version: 66.02
glider: 103
mission: 7
dive: 521
start: 2 12 108 20 21 23
data:
$ID,103
$MISSION,7
$DIVE,521
$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,571.30371
$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,-73701.43
$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,8
$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
$GPS1,195237,6149.167,-850.883,26,1.4,26,-9.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-62.3
$GPS2,202052,6149.296,-851.118,17,2.5,36,-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,175.9,42449,-11.1,-6.000
$D_GRID,551
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-58.22,0.000,2,0.000,0.000,50,2899,3324
$GC,91,-1.10,-146.6,3.1,-7.0,3,112,12.02,2.60,-3.33,0.000,4,0.155,0.069,2165,1486,3500
$GC,202,-1.10,-146.6,18.0,-8.3,8,207,0.00,2.70,0.00,0.000,6,0.000,0.074,2165,2906,3501
$GC,519,-1.10,-146.6,41.3,-6.9,23,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2906,3501
$GC,828,-1.10,-146.6,64.2,-7.0,38,833,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1482,3501
$GC,862,-1.10,-146.6,66.9,-8.0,39,868,0.00,2.67,0.00,0.000,6,0.000,0.074,2165,2902,3501
$GC,1180,-1.10,-146.6,90.6,-8.0,55,1184,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1484,3501
$GC,1230,-1.10,-146.6,95.0,-9.0,57,1234,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2899,3501
$GC,1548,-1.10,-146.6,118.6,-6.8,72,1552,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1484,3501
$GC,1588,-1.10,-146.6,121.4,-6.2,74,1593,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2898,3501
$GC,1915,-1.10,-146.6,140.5,-5.6,90,1920,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1479,3501
$GC,1938,-1.10,-146.6,142.1,-6.1,91,1943,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2900,3501
$GC,2259,-1.10,-146.6,162.3,-6.2,107,2263,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1486,3501
$GC,2299,-1.10,-146.6,164.7,-6.1,109,2303,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2900,3501
$GC,2625,-1.10,-146.6,185.9,-6.6,125,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3501
$GC,2935,-1.10,-146.6,206.1,-6.3,140,2939,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1486,3501
$GC,2984,-1.10,-146.6,209.4,-6.8,142,2989,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2901,3501
$GC,3301,-1.10,-146.6,230.6,-6.7,157,3305,0.00,2.58,0.00,0.000,4,0.000,0.059,2165,1480,3501
$GC,3341,-1.10,-146.6,233.3,-6.5,159,3345,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2901,3501
$GC,3667,-1.10,-146.6,255.4,-6.9,175,3671,0.00,2.60,0.00,0.000,4,0.000,0.063,2165,1483,3502
$GC,3712,-1.10,-146.6,258.2,-6.6,177,3716,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2900,3501
$GC,4033,-1.10,-146.6,278.1,-6.3,193,4037,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1484,3501
$GC,4066,-1.10,-146.6,280.1,-6.0,194,4072,0.00,2.65,0.00,0.000,6,0.000,0.070,2165,2901,3501
$GC,4383,-1.10,-146.6,298.1,-5.8,210,4387,0.00,2.58,0.00,0.000,4,0.000,0.060,2165,1486,3501
$GC,4418,-1.10,-146.6,300.2,-6.1,211,4424,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2900,3501
$GC,4734,-1.10,-146.6,317.9,-5.5,227,4739,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1479,3501
$GC,4780,-1.10,-146.6,320.6,-6.2,229,4784,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2901,3501
$GC,5101,-1.10,-146.6,337.6,-5.1,245,5105,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1480,3501
$GC,5151,-1.10,-146.6,340.1,-4.6,247,5156,0.00,2.65,0.00,0.000,6,0.000,0.066,2165,2905,3501
$GC,5467,-1.10,-146.6,356.8,-6.1,262,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2905,3501
$GC,5777,-1.10,-146.6,376.0,-6.1,277,5781,0.00,2.58,0.00,0.000,4,0.000,0.061,2165,1487,3501
$GC,5855,-1.10,-146.6,381.3,-7.1,280,5861,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2903,3501
$GC,6173,-1.10,-146.6,401.3,-6.5,296,6177,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1484,3501
$GC,6217,-1.10,-146.6,404.2,-5.8,298,6222,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3501
$GC,6540,-1.10,-146.6,422.2,-5.3,314,6544,0.00,2.53,0.00,0.000,4,0.000,0.053,2165,1485,3501
$GC,6580,-1.10,-146.6,424.2,-4.9,316,6585,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2901,3501
$GC,6908,-1.10,-146.6,441.6,-5.6,332,6912,0.00,2.55,0.00,0.000,4,0.000,0.053,2165,1482,3501
$GC,6952,-1.10,-146.6,444.4,-6.3,334,6957,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2898,3501
$GC,7273,-1.10,-146.6,466.8,-7.7,350,7277,0.00,1.70,0.00,0.000,4,0.000,0.091,2165,3789,3501
$GC,7319,-1.10,-146.6,470.3,-7.8,352,7323,0.00,1.58,0.00,0.000,6,0.000,0.043,2165,2874,3501
