version: 66.02
glider: 103
mission: 7
dive: 522
start: 2 13 108 1 3 5
data:
$ID,103
$MISSION,7
$DIVE,522
$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,-73717.25
$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,21
$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
$GPS1,005037,6149.848,-849.667,42,1.3,47,-9.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-53.5
$GPS2,010233,6149.919,-849.583,15,1.0,15,-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,177.9,43285,-11.1,-6.000
$D_GRID,522
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.10,-146.6,0.0,0.0,0,128,0.00,0.00,-97.82,0.000,2,0.000,0.000,50,2887,3328
$GC,132,-1.10,-146.6,3.1,-3.7,5,154,11.95,2.55,-3.22,0.000,4,0.156,0.066,2163,1487,3501
$GC,317,-1.10,-146.6,24.1,-7.8,13,321,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2908,3501
$GC,638,-1.10,-146.6,47.6,-8.0,29,642,0.00,2.60,0.00,0.000,4,0.000,0.059,2163,1488,3501
$GC,684,-1.10,-146.6,51.4,-8.1,31,688,0.00,2.65,0.00,0.000,6,0.000,0.069,2163,2898,3501
$GC,1006,-1.10,-146.6,78.6,-8.2,47,1010,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1487,3502
$GC,1033,-1.10,-146.6,80.9,-7.9,48,1037,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2905,3501
$GC,1351,-1.10,-146.6,108.4,-9.5,63,1354,0.00,1.73,0.00,0.000,4,0.000,0.100,2163,3789,3501
$GC,1385,-1.10,-146.6,111.6,-8.6,64,1388,0.00,1.58,0.00,0.000,6,0.000,0.051,2163,2902,3501
$GC,1707,-1.10,-146.6,142.4,-9.6,80,1711,0.00,2.58,0.00,0.000,4,0.000,0.064,2163,1486,3501
$GC,1751,-1.10,-146.6,146.7,-9.5,82,1756,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2905,3501
$GC,2073,-1.10,-146.6,175.9,-8.8,98,2078,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1488,3501
$GC,2096,-1.10,-146.6,178.3,-9.9,99,2100,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2899,3501
$GC,2417,-1.10,-146.6,207.9,-9.2,115,2421,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1486,3501
$GC,2450,-1.10,-146.6,211.1,-9.6,116,2456,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2899,3501
$GC,2766,-1.10,-146.6,239.6,-8.9,132,2770,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1484,3501
$GC,2793,-1.10,-146.6,242.0,-9.0,133,2798,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2900,3501
$GC,3110,-1.10,-146.6,268.5,-8.0,148,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,3418,-1.10,-146.6,293.7,-7.9,163,3423,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1483,3501
$GC,3459,-1.10,-146.6,296.9,-8.1,165,3463,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2912,3501
$GC,3786,-1.10,-146.6,321.0,-6.8,181,3791,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1482,3501
$GC,3842,-1.10,-146.6,324.9,-6.9,183,3849,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2900,3501
$GC,4158,-1.10,-146.6,345.4,-6.1,199,4163,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1484,3501
$GC,4204,-1.10,-146.6,348.3,-6.2,201,4208,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2906,3501
$GC,4525,-1.10,-146.6,368.8,-7.1,217,4529,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1485,3501
$GC,4558,-1.10,-146.6,371.2,-7.3,218,4564,0.00,2.62,0.00,0.000,6,0.000,0.063,2163,2902,3501
