version: 66.02
glider: 103
mission: 7
dive: 432
start: 1 27 108 3 48 47
data:
$ID,103
$MISSION,7
$DIVE,432
$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,-70853.609
$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,23
$R_STBD_OVSHOOT,9
$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
$GPS1,033838,6147.369,-911.549,29,1.9,29,-9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-54.2
$GPS2,034815,6147.403,-911.555,11,1.9,11,-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,178.0,51778,-11.1,-6.000
$D_GRID,704
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,89,0.00,0.00,-60.42,0.000,2,0.000,0.000,45,2900,3333
$GC,92,-1.10,-146.6,3.1,-7.8,3,115,11.93,2.58,-3.17,0.000,4,0.156,0.069,2163,1490,3500
$GC,253,-1.10,-146.6,20.5,-7.3,10,258,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2904,3501
$GC,582,-1.10,-146.6,46.1,-7.3,26,586,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3783,3501
$GC,599,-1.10,-146.6,47.5,-7.2,26,605,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2900,3501
$GC,915,-1.10,-146.6,71.3,-7.9,42,919,0.00,2.58,0.00,0.000,4,0.000,0.062,2163,1485,3501
$GC,965,-1.10,-146.6,75.3,-8.1,44,969,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2907,3501
$GC,1280,-1.10,-146.6,99.0,-7.2,59,1284,0.00,1.70,0.00,0.000,4,0.000,0.097,2163,3785,3501
$GC,1304,-1.10,-146.6,100.7,-7.1,60,1308,0.00,1.58,0.00,0.000,6,0.000,0.053,2163,2896,3501
$GC,1639,-1.10,-146.6,125.9,-7.3,76,1643,0.00,2.55,0.00,0.000,4,0.000,0.057,2163,1480,3501
$GC,1672,-1.10,-146.6,128.1,-6.2,77,1678,0.00,2.62,0.00,0.000,6,0.000,0.070,2163,2899,3501
$GC,1988,-1.10,-146.6,150.7,-8.5,93,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,2296,-1.10,-146.6,171.5,-6.8,108,2301,0.00,2.60,0.00,0.000,4,0.000,0.062,2163,1481,3501
$GC,2341,-1.10,-146.6,174.9,-7.9,110,2346,0.00,2.65,0.00,0.000,6,0.000,0.073,2163,2899,3502
$GC,2668,-1.10,-146.6,196.4,-6.1,126,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2899,3501
$GC,2978,-1.10,-146.6,217.7,-7.5,141,2982,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1480,3501
$GC,3005,-1.10,-146.6,220.0,-7.2,142,3010,0.00,2.67,0.00,0.000,6,0.000,0.071,2163,2901,3501
$GC,3321,-1.10,-146.6,240.9,-5.8,157,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,3630,-1.10,-146.6,259.8,-5.7,172,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,3940,-1.10,-146.6,280.2,-7.2,187,3944,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1484,3501
$GC,3973,-1.10,-146.6,282.6,-6.7,188,3979,0.00,2.67,0.00,0.000,6,0.000,0.072,2163,2906,3501
$GC,4288,-1.10,-146.6,303.6,-6.4,204,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,4598,-1.10,-146.6,322.7,-6.5,219,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2906,3501
$GC,4907,-1.10,-146.6,344.6,-7.5,234,4911,0.00,2.60,0.00,0.000,4,0.000,0.061,2163,1481,3501
$GC,4940,-1.10,-146.6,347.2,-7.5,235,4946,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2906,3501
$GC,5256,-1.10,-146.6,371.1,-7.5,251,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3501
$GC,5565,-1.10,-146.6,394.0,-7.3,266,5569,0.00,2.58,0.00,0.000,4,0.000,0.058,2163,1485,3501
$GC,5599,-1.10,-146.6,396.6,-7.4,267,5605,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2904,3501
