version: 66.02
glider: 103
mission: 7
dive: 437
start: 1 28 108 4 35 35
data:
$ID,103
$MISSION,7
$DIVE,437
$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,-70933.516
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,042855,6139.988,-913.159,26,1.3,43,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.35
$_SM_ANGLEo,-52.1
$GPS2,043503,6139.982,-913.120,15,1.3,15,-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,171.9,38800,-11.1,-6.000
$D_GRID,830
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.10,-146.6,0.0,0.0,0,126,0.00,0.00,-99.12,0.000,6,0.000,0.000,46,2876,3499
$GC,130,-1.10,-146.6,2.5,-3.4,5,150,12.02,1.75,0.00,0.000,4,0.160,0.082,2166,3772,3501
$GC,403,-1.10,-146.6,38.3,-7.6,17,407,0.00,1.55,0.00,0.000,6,0.000,0.057,2166,2928,3502
$GC,730,-1.10,-146.6,62.4,-8.1,33,735,0.00,2.67,0.00,0.000,4,0.000,0.069,2166,1479,3502
$GC,803,-1.10,-146.6,67.9,-7.8,36,808,0.00,2.65,0.00,0.000,6,0.000,0.071,2167,2887,3502
$GC,1121,-1.10,-146.6,90.8,-7.3,51,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2887,3502
$GC,1429,-1.10,-146.6,111.6,-6.9,66,1433,0.00,2.58,0.00,0.000,4,0.000,0.064,2167,1488,3502
$GC,1456,-1.10,-146.6,113.6,-7.1,67,1460,0.00,2.62,0.00,0.000,6,0.000,0.067,2166,2899,3502
$GC,1772,-1.10,-146.6,137.5,-7.9,82,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,2080,-1.10,-146.6,161.6,-6.8,97,2085,0.00,2.58,0.00,0.000,4,0.000,0.056,2166,1482,3502
$GC,2125,-1.10,-146.6,164.4,-6.1,99,2129,0.00,2.62,0.00,0.000,6,0.000,0.063,2167,2900,3502
$GC,2446,-1.10,-146.6,186.9,-7.5,115,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,2755,-1.10,-146.6,208.4,-6.4,130,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,3064,-1.10,-146.6,230.4,-7.4,145,3069,0.00,2.58,0.00,0.000,4,0.000,0.055,2166,1482,3502
$GC,3104,-1.10,-146.6,233.4,-7.3,147,3109,0.00,2.62,0.00,0.000,6,0.000,0.063,2166,2908,3502
$GC,3430,-1.10,-146.6,256.5,-7.2,163,3435,0.00,2.60,0.00,0.000,4,0.000,0.058,2167,1480,3502
$GC,3458,-1.10,-146.6,258.6,-7.4,164,3463,0.00,2.65,0.00,0.000,6,0.000,0.065,2166,2904,3502
$GC,3774,-1.10,-146.6,282.7,-7.7,179,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2904,3502
$GC,4083,-1.10,-146.6,305.6,-6.9,194,4088,0.00,2.58,0.00,0.000,4,0.000,0.061,2167,1482,3502
$GC,4128,-1.10,-146.6,309.0,-7.6,196,4132,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2899,3502
$GC,4449,-1.10,-146.6,332.6,-7.5,212,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,4758,-1.10,-146.6,357.8,-8.3,227,4762,0.00,2.58,0.00,0.000,4,0.000,0.059,2166,1485,3502
$GC,4792,-1.10,-146.6,360.6,-8.1,228,4798,0.00,2.62,0.00,0.000,6,0.000,0.061,2166,2908,3502
$GC,5108,-1.10,-146.6,385.5,-7.8,244,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2908,3502
$GC,5417,-1.10,-146.6,408.6,-7.0,259,5421,0.00,2.60,0.00,0.000,4,0.000,0.059,2166,1483,3502
$GC,5450,-1.10,-146.6,411.0,-7.2,260,5456,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2903,3502
$GC,5767,-1.10,-146.6,430.1,-5.6,276,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,6075,-1.10,-146.6,448.0,-6.1,291,6079,0.00,2.58,0.00,0.000,4,0.000,0.058,2166,1473,3502
