version: 66.02
glider: 103
mission: 7
dive: 523
start: 2 13 108 5 25 23
data:
$ID,103
$MISSION,7
$DIVE,523
$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,-73731.164
$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,25
$R_STBD_OVSHOOT,10
$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
$GPS1,051838,6147.403,-847.467,38,1.2,38,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-56.8
$GPS2,052451,6147.330,-847.503,13,1.1,13,-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,179.2,38231,-11.1,-6.000
$D_GRID,607
$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,22,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,88,0.00,0.00,-60.78,0.000,2,0.000,0.000,47,2893,3439
$GC,92,-1.10,-146.6,4.0,-9.0,3,114,12.07,2.60,-1.08,0.000,4,0.160,0.071,2165,1498,3502
$GC,277,-1.10,-146.6,27.2,-7.1,11,282,0.00,2.65,0.00,0.000,6,0.000,0.072,2165,2904,3502
$GC,598,-1.10,-146.6,51.1,-6.8,27,603,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1493,3503
$GC,632,-1.10,-146.6,53.6,-7.5,28,638,0.00,2.62,0.00,0.000,6,0.000,0.069,2165,2900,3503
$GC,950,-1.10,-146.6,76.6,-7.0,44,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,1257,-1.10,-146.6,99.2,-7.2,59,1262,0.00,2.62,0.00,0.000,4,0.000,0.066,2165,1483,3502
$GC,1313,-1.10,-146.6,103.4,-7.4,61,1320,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2903,3503
$GC,1630,-1.10,-146.6,126.8,-7.8,77,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,1939,-1.10,-146.6,149.5,-7.1,92,1947,0.00,2.60,0.00,0.000,4,0.000,0.065,2165,1492,3503
$GC,1981,-1.10,-146.6,152.6,-7.5,93,1987,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2901,3503
$GC,2297,-1.10,-146.6,174.7,-7.1,109,2305,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1491,3503
$GC,2323,-1.10,-146.6,176.6,-7.1,110,2328,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2909,3503
$GC,2651,-1.10,-146.6,200.1,-7.5,126,2655,0.00,2.62,0.00,0.000,4,0.000,0.064,2165,1484,3503
$GC,2684,-1.10,-146.6,202.8,-7.7,127,2690,0.00,2.67,0.00,0.000,6,0.000,0.071,2165,2906,3503
$GC,3000,-1.10,-146.6,226.9,-7.8,143,3005,0.00,2.60,0.00,0.000,4,0.000,0.062,2165,1489,3503
$GC,3030,-1.10,-146.6,229.1,-8.0,144,3034,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2903,3503
$GC,3346,-1.10,-146.6,253.5,-7.8,159,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3503
$GC,3655,-1.10,-146.6,277.0,-7.3,174,3660,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1491,3503
$GC,3701,-1.10,-146.6,280.5,-7.7,176,3705,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3503
$GC,4022,-1.10,-146.6,303.3,-7.4,192,4026,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1491,3503
$GC,4056,-1.10,-146.6,305.8,-6.9,193,4061,0.00,2.62,0.00,0.000,6,0.000,0.068,2165,2900,3503
$GC,4371,-1.10,-146.6,329.6,-7.4,209,4376,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1484,3503
$GC,4399,-1.10,-146.6,331.8,-7.6,210,4404,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2900,3503
$GC,4716,-1.10,-146.6,354.0,-6.5,225,4720,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1487,3503
$GC,4755,-1.10,-146.6,356.5,-6.5,227,4760,0.00,2.62,0.00,0.000,6,0.000,0.066,2165,2904,3503
$GC,5083,-1.10,-146.6,379.3,-7.6,243,5087,0.00,2.53,0.00,0.000,4,0.000,0.054,2165,1490,3502
$GC,5127,-1.10,-146.6,382.8,-7.5,245,5131,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2901,3503
$GC,5448,-1.10,-146.6,405.7,-7.2,261,5452,0.00,2.55,0.00,0.000,4,0.000,0.053,2165,1485,3503
$GC,5477,-1.10,-146.6,407.9,-7.7,262,5481,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2905,3503
$GC,5793,-1.10,-146.6,430.8,-7.4,277,5797,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1492,3503