$GC,5915,-1.10,-146.6,418.1,-6.4,283,5920,0.00,2.55,0.00,0.000,4,0.000,0.055,2163,1485,3501
$GC,5960,-1.10,-146.6,421.2,-6.0,285,5964,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2901,3501
$GC,6281,-1.10,-146.6,441.1,-6.8,301,6285,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1484,3501
$GC,6325,-1.10,-146.6,444.3,-6.9,303,6330,0.00,2.62,0.00,0.000,6,0.000,0.063,2163,2908,3501
$GC,6646,-1.10,-146.6,465.6,-6.9,319,6650,0.00,2.58,0.00,0.000,4,0.000,0.054,2163,1477,3501
$GC,6690,-1.10,-146.6,468.9,-7.7,321,6694,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2901,3501
$GC,7011,-1.10,-146.6,492.6,-7.6,337,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3501
$GC,7320,-1.10,-146.6,514.8,-6.8,352,7324,0.00,2.53,0.00,0.000,4,0.000,0.051,2163,1477,3501
$GC,7353,-1.10,-146.6,517.1,-6.4,353,7359,0.00,2.60,0.00,0.000,6,0.000,0.059,2163,2899,3501
$GC,7669,-1.10,-146.6,537.5,-7.6,369,7672,0.00,1.67,0.00,0.000,4,0.000,0.087,2163,3786,3501
$GC,7715,-1.10,-146.6,541.3,-8.5,371,7718,0.00,1.55,0.00,0.000,6,0.000,0.040,2163,2894,3501
$GC,8047,-1.10,-146.6,564.8,-5.6,387,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2893,3501
$GC,8357,-1.10,-146.6,594.4,-7.7,402,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2892,3501
$GC,8666,-1.10,-146.6,622.8,-8.7,417,8669,0.00,1.73,0.00,0.000,4,0.000,0.087,2163,3777,3501
$GC,8923,-1.10,-146.6,643.6,-8.3,428,8927,0.00,1.52,0.00,0.000,6,0.000,0.037,2163,2900,3501
$GC,9245,-1.10,-146.6,669.0,-6.9,444,9248,0.00,1.70,0.00,0.000,4,0.000,0.087,2163,3787,3501
$GC,9404,-1.10,-146.6,674.6,-1.5,451,9407,0.00,1.55,0.00,0.000,6,0.000,0.043,2163,2908,3501
$GC,9736,-1.10,-146.6,683.9,-3.9,467,9741,0.00,2.55,0.00,0.000,4,0.000,0.058,2163,1485,3501
$GC,9849,-1.10,-146.6,687.4,-3.6,472,9854,0.00,2.65,0.00,0.000,6,0.000,0.070,2163,2902,3501
$STATE,10148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10149,begin apogee
$GC,10157,-0.42,0.0,705.5,5.4,487,10289,0.77,0.00,127.50,1.331,6,0.093,0.000,2317,2099,2901
$STATE,10290,end apogee,CONTROL_FINISHED_OK
$STATE,10290,begin climb
$GC,10293,1.10,146.6,709.2,0.0,494,10425,1.55,2.65,123.80,1.295,4,0.061,0.061,2647,695,2303
$GC,10574,1.10,146.6,700.1,8.9,507,10578,0.00,2.50,0.00,0.000,6,0.000,0.039,2647,2113,2302
$GC,10895,1.28,288.3,685.2,2.1,523,11022,0.15,2.70,120.20,1.310,4,0.046,0.063,2694,697,1725
$GC,11233,1.28,288.3,657.2,8.6,538,11239,0.00,2.50,0.00,0.000,6,0.000,0.042,2694,2098,1723
$GC,11549,1.28,290.1,639.9,5.9,554,11553,0.00,2.65,0.00,0.000,4,0.000,0.073,2694,3511,1721
$GC,11576,1.28,290.1,637.8,8.4,555,11580,0.00,2.53,0.00,0.000,6,0.000,0.040,2694,2087,1721
$GC,11892,1.28,290.1,605.7,12.0,570,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2085,1719
$GC,12200,1.28,290.1,572.7,9.6,585,12205,0.00,2.50,0.00,0.000,4,0.000,0.054,2694,696,1719
$GC,12228,1.28,290.1,569.6,10.9,586,12232,0.00,2.47,0.00,0.000,6,0.000,0.035,2694,2108,1719
$GC,12544,1.28,290.1,539.0,10.1,601,12548,0.00,2.58,0.00,0.000,4,0.000,0.067,2694,3508,1719
$GC,12571,1.28,290.1,536.0,10.6,602,12575,0.00,2.47,0.00,0.000,6,0.000,0.038,2694,2100,1719