$GC,6109,-1.10,-146.6,450.4,-7.1,292,6114,0.00,2.62,0.00,0.000,6,0.000,0.064,2166,2900,3502
$GC,6426,-1.10,-146.6,475.5,-7.8,307,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,6734,-1.10,-146.6,499.0,-9.8,322,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2167,2900,3502
$GC,7044,-1.10,-146.6,520.9,-5.3,337,7048,0.00,2.55,0.00,0.000,4,0.000,0.051,2166,1476,3502
$GC,7089,-1.10,-146.6,523.2,-5.5,339,7093,0.00,2.60,0.00,0.000,6,0.000,0.059,2166,2901,3502
$GC,7409,-1.10,-146.6,539.6,-4.9,355,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,7719,-1.10,-146.6,557.4,-6.5,370,7723,0.00,2.53,0.00,0.000,4,0.000,0.048,2166,1478,3502
$GC,7764,-1.10,-146.6,560.5,-7.0,372,7768,0.00,2.58,0.00,0.000,6,0.000,0.054,2166,2904,3502
$GC,8090,-1.10,-146.6,581.6,-6.8,388,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2904,3502
$GC,8400,-1.10,-146.6,604.2,-7.9,403,8404,0.00,2.53,0.00,0.000,4,0.000,0.047,2166,1478,3502
$GC,8444,-1.10,-146.6,607.9,-8.7,405,8448,0.00,2.58,0.00,0.000,6,0.000,0.054,2167,2900,3502
$GC,8765,-1.10,-146.6,634.5,-8.5,421,8769,0.00,2.50,0.00,0.000,4,0.000,0.044,2166,1477,3502
$GC,8793,-1.10,-146.6,637.2,-8.8,422,8797,0.00,2.58,0.00,0.000,6,0.000,0.054,2166,2910,3502
$GC,9109,-1.10,-146.6,666.5,-9.3,437,9112,0.00,1.62,0.00,0.000,4,0.000,0.079,2167,3785,3502
$GC,9222,-1.10,-146.6,676.9,-8.9,442,9225,0.00,1.55,0.00,0.000,6,0.000,0.038,2166,2896,3502
$GC,9555,-1.10,-146.6,702.5,-7.1,458,9559,0.00,1.73,0.00,0.000,4,0.000,0.084,2166,3781,3502
$GC,9738,-1.10,-146.6,716.2,-8.3,466,9741,0.00,1.55,0.00,0.000,6,0.000,0.040,2166,2897,3502
$GC,10071,-1.10,-146.6,743.9,-7.9,482,10075,0.00,2.55,0.00,0.000,4,0.000,0.059,2166,1481,3502
$GC,10172,-1.10,-146.6,755.1,-11.8,486,10179,0.00,2.62,0.00,0.000,6,0.000,0.066,2166,2898,3502
$GC,10488,-1.10,-146.6,789.1,-8.5,502,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2898,3502
$GC,10798,-1.10,-146.6,809.9,-5.0,517,10802,0.00,2.58,0.00,0.000,4,0.000,0.061,2166,1489,3502
$GC,10831,-1.10,-146.6,811.2,-3.9,518,10837,0.00,2.65,0.00,0.000,6,0.000,0.073,2166,2900,3502
$GC,11147,-1.10,-146.6,813.3,2.1,534,11151,0.00,1.73,0.00,0.000,4,0.000,0.102,2167,3776,3502
$GC,11226,-1.10,-146.6,813.1,-0.1,537,11229,0.00,1.58,0.00,0.000,6,0.000,0.052,2166,2893,3502
$STATE,11523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11524,begin apogee
$GC,11532,-0.42,0.0,830.9,8.8,552,11666,0.77,0.00,128.18,1.438,6,0.111,0.000,2315,2091,2901
$STATE,11667,end apogee,CONTROL_FINISHED_OK
$STATE,11667,begin climb
$GC,11671,1.10,146.6,840.6,0.0,559,11803,1.60,2.72,124.38,1.415,4,0.065,0.064,2649,3517,2303
$GC,12061,1.30,304.2,819.4,1.6,577,12207,0.20,2.53,134.12,1.413,6,0.041,0.042,2700,2093,1660
$GC,12514,1.30,304.2,767.3,11.9,599,12518,0.00,2.60,0.00,0.000,4,0.000,0.071,2700,697,1657
$GC,12569,1.30,304.2,762.4,7.8,601,12575,0.00,2.55,0.00,0.000,6,0.000,0.047,2700,2110,1656
$GC,12885,1.47,445.2,755.0,2.1,617,13011,0.12,2.78,118.43,1.431,4,0.045,0.077,2740,3507,1086
$GC,13074,1.47,445.2,740.0,11.4,626,13079,0.00,2.53,0.00,0.000,6,0.000,0.045,2740,2105,1084
