version: 66.02
glider: 103
mission: 7
dive: 509
start: 2 10 108 9 40 41
data:
$ID,103
$MISSION,7
$DIVE,509
$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,-73434.742
$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,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
$GPS1,093408,6133.420,-819.369,32,1.3,32,-8.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-56.5
$GPS2,094009,6133.500,-819.266,12,1.0,12,-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,137.3,10443,-11.1,-6.000
$D_GRID,521
$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,-75.85,0.000,6,0.000,0.000,29,2898,3499
$GC,110,-1.10,-146.6,5.8,-9.4,4,131,12.18,1.77,0.00,0.000,4,0.160,0.090,2166,3792,3501
$GC,383,-1.10,-146.6,35.9,-6.4,16,386,0.00,1.62,0.00,0.000,6,0.000,0.059,2166,2901,3501
$GC,712,-1.10,-146.6,63.4,-7.8,32,715,0.00,1.75,0.00,0.000,4,0.000,0.094,2166,3793,3501
$GC,773,-1.10,-146.6,68.8,-7.5,34,780,0.00,1.62,0.00,0.000,6,0.000,0.054,2166,2902,3501
$GC,1090,-1.10,-146.6,95.1,-8.7,50,1094,0.00,2.60,0.00,0.000,4,0.000,0.068,2166,1484,3501
$GC,1168,-1.10,-146.6,102.5,-9.2,53,1174,0.00,2.70,0.00,0.000,6,0.000,0.076,2166,2910,3501
$GC,1486,-1.10,-146.6,131.1,-9.3,69,1490,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1484,3501
$GC,1530,-1.10,-146.6,135.7,-9.9,71,1535,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2900,3502
$GC,1852,-1.10,-146.6,167.8,-10.4,87,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,2162,-1.10,-146.6,200.2,-10.9,102,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,2471,-1.10,-146.6,232.6,-10.4,117,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,2780,-1.10,-146.6,265.6,-11.3,132,2784,0.00,2.60,0.00,0.000,4,0.000,0.060,2166,1481,3502
$GC,2880,-1.10,-146.6,277.7,-12.5,136,2886,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2901,3502
$GC,3196,-1.10,-146.6,312.9,-11.1,152,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3501
$GC,3506,-1.10,-146.6,344.9,-11.5,167,3510,0.00,2.58,0.00,0.000,4,0.000,0.056,2166,1483,3502
$GC,3573,-1.10,-146.6,352.8,-12.0,170,3577,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2904,3502
$GC,3894,-1.10,-146.6,385.1,-7.6,186,3898,0.00,1.70,0.00,0.000,4,0.000,0.094,2166,3789,3502
$GC,4013,-1.10,-146.6,391.9,-4.3,191,4016,0.00,1.58,0.00,0.000,6,0.000,0.041,2166,2887,3502
$GC,4341,-1.10,-146.6,397.4,-0.4,207,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2887,3502
$GC,4649,-1.10,-146.6,401.4,-1.8,222,4654,0.00,2.55,0.00,0.000,4,0.000,0.062,2166,1482,3502
$GC,4683,-1.10,-146.6,401.2,0.5,223,4689,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2900,3501
$GC,5000,-1.10,-146.6,409.9,-1.7,239,5004,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1489,3502
$GC,5033,-1.10,-146.6,412.5,-9.3,240,5041,0.00,2.65,0.00,0.000,6,0.000,0.070,2166,2906,3502
$GC,5350,-1.10,-146.6,422.2,-3.3,256,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2907,3502
$GC,5659,-1.10,-146.6,439.5,-5.9,271,5663,0.00,1.70,0.00,0.000,4,0.000,0.090,2166,3785,3502
$GC,5693,-1.10,-146.6,442.9,-10.6,272,5696,0.00,1.55,0.00,0.000,6,0.000,0.039,2166,2903,3501
$GC,6015,-1.10,-146.6,471.9,-10.0,288,6018,0.00,1.67,0.00,0.000,4,0.000,0.087,2166,3783,3502
$GC,6084,-1.10,-146.6,478.3,-10.1,291,6088,0.00,1.52,0.00,0.000,6,0.000,0.036,2166,2902,3502
$GC,6417,-1.10,-146.6,504.0,-8.0,307,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3501
$STATE,6640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6640,begin apogee
$GC,6650,-0.42,0.0,521.1,8.2,318,6783,0.77,0.00,125.65,1.213,6,0.100,0.000,2318,2103,2901
