version: 66.02
glider: 103
mission: 7
dive: 515
start: 2 11 108 12 15 36
data:
$ID,103
$MISSION,7
$DIVE,515
$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,-73568.859
$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,18
$R_STBD_OVSHOOT,11
$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
$GPS1,115208,6142.321,-900.078,47,1.8,47,-9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.47
$_SM_ANGLEo,-47.5
$GPS2,121505,6142.266,-900.154,12,2.5,31,-9.3
$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,157.0,33429,-11.1,-6.000
$D_GRID,801
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.10,-146.6,0.0,0.0,0,117,0.00,0.00,-86.53,0.000,6,0.000,0.000,46,2899,3500
$GC,121,-1.10,-146.6,2.1,-4.1,4,137,11.98,1.75,0.00,0.000,4,0.156,0.087,2166,3784,3502
$GC,305,-1.10,-146.6,27.1,-6.1,11,309,0.00,1.65,0.00,0.000,6,0.000,0.063,2166,2904,3503
$GC,628,-1.10,-146.6,54.1,-7.3,27,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,937,-1.10,-146.6,77.0,-7.3,42,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,1246,-1.10,-146.6,101.8,-9.1,57,1250,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1480,3503
$GC,1313,-1.10,-146.6,107.2,-7.8,60,1317,0.00,2.67,0.00,0.000,6,0.000,0.070,2166,2900,3503
$GC,1634,-1.10,-146.6,131.2,-6.9,76,1639,0.00,2.60,0.00,0.000,4,0.000,0.065,2166,1480,3503
$GC,1667,-1.10,-146.6,133.5,-6.6,77,1674,0.00,2.67,0.00,0.000,6,0.000,0.072,2166,2908,3503
$GC,1984,-1.10,-146.6,151.9,-5.3,93,1988,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1478,3503
$GC,2011,-1.10,-146.6,153.7,-6.1,94,2016,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2899,3503
$GC,2328,-1.10,-146.6,171.4,-5.4,109,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,2638,-1.10,-146.6,189.8,-5.6,124,2642,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1473,3503
$GC,2693,-1.10,-146.6,193.2,-6.5,126,2699,0.00,2.67,0.00,0.000,6,0.000,0.069,2166,2900,3503
$GC,3009,-1.10,-146.6,211.8,-5.9,142,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,3319,-1.10,-146.6,231.1,-6.1,157,3323,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1480,3503
$GC,3386,-1.10,-146.6,234.6,-4.9,160,3391,0.00,2.65,0.00,0.000,6,0.000,0.066,2166,2901,3503
$GC,3707,-1.10,-146.6,254.6,-6.9,176,3712,0.00,2.58,0.00,0.000,4,0.000,0.060,2166,1482,3503
$GC,3753,-1.10,-146.6,258.0,-7.5,178,3757,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2902,3503
$GC,4074,-1.10,-146.6,284.9,-9.2,194,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3503
$GC,4383,-1.10,-146.6,311.9,-8.7,209,4387,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1477,3503
$GC,4450,-1.10,-146.6,317.8,-9.3,212,4455,0.00,2.67,0.00,0.000,6,0.000,0.068,2166,2906,3503
$GC,4771,-1.10,-146.6,344.6,-7.6,228,4775,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1476,3503
$GC,4849,-1.10,-146.6,350.6,-7.7,231,4855,0.00,2.67,0.00,0.000,6,0.000,0.068,2166,2902,3503
$GC,5168,-1.10,-146.6,375.9,-7.9,247,5172,0.00,1.67,0.00,0.000,4,0.000,0.092,2166,3782,3503
$GC,5196,-1.10,-146.6,378.6,-8.1,248,5200,0.00,1.58,0.00,0.000,6,0.000,0.044,2166,2899,3503
$GC,5523,-1.10,-146.6,407.3,-10.1,264,5527,0.00,2.55,0.00,0.000,4,0.000,0.060,2166,1487,3503
$GC,5590,-1.10,-146.6,413.2,-8.7,267,5594,0.00,2.65,0.00,0.000,6,0.000,0.068,2166,2904,3503
$GC,5911,-1.10,-146.6,436.2,-6.3,283,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3503
$GC,6220,-1.10,-146.6,457.3,-7.0,298,6225,0.00,2.58,0.00,0.000,4,0.000,0.055,2166,1480,3503
$GC,6276,-1.10,-146.6,461.3,-7.0,300,6283,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2902,3503
