version: 66.02
glider: 103
mission: 7
dive: 510
start: 2 10 108 13 29 8
data:
$ID,103
$MISSION,7
$DIVE,510
$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,-73450.031
$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,24
$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
$GPS1,131838,6134.454,-816.593,35,1.8,35,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-57.7
$GPS2,132833,6134.544,-816.387,14,1.9,14,-8.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB_DS
$TGT_LATLONG,6127.000,-840.000
$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,245.1,25140,-11.1,-6.000
$D_GRID,431
$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,-146.6,0.0,0.0,0,91,0.00,0.00,-64.82,0.000,6,0.000,0.000,43,2905,3500
$GC,95,-1.10,-146.6,2.9,-6.3,3,109,12.05,0.00,0.00,0.000,6,0.158,0.000,2166,2905,3502
$GC,423,-1.10,-146.6,38.3,-7.5,18,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2905,3503
$GC,731,-1.10,-146.6,63.7,-9.0,33,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3503
$GC,1040,-1.10,-146.6,90.1,-8.2,48,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3503
$GC,1349,-1.10,-146.6,115.0,-8.7,63,1354,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1486,3503
$GC,1400,-1.10,-146.6,119.5,-8.3,65,1404,0.00,2.67,0.00,0.000,6,0.000,0.072,2167,2903,3503
$GC,1716,-1.10,-146.6,144.3,-8.4,80,1720,0.00,1.70,0.00,0.000,4,0.000,0.098,2167,3782,3503
$GC,1785,-1.10,-146.6,150.9,-9.7,83,1788,0.00,1.58,0.00,0.000,6,0.000,0.052,2167,2907,3503
$GC,2117,-1.10,-146.6,179.2,-8.6,99,2122,0.00,2.58,0.00,0.000,4,0.000,0.059,2167,1482,3503
$GC,2168,-1.10,-146.6,183.6,-8.5,101,2172,0.00,2.65,0.00,0.000,6,0.000,0.070,2167,2902,3503
$GC,2484,-1.10,-146.6,207.9,-7.3,116,2489,0.00,2.60,0.00,0.000,4,0.000,0.060,2167,1479,3503
$GC,2525,-1.10,-146.6,211.1,-7.9,118,2529,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2900,3503
$GC,2851,-1.10,-146.6,230.1,-4.9,134,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3503
$GC,3161,-1.10,-146.6,244.0,-4.3,149,3166,0.00,2.60,0.00,0.000,4,0.000,0.062,2167,1481,3503
$GC,3218,-1.10,-146.6,247.3,-5.3,151,3224,0.00,2.67,0.00,0.000,6,0.000,0.072,2167,2900,3503
$GC,3534,-1.10,-146.6,266.4,-7.2,167,3537,0.00,1.70,0.00,0.000,4,0.000,0.094,2167,3787,3503
$GC,3585,-1.10,-146.6,269.2,-5.7,169,3588,0.00,1.58,0.00,0.000,6,0.000,0.048,2167,2895,3503
$GC,3912,-1.10,-146.6,288.5,-6.0,185,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2895,3503
$GC,4222,-1.10,-146.6,307.2,-5.7,200,4226,0.00,2.55,0.00,0.000,4,0.000,0.060,2167,1483,3503
$GC,4300,-1.10,-146.6,312.1,-6.2,203,4306,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2906,3503
$GC,4616,-1.10,-146.6,328.2,-5.0,219,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,4925,-1.10,-146.6,349.7,-8.0,234,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,5234,-1.10,-146.6,379.7,-9.8,249,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2906,3503
$GC,5543,-1.10,-146.6,401.9,-6.8,264,5548,0.00,2.58,0.00,0.000,4,0.000,0.055,2167,1484,3503
$GC,5607,-1.10,-146.6,405.8,-6.9,267,5611,0.00,2.62,0.00,0.000,6,0.000,0.067,2167,2905,3503
$GC,5934,-1.10,-146.6,426.3,-5.0,283,5938,0.00,2.55,0.00,0.000,4,0.000,0.054,2167,1487,3503
$GC,6024,-1.10,-146.6,429.6,-4.0,287,6028,0.00,2.65,0.00,0.000,6,0.000,0.067,2167,2908,3503
$STATE,6053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6053,begin apogee
