version: 66.02
glider: 103
mission: 7
dive: 436
start: 1 27 108 23 48 11
data:
$ID,103
$MISSION,7
$DIVE,436
$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,-70917.039
$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,19
$R_STBD_OVSHOOT,13
$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
$GPS1,234132,6141.654,-912.854,41,1.9,41,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-48.3
$GPS2,234739,6141.685,-912.725,12,1.1,12,-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,173.7,41721,-11.1,-6.000
$D_GRID,785
$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,22,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,128,0.00,0.00,-98.50,0.000,2,0.000,0.000,38,2897,3418
$GC,131,-1.10,-146.6,3.7,-4.5,5,154,11.95,1.75,-1.40,0.000,4,0.156,0.110,2163,3780,3501
$GC,300,-1.10,-146.6,25.8,-9.1,12,303,0.00,1.58,0.00,0.000,6,0.000,0.050,2163,2902,3502
$GC,623,-1.10,-146.6,50.0,-8.4,28,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,931,-1.10,-146.6,78.4,-8.7,43,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2902,3502
$GC,1241,-1.10,-146.6,102.7,-7.3,58,1245,0.00,2.62,0.00,0.000,4,0.000,0.070,2164,1482,3502
$GC,1267,-1.10,-146.6,104.7,-6.6,59,1272,0.00,2.67,0.00,0.000,6,0.000,0.070,2164,2904,3502
$GC,1585,-1.10,-146.6,131.0,-8.8,74,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,1893,-1.10,-146.6,159.9,-9.7,89,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2904,3502
$GC,2202,-1.10,-146.6,187.7,-8.8,104,2206,0.00,2.60,0.00,0.000,4,0.000,0.062,2164,1488,3502
$GC,2235,-1.10,-146.6,190.6,-8.8,105,2241,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,2551,-1.10,-146.6,217.3,-7.9,121,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,2860,-1.10,-146.6,239.2,-6.9,136,2865,0.00,2.60,0.00,0.000,4,0.000,0.064,2163,1483,3502
$GC,2900,-1.10,-146.6,242.1,-6.8,138,2905,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2901,3502
$GC,3227,-1.10,-146.6,262.7,-6.4,154,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,3536,-1.10,-146.6,283.2,-6.6,169,3540,0.00,2.60,0.00,0.000,4,0.000,0.062,2163,1482,3502
$GC,3563,-1.10,-146.6,285.2,-7.0,170,3567,0.00,2.62,0.00,0.000,6,0.000,0.067,2164,2900,3502
$GC,3879,-1.10,-146.6,306.7,-7.1,185,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4187,-1.10,-146.6,327.9,-7.0,200,4192,0.00,2.58,0.00,0.000,4,0.000,0.061,2164,1484,3502
$GC,4209,-1.10,-146.6,329.6,-7.1,201,4214,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2900,3502
$GC,4531,-1.10,-146.6,352.0,-7.0,217,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3502
$GC,4840,-1.10,-146.6,373.0,-6.7,232,4844,0.00,2.55,0.00,0.000,4,0.000,0.054,2163,1485,3502
$GC,4867,-1.10,-146.6,374.9,-6.8,233,4872,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2906,3502
$GC,5189,-1.10,-146.6,397.3,-7.5,249,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2906,3502
$GC,5497,-1.10,-146.6,421.9,-8.1,264,5502,0.00,2.58,0.00,0.000,4,0.000,0.055,2164,1480,3502
$GC,5525,-1.10,-146.6,424.3,-8.3,265,5529,0.00,2.60,0.00,0.000,6,0.000,0.061,2164,2899,3502
