version: 66.02
glider: 103
mission: 7
dive: 434
start: 1 27 108 14 20 16
data:
$ID,103
$MISSION,7
$DIVE,434
$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,-70888.477
$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,4
$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
$GPS1,141325,6145.139,-911.702,42,0.9,42,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-54.7
$GPS2,141944,6145.179,-911.607,10,0.9,15,-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,176.9,47759,-11.1,-6.000
$D_GRID,733
$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,24,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,87,0.00,0.00,-58.53,0.000,2,0.000,0.000,48,2894,3249
$GC,90,-1.10,-146.6,3.1,-8.2,3,113,11.95,1.77,-4.72,0.000,4,0.158,0.120,2163,3792,3501
$GC,220,-1.10,-146.6,22.8,-10.5,8,226,0.00,1.60,0.00,0.000,6,0.000,0.049,2163,2907,3502
$GC,538,-1.10,-146.6,46.0,-7.7,24,542,0.00,2.62,0.00,0.000,4,0.000,0.072,2163,1491,3502
$GC,555,-1.10,-146.6,47.7,-8.9,25,559,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2912,3502
$GC,882,-1.10,-146.6,75.4,-8.9,41,885,0.00,1.67,0.00,0.000,4,0.000,0.097,2163,3783,3502
$GC,983,-1.10,-146.6,83.2,-7.6,45,986,0.00,1.58,0.00,0.000,6,0.000,0.052,2163,2903,3502
$GC,1306,-1.10,-146.6,109.7,-8.5,61,1310,0.00,2.60,0.00,0.000,4,0.000,0.068,2163,1490,3502
$GC,1362,-1.10,-146.6,113.4,-5.4,63,1369,0.00,2.65,0.00,0.000,6,0.000,0.071,2163,2902,3502
$GC,1678,-1.10,-146.6,136.1,-7.0,79,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1987,-1.10,-146.6,157.2,-7.2,94,1991,0.00,2.60,0.00,0.000,4,0.000,0.063,2163,1489,3502
$GC,2020,-1.10,-146.6,159.7,-7.5,95,2026,0.00,2.62,0.00,0.000,6,0.000,0.068,2163,2900,3502
$GC,2336,-1.10,-146.6,179.7,-6.3,111,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,2645,-1.10,-146.6,199.5,-6.4,126,2650,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1488,3502
$GC,2673,-1.10,-146.6,201.5,-6.8,127,2678,0.00,2.65,0.00,0.000,6,0.000,0.068,2163,2903,3502
$GC,2994,-1.10,-146.6,222.9,-6.7,143,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,3303,-1.10,-146.6,243.3,-6.6,158,3307,0.00,2.60,0.00,0.000,4,0.000,0.060,2163,1480,3502
$GC,3347,-1.10,-146.6,246.3,-6.9,160,3352,0.00,2.65,0.00,0.000,6,0.000,0.067,2163,2900,3502
$GC,3669,-1.10,-146.6,266.9,-6.8,176,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,3978,-1.10,-146.6,289.1,-7.5,191,3982,0.00,2.58,0.00,0.000,4,0.000,0.060,2163,1484,3502
$GC,4023,-1.10,-146.6,292.8,-7.9,193,4028,0.00,2.62,0.00,0.000,6,0.000,0.064,2163,2903,3502
$GC,4344,-1.10,-146.6,320.2,-8.2,209,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2903,3502
$GC,4653,-1.10,-146.6,346.9,-8.6,224,4656,0.00,1.67,0.00,0.000,4,0.000,0.090,2163,3784,3502
$GC,4732,-1.10,-146.6,353.5,-8.7,227,4735,0.00,1.58,0.00,0.000,6,0.000,0.044,2163,2886,3502
$GC,5053,-1.10,-146.6,379.2,-7.9,243,5057,0.00,2.53,0.00,0.000,4,0.000,0.061,2163,1487,3502
$GC,5137,-1.10,-146.6,385.9,-7.7,247,5142,0.00,2.60,0.00,0.000,6,0.000,0.063,2163,2902,3502
