version: 66.02
glider: 103
mission: 7
dive: 435
start: 1 27 108 18 56 59
data:
$ID,103
$MISSION,7
$DIVE,435
$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,-70904.18
$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,17
$R_STBD_OVSHOOT,16
$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
$GPS1,185031,6142.814,-913.341,37,1.2,43,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-52.4
$GPS2,185627,6142.837,-913.316,15,1.4,15,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$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,173.8,43917,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,103,0.00,0.00,-76.00,0.000,2,0.000,0.000,48,2898,3450
$GC,107,-1.10,-146.6,3.4,-5.2,4,129,11.95,1.75,-0.90,0.000,4,0.157,0.106,2163,3783,3501
$GC,247,-1.10,-146.6,23.1,-9.4,10,251,0.00,1.60,0.00,0.000,6,0.000,0.053,2163,2889,3501
$GC,575,-1.10,-146.6,48.2,-6.4,26,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2889,3502
$GC,884,-1.10,-146.6,77.7,-10.2,41,888,0.00,2.60,0.00,0.000,4,0.000,0.071,2163,1487,3502
$GC,934,-1.10,-146.6,81.5,-6.3,43,938,0.00,2.67,0.00,0.000,6,0.000,0.074,2163,2898,3501
$GC,1250,-1.10,-146.6,103.6,-7.0,58,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2898,3502
$GC,1559,-1.10,-146.6,123.8,-6.2,73,1563,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1490,3501
$GC,1586,-1.10,-146.6,125.7,-6.7,74,1590,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2907,3502
$GC,1904,-1.10,-146.6,148.6,-7.1,89,1908,0.00,2.60,0.00,0.000,4,0.000,0.060,2163,1484,3501
$GC,1936,-1.10,-146.6,150.9,-6.7,90,1942,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2906,3502
$GC,2252,-1.10,-146.6,171.5,-6.6,106,2256,0.00,2.58,0.00,0.000,4,0.000,0.064,2164,1491,3502
$GC,2279,-1.10,-146.6,173.4,-6.6,107,2283,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2900,3501
$GC,2595,-1.10,-146.6,194.5,-6.5,122,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,2904,-1.10,-146.6,214.0,-6.3,137,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,3214,-1.10,-146.6,234.9,-7.5,152,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,3522,-1.10,-146.6,258.9,-7.9,167,3527,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1489,3501
$GC,3557,-1.10,-146.6,261.8,-8.5,168,3563,0.00,2.62,0.00,0.000,6,0.000,0.067,2163,2902,3502
$GC,3873,-1.10,-146.6,288.7,-8.8,184,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,4182,-1.10,-146.6,317.1,-9.5,199,4186,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1486,3501
$GC,4222,-1.10,-146.6,320.6,-8.9,201,4226,0.00,2.62,0.00,0.000,6,0.000,0.069,2164,2900,3501
$GC,4548,-1.10,-146.6,348.8,-8.4,217,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3501
$GC,4858,-1.10,-146.6,375.5,-8.1,232,4862,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1490,3502
$GC,4903,-1.10,-146.6,379.2,-7.8,234,4907,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2904,3501
$GC,5224,-1.10,-146.6,404.7,-7.8,250,5228,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1482,3502
$GC,5251,-1.10,-146.6,407.0,-8.0,251,5255,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2900,3501
