version: 66.02
glider: 103
mission: 7
dive: 430
start: 1 26 108 17 35 11
data:
$ID,103
$MISSION,7
$DIVE,430
$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,-70827.164
$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,29
$R_STBD_OVSHOOT,14
$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
$GPS1,172838,6151.400,-916.810,27,1.7,27,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-56.6
$GPS2,173439,6151.326,-916.800,15,1.7,15,-9.5
$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,175.1,59905,-11.1,-6.000
$D_GRID,662
$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,21,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,107,0.00,0.00,-79.25,0.000,6,0.000,0.000,46,2903,3501
$GC,110,-1.10,-146.6,4.6,-7.8,4,126,11.90,1.73,0.00,0.000,4,0.156,0.084,2163,3785,3503
$GC,379,-1.10,-146.6,33.9,-4.6,15,383,0.00,1.58,0.00,0.000,6,0.000,0.056,2163,2910,3503
$GC,706,-1.10,-146.6,58.6,-8.6,31,710,0.00,1.73,0.00,0.000,4,0.000,0.097,2163,3787,3503
$GC,858,-1.10,-146.6,67.8,-6.7,37,864,0.00,1.60,0.00,0.000,6,0.000,0.052,2163,2909,3503
$GC,1175,-1.10,-146.6,97.7,-10.6,53,1180,0.00,2.62,0.00,0.000,4,0.000,0.067,2163,1480,3503
$GC,1225,-1.10,-146.6,102.9,-9.7,55,1230,0.00,2.67,0.00,0.000,6,0.000,0.070,2163,2902,3503
$GC,1543,-1.10,-146.6,126.6,-6.5,70,1547,0.00,2.62,0.00,0.000,4,0.000,0.065,2163,1485,3503
$GC,1576,-1.10,-146.6,129.2,-7.2,71,1582,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2902,3503
$GC,1894,-1.10,-146.6,145.3,-4.6,87,1898,0.00,2.62,0.00,0.000,4,0.000,0.064,2163,1480,3503
$GC,1927,-1.10,-146.6,146.5,-3.3,88,1934,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2903,3503
$GC,2243,-1.10,-146.6,167.4,-8.0,104,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3503
$GC,2552,-1.10,-146.6,195.3,-9.3,119,2556,0.00,2.60,0.00,0.000,4,0.000,0.062,2163,1484,3503
$GC,2596,-1.10,-146.6,199.4,-9.6,121,2601,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2900,3503
$GC,2917,-1.10,-146.6,223.7,-7.4,137,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3503
$GC,3227,-1.10,-146.6,244.9,-6.8,152,3231,0.00,2.58,0.00,0.000,4,0.000,0.061,2163,1482,3503
$GC,3271,-1.10,-146.6,248.2,-6.8,154,3276,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2902,3503
$GC,3592,-1.10,-146.6,270.7,-7.2,170,3596,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1476,3503
$GC,3641,-1.10,-146.6,274.4,-7.5,172,3645,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2900,3503
$GC,3957,-1.10,-146.6,299.7,-7.7,187,3961,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1480,3503
$GC,3984,-1.10,-146.6,301.8,-7.8,188,3988,0.00,2.62,0.00,0.000,6,0.000,0.066,2163,2900,3503
$GC,4304,-1.10,-146.6,324.8,-7.3,204,4309,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1483,3503
$GC,4338,-1.10,-146.6,327.4,-7.8,205,4342,0.00,2.62,0.00,0.000,6,0.000,0.065,2163,2899,3503
$GC,4654,-1.10,-146.6,351.2,-8.0,220,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3503
$GC,4963,-1.10,-146.6,375.0,-7.6,235,4968,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1480,3503
$GC,5013,-1.10,-146.6,379.0,-8.2,237,5018,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2900,3503
$GC,5329,-1.10,-146.6,402.8,-7.3,252,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3503
$GC,5639,-1.10,-146.6,425.5,-7.5,267,5643,0.00,2.58,0.00,0.000,4,0.000,0.057,2163,1477,3503