$GC,5841,-1.10,-146.6,446.4,-6.3,280,5845,0.00,2.53,0.00,0.000,4,0.000,0.053,2163,1483,3502
$GC,5868,-1.10,-146.6,448.4,-7.6,281,5872,0.00,2.60,0.00,0.000,6,0.000,0.062,2164,2902,3502
$GC,6185,-1.10,-146.6,466.5,-5.2,296,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,6495,-1.10,-146.6,482.8,-4.2,311,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2902,3502
$GC,6803,-1.10,-146.6,497.8,-4.9,326,6807,0.00,2.53,0.00,0.000,4,0.000,0.051,2163,1484,3502
$GC,6848,-1.10,-146.6,500.1,-5.7,328,6853,0.00,2.60,0.00,0.000,6,0.000,0.059,2164,2908,3502
$GC,7170,-1.10,-146.6,509.9,-2.9,344,7173,0.00,1.65,0.00,0.000,4,0.000,0.084,2164,3786,3502
$GC,7242,-1.10,-146.6,511.9,-6.8,347,7246,0.00,1.55,0.00,0.000,6,0.000,0.036,2164,2888,3502
$GC,7569,-1.10,-146.6,527.0,-4.4,363,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2886,3502
$GC,7879,-1.10,-146.6,542.4,-4.7,378,7883,0.00,2.45,0.00,0.000,4,0.000,0.050,2164,1490,3502
$GC,7902,-1.10,-146.6,543.7,-4.9,379,7906,0.00,2.58,0.00,0.000,6,0.000,0.060,2164,2902,3502
$GC,8229,-1.10,-146.6,558.1,-4.2,395,8233,0.00,2.50,0.00,0.000,4,0.000,0.050,2164,1496,3502
$GC,8257,-1.10,-146.6,559.5,-4.6,396,8261,0.00,2.58,0.00,0.000,6,0.000,0.058,2164,2908,3502
$GC,8573,-1.10,-146.6,574.6,-5.2,411,8577,0.00,2.50,0.00,0.000,4,0.000,0.048,2164,1495,3502
$GC,8613,-1.10,-146.6,576.7,-5.9,413,8617,0.00,2.55,0.00,0.000,6,0.000,0.060,2164,2899,3502
$GC,8940,-1.10,-146.6,593.7,-5.3,429,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,9249,-1.10,-146.6,610.1,-5.1,444,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2899,3502
$GC,9558,-1.10,-146.6,629.8,-6.4,459,9561,0.00,1.65,0.00,0.000,4,0.000,0.083,2164,3783,3502
$GC,9591,-1.10,-146.6,632.0,-6.6,460,9595,0.00,1.52,0.00,0.000,6,0.000,0.034,2164,2903,3502
$GC,9913,-1.10,-146.6,654.8,-7.4,476,9917,0.00,2.47,0.00,0.000,4,0.000,0.047,2164,1489,3502
$GC,9962,-1.10,-146.6,658.7,-7.9,478,9967,0.00,2.58,0.00,0.000,6,0.000,0.056,2163,2906,3502
$GC,10279,-1.10,-146.6,680.8,-6.8,493,10283,0.00,1.67,0.00,0.000,4,0.000,0.090,2164,3775,3502
$GC,10537,-1.10,-146.6,704.4,-6.2,504,10541,0.00,1.52,0.00,0.000,6,0.000,0.040,2164,2910,3502
$GC,10859,-1.10,-146.6,718.4,-6.4,520,10862,0.00,1.70,0.00,0.000,4,0.000,0.092,2163,3789,3502
$GC,11107,-1.10,-146.6,745.6,-9.3,531,11111,0.00,1.58,0.00,0.000,6,0.000,0.046,2163,2883,3502
$GC,11439,-1.10,-146.6,775.9,-14.5,547,11444,0.00,2.55,0.00,0.000,4,0.000,0.065,2164,1482,3502
$GC,11489,-1.10,-146.6,784.3,-16.5,549,11493,0.00,2.15,0.00,0.000,3,0.000,0.069,2164,2646,3502
$STATE,11494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11494,begin apogee
$GC,11502,-0.42,0.0,785.0,16.4,549,11633,0.75,0.00,128.10,1.368,6,0.105,0.000,2312,2102,2901
$STATE,11634,end apogee,CONTROL_FINISHED_OK
$STATE,11634,begin climb
$GC,11637,1.10,146.6,784.0,0.0,556,11768,1.60,2.72,122.90,1.344,4,0.062,0.070,2649,3517,2303
$GC,11828,1.10,146.6,763.7,11.1,565,11833,0.00,2.53,0.00,0.000,6,0.000,0.038,2649,2087,2302
$GC,12155,1.40,385.7,764.3,-0.6,581,12366,0.28,2.62,200.93,1.362,4,0.036,0.065,2721,701,1328
