version: 66.02
glider: 103
mission: 7
dive: 516
start: 2 11 108 18 5 40
data:
$ID,103
$MISSION,7
$DIVE,516
$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,-73600.969
$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,20
$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
$GPS1,175408,6137.042,-857.320,32,1.7,32,-9.2
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-54.6
$GPS2,180507,6137.115,-856.815,29,1.7,29,-9.2
$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,150.7,23926,-11.1,-6.000
$D_GRID,775
$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,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,106,0.00,0.00,-75.35,0.000,6,0.000,0.000,47,2903,3500
$GC,110,-1.10,-146.6,5.3,-8.9,4,131,12.02,1.77,0.00,0.000,4,0.157,0.091,2166,3793,3502
$GC,383,-1.10,-146.6,45.5,-7.3,16,387,0.00,1.62,0.00,0.000,6,0.000,0.059,2166,2904,3503
$GC,712,-1.10,-146.6,68.2,-4.7,32,716,0.00,2.62,0.00,0.000,4,0.000,0.071,2166,1484,3503
$GC,739,-1.10,-146.6,69.8,-5.3,33,744,0.00,2.70,0.00,0.000,6,0.000,0.075,2166,2903,3502
$GC,1058,-1.10,-146.6,91.9,-5.4,48,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3503
$GC,1366,-1.10,-146.6,110.4,-5.7,63,1370,0.00,2.62,0.00,0.000,4,0.000,0.066,2166,1484,3503
$GC,1421,-1.10,-146.6,114.3,-6.6,65,1427,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2901,3503
$GC,1737,-1.10,-146.6,135.9,-8.8,81,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2048,-1.10,-146.6,160.2,-5.8,96,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3503
$GC,2356,-1.10,-146.6,178.5,-5.1,111,2361,0.00,2.62,0.00,0.000,4,0.000,0.065,2166,1480,3503
$GC,2397,-1.10,-146.6,181.0,-6.0,113,2401,0.00,2.65,0.00,0.000,6,0.000,0.065,2166,2908,3503
$GC,2725,-1.10,-146.6,200.1,-6.2,129,2729,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1482,3503
$GC,2775,-1.10,-146.6,203.5,-6.4,131,2779,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2902,3503
$GC,3091,-1.10,-146.6,222.3,-5.1,146,3096,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1483,3503
$GC,3139,-1.10,-146.6,225.3,-6.6,148,3143,0.00,2.65,0.00,0.000,6,0.000,0.067,2166,2900,3503
$GC,3460,-1.10,-146.6,243.9,-5.8,164,3465,0.00,2.62,0.00,0.000,4,0.000,0.064,2166,1476,3503
$GC,3501,-1.10,-146.6,246.3,-6.3,166,3506,0.00,2.67,0.00,0.000,6,0.000,0.068,2166,2908,3503
$GC,3828,-1.10,-146.6,269.6,-7.1,182,3833,0.00,2.62,0.00,0.000,4,0.000,0.062,2166,1480,3503
$GC,3856,-1.10,-146.6,271.7,-7.0,183,3861,0.00,2.65,0.00,0.000,6,0.000,0.066,2166,2900,3503
$GC,4172,-1.10,-146.6,291.2,-4.6,198,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3503
$GC,4482,-1.10,-146.6,309.9,-6.4,213,4486,0.00,2.60,0.00,0.000,4,0.000,0.061,2166,1482,3503
$GC,4571,-1.10,-146.6,315.9,-7.2,217,4576,0.00,2.65,0.00,0.000,6,0.000,0.065,2166,2906,3503