$GC,5683,-1.10,-146.6,428.9,-7.5,269,5688,0.00,2.62,0.00,0.000,6,0.000,0.059,2163,2909,3503
$GC,6005,-1.10,-146.6,451.5,-6.9,285,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3503
$GC,6313,-1.10,-146.6,473.6,-7.0,300,6318,0.00,2.55,0.00,0.000,4,0.000,0.051,2163,1475,3503
$GC,6358,-1.10,-146.6,477.2,-7.9,302,6362,0.00,2.58,0.00,0.000,6,0.000,0.056,2163,2900,3503
$GC,6679,-1.10,-146.6,502.1,-8.1,318,6682,0.00,1.65,0.00,0.000,4,0.000,0.084,2163,3783,3503
$GC,6785,-1.10,-146.6,510.7,-8.4,322,6791,0.00,1.55,0.00,0.000,6,0.000,0.037,2163,2896,3503
$GC,7101,-1.10,-146.6,533.4,-7.2,338,7104,0.00,1.67,0.00,0.000,4,0.000,0.078,2163,3785,3503
$GC,7124,-1.10,-146.6,535.2,-7.9,339,7127,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2899,3503
$GC,7456,-1.10,-146.6,559.4,-7.5,355,7461,0.00,2.47,0.00,0.000,4,0.000,0.047,2163,1483,3503
$GC,7507,-1.10,-146.6,563.3,-7.8,357,7511,0.00,2.58,0.00,0.000,6,0.000,0.055,2163,2901,3503
$GC,7822,-1.10,-146.6,585.7,-7.1,372,7827,0.00,2.47,0.00,0.000,4,0.000,0.043,2163,1480,3503
$GC,7850,-1.10,-146.6,587.6,-6.7,373,7854,0.00,2.58,0.00,0.000,6,0.000,0.054,2163,2909,3503
$GC,8171,-1.10,-146.6,608.8,-5.9,389,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2909,3503
$GC,8480,-1.10,-146.6,627.0,-6.3,404,8484,0.00,2.50,0.00,0.000,4,0.000,0.041,2163,1482,3503
$GC,8626,-1.10,-146.6,634.5,-4.9,410,8631,0.00,2.58,0.00,0.000,6,0.000,0.055,2163,2901,3503
$GC,8942,-1.10,-146.6,655.1,-7.3,425,8945,0.00,1.65,0.00,0.000,4,0.000,0.081,2164,3788,3503
$GC,8997,-1.10,-146.6,658.7,-6.1,427,9001,0.00,1.55,0.00,0.000,6,0.000,0.038,2163,2886,3503
$STATE,9069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9069,begin apogee
$GC,9078,-0.42,0.0,662.6,5.2,431,9211,0.75,0.00,127.30,1.299,6,0.079,0.000,2317,2102,2901
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9212,begin climb
$GC,9215,1.10,146.6,667.4,0.0,438,9346,1.55,2.65,122.43,1.277,4,0.055,0.060,2651,705,2303
$GC,9457,1.18,206.3,664.3,4.3,449,9515,0.00,2.47,51.30,1.259,6,0.000,0.036,2651,2112,2059
$GC,9827,1.18,206.3,640.1,6.8,467,9831,0.00,2.55,0.00,0.000,4,0.000,0.064,2651,3500,2057
$GC,9927,1.18,206.3,631.9,8.6,471,9933,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2097,2057
$GC,10243,1.18,206.3,610.5,6.7,487,10247,0.00,2.55,0.00,0.000,4,0.000,0.061,2651,699,2056
$GC,10287,1.18,206.3,607.3,6.9,489,10291,0.00,2.45,0.00,0.000,6,0.000,0.037,2651,2099,2055
$GC,10608,1.18,206.3,585.8,6.7,505,10613,0.00,2.58,0.00,0.000,4,0.000,0.062,2651,3505,2054
$GC,10648,1.18,206.3,582.8,7.5,507,10652,0.00,2.45,0.00,0.000,6,0.000,0.037,2651,2099,2054
$GC,10974,1.18,206.3,560.8,6.5,523,10979,0.00,2.58,0.00,0.000,4,0.000,0.061,2651,3507,2052
$GC,11038,1.18,206.3,556.9,6.2,526,11042,0.00,2.45,0.00,0.000,6,0.000,0.037,2651,2100,2052
$GC,11364,1.18,206.3,537.0,6.2,542,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,2052
$GC,11674,1.18,206.3,515.9,6.5,557,11678,0.00,2.55,0.00,0.000,4,0.000,0.059,2651,3502,2052
$GC,11729,1.18,206.3,511.0,8.8,559,11735,0.00,2.45,0.00,0.000,6,0.000,0.035,2651,2094,2051
$GC,12045,1.18,206.3,489.2,6.7,575,12049,0.00,2.55,0.00,0.000,4,0.000,0.060,2651,3503,2051
$GC,12068,1.18,213.1,487.8,5.8,576,12079,0.00,2.42,5.88,0.983,6,0.000,0.034,2651,2100,2032
$GC,12395,1.18,213.1,465.8,7.2,592,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2100,2032