$GC,4874,-1.10,-146.6,392.8,-6.9,234,4878,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1483,3501
$GC,4908,-1.10,-146.6,395.2,-7.1,235,4914,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2907,3501
$GC,5224,-1.10,-146.6,418.0,-7.2,251,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2907,3501
$GC,5534,-1.10,-146.6,441.3,-7.8,266,5539,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1480,3501
$GC,5585,-1.10,-146.6,445.1,-7.4,268,5589,0.00,2.65,0.00,0.000,6,0.000,0.065,2163,2903,3501
$GC,5901,-1.10,-146.6,468.6,-7.7,283,5905,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1481,3501
$GC,5968,-1.10,-146.6,473.9,-7.8,286,5972,0.00,2.65,0.00,0.000,6,0.000,0.065,2163,2907,3501
$GC,6289,-1.10,-146.6,499.6,-8.1,302,6292,0.00,1.67,0.00,0.000,4,0.000,0.095,2163,3783,3501
$GC,6390,-1.10,-146.6,507.7,-8.0,306,6393,0.00,1.58,0.00,0.000,6,0.000,0.044,2163,2880,3501
$STATE,6585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6585,begin apogee
$GC,6594,-0.42,0.0,523.3,8.9,316,6727,0.80,0.00,126.32,1.191,6,0.105,0.000,2317,2101,2901
$STATE,6728,end apogee,CONTROL_FINISHED_OK
$STATE,6728,begin climb
$GC,6731,1.10,146.6,529.7,0.0,323,6863,1.58,2.65,122.25,1.167,4,0.061,0.054,2650,692,2303
$GC,7052,1.12,159.6,519.6,5.6,337,7071,0.00,2.50,12.45,1.054,6,0.000,0.037,2650,2113,2250
$GC,7389,1.14,175.9,501.5,5.5,354,7410,0.00,2.65,15.25,1.085,4,0.000,0.069,2650,3504,2184
$GC,7502,1.16,194.1,494.9,5.5,359,7526,0.00,2.47,17.50,1.099,6,0.000,0.038,2650,2093,2109
$GC,7855,1.17,198.3,474.6,5.9,376,7865,0.00,2.67,4.95,0.869,4,0.000,0.066,2650,3505,2092
$GC,7933,1.17,199.6,470.0,6.0,379,7939,0.00,2.47,0.00,0.000,6,0.000,0.039,2650,2103,2092
$GC,8250,1.18,205.7,452.6,5.8,395,8264,0.00,2.67,7.93,1.006,4,0.000,0.066,2650,3497,2062
$GC,8294,1.18,205.7,449.8,7.0,397,8299,0.00,2.47,0.00,0.000,6,0.000,0.042,2649,2101,2062
$GC,8621,1.18,205.7,427.9,6.7,413,8626,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3504,2062
$GC,8649,1.18,205.7,426.0,6.8,414,8653,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2098,2062
$GC,8966,1.18,205.7,402.3,7.3,429,8970,0.00,2.62,0.00,0.000,4,0.000,0.069,2649,3506,2062
$GC,9016,1.18,205.7,398.5,8.0,431,9020,0.00,2.50,0.00,0.000,6,0.000,0.041,2650,2093,2061
$GC,9332,1.18,205.7,376.9,6.7,446,9336,0.00,2.62,0.00,0.000,4,0.000,0.068,2649,3504,2061
$GC,9359,1.18,205.7,375.0,7.3,447,9363,0.00,2.47,0.00,0.000,6,0.000,0.039,2649,2099,2061
$GC,9676,1.18,206.0,356.0,6.0,462,9680,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3504,2061
$GC,9722,1.18,206.0,352.9,7.4,464,9726,0.00,2.47,0.00,0.000,6,0.000,0.040,2650,2100,2061
$GC,10043,1.18,206.0,333.1,6.1,480,10047,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3505,2061
$GC,10065,1.18,206.0,331.7,6.5,481,10069,0.00,2.47,0.00,0.000,6,0.000,0.038,2650,2097,2061
$GC,10386,1.18,210.2,312.6,5.9,497,10397,0.00,2.67,5.25,0.861,4,0.000,0.068,2650,3510,2044
$GC,10414,1.18,210.2,310.7,6.2,498,10418,0.00,2.53,0.00,0.000,6,0.000,0.042,2650,2095,2044
$GC,10730,1.18,210.2,291.6,6.5,513,10735,0.00,2.62,0.00,0.000,4,0.000,0.067,2649,3504,2044
$GC,10781,1.18,210.2,288.1,6.9,515,10785,0.00,2.47,0.00,0.000,6,0.000,0.040,2650,2098,2044