$GC,5833,-1.10,-146.6,433.7,-7.9,279,5837,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2899,3503
$GC,6159,-1.10,-146.6,456.0,-6.5,295,6163,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1485,3503
$GC,6187,-1.10,-146.6,457.9,-6.5,296,6191,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2904,3503
$GC,6503,-1.10,-146.6,477.6,-6.1,311,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2904,3503
$GC,6813,-1.10,-146.6,497.2,-6.4,326,6817,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1482,3503
$GC,6898,-1.10,-146.6,502.6,-6.8,330,6902,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2899,3503
$GC,7225,-1.10,-146.6,522.3,-6.1,346,7229,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1482,3503
$GC,7258,-1.10,-146.6,524.4,-6.5,347,7264,0.00,2.65,0.00,0.000,6,0.000,0.067,2165,2908,3503
$GC,7574,-1.10,-146.6,544.8,-7.2,363,7578,0.00,2.55,0.00,0.000,4,0.000,0.057,2165,1482,3503
$GC,7675,-1.10,-146.6,551.5,-6.5,367,7681,0.00,2.65,0.00,0.000,6,0.000,0.068,2165,2903,3503
$GC,7991,-1.10,-146.6,575.0,-7.5,383,7995,0.00,1.70,0.00,0.000,4,0.000,0.095,2165,3777,3503
$GC,8043,-1.10,-146.6,579.2,-8.1,385,8046,0.00,1.55,0.00,0.000,6,0.000,0.043,2165,2900,3503
$GC,8370,-1.10,-146.6,603.2,-6.7,401,8374,0.00,2.53,0.00,0.000,4,0.000,0.058,2165,1483,3503
$GC,8421,-1.10,-146.6,606.7,-7.5,403,8425,0.00,2.15,0.00,0.000,3,0.000,0.067,2165,2650,3503
$STATE,8426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8426,begin apogee
$GC,8435,-0.42,0.0,607.1,7.5,403,8567,0.75,0.00,128.52,1.257,6,0.098,0.000,2314,2103,2901
$STATE,8568,end apogee,CONTROL_FINISHED_OK
$STATE,8568,begin climb
$GC,8571,1.10,146.6,613.2,0.0,410,8704,1.58,2.67,124.60,1.219,4,0.060,0.059,2648,685,2303
$GC,8859,1.13,167.9,605.1,5.4,423,8884,0.00,2.53,19.80,1.164,6,0.000,0.038,2648,2112,2216
$GC,9201,1.14,173.6,586.0,5.8,440,9214,0.00,2.65,6.32,1.002,4,0.000,0.070,2648,3510,2193
$GC,9295,1.14,173.6,580.2,6.2,444,9300,0.00,2.53,0.00,0.000,6,0.000,0.039,2648,2087,2193
$GC,9617,1.15,183.9,561.4,5.7,460,9632,0.00,2.72,10.15,1.133,4,0.000,0.070,2648,3502,2151
$GC,9686,1.15,183.9,557.4,6.2,462,9690,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2101,2151
$GC,10007,1.15,185.9,539.4,5.9,478,10011,0.00,2.58,0.00,0.000,4,0.000,0.061,2648,694,2150
$GC,10035,1.15,185.9,537.6,6.8,479,10040,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2102,2150
$GC,10352,1.18,208.2,519.5,5.4,494,10381,0.00,2.75,21.73,1.209,4,0.000,0.070,2648,3508,2052
$GC,10434,1.18,208.2,514.5,6.2,497,10440,0.00,2.53,0.00,0.000,6,0.000,0.042,2648,2098,2052
$GC,10750,1.18,210.9,495.8,5.9,513,10759,0.00,2.67,4.05,0.838,4,0.000,0.067,2648,3514,2041
$GC,10790,1.19,220.7,493.4,5.7,514,10805,0.00,2.53,10.05,1.101,6,0.000,0.042,2648,2099,2001
$GC,11122,1.19,220.7,472.7,6.4,531,11126,0.00,2.65,0.00,0.000,4,0.000,0.068,2648,3511,2000
$GC,11154,1.19,220.7,470.5,6.4,532,11161,0.00,2.50,0.00,0.000,6,0.000,0.042,2648,2102,2000
$GC,11471,1.19,220.7,450.6,6.1,548,11475,0.00,2.65,0.00,0.000,4,0.000,0.069,2648,3515,2000
$GC,11498,1.19,220.7,448.7,7.1,549,11503,0.00,2.53,0.00,0.000,6,0.000,0.043,2648,2096,2000
$GC,11814,1.19,220.7,427.7,6.8,564,11819,0.00,2.65,0.00,0.000,4,0.000,0.070,2648,3514,2000
$GC,11855,1.19,220.7,424.7,7.3,566,11859,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2092,2000
$GC,12181,1.19,220.7,401.4,7.5,582,12186,0.00,2.65,0.00,0.000,4,0.000,0.068,2648,3508,2001
$GC,12215,1.19,220.7,398.9,7.3,583,12221,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2098,2001
$GC,12531,1.19,220.7,375.7,6.9,599,12536,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3508,2001