$GC,4892,-1.10,-146.6,338.6,-6.9,233,4896,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1480,3503
$GC,4926,-1.10,-146.6,340.9,-7.0,234,4932,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2898,3503
$GC,5242,-1.10,-146.6,359.5,-5.3,250,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3503
$GC,5551,-1.10,-146.6,379.0,-7.1,265,5555,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1482,3502
$GC,5607,-1.10,-146.6,383.1,-7.4,267,5613,0.00,2.65,0.00,0.000,6,0.000,0.065,2166,2906,3503
$GC,5923,-1.10,-146.6,405.7,-6.4,283,5924,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3503
$GC,6232,-1.10,-146.6,423.2,-5.5,298,6237,0.00,2.60,0.00,0.000,4,0.000,0.058,2166,1475,3503
$GC,6312,-1.10,-146.6,427.8,-5.2,301,6318,0.00,2.62,0.00,0.000,6,0.000,0.062,2166,2900,3503
$GC,6628,-1.10,-146.6,449.7,-7.7,317,6633,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1482,3503
$GC,6678,-1.10,-146.6,453.3,-7.5,319,6683,0.00,2.62,0.00,0.000,6,0.000,0.063,2166,2900,3503
$GC,7000,-1.10,-146.6,479.6,-8.4,335,7004,0.00,2.55,0.00,0.000,4,0.000,0.058,2166,1480,3503
$GC,7027,-1.10,-146.6,482.0,-8.8,336,7032,0.00,2.62,0.00,0.000,6,0.000,0.062,2166,2900,3503
$GC,7349,-1.10,-146.6,512.6,-9.4,352,7354,0.00,2.55,0.00,0.000,4,0.000,0.056,2166,1480,3503
$GC,7394,-1.10,-146.6,516.7,-8.7,354,7398,0.00,2.62,0.00,0.000,6,0.000,0.062,2166,2900,3503
$GC,7715,-1.10,-146.6,541.1,-6.5,370,7719,0.00,2.55,0.00,0.000,4,0.000,0.054,2166,1480,3503
$GC,7765,-1.10,-146.6,544.2,-6.0,372,7769,0.00,2.62,0.00,0.000,6,0.000,0.062,2166,2901,3503
$GC,8082,-1.10,-146.6,559.4,-3.6,387,8086,0.00,2.55,0.00,0.000,4,0.000,0.051,2166,1474,3503
$GC,8126,-1.10,-146.6,561.3,-3.7,389,8131,0.00,2.62,0.00,0.000,6,0.000,0.062,2166,2906,3503
$GC,8448,-1.10,-146.6,579.0,-7.7,405,8452,0.00,2.53,0.00,0.000,4,0.000,0.051,2166,1478,3503
$GC,8481,-1.10,-146.6,582.0,-8.7,406,8487,0.00,2.62,0.00,0.000,6,0.000,0.061,2166,2908,3503
$GC,8797,-1.10,-146.6,612.3,-9.1,422,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,9107,-1.10,-146.6,635.3,-5.8,437,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3503
$GC,9415,-1.10,-146.6,660.0,-7.5,452,9419,0.00,1.65,0.00,0.000,4,0.000,0.085,2166,3786,3502
$GC,9522,-1.10,-146.6,666.5,-4.8,456,9528,0.00,1.58,0.00,0.000,6,0.000,0.042,2166,2880,3503
$GC,9838,-1.10,-146.6,687.0,-8.6,472,9842,0.00,1.75,0.00,0.000,4,0.000,0.090,2166,3778,3502
$GC,10001,-1.10,-146.6,701.2,-8.0,479,10005,0.00,1.55,0.00,0.000,6,0.000,0.041,2166,2900,3503
$GC,10329,-1.10,-146.6,725.0,-7.0,495,10337,0.00,1.70,0.00,0.000,4,0.000,0.091,2166,3785,3503
$GC,10365,-1.10,-146.6,727.7,-7.8,496,10369,0.00,1.55,0.00,0.000,6,0.000,0.042,2166,2910,3502