$GC,7653,-1.10,-146.6,495.3,-7.8,368,7657,0.00,2.47,0.00,0.000,4,0.000,0.055,2165,1488,3501
$GC,7722,-1.10,-146.6,500.7,-7.5,371,7727,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2908,3501
$GC,8043,-1.10,-146.6,522.6,-6.9,387,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3501
$GC,8353,-1.10,-146.6,545.0,-6.1,402,8357,0.00,1.67,0.00,0.000,4,0.000,0.090,2165,3776,3501
$STATE,8402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8402,begin apogee
$GC,8413,-0.42,0.0,547.4,4.7,404,8543,0.75,0.00,126.68,1.212,6,0.110,0.000,2312,2105,2901
$STATE,8544,end apogee,CONTROL_FINISHED_OK
$STATE,8544,begin climb
$GC,8547,1.10,146.6,549.4,0.0,410,8679,1.60,2.65,123.03,1.179,4,0.063,0.058,2648,685,2303
$GC,8937,1.10,146.6,529.0,8.7,427,8943,0.00,2.50,0.00,0.000,6,0.000,0.036,2648,2111,2302
$GC,9254,1.16,191.9,510.8,4.7,443,9298,0.00,2.67,39.58,1.157,4,0.000,0.068,2649,3502,2118
$GC,9445,1.16,191.9,499.6,6.5,451,9451,0.00,2.50,0.00,0.000,6,0.000,0.040,2648,2093,2117
$GC,9761,1.16,191.9,478.9,6.9,467,9766,0.00,2.65,0.00,0.000,4,0.000,0.069,2648,3502,2116
$GC,9789,1.16,191.9,476.9,7.2,468,9794,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2101,2116
$GC,10105,1.16,191.9,456.9,6.9,483,10109,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3502,2116
$GC,10139,1.16,191.9,454.5,6.5,484,10145,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2093,2116
$GC,10455,1.23,252.3,438.0,4.3,500,10508,0.12,0.00,51.12,1.147,6,0.043,0.000,2688,2092,1872
$GC,10805,1.23,252.3,416.3,6.2,517,10809,0.00,2.65,0.00,0.000,4,0.000,0.072,2688,3502,1871
$GC,10844,1.23,252.3,413.2,8.2,519,10849,0.00,2.47,0.00,0.000,6,0.000,0.043,2689,2102,1871
$GC,11177,1.23,252.3,384.4,9.1,535,11178,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1871
$GC,11487,1.23,252.3,356.2,9.2,550,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1871
$GC,11796,1.23,252.3,327.9,9.1,565,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1871
$GC,12105,1.23,252.3,298.7,9.4,580,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2102,1871
$GC,12415,1.23,252.3,266.8,10.8,595,12419,0.00,2.65,0.00,0.000,4,0.000,0.073,2688,3510,1871
$GC,12454,1.23,252.3,262.4,10.7,597,12459,0.00,2.50,0.00,0.000,6,0.000,0.046,2688,2101,1871
$GC,12781,1.23,252.3,228.4,10.3,613,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2101,1871
$GC,13091,1.23,252.3,198.5,9.5,628,13096,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3508,1871
$GC,13125,1.23,252.3,195.1,10.0,629,13131,0.00,2.53,0.00,0.000,6,0.000,0.047,2689,2096,1871
$GC,13441,1.23,252.3,167.7,8.3,645,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2096,1871
$GC,13750,1.23,252.3,143.5,8.0,660,13755,0.00,2.65,0.00,0.000,4,0.000,0.074,2688,3501,1871
$GC,13777,1.23,252.3,141.3,8.8,661,13782,0.00,2.53,0.00,0.000,6,0.000,0.049,2688,2094,1871
$GC,14095,1.23,252.3,118.0,7.2,676,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2094,1871
$GC,14403,1.23,252.6,98.5,6.0,691,14404,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2094,1871
$GC,14713,1.23,252.6,79.7,6.1,706,14717,0.00,2.67,0.00,0.000,4,0.000,0.077,2688,3502,1871
$GC,14753,1.23,252.6,77.2,6.4,708,14757,0.00,2.50,0.00,0.000,6,0.000,0.051,2688,2102,1871
$GC,15085,1.23,252.6,55.3,7.2,724,15090,0.00,2.65,0.00,0.000,4,0.000,0.076,2688,3502,1871
$GC,15127,1.23,252.6,52.3,7.9,726,15131,0.00,2.50,0.00,0.000,6,0.000,0.049,2688,2097,1871
$GC,15454,1.23,252.6,26.5,7.6,742,15455,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2097,1871
$STATE,15760,end climb,SURFACE_DEPTH_REACHED
$STATE,15760,begin surface coast
$FINISH,-0.6,1.001443
$STATE,15782,end surface coast,CONTROL_FINISHED_OK
$STATE,15782,begin surface
$SM_CCo,15807,255.88,0.816,1,0,572,571.30
$SM_GC,-0.10,0.00,0.00,255.88,0.000,0.000,0.816,49,2886,572,-10.86,-0.40,571.30
$IRIDIUM_FIX,6126.23,-854.81,080597,202051
$TT8_MAMPS,0.029146
$HUMID,2004
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,500.1,57.3
$24V_AH,22.9,87.024
$10V_AH,10.1,40.339
$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,26.125,155.225,340.400,255.875,0.000,192.919,180.170,896.551,4.500,0.000,0.000,36.831,1412.706,12268.420,725.823,1708.939,1662.541,0.000,1585.724,0.000,1661.054,0.000,28.191
$DEVICE_MAMPS,154.934,90.506,1211.860,816.088,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,557.350,522.985,530.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37903,758
$CFSIZE,260165632,230371328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
$GPS,130208,005037,6149.848,-849.667,42,1.3,47,-9.2