version: 66.02
glider: 103
mission: 7
dive: 433
start: 1 27 108 8 57 28
data:
$ID,103
$MISSION,7
$DIVE,433
$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,-70872.734
$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,26
$R_STBD_OVSHOOT,12
$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
$GPS1,084925,6145.711,-912.451,62,1.9,79,-9.4
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-56.5
$GPS2,085655,6145.786,-912.347,12,2.0,16,-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,176.5,49000,-11.1,-6.000
$D_GRID,729
$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,24,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-60.97,0.000,2,0.000,0.000,44,2900,3340
$GC,91,-1.10,-146.6,3.2,-8.4,3,113,11.93,1.77,-2.92,0.000,4,0.155,0.117,2164,3782,3501
$GC,326,-1.10,-146.6,31.3,-7.9,13,329,0.00,1.58,0.00,0.000,6,0.000,0.054,2164,2909,3503
$GC,648,-1.10,-146.6,53.8,-6.7,29,652,0.00,2.62,0.00,0.000,4,0.000,0.071,2164,1485,3503
$GC,680,-1.10,-146.6,56.1,-6.6,30,687,0.00,2.62,0.00,0.000,6,0.000,0.070,2164,2900,3502
$GC,998,-1.10,-146.6,81.8,-6.9,46,1001,0.00,1.70,0.00,0.000,4,0.000,0.093,2164,3789,3503
$GC,1037,-1.10,-146.6,85.0,-9.0,47,1043,0.00,1.60,0.00,0.000,6,0.000,0.051,2164,2905,3503
$GC,1353,-1.10,-146.6,106.3,-5.9,63,1358,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1481,3503
$GC,1409,-1.10,-146.6,109.9,-6.0,65,1415,0.00,2.65,0.00,0.000,6,0.000,0.070,2164,2903,3503
$GC,1727,-1.10,-146.6,125.4,-4.7,81,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,2035,-1.10,-146.6,148.2,-8.6,96,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2903,3503
$GC,2346,-1.10,-146.6,176.6,-8.5,111,2350,0.00,2.60,0.00,0.000,4,0.000,0.063,2164,1486,3503
$GC,2373,-1.10,-146.6,179.2,-8.3,112,2377,0.00,2.65,0.00,0.000,6,0.000,0.071,2164,2901,3503
$GC,2689,-1.10,-146.6,202.5,-6.8,127,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2901,3503
$GC,2997,-1.10,-146.6,224.1,-7.4,142,3002,0.00,2.60,0.00,0.000,4,0.000,0.065,2164,1486,3504
$GC,3042,-1.10,-146.6,227.5,-7.4,144,3046,0.00,2.65,0.00,0.000,6,0.000,0.069,2164,2902,3504
$GC,3363,-1.10,-146.6,249.2,-6.9,160,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3504
$GC,3672,-1.10,-146.6,271.2,-6.4,175,3676,0.00,2.60,0.00,0.000,4,0.000,0.064,2164,1484,3504
$GC,3711,-1.10,-146.6,273.7,-6.7,177,3716,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2908,3503
$GC,4038,-1.10,-146.6,292.8,-6.0,193,4043,0.00,2.60,0.00,0.000,4,0.000,0.061,2164,1482,3504
$GC,4061,-1.10,-146.6,294.2,-5.5,194,4065,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2900,3504
$GC,4382,-1.10,-146.6,309.9,-4.2,210,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3504
$GC,4692,-1.10,-146.6,324.6,-4.5,225,4697,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1482,3504
$GC,4748,-1.10,-146.6,327.4,-4.4,227,4752,0.00,2.62,0.00,0.000,6,0.000,0.065,2164,2900,3504
$GC,5064,-1.10,-146.6,341.9,-4.7,242,5068,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1482,3504
$GC,5104,-1.10,-146.6,343.8,-5.0,243,5109,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2903,3504
$GC,5419,-1.10,-146.6,358.8,-4.9,259,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3504
$GC,5730,-1.10,-146.6,376.1,-5.8,274,5734,0.00,2.58,0.00,0.000,4,0.000,0.060,2164,1480,3504
$GC,5786,-1.10,-146.6,379.4,-6.0,276,5792,0.00,2.65,0.00,0.000,6,0.000,0.066,2164,2909,3504