$GC,12886,1.28,290.1,500.6,11.5,617,12891,0.00,2.60,0.00,0.000,4,0.000,0.066,2694,3507,1719
$GC,12908,1.28,290.1,498.1,10.8,618,12912,0.00,2.47,0.00,0.000,6,0.000,0.039,2694,2101,1719
$GC,13230,1.28,290.1,464.4,10.4,634,13234,0.00,2.53,0.00,0.000,4,0.000,0.054,2695,695,1720
$GC,13314,1.28,290.1,455.2,11.1,638,13318,0.00,2.45,0.00,0.000,6,0.000,0.037,2694,2100,1720
$GC,13641,1.28,290.1,423.5,9.7,654,13645,0.00,2.53,0.00,0.000,4,0.000,0.054,2695,697,1720
$GC,13690,1.28,290.1,418.5,10.0,656,13695,0.00,2.45,0.00,0.000,6,0.000,0.041,2694,2097,1721
$GC,14007,1.28,290.1,386.2,9.1,671,14008,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2096,1721
$GC,14316,1.28,290.1,358.5,9.7,686,14321,0.00,2.53,0.00,0.000,4,0.000,0.055,2695,697,1722
$GC,14366,1.28,290.1,353.5,9.5,688,14371,0.00,2.50,0.00,0.000,6,0.000,0.043,2694,2108,1722
$GC,14682,1.28,290.1,323.5,9.4,703,14686,0.00,2.58,0.00,0.000,4,0.000,0.055,2694,690,1722
$GC,14722,1.28,290.1,319.7,9.5,705,14726,0.00,2.50,0.00,0.000,6,0.000,0.044,2694,2103,1723
$GC,15048,1.28,290.1,288.3,9.7,721,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2103,1723
$GC,15358,1.28,290.1,257.9,9.8,736,15362,0.00,2.58,0.00,0.000,4,0.000,0.059,2694,692,1724
$GC,15385,1.28,290.1,255.1,10.6,737,15390,0.00,2.50,0.00,0.000,6,0.000,0.045,2694,2098,1724
$GC,15701,1.28,290.1,224.1,9.2,752,15702,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2098,1724
$GC,16010,1.28,290.1,191.2,11.3,767,16011,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2098,1724
$GC,16319,1.28,290.1,158.3,10.3,782,16323,0.00,2.55,0.00,0.000,4,0.000,0.061,2695,698,1725
$GC,16352,1.28,290.1,154.7,10.3,783,16359,0.00,2.50,0.00,0.000,6,0.000,0.048,2694,2102,1725
$GC,16668,1.28,290.1,121.9,10.5,799,16670,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2102,1725
$GC,16980,1.28,290.1,89.9,9.8,814,16984,0.00,2.60,0.00,0.000,4,0.000,0.064,2694,692,1726
$GC,17024,1.28,290.1,85.2,8.8,816,17028,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,2105,1726
$GC,17345,1.28,290.1,51.9,11.3,832,17346,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2105,1725
$GC,17654,1.28,290.1,20.3,8.1,847,17655,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2105,1726
$STATE,17859,end climb,SURFACE_DEPTH_REACHED
$STATE,17859,begin surface coast
$FINISH,-0.3,1.027335
$STATE,17879,end surface coast,CONTROL_FINISHED_OK
$STATE,17879,begin surface
$SM_CCo,17903,11.93,0.698,1,0,1678,300.00
$SM_GC,-0.48,0.00,0.00,11.93,0.000,0.000,0.698,44,2898,1678,-10.88,-0.08,300.00
$IRIDIUM_FIX,6121.73,-907.57,220497,030340
$TT8_MAMPS,0.029146
$HUMID,2076
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,651.3,81.5
$24V_AH,23.1,72.046
$10V_AH,10.1,33.476
$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,25.875,152.950,371.500,11.925,0.000,77.989,72.432,226.280,6.000,0.000,0.000,11.952,1585.124,13780.433,497.149,1918.156,729.771,0.000,1479.816,0.000,1888.439,0.000,37.976
$DEVICE_MAMPS,155.701,97.409,1330.745,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.076,599.172,518.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44243,858
$CFSIZE,260165632,235233280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,270108,084925,6145.711,-912.451,62,1.9,79,-9.4