$GC,11097,1.18,210.2,267.0,6.7,530,11101,0.00,2.60,0.00,0.000,4,0.000,0.067,2650,3504,2044
$GC,11130,1.18,210.2,264.6,7.4,531,11136,0.00,2.50,0.00,0.000,6,0.000,0.043,2650,2095,2044
$GC,11446,1.18,210.2,243.6,6.9,547,11451,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3504,2044
$GC,11496,1.18,210.2,240.0,6.6,549,11500,0.00,2.50,0.00,0.000,6,0.000,0.042,2650,2092,2044
$GC,11813,1.18,210.2,218.6,6.7,564,11817,0.00,2.65,0.00,0.000,4,0.000,0.068,2650,3510,2044
$GC,11857,1.18,210.2,215.5,6.6,566,11861,0.00,2.47,0.00,0.000,6,0.000,0.040,2650,2099,2044
$GC,12178,1.18,210.2,194.2,6.5,582,12179,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2098,2044
$GC,12487,1.18,210.2,174.2,6.5,597,12492,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3505,2044
$GC,12537,1.18,210.2,170.7,7.2,599,12542,0.00,2.50,0.00,0.000,6,0.000,0.043,2650,2094,2044
$GC,12853,1.18,210.2,150.0,6.7,614,12858,0.00,2.62,0.00,0.000,4,0.000,0.070,2650,3509,2044
$GC,12895,1.18,210.2,147.2,7.5,616,12899,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2094,2044
$GC,13222,1.18,210.2,124.9,6.8,632,13227,0.00,2.62,0.00,0.000,4,0.000,0.068,2650,3504,2044
$GC,13263,1.18,210.2,122.0,6.7,634,13267,0.00,2.47,0.00,0.000,6,0.000,0.041,2650,2095,2044
$GC,13591,1.19,217.7,101.6,5.8,650,13605,0.00,2.70,8.07,0.836,4,0.000,0.071,2650,3499,2013
$GC,13640,1.19,217.7,98.6,6.4,652,13644,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2094,2013
$GC,13968,1.19,218.9,79.6,6.0,668,13973,0.00,2.62,0.00,0.000,4,0.000,0.067,2650,3504,2013
$GC,14001,1.19,218.9,77.4,6.8,669,14007,0.00,2.50,0.00,0.000,6,0.000,0.044,2650,2093,2013
$GC,14319,1.19,218.9,57.9,6.9,685,14324,0.00,2.67,0.00,0.000,4,0.000,0.072,2650,3511,2013
$GC,14346,1.19,218.9,55.7,7.2,686,14351,0.00,2.50,0.00,0.000,6,0.000,0.042,2650,2100,2013
$GC,14663,1.19,218.9,32.9,6.9,701,14665,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2100,2013
$GC,14972,1.19,218.9,12.2,6.6,716,14976,0.00,2.65,0.00,0.000,4,0.000,0.073,2650,3511,2013
$GC,15022,1.19,218.9,8.4,6.6,718,15026,0.00,2.50,0.00,0.000,6,0.000,0.042,2649,2095,2013
$STATE,15129,end climb,SURFACE_DEPTH_REACHED
$STATE,15129,begin surface coast
$FINISH,-0.4,1.026834
$STATE,15151,end surface coast,CONTROL_FINISHED_OK
$STATE,15151,begin surface
$SM_CCo,15177,69.07,0.821,2,0,1678,300.00
$SM_GC,0.01,0.00,0.00,69.07,0.000,0.000,0.821,48,2892,1678,-10.87,-0.23,300.00
$IRIDIUM_FIX,6126.23,-859.30,090597,010153
$TT8_MAMPS,0.029146
$HUMID,2047
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,425.5,107.7
$24V_AH,22.9,87.173
$10V_AH,10.1,40.419
$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,25.775,190.450,319.975,69.075,0.000,81.768,85.751,343.874,3.750,0.000,0.000,15.194,1383.412,11432.859,576.267,1701.526,891.185,0.000,1473.999,0.000,1673.070,0.000,23.475
$DEVICE_MAMPS,155.701,100.477,1191.151,821.457,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,526.959,508.356,513.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34884,724
$CFSIZE,260165632,230334464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
$GPS,130208,051838,6147.403,-847.467,38,1.2,38,-9.2