version: 66.02
glider: 103
mission: 7
dive: 508
start: 2 10 108 6 12 12
data:
$ID,103
$MISSION,7
$DIVE,508
$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,-73419.414
$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,13
$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
$GPS1,055101,6131.580,-819.561,43,1.9,48,-8.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-52.4
$GPS2,061138,6131.667,-819.576,13,1.8,30,-8.9
$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,118.9,9007,-11.1,-6.000
$D_GRID,548
$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,24,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-80.03,0.000,2,0.000,0.000,45,2902,3474
$GC,110,-1.10,-146.6,4.0,-6.8,4,131,11.95,1.75,-0.45,0.000,4,0.156,0.106,2163,3785,3501
$GC,361,-1.10,-146.6,39.2,-10.0,15,365,0.00,1.58,0.00,0.000,6,0.000,0.051,2164,2899,3502
$GC,689,-1.10,-146.6,58.9,-6.7,31,693,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1482,3502
$GC,740,-1.10,-146.6,61.4,-4.0,33,744,0.00,2.70,0.00,0.000,6,0.000,0.075,2164,2898,3502
$GC,1056,-1.10,-146.6,84.9,-10.3,48,1059,0.00,1.73,0.00,0.000,4,0.000,0.100,2164,3783,3502
$GC,1118,-1.10,-146.6,91.7,-11.6,50,1123,0.00,1.60,0.00,0.000,6,0.000,0.051,2164,2900,3502
$GC,1434,-1.10,-146.6,129.6,-13.2,66,1439,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1480,3502
$GC,1490,-1.10,-146.6,136.1,-10.8,68,1496,0.00,2.67,0.00,0.000,6,0.000,0.074,2164,2900,3502
$GC,1806,-1.10,-146.6,169.9,-10.8,84,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,2116,-1.10,-146.6,202.5,-10.2,99,2120,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1488,3502
$GC,2171,-1.10,-146.6,208.7,-10.1,101,2177,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2901,3502
$GC,2487,-1.10,-146.6,238.9,-8.4,117,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,2797,-1.10,-146.6,270.1,-9.9,132,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3502
$GC,3106,-1.10,-146.6,301.9,-10.9,147,3111,0.00,2.55,0.00,0.000,4,0.000,0.054,2164,1478,3502
$GC,3174,-1.10,-146.6,309.5,-11.2,150,3178,0.00,2.67,0.00,0.000,6,0.000,0.069,2164,2908,3502
$GC,3496,-1.10,-146.6,343.6,-10.6,166,3500,0.00,2.58,0.00,0.000,4,0.000,0.055,2164,1482,3502
$GC,3530,-1.10,-146.6,347.3,-10.4,167,3536,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2899,3502
$GC,3849,-1.10,-146.6,378.5,-9.3,183,3854,0.00,2.58,0.00,0.000,4,0.000,0.059,2163,1486,3502
$GC,3935,-1.10,-146.6,387.5,-9.6,187,3939,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2910,3502
$GC,4261,-1.10,-146.6,418.2,-9.0,203,4265,0.00,2.58,0.00,0.000,4,0.000,0.057,2164,1481,3502
$GC,4368,-1.10,-146.6,426.7,-7.4,208,4373,0.00,2.62,0.00,0.000,6,0.000,0.063,2164,2907,3502
$GC,4696,-1.10,-146.6,446.1,-5.1,224,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2907,3502
$GC,5005,-1.10,-146.6,459.0,-3.8,239,5010,0.00,2.55,0.00,0.000,4,0.000,0.050,2164,1480,3502
$GC,5124,-1.10,-146.6,460.9,-0.5,244,5129,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,5441,-1.10,-146.6,452.3,3.3,259,5445,0.00,2.55,0.00,0.000,4,0.000,0.057,2164,1483,3502
$GC,5514,-1.10,-146.6,452.1,-1.2,262,5519,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2900,3502
$GC,5830,-1.10,-146.6,476.7,-10.9,277,5834,0.00,1.67,0.00,0.000,4,0.000,0.087,2164,3785,3502
$GC,5926,-1.10,-146.6,478.0,-7.4,281,5929,0.00,1.58,0.00,0.000,6,0.000,0.041,2164,2884,3502
$GC,6253,-1.10,-146.6,501.7,-12.7,297,6257,0.00,1.75,0.00,0.000,4,0.000,0.088,2164,3780,3502
$GC,6281,-1.10,-146.6,506.0,-14.7,298,6285,0.00,1.55,0.00,0.000,6,0.000,0.037,2164,2890,3502