$GC,5465,-1.10,-146.6,411.5,-7.7,263,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2901,3502
$GC,5773,-1.10,-146.6,432.9,-7.9,278,5778,0.00,2.55,0.00,0.000,4,0.000,0.056,2163,1480,3502
$GC,5813,-1.10,-146.6,435.9,-7.7,280,5818,0.00,2.60,0.00,0.000,6,0.000,0.062,2163,2900,3502
$GC,6142,-1.10,-146.6,461.6,-8.2,296,6146,0.00,2.53,0.00,0.000,4,0.000,0.052,2163,1486,3502
$GC,6169,-1.10,-146.6,464.0,-8.3,297,6174,0.00,2.60,0.00,0.000,6,0.000,0.061,2163,2908,3502
$GC,6485,-1.10,-146.6,487.4,-7.2,312,6489,0.00,2.55,0.00,0.000,4,0.000,0.052,2163,1480,3502
$GC,6518,-1.10,-146.6,490.0,-7.9,313,6524,0.00,2.60,0.00,0.000,6,0.000,0.058,2163,2903,3502
$GC,6833,-1.10,-146.6,511.5,-6.7,329,6838,0.00,2.53,0.00,0.000,4,0.000,0.050,2163,1483,3502
$GC,6878,-1.10,-146.6,514.2,-6.1,331,6882,0.00,2.58,0.00,0.000,6,0.000,0.058,2163,2900,3502
$GC,7199,-1.10,-146.6,532.6,-6.5,347,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2900,3502
$GC,7508,-1.10,-146.6,556.4,-8.7,362,7512,0.00,2.50,0.00,0.000,4,0.000,0.046,2163,1481,3502
$GC,7574,-1.10,-146.6,562.7,-9.0,365,7579,0.00,2.55,0.00,0.000,6,0.000,0.054,2163,2903,3502
$GC,7896,-1.10,-146.6,589.9,-7.2,381,7899,0.00,1.62,0.00,0.000,4,0.000,0.081,2163,3782,3502
$GC,7951,-1.10,-146.6,592.4,-6.1,383,7955,0.00,1.52,0.00,0.000,6,0.000,0.033,2163,2898,3502
$GC,8273,-1.10,-146.6,610.9,-5.6,399,8278,0.00,2.45,0.00,0.000,4,0.000,0.045,2163,1485,3502
$GC,8301,-1.10,-146.6,612.6,-5.9,400,8306,0.00,2.58,0.00,0.000,6,0.000,0.054,2163,2908,3502
$GC,8617,-1.10,-146.6,631.9,-6.5,415,8620,0.00,1.62,0.00,0.000,4,0.000,0.078,2163,3787,3502
$GC,8826,-1.10,-146.6,650.0,-9.4,424,8830,0.00,1.55,0.00,0.000,6,0.000,0.036,2163,2897,3502
$GC,9155,-1.10,-146.6,680.5,-9.9,440,9159,0.00,2.47,0.00,0.000,4,0.000,0.052,2163,1488,3502
$GC,9199,-1.10,-146.6,684.4,-8.3,442,9204,0.00,2.58,0.00,0.000,6,0.000,0.061,2163,2899,3502
$GC,9520,-1.10,-146.6,708.3,-12.5,458,9524,0.00,1.67,0.00,0.000,4,0.000,0.089,2163,3774,3502
$GC,9603,-1.10,-146.6,721.7,-14.6,461,9609,0.00,1.52,0.00,0.000,6,0.000,0.040,2163,2905,3502
$STATE,9669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9669,begin apogee
$GC,9678,-0.42,0.0,734.0,18.2,465,9812,0.77,0.00,128.52,1.305,6,0.094,0.000,2318,2103,2901
$STATE,9813,end apogee,CONTROL_FINISHED_OK
$STATE,9813,begin climb
$GC,9815,1.10,146.6,747.5,0.0,472,9948,1.55,2.65,124.15,1.277,4,0.058,0.059,2649,691,2303
$GC,9995,1.10,146.6,727.9,15.2,480,10002,0.00,2.53,0.00,0.000,6,0.000,0.038,2649,2114,2302
$GC,10311,1.10,146.6,688.1,6.9,496,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2116,2301
$GC,10620,1.38,373.6,691.8,-0.3,511,10821,0.25,2.70,190.30,1.307,4,0.033,0.074,2723,3505,1376
$GC,10877,1.38,373.6,670.8,13.9,522,10882,0.00,2.55,0.00,0.000,6,0.000,0.045,2723,2097,1375
$GC,11193,1.38,373.6,628.9,15.8,537,11197,0.00,2.62,0.00,0.000,4,0.000,0.067,2723,3502,1373
$GC,11243,1.38,373.6,621.2,15.2,539,11247,0.00,2.53,0.00,0.000,6,0.000,0.043,2723,2092,1372