$GC,10686,-1.10,-146.6,746.8,-4.9,512,10691,0.00,2.58,0.00,0.000,4,0.000,0.064,2166,1489,3503
$GC,10757,-1.10,-146.6,750.0,-4.4,515,10761,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2898,3503
$GC,11079,-1.10,-146.6,762.4,-4.4,531,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$STATE,11284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11284,begin apogee
$GC,11293,-0.42,0.0,776.1,7.5,541,11426,0.75,0.00,129.82,1.395,6,0.090,0.000,2315,2093,2901
$STATE,11427,end apogee,CONTROL_FINISHED_OK
$STATE,11427,begin climb
$GC,11430,1.10,146.6,783.6,0.0,548,11567,1.60,2.70,127.20,1.345,4,0.066,0.066,2650,698,2303
$GC,11677,1.13,170.7,778.4,5.3,559,11709,0.00,2.53,22.58,1.296,6,0.000,0.043,2650,2109,2205
$GC,12019,1.13,170.7,754.0,8.8,576,12023,0.00,2.65,0.00,0.000,4,0.000,0.077,2650,3508,2203
$GC,12086,1.13,170.7,749.2,6.3,579,12090,0.00,2.55,0.00,0.000,6,0.000,0.046,2650,2093,2203
$GC,12407,1.20,224.8,735.0,4.5,595,12462,0.00,2.80,47.75,1.375,4,0.000,0.075,2650,3502,1984
$GC,12503,1.26,271.6,731.2,4.7,599,12555,0.15,2.55,42.15,1.355,6,0.044,0.047,2690,2100,1793
$GC,12869,1.26,271.6,700.4,9.0,617,12873,0.00,2.70,0.00,0.000,4,0.000,0.079,2690,3504,1791
$GC,12913,1.26,271.6,695.4,10.7,619,12917,0.00,2.53,0.00,0.000,6,0.000,0.046,2690,2101,1790
$GC,13234,1.26,271.6,664.0,10.7,635,13239,0.00,2.67,0.00,0.000,4,0.000,0.074,2690,3509,1789
$GC,13335,1.26,271.6,649.8,13.9,639,13341,0.00,2.53,0.00,0.000,6,0.000,0.044,2690,2100,1788
$GC,13651,1.26,271.6,617.0,10.0,655,13655,0.00,2.55,0.00,0.000,4,0.000,0.062,2690,697,1788
$GC,13736,1.26,271.6,607.8,11.3,659,13741,0.00,2.45,0.00,0.000,6,0.000,0.041,2690,2096,1788
$GC,14063,1.26,271.6,575.7,8.9,675,14067,0.00,2.65,0.00,0.000,4,0.000,0.071,2690,3516,1788
$GC,14090,1.26,271.6,573.1,9.2,676,14094,0.00,2.53,0.00,0.000,6,0.000,0.041,2690,2093,1787
$GC,14407,1.26,271.6,548.0,7.8,691,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2093,1788
$GC,14715,1.26,271.6,519.7,9.7,706,14720,0.00,2.65,0.00,0.000,4,0.000,0.070,2690,3514,1788
$GC,14733,1.26,271.6,518.0,10.0,707,14737,0.00,2.50,0.00,0.000,6,0.000,0.041,2690,2094,1788
$GC,15060,1.26,271.6,486.0,9.9,723,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2094,1789
$GC,15368,1.26,271.6,456.6,9.6,738,15373,0.00,2.55,0.00,0.000,4,0.000,0.061,2690,689,1790
$GC,15396,1.26,271.6,453.8,10.0,739,15401,0.00,2.50,0.00,0.000,6,0.000,0.041,2690,2101,1790
$GC,15713,1.26,271.6,424.5,9.8,754,15717,0.00,2.62,0.00,0.000,4,0.000,0.074,2690,3510,1790
$GC,15753,1.26,271.6,420.5,9.9,756,15757,0.00,2.50,0.00,0.000,6,0.000,0.042,2690,2092,1790
$GC,16079,1.26,271.6,388.0,9.4,772,16084,0.00,2.67,0.00,0.000,4,0.000,0.074,2690,3510,1791
$GC,16109,1.26,271.6,385.1,10.3,773,16113,0.00,2.50,0.00,0.000,6,0.000,0.043,2690,2100,1791