$GC,5567,-1.10,-146.6,431.0,-7.3,266,5571,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1487,3502
$GC,5629,-1.10,-146.6,435.6,-8.1,269,5634,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2901,3501
$GC,5955,-1.10,-146.6,458.8,-6.3,285,5959,0.00,1.67,0.00,0.000,4,0.000,0.086,2163,3790,3501
$GC,5979,-1.10,-146.6,460.4,-6.9,286,5983,0.00,1.55,0.00,0.000,6,0.000,0.041,2163,2905,3501
$GC,6312,-1.10,-146.6,484.7,-8.1,302,6316,0.00,2.53,0.00,0.000,4,0.000,0.054,2163,1482,3501
$GC,6333,-1.10,-146.6,486.8,-9.0,303,6338,0.00,2.62,0.00,0.000,6,0.000,0.061,2164,2909,3501
$GC,6654,-1.10,-146.6,514.5,-9.0,319,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3501
$GC,6963,-1.10,-146.6,544.3,-10.7,334,6967,0.00,1.62,0.00,0.000,4,0.000,0.081,2163,3784,3501
$GC,7064,-1.10,-146.6,556.1,-12.4,338,7068,0.00,1.52,0.00,0.000,6,0.000,0.035,2163,2903,3501
$GC,7385,-1.10,-146.6,590.4,-9.1,354,7390,0.00,2.50,0.00,0.000,4,0.000,0.049,2163,1481,3501
$GC,7413,-1.10,-146.6,592.9,-8.9,355,7418,0.00,2.58,0.00,0.000,6,0.000,0.056,2163,2902,3501
$GC,7729,-1.10,-146.6,615.5,-7.6,370,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,8038,-1.10,-146.6,644.7,-9.9,385,8042,0.00,1.65,0.00,0.000,4,0.000,0.081,2163,3789,3501
$GC,8071,-1.10,-146.6,648.3,-10.4,386,8075,0.00,1.55,0.00,0.000,6,0.000,0.034,2163,2893,3501
$GC,8393,-1.10,-146.6,681.4,-9.5,402,8397,0.00,2.47,0.00,0.000,4,0.000,0.054,2163,1492,3502
$GC,8482,-1.10,-146.6,690.1,-9.1,406,8487,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2900,3501
$GC,8804,-1.10,-146.6,717.6,-8.1,422,8808,0.00,2.53,0.00,0.000,4,0.000,0.056,2163,1495,3501
$GC,8921,-1.10,-146.6,722.3,-2.8,427,8926,0.00,2.60,0.00,0.000,6,0.000,0.064,2163,2901,3501
$GC,9238,-1.10,-146.6,728.6,-3.7,442,9242,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1489,3501
$GC,9248,-1.10,-146.6,729.1,-3.9,442,9254,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2908,3501
$GC,9564,-1.10,-146.6,746.5,-4.4,458,9568,0.00,1.67,0.00,0.000,4,0.000,0.087,2163,3782,3501
$GC,9766,-1.10,-146.6,752.8,-2.8,467,9770,0.00,1.52,0.00,0.000,6,0.000,0.041,2163,2911,3501
$STATE,10096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10096,begin apogee
$GC,10105,-0.42,0.0,776.6,7.5,483,10239,0.77,0.00,127.28,1.386,6,0.102,0.000,2315,2102,2901
$STATE,10239,end apogee,CONTROL_FINISHED_OK
$STATE,10240,begin climb
$GC,10242,1.10,146.6,787.7,0.0,490,10374,1.58,2.67,123.03,1.362,4,0.061,0.063,2648,684,2303
$GC,10569,1.10,146.6,774.4,20.0,505,10573,0.00,2.50,0.00,0.000,6,0.000,0.039,2649,2108,2302
$GC,10896,1.32,322.8,742.0,1.1,521,11055,0.17,2.70,148.65,1.355,4,0.038,0.074,2704,3498,1584
$GC,11117,1.46,433.2,741.7,2.9,531,11218,0.10,2.53,94.65,1.305,6,0.053,0.046,2733,2091,1134
$GC,11540,1.46,433.2,705.3,9.3,552,11544,0.00,2.67,0.00,0.000,4,0.000,0.074,2733,3509,1131
$GC,11584,1.46,433.2,701.4,8.1,554,11588,0.00,2.50,0.00,0.000,6,0.000,0.041,2733,2101,1131
$GC,11905,1.46,433.2,675.8,7.8,570,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2101,1130
$GC,12213,1.46,433.2,648.4,11.2,585,12218,0.00,2.60,0.00,0.000,4,0.000,0.065,2733,3505,1130