$GC,6101,-1.10,-146.6,393.4,-2.9,292,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2909,3504
$GC,6411,-1.10,-146.6,407.2,-6.5,307,6415,0.00,2.58,0.00,0.000,4,0.000,0.058,2164,1480,3503
$GC,6488,-1.10,-146.6,412.9,-7.3,310,6495,0.00,2.60,0.00,0.000,6,0.000,0.065,2164,2900,3503
$GC,6804,-1.10,-146.6,437.0,-7.9,326,6808,0.00,1.67,0.00,0.000,4,0.000,0.088,2164,3789,3504
$GC,6895,-1.10,-146.6,443.1,-6.9,330,6899,0.00,1.58,0.00,0.000,6,0.000,0.042,2164,2868,3504
$GC,7228,-1.10,-146.6,465.7,-6.4,346,7232,0.00,2.42,0.00,0.000,4,0.000,0.054,2164,1491,3504
$GC,7273,-1.10,-146.6,468.7,-6.7,348,7277,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2909,3504
$GC,7594,-1.10,-146.6,492.4,-7.4,364,7597,0.00,1.65,0.00,0.000,4,0.000,0.086,2164,3785,3504
$GC,7650,-1.10,-146.6,496.8,-7.7,366,7653,0.00,1.55,0.00,0.000,6,0.000,0.038,2164,2902,3504
$GC,7971,-1.10,-146.6,515.7,-5.4,382,7975,0.00,2.47,0.00,0.000,4,0.000,0.048,2164,1487,3504
$GC,8000,-1.10,-146.6,517.2,-5.6,383,8004,0.00,2.58,0.00,0.000,6,0.000,0.057,2164,2905,3503
$GC,8315,-1.10,-146.6,535.9,-4.5,398,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2905,3504
$GC,8625,-1.10,-146.6,549.7,-5.0,413,8632,0.00,1.62,0.00,0.000,4,0.000,0.082,2164,3780,3503
$GC,8661,-1.10,-146.6,551.7,-5.9,414,8665,0.00,1.52,0.00,0.000,6,0.000,0.035,2164,2900,3504
$GC,8982,-1.10,-146.6,568.9,-6.5,430,8987,0.00,2.45,0.00,0.000,4,0.000,0.045,2164,1482,3504
$GC,9038,-1.10,-146.6,572.7,-7.6,432,9044,0.00,2.58,0.00,0.000,6,0.000,0.054,2164,2903,3504
$GC,9354,-1.10,-146.6,596.6,-8.0,448,9359,0.00,2.50,0.00,0.000,4,0.000,0.045,2164,1483,3504
$GC,9427,-1.10,-146.6,602.1,-7.9,451,9432,0.00,2.58,0.00,0.000,6,0.000,0.054,2164,2908,3503
$GC,9743,-1.10,-146.6,624.4,-7.2,466,9748,0.00,2.50,0.00,0.000,4,0.000,0.044,2164,1481,3503
$GC,9771,-1.10,-146.6,626.0,-5.5,467,9776,0.00,2.58,0.00,0.000,6,0.000,0.055,2164,2902,3503
$GC,10087,-1.10,-146.6,646.4,-8.6,482,10090,0.00,1.65,0.00,0.000,4,0.000,0.081,2164,3790,3503
$GC,10248,-1.10,-146.6,659.1,-8.3,489,10252,0.00,1.52,0.00,0.000,6,0.000,0.033,2164,2894,3503
$GC,10580,-1.10,-146.6,690.5,-10.8,505,10584,0.00,1.70,0.00,0.000,4,0.000,0.088,2164,3782,3503
$GC,10839,-1.10,-146.6,725.5,-5.5,516,10843,0.00,1.52,0.00,0.000,6,0.000,0.041,2164,2917,3503
$GC,11160,-1.10,-146.6,693.5,1.1,532,11164,0.00,1.67,0.00,0.000,4,0.000,0.093,2164,3783,3503
$GC,11246,-1.10,-146.6,699.0,-8.4,535,11252,0.00,1.58,0.00,0.000,6,0.000,0.046,2164,2902,3503
$STATE,11559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11560,begin apogee
$GC,11568,-0.42,0.0,729.7,8.1,551,11702,0.75,0.00,128.27,1.331,6,0.074,0.000,2322,2104,2901
$STATE,11703,end apogee,CONTROL_FINISHED_OK
$STATE,11703,begin climb
$GC,11706,1.10,146.6,737.5,0.0,558,11839,1.52,2.72,124.57,1.292,4,0.061,0.068,2647,3514,2303
$GC,11954,1.10,146.6,723.4,9.9,569,11960,0.00,2.55,0.00,0.000,6,0.000,0.042,2647,2092,2302
$GC,12270,1.25,266.8,707.8,2.7,585,12381,0.15,2.67,102.60,1.312,4,0.046,0.063,2692,697,1812
$GC,12539,1.31,316.6,691.3,4.6,597,12590,0.00,2.53,43.97,1.280,6,0.000,0.043,2692,2111,1610
$GC,12904,1.31,316.6,655.5,9.2,615,12908,0.00,2.65,0.00,0.000,4,0.000,0.075,2692,3511,1607
$GC,12970,1.31,316.6,648.8,8.4,618,12974,0.00,2.53,0.00,0.000,6,0.000,0.044,2692,2101,1607
$GC,13291,1.31,316.6,618.7,7.6,634,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2097,1606
$GC,13600,1.31,316.6,584.3,13.1,649,13604,0.00,2.55,0.00,0.000,4,0.000,0.058,2692,697,1605