$STATE,6784,end apogee,CONTROL_FINISHED_OK
$STATE,6784,begin climb
$GC,6787,1.10,146.6,526.7,0.0,325,6918,1.58,2.65,122.32,1.173,4,0.059,0.056,2648,698,2303
$GC,6993,1.12,158.8,521.6,5.7,335,7015,0.00,2.47,12.00,1.056,6,0.000,0.035,2648,2115,2253
$GC,7324,1.12,158.8,499.9,6.7,351,7328,0.00,2.55,0.00,0.000,4,0.000,0.063,2648,3507,2252
$GC,7432,1.12,158.8,491.8,9.5,356,7436,0.00,2.47,0.00,0.000,6,0.000,0.035,2648,2086,2252
$GC,7759,1.12,158.8,466.6,8.4,372,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2083,2251
$GC,8068,1.12,158.8,442.8,7.4,387,8072,0.00,2.65,0.00,0.000,4,0.000,0.066,2648,3504,2251
$GC,8268,1.12,158.8,425.5,14.8,396,8273,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2101,2251
$GC,8590,1.19,215.0,404.4,4.4,412,8640,0.00,0.00,47.78,1.131,6,0.000,0.000,2648,2099,2024
$GC,8940,1.30,308.3,386.5,3.4,429,9022,0.17,0.00,78.43,1.116,6,0.041,0.000,2698,2098,1644
$GC,9331,1.30,308.3,357.7,10.2,448,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2098,1643
$GC,9640,1.30,308.3,331.3,7.7,463,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2098,1642
$GC,9950,1.30,308.3,303.7,10.1,478,9954,0.00,2.55,0.00,0.000,4,0.000,0.063,2697,698,1642
$GC,9977,1.30,308.3,300.8,10.3,479,9982,0.00,2.50,0.00,0.000,6,0.000,0.044,2698,2094,1642
$GC,10293,1.30,308.3,267.2,10.6,494,10297,0.00,2.65,0.00,0.000,4,0.000,0.075,2698,3512,1642
$GC,10320,1.30,308.3,264.1,11.0,495,10325,0.00,2.53,0.00,0.000,6,0.000,0.047,2698,2106,1641
$GC,10636,1.30,308.3,231.3,10.7,510,10638,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2106,1642
$GC,10945,1.30,308.3,196.4,11.3,525,10950,0.00,2.65,0.00,0.000,4,0.000,0.074,2698,3511,1642
$GC,10973,1.30,308.3,193.2,12.0,526,10977,0.00,2.53,0.00,0.000,6,0.000,0.050,2698,2101,1641
$GC,11290,1.30,308.3,158.9,10.8,541,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2101,1642
$GC,11599,1.30,308.3,127.4,10.1,556,11603,0.00,2.67,0.00,0.000,4,0.000,0.075,2698,3511,1642
$GC,11626,1.30,308.3,124.3,11.0,557,11630,0.00,2.55,0.00,0.000,6,0.000,0.050,2698,2098,1642
$GC,11944,1.30,308.3,91.5,10.4,572,11949,0.00,2.67,0.00,0.000,4,0.000,0.073,2698,3512,1642
$GC,11967,1.30,308.3,89.1,9.9,573,11971,0.00,2.55,0.00,0.000,6,0.000,0.050,2698,2100,1642
$GC,12288,1.30,308.3,58.9,8.6,589,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2100,1642
$GC,12599,1.30,308.3,28.2,8.4,604,12604,0.00,2.67,0.00,0.000,4,0.000,0.077,2698,3510,1642
$GC,12622,1.30,308.3,26.6,6.2,605,12626,0.00,2.53,0.00,0.000,6,0.000,0.043,2698,2086,1643
$STATE,12899,end climb,SURFACE_DEPTH_REACHED
$STATE,12899,begin surface coast
$FINISH,-0.7,1.027331
$STATE,12921,end surface coast,CONTROL_FINISHED_OK
$STATE,12921,begin surface
$SM_CCo,13007,0.00,0.000,0,0,1641,309.08
$SM_GC,0.03,11.70,0.00,0.00,0.031,0.000,0.000,43,2901,1641,-10.80,0.03,309.08
$IRIDIUM_FIX,6108.28,-822.48,060597,060647
$TT8_MAMPS,0.029146
$HUMID,2086
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,451.3,102.8
$24V_AH,22.8,84.765
$10V_AH,10.1,39.333
$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,26.400,97.375,386.175,0.000,0.000,39.186,45.235,152.290,4.250,0.000,0.000,14.700,1143.821,9824.873,495.293,1395.570,521.398,0.000,1211.764,0.000,1373.809,0.000,25.069
$DEVICE_MAMPS,160.303,94.341,1213.394,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.678,429.323,421.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31728,620
$CFSIZE,260165632,231149568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,100208,131838,6134.454,-816.593,35,1.8,35,-8.9