$GC,11558,1.38,373.6,575.9,13.5,554,11563,0.00,2.65,0.00,0.000,4,0.000,0.066,2723,3512,1372
$GC,11586,1.38,373.6,572.1,14.1,555,11590,0.00,2.50,0.00,0.000,6,0.000,0.036,2723,2085,1372
$GC,11902,1.38,373.6,529.8,12.9,570,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2083,1372
$GC,12211,1.38,373.6,491.9,12.1,585,12215,0.00,2.62,0.00,0.000,4,0.000,0.066,2723,3511,1372
$GC,12238,1.38,373.6,488.3,13.4,586,12242,0.00,2.47,0.00,0.000,6,0.000,0.039,2723,2100,1371
$GC,12554,1.38,373.6,449.7,12.7,601,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2100,1372
$GC,12863,1.38,373.6,408.4,14.2,616,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2100,1373
$GC,13172,1.38,373.6,364.7,13.9,631,13176,0.00,2.62,0.00,0.000,4,0.000,0.070,2723,3507,1373
$GC,13205,1.38,373.6,359.9,13.9,632,13211,0.00,2.50,0.00,0.000,6,0.000,0.045,2723,2104,1373
$GC,13521,1.38,373.6,316.1,13.6,648,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2104,1373
$GC,13830,1.38,373.6,273.9,13.4,663,13831,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2104,1374
$GC,14139,1.38,373.6,233.2,13.0,678,14144,0.00,2.62,0.00,0.000,4,0.000,0.072,2723,3507,1374
$GC,14161,1.38,373.6,230.2,13.3,679,14165,0.00,2.53,0.00,0.000,6,0.000,0.048,2723,2102,1374
$GC,14481,1.38,373.6,188.0,13.1,695,14482,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2102,1374
$GC,14791,1.38,373.6,150.2,11.9,710,14792,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2102,1374
$GC,15100,1.38,373.6,113.1,10.5,725,15101,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2101,1374
$GC,15410,1.38,373.6,75.0,13.1,740,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2101,1375
$GC,15719,1.38,373.6,39.9,9.7,755,15720,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2101,1375
$GC,16030,1.38,373.6,4.6,10.8,770,16034,0.00,2.58,0.00,0.000,4,0.000,0.064,2723,692,1375
$STATE,16044,end climb,SURFACE_DEPTH_REACHED
$STATE,16044,begin surface coast
$FINISH,1.1,1.027337
$STATE,16051,end surface coast,CONTROL_FINISHED_OK
$STATE,16051,begin surface
$SM_CCo,16138,0.00,0.000,0,0,1373,374.82
$SM_GC,-0.19,11.75,0.00,0.00,0.029,0.000,0.000,48,2894,1373,-10.78,-0.17,374.82
$IRIDIUM_FIX,6121.73,-854.10,220497,090937
$TT8_MAMPS,0.028379
$HUMID,2093
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,19.00
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,676.5,88.1
$24V_AH,23.1,72.389
$10V_AH,10.1,33.640
$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,26.275,135.825,442.975,0.000,0.000,39.003,37.389,166.879,6.750,0.000,0.000,15.121,1413.516,12327.121,517.757,1696.368,569.145,0.000,1413.518,0.000,1665.635,0.000,42.443
$DEVICE_MAMPS,158.002,119.652,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,572.682,531.441,468.800,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37871,771
$CFSIZE,260165632,235126784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,270108,185031,6142.814,-913.341,37,1.2,43,-9.4