$GC,12572,1.19,220.7,372.8,7.0,601,12576,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2097,2001
$GC,12899,1.19,220.7,351.3,6.3,617,12903,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3509,2001
$GC,12949,1.19,220.7,347.9,7.3,619,12953,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2101,2001
$GC,13265,1.19,220.7,327.5,6.3,634,13269,0.00,2.60,0.00,0.000,4,0.000,0.064,2648,3509,2001
$GC,13298,1.19,220.7,325.2,6.5,635,13304,0.00,2.47,0.00,0.000,6,0.000,0.039,2648,2097,2001
$GC,13615,1.19,220.7,304.8,6.5,651,13616,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2097,2002
$GC,13924,1.19,220.7,284.8,6.4,666,13928,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3514,2002
$GC,13974,1.19,220.7,281.2,6.7,668,13978,0.00,2.50,0.00,0.000,6,0.000,0.040,2648,2100,2002
$GC,14290,1.19,220.7,261.5,6.5,683,14295,0.00,2.65,0.00,0.000,4,0.000,0.069,2648,3515,2002
$GC,14330,1.19,220.7,258.8,6.9,685,14335,0.00,2.50,0.00,0.000,6,0.000,0.041,2648,2092,2002
$GC,14658,1.19,220.7,237.8,6.6,701,14662,0.00,2.65,0.00,0.000,4,0.000,0.069,2648,3507,2002
$GC,14698,1.19,220.7,235.1,6.7,703,14702,0.00,2.50,0.00,0.000,6,0.000,0.044,2648,2095,2002
$GC,15026,1.19,220.7,213.5,6.7,719,15027,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2095,2003
$GC,15334,1.19,220.7,192.9,7.0,734,15338,0.00,2.65,0.00,0.000,4,0.000,0.072,2648,3508,2003
$GC,15390,1.19,220.7,188.8,7.8,736,15396,0.00,2.53,0.00,0.000,6,0.000,0.047,2648,2093,2003
$GC,15706,1.19,220.7,168.1,6.2,752,15710,0.00,2.65,0.00,0.000,4,0.000,0.071,2648,3508,2003
$GC,15739,1.20,226.8,165.9,5.8,753,15754,0.12,2.50,7.40,0.843,6,0.046,0.044,2688,2098,1976
$GC,16079,1.20,226.8,143.3,6.7,770,16080,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2098,1976
$GC,16387,1.20,226.8,122.3,6.6,785,16391,0.00,2.65,0.00,0.000,4,0.000,0.071,2688,3507,1976
$GC,16414,1.20,226.8,120.1,7.8,786,16419,0.00,2.53,0.00,0.000,6,0.000,0.050,2688,2105,1976
$GC,16732,1.21,236.8,98.4,5.7,801,16746,0.00,2.62,9.75,0.844,4,0.000,0.063,2688,691,1935
$GC,16764,1.21,236.8,96.0,8.2,801,16770,0.00,2.50,0.00,0.000,6,0.000,0.044,2688,2095,1935
$GC,17080,1.21,236.8,71.0,8.6,817,17084,0.00,2.67,0.00,0.000,4,0.000,0.076,2688,3514,1935
$GC,17108,1.21,236.8,68.4,9.9,818,17112,0.00,2.55,0.00,0.000,6,0.000,0.047,2688,2091,1934
$GC,17426,1.21,236.8,43.7,8.8,833,17430,0.00,2.55,0.00,0.000,4,0.000,0.063,2688,691,1935
$GC,17459,1.21,236.8,40.2,9.1,834,17465,0.00,2.50,0.00,0.000,6,0.000,0.043,2688,2110,1935
$GC,17776,1.21,236.8,13.3,9.1,850,17780,0.00,2.62,0.00,0.000,4,0.000,0.077,2688,3507,1935
$GC,17809,1.21,236.8,9.9,10.5,851,17815,0.00,2.53,0.00,0.000,6,0.000,0.050,2688,2092,1935
$STATE,17916,end climb,SURFACE_DEPTH_REACHED
$STATE,17916,begin surface coast
$FINISH,0.6,1.026876
$STATE,17939,end surface coast,CONTROL_FINISHED_OK
$STATE,17939,begin surface
$SM_CCo,17965,53.95,0.805,2,0,1678,300.00
$SM_GC,0.43,0.00,0.00,53.95,0.000,0.000,0.805,39,2895,1678,-10.91,-0.17,300.00
$IRIDIUM_FIX,6126.23,-854.81,090597,010153
$TT8_MAMPS,0.029146
$HUMID,2055
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,22.8,87.316
$10V_AH,10.1,40.504
$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,26.000,222.800,342.375,53.950,0.000,38.895,38.018,155.986,5.250,0.000,0.000,13.289,1619.185,13615.444,577.051,1945.930,657.483,0.000,1606.770,0.000,1911.721,0.000,31.718
$DEVICE_MAMPS,159.536,95.108,1257.113,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,627.774,598.662,545.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44230,858
$CFSIZE,260165632,230248448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,2,0
$GPS,130208,102727,6143.004,-849.451,35,2.6,54,-9.2