$GC,16425,1.26,271.6,354.2,9.7,788,16429,0.00,2.55,0.00,0.000,4,0.000,0.061,2690,695,1792
$GC,16442,1.26,271.6,352.6,9.7,789,16447,0.00,2.50,0.00,0.000,6,0.000,0.044,2690,2104,1792
$GC,16770,1.26,271.6,320.3,10.2,805,16774,0.00,2.65,0.00,0.000,4,0.000,0.075,2690,3515,1792
$GC,16837,1.26,271.6,313.7,10.3,808,16841,0.00,2.53,0.00,0.000,6,0.000,0.045,2690,2101,1792
$GC,17157,1.26,271.6,281.5,10.3,824,17162,0.00,2.55,0.00,0.000,4,0.000,0.061,2690,694,1792
$GC,17191,1.26,271.6,278.0,10.5,825,17197,0.00,2.50,0.00,0.000,6,0.000,0.047,2690,2103,1793
$GC,17508,1.26,271.6,247.0,9.9,841,17512,0.00,2.62,0.00,0.000,4,0.000,0.077,2690,3508,1793
$GC,17558,1.26,271.6,241.8,10.3,843,17562,0.00,2.53,0.00,0.000,6,0.000,0.045,2690,2094,1793
$GC,17874,1.26,271.6,213.7,8.7,858,17875,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2094,1793
$GC,18183,1.26,271.6,186.1,9.0,873,18187,0.00,2.70,0.00,0.000,4,0.000,0.076,2690,3515,1794
$GC,18227,1.26,271.6,181.8,10.7,875,18231,0.00,2.53,0.00,0.000,6,0.000,0.046,2690,2099,1794
$GC,18549,1.26,271.6,152.3,9.7,891,18550,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1794
$GC,18858,1.26,271.6,125.2,8.3,906,18862,0.00,2.67,0.00,0.000,4,0.000,0.075,2690,3510,1794
$GC,18885,1.26,271.6,122.7,8.4,907,18890,0.00,2.53,0.00,0.000,6,0.000,0.048,2690,2099,1794
$GC,19202,1.26,271.6,93.0,10.5,922,19203,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2099,1794
$GC,19511,1.26,271.6,62.6,8.2,937,19512,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2098,1794
$GC,19822,1.26,271.6,32.9,9.2,952,19826,0.00,2.67,0.00,0.000,4,0.000,0.075,2690,3511,1795
$GC,19839,1.26,271.6,31.0,10.2,953,19844,0.00,2.50,0.00,0.000,6,0.000,0.048,2690,2101,1794
$STATE,20143,end climb,SURFACE_DEPTH_REACHED
$STATE,20143,begin surface coast
$FINISH,-0.9,1.027386
$STATE,20165,end surface coast,CONTROL_FINISHED_OK
$STATE,20165,begin surface
$SM_CCo,20191,25.45,0.793,1,0,1678,300.00
$SM_GC,0.16,0.00,0.00,25.45,0.000,0.000,0.793,45,2897,1678,-10.87,-0.08,300.00
$IRIDIUM_FIX,6112.75,-855.77,070597,181826
$TT8_MAMPS,0.029146
$HUMID,2077
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.90
$XPDR_PINGS,2
$24V_AH,22.6,86.109
$10V_AH,10.1,39.911
$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,26.075,203.325,369.500,25.450,0.000,78.884,146.179,211.467,7.000,0.000,0.000,31.487,1801.972,15465.097,562.702,2181.952,876.957,0.000,1681.284,0.000,2130.739,0.000,43.050
$DEVICE_MAMPS,157.235,91.273,1395.173,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.577,669.581,556.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50589,969
$CFSIZE,260165632,230670336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,110208,234402,6138.858,-844.003,42,1.5,42,-9.1