55,0.00,0.000,6,0.000,0.048,2716,2100,1311
$GC,12875,1.40,388.9,414.2,11.3,612,12879,0.00,2.62,0.00,0.000,4,0.000,0.064,2716,685,1311
$GC,12930,1.40,388.9,407.8,11.6,614,12936,0.00,2.55,0.00,0.000,6,0.000,0.047,2716,2105,1311
$GC,13246,1.40,388.9,378.8,8.7,630,13251,0.00,2.65,0.00,0.000,4,0.000,0.076,2716,3512,1311
$GC,13274,1.40,388.9,376.2,10.1,631,13279,0.00,2.53,0.00,0.000,6,0.000,0.044,2716,2096,1310
$GC,13591,1.40,388.9,347.5,9.8,646,13595,0.00,2.58,0.00,0.000,4,0.000,0.064,2716,689,1310
$GC,13635,1.40,388.9,342.8,10.3,648,13639,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,2097,1311
$GC,13956,1.40,388.9,310.2,9.7,664,13960,0.00,2.67,0.00,0.000,4,0.000,0.075,2716,3518,1312
$GC,13989,1.40,388.9,306.7,9.6,665,13995,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,2100,1312
$GC,14306,1.40,388.9,279.1,8.1,681,14307,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2100,1312
$GC,14614,1.40,388.9,251.1,9.3,696,14616,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2100,1313
$GC,14924,1.42,405.2,228.6,5.5,711,14944,0.00,2.78,14.60,0.973,4,0.000,0.070,2716,3520,1248
$GC,14961,1.42,405.2,225.4,8.4,712,14967,0.00,2.60,0.00,0.000,6,0.000,0.048,2716,2093,1248
$GC,15277,1.42,405.2,194.5,9.3,728,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2091,1248
$GC,15586,1.42,405.2,159.1,12.7,743,15591,0.00,2.70,0.00,0.000,4,0.000,0.077,2716,3514,1249
$GC,15620,1.42,405.2,155.2,11.5,744,15626,0.00,2.55,0.00,0.000,6,0.000,0.049,2716,2098,1248
$GC,15937,1.42,405.2,120.7,10.3,760,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2097,1249
$GC,16247,1.42,405.2,85.3,11.4,775,16249,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2097,1249
$GC,16556,1.42,405.2,49.3,12.9,790,16557,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2096,1249
$GC,16864,1.42,405.2,17.5,8.1,805,16866,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2096,1249
$STATE,17026,end climb,SURFACE_DEPTH_REACHED
$STATE,17026,begin surface coast
$FINISH,-0.9,1.018901
$STATE,17048,end surface coast,CONTROL_FINISHED_OK
$STATE,17048,begin surface
$SM_CCo,17133,0.00,0.000,0,0,1249,405.24
$SM_GC,-0.01,11.75,0.00,0.00,0.030,0.000,0.000,45,2899,1249,-10.80,0.00,405.24
$IRIDIUM_FIX,6103.81,-820.51,060597,010151
$TT8_MAMPS,0.029146
$HUMID,2122
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,575.7,105.2
$24V_AH,22.8,84.435
$10V_AH,10.1,39.199
$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,26.225,153.650,478.025,0.000,0.000,75.095,77.565,230.979,6.250,0.000,0.000,12.825,1526.057,12881.466,572.392,1988.167,753.897,0.000,1587.950,0.000,1951.116,0.000,36.043
$DEVICE_MAMPS,154.167,102.011,1333.813,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,598.407,561.132,501.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41165,814
$CFSIZE,260165632,231211008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,100208,055101,6131.580,-819.561,43,1.9,48,-8.9