$GC,12485,1.57,523.8,733.1,2.2,596,12612,0.15,2.50,117.10,1.303,6,0.039,0.040,2763,2111,765
$GC,12921,1.57,523.8,672.4,23.3,618,12926,0.00,2.62,0.00,0.000,4,0.000,0.074,2763,3502,762
$GC,12954,1.57,523.8,664.8,21.2,619,12960,0.00,2.47,0.00,0.000,6,0.000,0.039,2763,2104,761
$GC,13270,1.57,523.8,601.8,20.4,635,13274,0.00,2.60,0.00,0.000,4,0.000,0.067,2763,3505,761
$GC,13297,1.57,523.8,596.0,20.5,636,13302,0.00,2.47,0.00,0.000,6,0.000,0.035,2763,2090,761
$GC,13614,1.57,523.8,536.6,17.7,651,13615,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2089,761
$GC,13923,1.57,523.8,481.5,17.8,666,13927,0.00,2.65,0.00,0.000,4,0.000,0.068,2763,3506,761
$GC,13978,1.57,523.8,470.7,18.8,668,13985,0.00,2.47,0.00,0.000,6,0.000,0.037,2763,2097,761
$GC,14294,1.57,523.8,414.6,17.7,684,14298,0.00,2.65,0.00,0.000,4,0.000,0.071,2763,3506,761
$GC,14327,1.57,523.8,408.5,17.8,685,14333,0.00,2.47,0.00,0.000,6,0.000,0.039,2763,2096,761
$GC,14643,1.57,523.8,354.7,17.0,701,14647,0.00,2.62,0.00,0.000,4,0.000,0.071,2763,3503,761
$GC,14676,1.57,523.8,348.6,18.2,702,14682,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2093,761
$GC,14991,1.57,523.8,292.0,18.0,718,14996,0.00,2.65,0.00,0.000,4,0.000,0.074,2763,3502,762
$GC,15019,1.57,523.8,286.7,18.7,719,15024,0.00,2.50,0.00,0.000,6,0.000,0.044,2763,2098,761
$GC,15335,1.57,523.8,230.8,17.7,734,15339,0.00,2.65,0.00,0.000,4,0.000,0.074,2763,3502,762
$GC,15362,1.57,523.8,225.8,18.5,735,15366,0.00,2.50,0.00,0.000,6,0.000,0.045,2763,2099,762
$GC,15678,1.57,523.8,172.2,17.1,750,15682,0.00,2.67,0.00,0.000,4,0.000,0.075,2763,3509,762
$GC,15699,1.57,523.8,168.2,17.6,751,15703,0.00,2.53,0.00,0.000,6,0.000,0.044,2763,2093,762
$GC,16020,1.57,523.8,114.9,17.4,767,16024,0.00,2.67,0.00,0.000,4,0.000,0.077,2763,3502,762
$GC,16047,1.57,523.8,109.4,19.3,768,16051,0.00,2.50,0.00,0.000,6,0.000,0.047,2763,2099,763
$GC,16364,1.57,523.8,56.8,16.8,783,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2099,763
$GC,16674,1.57,523.8,2.3,16.6,798,16678,0.00,2.12,0.00,0.000,3,0.000,0.090,2763,3188,763
$STATE,16679,end climb,SURFACE_DEPTH_REACHED
$STATE,16679,begin surface coast
$FINISH,-0.1,1.027338
$STATE,16683,end surface coast,CONTROL_FINISHED_OK
$STATE,16683,begin surface
$SM_CCo,16767,0.00,0.000,0,0,762,524.70
$SM_GC,-0.26,11.95,0.00,0.00,0.029,0.000,0.000,46,2877,762,-10.79,-0.65,524.70
$IRIDIUM_FIX,6117.23,-911.33,220497,191924
$TT8_MAMPS,0.028379
$HUMID,2107
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,19.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,750.2,70.6
$24V_AH,23.1,72.851
$10V_AH,10.1,33.797
$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,26.675,148.075,569.025,0.000,0.000,38.826,35.613,162.990,7.000,0.000,0.000,12.238,1465.108,12644.914,641.864,1809.695,581.340,0.000,1624.508,0.000,1774.395,0.000,44.434
$DEVICE_MAMPS,155.701,110.448,1368.328,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.410,552.245,444.915,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41109,798
$CFSIZE,260165632,234991616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,280108,042855,6139.988,-913.159,26,1.3,43,-9.4