$GC,6593,-1.10,-146.6,480.4,-6.6,316,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,6903,-1.10,-146.6,501.9,-7.0,331,6907,0.00,2.55,0.00,0.000,4,0.000,0.055,2166,1482,3503
$GC,6947,-1.10,-146.6,505.3,-7.3,333,6951,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2905,3503
$GC,7269,-1.10,-146.6,525.7,-5.9,349,7273,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1487,3503
$GC,7319,-1.10,-146.6,529.0,-6.1,351,7323,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2899,3503
$GC,7635,-1.10,-146.6,549.1,-6.1,366,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,7945,-1.10,-146.6,568.6,-8.3,381,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,8255,-1.10,-146.6,592.8,-7.4,396,8256,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3503
$GC,8563,-1.10,-146.6,614.0,-6.8,411,8568,0.00,2.55,0.00,0.000,4,0.000,0.051,2166,1477,3503
$GC,8642,-1.10,-146.6,619.7,-7.3,414,8648,0.00,2.62,0.00,0.000,6,0.000,0.061,2166,2899,3503
$GC,8958,-1.10,-146.6,642.8,-8.4,430,8961,0.00,1.70,0.00,0.000,4,0.000,0.088,2166,3783,3502
$GC,9184,-1.10,-146.6,660.1,-5.4,440,9187,0.00,1.58,0.00,0.000,6,0.000,0.046,2166,2883,3502
$GC,9518,-1.10,-146.6,668.4,-2.9,456,9522,0.00,2.55,0.00,0.000,4,0.000,0.066,2166,1488,3502
$GC,9613,-1.10,-146.6,672.6,-5.4,460,9617,0.00,2.67,0.00,0.000,6,0.000,0.075,2166,2900,3502
$GC,9929,-1.10,-146.6,694.7,-8.1,475,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,10238,-1.10,-146.6,715.6,-6.4,490,10242,0.00,2.65,0.00,0.000,4,0.000,0.071,2166,1482,3500
$GC,10305,-1.10,-146.6,719.6,-6.1,493,10309,0.00,2.70,0.00,0.000,6,0.000,0.078,2166,2898,3500
$GC,10626,-1.10,-146.6,739.1,-6.4,509,10631,0.00,2.62,0.00,0.000,4,0.000,0.070,2166,1489,3499
$GC,10677,-1.10,-146.6,742.4,-6.5,511,10681,0.00,2.70,0.00,0.000,6,0.000,0.077,2166,2905,3498
$GC,10993,-1.10,-146.6,764.0,-6.8,526,10998,0.00,2.65,0.00,0.000,4,0.000,0.072,2166,1491,3496
$GC,11045,-1.10,-146.6,766.9,-5.3,528,11049,0.00,2.70,0.00,0.000,6,0.000,0.079,2166,2902,3496
$GC,11361,-1.10,-146.6,781.9,-4.9,543,11365,0.00,2.62,0.00,0.000,4,0.000,0.072,2166,1491,3495
$GC,11416,-1.10,-146.6,785.1,-6.2,545,11423,0.00,2.72,0.00,0.000,6,0.000,0.084,2166,2900,3495
$STATE,11667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11667,begin apogee
$GC,11677,-0.42,0.0,802.4,7.8,558,11823,0.80,0.00,137.45,1.454,6,0.121,0.000,2316,2097,2901
$STATE,11824,end apogee,CONTROL_FINISHED_OK
$STATE,11824,begin climb
$GC,11827,1.10,146.6,811.9,0.0,565,11963,1.60,2.75,127.78,1.450,4,0.065,0.071,2649,696,2303
$GC,12124,1.10,146.6,807.6,8.4,578,12130,0.00,2.55,0.00,0.000,6,0.000,0.047,2649,2107,2302
$GC,12440,1.10,146.6,783.7,6.8,594,12444,0.00,2.67,0.00,0.000,4,0.000,0.081,2649,3507,2301
$GC,12525,1.19,217.5,779.0,4.0,598,12595,0.00,2.55,62.45,1.468,6,0.000,0.050,2649,2093,2014
$GC,12917,1.19,217.5,752.7,6.4,617,12922,0.00,2.72,0.00,0.000,4,0.000,0.080,2649,3507,2012
$GC,13008,1.19,217.5,746.4,7.0,621,13012,0.00,2.58,0.00,0.000,6,0.000,0.052,2649,2098,2012
$GC,13329,1.19,217.5,717.4,10.1,637,13334,0.00,2.75,0.00,0.000,4,0.000,0.084,2649,3515,2011
$GC,13396,1.19,217.5,710.8,9.5,640,13400,0.00,2.58,0.00,0.000,6,0.000,0.052,2649,2100,2011
$GC,13718,1.36,355.7,696.8,2.2,656,13925,0.22,2.88,164.23,1.217,4,0.043,0.087,2706,3504,1450
$GC,13982,1.36,355.7,674.2,13.7,668,13987,0.00,2.58,0.00,0.000,6,0.000,0.052,2706,2101,1450
$GC,14298,1.36,355.7,626.8,15.2,683,14299,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2100,1448