$GC,12704,1.18,213.1,443.0,7.3,607,12708,0.00,2.60,0.00,0.000,4,0.000,0.063,2651,3508,2032
$GC,12732,1.18,213.1,440.8,8.3,608,12736,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,2097,2032
$GC,13048,1.18,213.1,419.2,6.3,623,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2097,2033
$GC,13357,1.18,213.1,398.5,7.0,638,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2097,2033
$GC,13666,1.18,213.1,376.0,7.4,653,13671,0.00,2.62,0.00,0.000,4,0.000,0.067,2651,3507,2034
$GC,13699,1.18,213.1,373.4,7.9,654,13705,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2098,2034
$GC,14015,1.18,213.1,351.0,7.2,670,14016,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,2034
$GC,14324,1.18,213.1,326.3,8.2,685,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,2035
$GC,14633,1.18,213.1,302.0,6.6,700,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,2035
$GC,14943,1.18,213.1,280.5,7.2,715,14944,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,2036
$GC,15251,1.18,213.1,258.2,8.1,730,15253,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,2036
$GC,15561,1.18,213.1,233.0,8.2,745,15562,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,2037
$GC,15870,1.18,213.1,207.5,7.6,760,15875,0.00,2.60,0.00,0.000,4,0.000,0.065,2651,3503,2037
$GC,15910,1.18,213.1,203.9,9.1,762,15914,0.00,2.47,0.00,0.000,6,0.000,0.044,2651,2099,2037
$GC,16236,1.18,213.1,178.9,9.1,778,16238,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2099,2037
$GC,16546,1.18,213.1,150.6,7.8,793,16551,0.00,2.60,0.00,0.000,4,0.000,0.067,2651,3501,2037
$GC,16568,1.18,213.1,149.1,7.0,794,16572,0.00,2.47,0.00,0.000,6,0.000,0.045,2651,2100,2037
$GC,16892,1.20,225.4,126.6,5.7,810,16913,0.00,2.67,12.68,0.890,4,0.000,0.067,2651,3501,1982
$GC,16925,1.20,225.4,124.3,6.4,811,16929,0.00,2.53,0.00,0.000,6,0.000,0.046,2651,2098,1981
$GC,17241,1.20,225.4,100.1,8.0,826,17242,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,1982
$GC,17550,1.22,239.7,79.0,5.6,841,17573,0.12,2.70,12.80,0.871,4,0.044,0.071,2691,3494,1923
$GC,17597,1.22,239.7,75.1,9.2,843,17601,0.00,2.50,0.00,0.000,6,0.000,0.047,2690,2100,1923
$GC,17924,1.22,239.7,50.7,7.1,859,17928,0.00,2.58,0.00,0.000,4,0.000,0.062,2691,691,1923
$GC,17968,1.22,239.7,47.3,6.8,861,17972,0.00,2.47,0.00,0.000,6,0.000,0.042,2691,2096,1923
$GC,18289,1.23,246.9,21.6,5.8,877,18299,0.00,0.00,7.43,0.790,6,0.000,0.000,2691,2097,1894
$STATE,18535,end climb,SURFACE_DEPTH_REACHED
$STATE,18535,begin surface coast
$FINISH,-0.2,1.027349
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18580,43.15,0.823,1,0,1678,300.00
$SM_GC,-0.29,0.00,0.00,43.15,0.000,0.000,0.823,46,2901,1678,-10.87,0.03,300.00
$IRIDIUM_FIX,6130.75,-919.48,210497,131349
$TT8_MAMPS,0.029146
$HUMID,2070
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,601.2,109.7
$24V_AH,23.1,71.726
$10V_AH,10.1,33.312
$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,26.000,162.725,339.800,43.150,0.000,40.682,40.807,150.632,5.500,0.000,0.000,15.331,1640.747,14283.139,532.494,1958.932,588.277,0.000,1533.590,0.000,1929.222,0.000,34.824
$DEVICE_MAMPS,155.701,96.642,1298.531,822.991,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.127,615.853,562.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44222,890
$CFSIZE,260165632,235356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,260108,224701,6148.728,-914.307,38,1.1,43,-9.5