$GC,6062,-0.42,0.0,431.3,5.1,289,6190,0.77,0.00,125.00,1.117,6,0.111,0.000,2315,2097,2901
$STATE,6191,end apogee,CONTROL_FINISHED_OK
$STATE,6191,begin climb
$GC,6194,1.10,146.6,435.2,0.0,295,6325,1.58,2.62,120.65,1.091,4,0.066,0.056,2645,691,2303
$GC,6441,1.17,202.5,429.8,4.5,306,6496,0.00,2.50,47.80,1.069,6,0.000,0.036,2645,2108,2075
$GC,6826,1.17,202.5,408.1,7.3,325,6830,0.00,2.60,0.00,0.000,4,0.000,0.057,2645,687,2074
$GC,6966,1.17,202.5,395.5,8.7,331,6971,0.00,2.50,0.00,0.000,6,0.000,0.039,2645,2099,2074
$GC,7282,1.17,202.5,367.0,8.7,346,7287,0.00,2.62,0.00,0.000,4,0.000,0.070,2645,3511,2073
$GC,7384,1.17,202.5,358.6,8.5,350,7390,0.00,2.50,0.00,0.000,6,0.000,0.043,2645,2097,2073
$GC,7700,1.17,202.5,332.3,8.7,366,7704,0.00,2.65,0.00,0.000,4,0.000,0.069,2645,3510,2072
$GC,7772,1.17,202.5,325.7,8.8,369,7777,0.00,2.50,0.00,0.000,6,0.000,0.044,2645,2097,2073
$GC,8089,1.17,202.5,298.7,8.5,384,8093,0.00,2.62,0.00,0.000,4,0.000,0.068,2645,3512,2073
$GC,8151,1.17,202.5,293.5,8.3,387,8155,0.00,2.47,0.00,0.000,6,0.000,0.044,2645,2101,2073
$GC,8477,1.17,202.5,268.5,7.6,403,8482,0.00,2.62,0.00,0.000,4,0.000,0.069,2645,3511,2072
$GC,8528,1.17,202.5,264.3,8.8,405,8532,0.00,2.50,0.00,0.000,6,0.000,0.044,2645,2101,2072
$GC,8844,1.17,202.5,241.2,8.0,420,8848,0.00,2.62,0.00,0.000,4,0.000,0.067,2645,3513,2072
$GC,8894,1.17,202.5,237.1,7.0,422,8898,0.00,2.50,0.00,0.000,6,0.000,0.042,2645,2101,2072
$GC,9210,1.32,324.0,223.7,2.6,437,9316,0.20,2.75,98.90,0.989,4,0.038,0.074,2703,3514,1579
$GC,9346,1.32,324.0,212.8,10.5,443,9351,0.00,2.55,0.00,0.000,6,0.000,0.044,2702,2103,1579
$GC,9663,1.32,324.0,181.8,9.6,458,9664,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1579
$GC,9971,1.32,324.0,151.8,9.5,473,9973,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2103,1579
$GC,10281,1.32,324.0,120.0,11.0,488,10286,0.00,2.67,0.00,0.000,4,0.000,0.077,2703,3509,1579
$GC,10304,1.32,324.0,117.3,11.5,489,10308,0.00,2.53,0.00,0.000,6,0.000,0.047,2703,2101,1578
$GC,10626,1.32,324.0,81.8,11.4,505,10630,0.00,2.58,0.00,0.000,4,0.000,0.065,2703,694,1579
$GC,10658,1.32,324.0,77.9,11.0,506,10665,0.00,2.50,0.00,0.000,6,0.000,0.050,2703,2096,1579
$GC,10977,1.32,324.0,41.8,12.1,522,10981,0.00,2.70,0.00,0.000,4,0.000,0.080,2703,3519,1579
$GC,11004,1.32,324.0,38.0,12.6,523,11009,0.00,2.55,0.00,0.000,6,0.000,0.048,2703,2095,1578
$GC,11320,1.32,324.0,3.5,10.1,538,11325,0.00,2.55,0.00,0.000,4,0.000,0.061,2703,697,1579
$STATE,11336,end climb,SURFACE_DEPTH_REACHED
$STATE,11336,begin surface coast
$FINISH,-0.7,1.027367
$STATE,11359,end surface coast,CONTROL_FINISHED_OK
$STATE,11359,begin surface
$SM_CCo,11448,0.00,0.000,0,0,1577,324.78
$SM_GC,0.18,11.73,0.00,0.00,0.031,0.000,0.000,44,2910,1577,-10.81,0.28,324.78
$IRIDIUM_FIX,6108.28,-813.55,060597,131329
$TT8_MAMPS,0.028379
$HUMID,2063
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,23.0,84.906
$10V_AH,10.1,39.393
$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,26.325,108.075,392.350,0.000,0.000,73.671,70.991,257.305,3.750,0.000,0.000,14.667,1021.320,8616.315,460.094,1277.927,683.571,0.000,1136.528,0.000,1250.962,0.000,23.316
$DEVICE_MAMPS,158.002,98.176,1116.752,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.488,375.710,386.975,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28553,540
$CFSIZE,260165632,231112704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,100208,164108,6134.899,-819.352,37,1.4,37,-8.9