$GC,6608,-1.10,-146.6,524.8,-8.4,314,6612,0.00,1.73,0.00,0.000,4,0.000,0.090,2164,3783,3502
$GC,6625,-1.10,-146.6,526.3,-7.6,314,6631,0.00,1.55,0.00,0.000,6,0.000,0.040,2164,2905,3502
$STATE,6876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6876,begin apogee
$GC,6885,-0.42,0.0,548.5,9.3,327,7019,0.77,0.00,126.57,1.229,6,0.096,0.000,2317,2099,2901
$STATE,7020,end apogee,CONTROL_FINISHED_OK
$STATE,7020,begin climb
$GC,7023,1.10,146.6,560.4,0.0,334,7150,1.55,0.00,122.35,1.206,6,0.056,0.000,2649,2096,2303
$GC,7455,1.39,384.1,547.1,-0.6,355,7665,0.25,2.62,200.15,1.164,4,0.036,0.057,2717,694,1334
$GC,7844,1.39,384.1,492.0,18.0,373,7848,0.00,2.50,0.00,0.000,6,0.000,0.040,2717,2109,1334
$GC,8170,1.39,384.1,444.9,14.3,389,8174,0.00,2.58,0.00,0.000,4,0.000,0.069,2717,3508,1332
$GC,8260,1.39,384.1,430.6,14.6,393,8265,0.00,2.50,0.00,0.000,6,0.000,0.044,2717,2098,1332
$GC,8582,1.39,384.1,389.0,12.9,409,8586,0.00,2.58,0.00,0.000,4,0.000,0.064,2717,692,1331
$GC,8626,1.39,384.1,383.5,12.4,411,8631,0.00,2.53,0.00,0.000,6,0.000,0.047,2717,2099,1332
$GC,8948,1.39,384.1,355.6,9.5,427,8952,0.00,2.60,0.00,0.000,4,0.000,0.062,2717,692,1331
$GC,8969,1.39,384.1,353.1,11.3,428,8973,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,2100,1331
$GC,9290,1.39,384.1,321.2,8.7,444,9294,0.00,2.67,0.00,0.000,4,0.000,0.078,2717,3515,1331
$GC,9331,1.39,384.1,317.3,10.1,446,9335,0.00,2.53,0.00,0.000,6,0.000,0.047,2717,2098,1330
$GC,9657,1.39,384.1,281.5,11.4,462,9662,0.00,2.58,0.00,0.000,4,0.000,0.064,2717,688,1330
$GC,9702,1.39,384.1,276.0,12.2,464,9706,0.00,2.53,0.00,0.000,6,0.000,0.047,2717,2102,1330
$GC,10023,1.39,384.1,233.0,13.5,480,10028,0.00,2.65,0.00,0.000,4,0.000,0.077,2717,3512,1330
$GC,10068,1.39,384.1,227.0,13.1,482,10072,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,2100,1330
$GC,10395,1.39,384.1,187.4,12.2,498,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2100,1331
$GC,10705,1.39,384.1,148.8,12.4,513,10709,0.00,2.67,0.00,0.000,4,0.000,0.078,2717,3511,1331
$GC,10732,1.39,384.1,145.1,13.4,514,10736,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,2098,1331
$GC,11050,1.39,384.1,107.5,11.9,529,11055,0.00,2.70,0.00,0.000,4,0.000,0.079,2717,3511,1331
$GC,11078,1.39,384.1,103.8,13.1,530,11082,0.00,2.55,0.00,0.000,6,0.000,0.048,2717,2094,1331
$GC,11394,1.39,384.1,67.4,12.0,545,11399,0.00,2.70,0.00,0.000,4,0.000,0.077,2717,3511,1332
$GC,11416,1.39,384.1,64.4,12.5,546,11420,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,2097,1332
$GC,11738,1.39,384.1,24.3,12.9,562,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2097,1332
$STATE,11940,end climb,SURFACE_DEPTH_REACHED
$STATE,11940,begin surface coast
$FINISH,-0.8,1.027388
$STATE,11964,end surface coast,CONTROL_FINISHED_OK
$STATE,11964,begin surface
$SM_CCo,12049,0.00,0.000,0,0,1331,385.12
$SM_GC,-0.09,11.60,0.00,0.00,0.023,0.000,0.000,29,2895,1331,-10.78,-0.14,385.12
$IRIDIUM_FIX,6108.28,-822.48,060597,060604
$TT8_MAMPS,0.028379
$HUMID,2089
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,475.4,111.6
$24V_AH,22.9,84.625
$10V_AH,10.1,39.269
$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,26.125,118.200,449.075,0.000,0.000,189.976,389.977,250.389,4.250,0.000,0.000,30.890,1085.577,9118.646,537.077,1401.907,1153.383,0.000,1275.282,0.000,1363.012,0.000,26.720
$DEVICE_MAMPS,155.701,105.846,1228.734,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,429.088,392.147,380.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28535,573
$CFSIZE,260165632,231194624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,100208,093408,6133.420,-819.369,32,1.3,32,-8.9