$GC,13689,1.31,316.6,572.6,11.7,653,13693,0.00,2.47,0.00,0.000,6,0.000,0.038,2692,2104,1605
$GC,14010,1.31,316.6,525.2,15.3,669,14015,0.00,2.58,0.00,0.000,4,0.000,0.055,2692,691,1605
$GC,14032,1.31,316.6,521.6,15.5,670,14037,0.00,2.47,0.00,0.000,6,0.000,0.038,2692,2103,1605
$GC,14353,1.31,316.6,479.0,13.0,686,14358,0.00,2.60,0.00,0.000,4,0.000,0.069,2692,3508,1605
$GC,14387,1.31,316.6,474.1,14.5,687,14393,0.00,2.50,0.00,0.000,6,0.000,0.042,2692,2099,1605
$GC,14702,1.31,316.6,439.3,10.3,703,14706,0.00,2.55,0.00,0.000,4,0.000,0.059,2692,692,1606
$GC,14736,1.31,316.6,435.8,10.2,704,14740,0.00,2.50,0.00,0.000,6,0.000,0.041,2692,2106,1606
$GC,15051,1.31,316.6,400.8,12.9,719,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2106,1606
$GC,15360,1.31,316.6,360.8,13.5,734,15365,0.00,2.62,0.00,0.000,4,0.000,0.075,2692,3515,1606
$GC,15382,1.31,316.6,357.6,14.3,735,15387,0.00,2.53,0.00,0.000,6,0.000,0.047,2692,2104,1606
$GC,15704,1.31,316.6,318.2,11.7,751,15709,0.00,2.58,0.00,0.000,4,0.000,0.063,2692,691,1607
$GC,15727,1.31,316.6,315.3,12.6,752,15731,0.00,2.50,0.00,0.000,6,0.000,0.045,2692,2098,1607
$GC,16047,1.31,316.6,277.8,11.4,768,16049,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1607
$GC,16357,1.31,316.6,243.6,10.9,783,16358,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2098,1608
$GC,16666,1.31,316.6,210.1,10.7,798,16670,0.00,2.65,0.00,0.000,4,0.000,0.076,2692,3516,1608
$GC,16687,1.31,316.6,207.6,12.4,799,16691,0.00,2.55,0.00,0.000,6,0.000,0.048,2692,2095,1608
$GC,17008,1.31,316.6,176.4,8.9,815,17012,0.00,2.58,0.00,0.000,4,0.000,0.064,2692,685,1609
$GC,17041,1.31,316.6,173.4,8.0,816,17047,0.00,2.55,0.00,0.000,6,0.000,0.049,2692,2106,1609
$GC,17357,1.31,316.6,147.2,7.9,832,17358,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2106,1609
$GC,17668,1.31,316.6,119.5,8.9,847,17669,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2106,1609
$GC,17976,1.31,316.6,86.5,10.4,862,17977,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2106,1609
$GC,18285,1.31,316.6,52.7,12.1,877,18289,0.00,2.62,0.00,0.000,4,0.000,0.066,2692,688,1610
$GC,18328,1.31,316.6,46.5,14.7,879,18333,0.00,2.53,0.00,0.000,6,0.000,0.050,2692,2102,1610
$GC,18650,1.31,316.6,12.4,11.2,895,18654,0.00,2.65,0.00,0.000,4,0.000,0.074,2692,3516,1610
$GC,18690,1.31,316.6,9.5,6.2,897,18694,0.00,2.47,0.00,0.000,6,0.000,0.038,2692,2089,1610
$STATE,18772,end climb,SURFACE_DEPTH_REACHED
$STATE,18772,begin surface coast
$FINISH,-0.8,1.027336
$STATE,18795,end surface coast,CONTROL_FINISHED_OK
$STATE,18795,begin surface
$SM_CCo,18880,0.00,0.000,0,0,1609,317.17
$SM_GC,-0.17,11.68,0.00,0.00,0.033,0.000,0.000,49,2890,1609,-10.79,-0.28,317.17
$IRIDIUM_FIX,6121.73,-912.78,220497,030303
$TT8_MAMPS,0.028379
$HUMID,2077
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,650.3,89.8
$24V_AH,23.1,72.213
$10V_AH,10.1,33.565
$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,26.025,173.150,399.425,0.000,0.000,40.685,51.155,224.780,6.000,0.000,0.000,18.504,1680.811,14375.528,518.407,2061.270,704.200,0.000,1587.953,0.000,2028.931,0.000,38.010
$DEVICE_MAMPS,154.934,117.351,1330.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,667.023,630.333,538.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44261,902
$CFSIZE,260165632,235155456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,270108,141325,6145.139,-911.702,42,0.9,42,-9.4