$GC,14607,1.36,355.7,595.0,6.4,698,14612,0.00,2.72,0.00,0.000,4,0.000,0.082,2706,3507,1448
$GC,14693,1.36,355.7,588.3,8.7,702,14697,0.00,2.55,0.00,0.000,6,0.000,0.050,2706,2096,1448
$GC,15019,1.36,355.7,559.9,10.6,718,15024,0.00,2.70,0.00,0.000,4,0.000,0.078,2706,3508,1447
$GC,15052,1.36,355.7,555.3,13.7,719,15058,0.00,2.55,0.00,0.000,6,0.000,0.047,2706,2094,1447
$GC,15368,1.36,355.7,517.9,11.7,735,15370,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2093,1447
$GC,15677,1.36,355.7,487.1,7.4,750,15682,0.00,2.70,0.00,0.000,4,0.000,0.075,2706,3515,1448
$GC,15740,1.36,355.7,482.1,7.8,753,15744,0.00,2.53,0.00,0.000,6,0.000,0.046,2706,2101,1447
$GC,16067,1.36,355.7,457.5,9.4,769,16068,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2101,1448
$GC,16376,1.36,355.7,420.3,12.6,784,16380,0.00,2.65,0.00,0.000,4,0.000,0.074,2706,3514,1450
$GC,16403,1.36,355.7,416.7,12.9,785,16407,0.00,2.53,0.00,0.000,6,0.000,0.045,2706,2101,1450
$GC,16719,1.36,355.7,384.4,8.3,800,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2101,1450
$GC,17028,1.36,355.7,355.2,11.0,815,17033,0.00,2.67,0.00,0.000,4,0.000,0.076,2706,3516,1450
$GC,17072,1.36,355.7,349.9,11.6,817,17077,0.00,2.55,0.00,0.000,6,0.000,0.048,2706,2098,1450
$GC,17394,1.36,355.7,312.0,11.4,833,17395,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2099,1451
$GC,17703,1.36,355.7,276.8,11.3,848,17707,0.00,2.67,0.00,0.000,4,0.000,0.075,2706,3512,1452
$GC,17736,1.36,355.7,272.5,12.3,849,17742,0.00,2.53,0.00,0.000,6,0.000,0.047,2706,2100,1452
$GC,18052,1.36,355.7,239.0,10.3,865,18054,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2099,1453
$GC,18361,1.36,355.7,201.4,13.3,880,18366,0.00,2.65,0.00,0.000,4,0.000,0.075,2706,3508,1452
$GC,18411,1.36,355.7,194.9,11.9,882,18415,0.00,2.53,0.00,0.000,6,0.000,0.051,2706,2102,1453
$GC,18728,1.36,355.7,156.7,12.0,897,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2102,1453
$GC,19037,1.36,355.7,124.3,10.3,912,19038,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2101,1453
$GC,19346,1.36,355.7,93.2,9.9,927,19350,0.00,2.67,0.00,0.000,4,0.000,0.076,2706,3507,1453
$GC,19386,1.36,355.7,90.1,8.5,929,19391,0.00,2.55,0.00,0.000,6,0.000,0.052,2706,2091,1453
$GC,19713,1.36,355.7,51.5,11.9,945,19715,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2092,1454
$GC,20023,1.36,355.7,15.4,9.6,960,20027,0.00,2.55,0.00,0.000,4,0.000,0.062,2706,691,1454
$GC,20045,1.36,355.7,11.9,13.5,961,20049,0.00,2.53,0.00,0.000,6,0.000,0.049,2706,2096,1454
$STATE,20136,end climb,SURFACE_DEPTH_REACHED
$STATE,20136,begin surface coast
$FINISH,-0.8,1.027362
$STATE,20158,end surface coast,CONTROL_FINISHED_OK
$STATE,20158,begin surface
$SM_CCo,20244,0.00,0.000,0,0,1453,355.19
$SM_GC,-0.15,11.77,0.00,0.00,0.033,0.000,0.000,47,2900,1453,-10.79,0.00,355.19
$IRIDIUM_FIX,6121.73,-902.37,070597,121241
$TT8_MAMPS,0.029146
$HUMID,2077
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.10
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,750.0,108.9
$24V_AH,22.5,85.937
$10V_AH,10.1,39.816
$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,26.375,181.200,491.900,0.000,0.000,189.199,226.910,532.024,13.750,0.000,0.000,32.314,1766.513,15615.013,632.932,2219.927,1390.948,0.000,1774.507,0.000,2152.979,0.000,47.347
$DEVICE_MAMPS,155.701,92.040,1468.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.568,661.810,546.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50567,967
$CFSIZE,260165632,230731776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,7,0
$GPS,110208,175408,6137.042,-857.320,32,1.7,32,-9.2