$GC,12224,1.46,433.2,647.0,11.8,585,12230,0.00,2.45,0.00,0.000,6,0.000,0.035,2733,2094,1130
$GC,12540,1.46,433.2,613.9,9.2,601,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2093,1130
$GC,12850,1.58,532.6,600.1,3.3,616,12935,0.00,0.00,83.47,1.263,6,0.000,0.000,2733,2093,729
$GC,13241,1.58,532.6,567.3,12.4,635,13245,0.00,2.62,0.00,0.000,4,0.000,0.067,2733,3505,729
$GC,13267,1.58,532.6,564.1,11.4,636,13272,0.00,2.45,0.00,0.000,6,0.000,0.036,2733,2103,729
$GC,13584,1.58,532.6,517.7,15.5,651,13589,0.00,2.62,0.00,0.000,4,0.000,0.065,2732,3513,729
$GC,13624,1.58,532.6,511.0,17.2,653,13628,0.00,2.47,0.00,0.000,6,0.000,0.038,2733,2100,729
$GC,13951,1.58,532.6,458.3,16.4,669,13955,0.00,2.65,0.00,0.000,4,0.000,0.071,2733,3509,729
$GC,14000,1.58,532.6,450.1,14.9,671,14004,0.00,2.47,0.00,0.000,6,0.000,0.041,2733,2103,729
$GC,14321,1.58,532.6,398.0,16.6,687,14326,0.00,2.65,0.00,0.000,4,0.000,0.072,2733,3508,729
$GC,14371,1.58,532.6,389.4,16.4,689,14376,0.00,2.50,0.00,0.000,6,0.000,0.044,2733,2101,729
$GC,14687,1.58,532.6,336.8,16.1,704,14691,0.00,2.65,0.00,0.000,4,0.000,0.074,2733,3508,729
$GC,14731,1.58,532.6,329.3,16.7,706,14735,0.00,2.50,0.00,0.000,6,0.000,0.045,2733,2101,729
$GC,15058,1.58,532.6,278.2,15.7,722,15062,0.00,2.67,0.00,0.000,4,0.000,0.077,2733,3507,729
$GC,15097,1.58,532.6,271.8,15.4,724,15101,0.00,2.53,0.00,0.000,6,0.000,0.048,2733,2093,729
$GC,15423,1.58,532.6,222.1,15.3,740,15428,0.00,2.67,0.00,0.000,4,0.000,0.075,2733,3505,729
$GC,15467,1.58,532.6,215.0,15.5,742,15472,0.00,2.55,0.00,0.000,6,0.000,0.051,2733,2093,729
$GC,15789,1.58,532.6,164.8,15.6,758,15793,0.00,2.67,0.00,0.000,4,0.000,0.076,2733,3506,729
$GC,15839,1.58,532.6,156.7,16.1,760,15843,0.00,2.53,0.00,0.000,6,0.000,0.049,2733,2101,729
$GC,16155,1.58,532.6,110.0,14.4,775,16159,0.00,2.67,0.00,0.000,4,0.000,0.076,2733,3511,729
$GC,16196,1.58,532.6,104.1,14.0,777,16200,0.00,2.53,0.00,0.000,6,0.000,0.050,2733,2100,729
$GC,16522,1.58,532.6,55.1,15.0,793,16527,0.00,2.67,0.00,0.000,4,0.000,0.078,2733,3504,730
$GC,16563,1.58,532.6,48.9,13.9,795,16567,0.00,2.50,0.00,0.000,6,0.000,0.049,2733,2101,730
$STATE,16887,end climb,SURFACE_DEPTH_REACHED
$STATE,16887,begin surface coast
$FINISH,-0.8,1.027334
$STATE,16910,end surface coast,CONTROL_FINISHED_OK
$STATE,16913,begin surface
$SM_CCo,16997,0.00,0.000,0,0,730,532.55
$SM_GC,-0.40,11.88,0.00,0.00,0.032,0.000,0.000,38,2891,730,-10.80,-0.25,532.55
$IRIDIUM_FIX,6121.73,-907.57,220497,141430
$TT8_MAMPS,0.028379
$HUMID,2095
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,750.0,63.3
$24V_AH,23.1,72.621
$10V_AH,10.1,33.719
$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,26.450,163.850,577.075,0.000,0.000,39.780,35.252,153.703,7.250,0.000,0.000,15.077,1500.212,12786.591,639.213,1875.592,562.625,0.000,1644.569,0.000,1830.957,0.000,44.398
$DEVICE_MAMPS,157.235,105.846,1385.969,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,595.706,559.644,468.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41072,812
$CFSIZE,260165632,235053056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,270108,234132,6141.654,-912.854,41,1.9,41,-9.4