$GC,13400,1.47,445.2,697.7,13.3,642,13405,0.00,2.62,0.00,0.000,4,0.000,0.072,2740,3511,1083
$GC,13422,1.47,445.2,694.3,15.3,643,13427,0.00,2.50,0.00,0.000,6,0.000,0.041,2740,2098,1083
$GC,13744,1.47,445.2,645.4,15.2,659,13748,0.00,2.65,0.00,0.000,4,0.000,0.067,2740,3518,1082
$GC,13788,1.47,445.2,638.4,15.0,661,13792,0.00,2.50,0.00,0.000,6,0.000,0.037,2740,2098,1082
$GC,14109,1.47,445.2,593.0,14.2,677,14113,0.00,2.62,0.00,0.000,4,0.000,0.064,2740,3516,1082
$GC,14136,1.47,445.2,588.5,15.5,678,14140,0.00,2.47,0.00,0.000,6,0.000,0.035,2740,2098,1082
$GC,14451,1.47,445.2,540.4,15.2,693,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2098,1083
$GC,14761,1.47,445.2,489.8,16.6,708,14765,0.00,2.62,0.00,0.000,4,0.000,0.067,2741,3511,1084
$GC,14788,1.47,445.2,485.0,18.5,709,14792,0.00,2.47,0.00,0.000,6,0.000,0.037,2740,2099,1084
$GC,15104,1.47,445.2,434.5,15.7,724,15108,0.00,2.62,0.00,0.000,4,0.000,0.070,2740,3511,1085
$GC,15125,1.47,445.2,430.7,16.7,725,15129,0.00,2.47,0.00,0.000,6,0.000,0.039,2740,2101,1085
$GC,15446,1.47,445.2,378.9,15.8,741,15451,0.00,2.65,0.00,0.000,4,0.000,0.071,2740,3511,1085
$GC,15465,1.47,445.2,375.7,17.3,742,15470,0.00,2.50,0.00,0.000,6,0.000,0.042,2740,2097,1085
$GC,15792,1.47,445.2,323.5,16.2,758,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2097,1085
$GC,16101,1.47,445.2,274.1,15.2,773,16106,0.00,2.67,0.00,0.000,4,0.000,0.075,2740,3509,1086
$GC,16135,1.47,445.2,268.2,16.5,774,16141,0.00,2.53,0.00,0.000,6,0.000,0.046,2740,2100,1086
$GC,16450,1.47,445.2,220.3,15.5,790,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2100,1086
$GC,16760,1.47,445.2,174.1,14.5,805,16764,0.00,2.67,0.00,0.000,4,0.000,0.076,2740,3508,1086
$GC,16781,1.47,445.2,170.6,16.2,806,16786,0.00,2.53,0.00,0.000,6,0.000,0.047,2740,2098,1086
$GC,17103,1.47,445.2,121.6,14.2,822,17104,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2098,1086
$GC,17413,1.47,445.2,79.1,15.9,837,17414,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2098,1086
$GC,17721,1.47,445.2,37.4,12.0,852,17726,0.00,2.60,0.00,0.000,4,0.000,0.069,2740,689,1087
$GC,17743,1.47,445.2,34.0,14.6,853,17748,0.00,2.55,0.00,0.000,6,0.000,0.051,2740,2101,1087
$STATE,17959,end climb,SURFACE_DEPTH_REACHED
$STATE,17959,begin surface coast
$FINISH,-0.9,1.027336
$STATE,17981,end surface coast,CONTROL_FINISHED_OK
$STATE,17981,begin surface
$SM_CCo,18066,0.00,0.000,0,0,1087,445.22
$SM_GC,-0.25,11.82,0.00,0.00,0.028,0.000,0.000,34,2899,1087,-10.81,-0.03,445.22
$IRIDIUM_FIX,6117.23,-915.81,220497,232333
$TT8_MAMPS,0.029146
$HUMID,2106
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,750.2,92.3
$24V_AH,23.0,73.067
$10V_AH,10.1,33.880
$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,26.550,155.875,505.100,0.000,0.000,39.186,42.423,155.668,7.000,0.000,0.000,15.852,1582.328,13726.926,604.863,1945.520,583.993,0.000,1628.264,0.000,1903.880,0.000,44.472
$DEVICE_MAMPS,159.536,102.011,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.607,595.828,489.280,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44250,865
$CFSIZE,260165632,234926080
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