version: 66.02
glider: 103
mission: 7
dive: 444
start: 1 29 108 23 23 40
data:
$ID,103
$MISSION,7
$DIVE,444
$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,-71048.75
$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,21
$R_STBD_OVSHOOT,8
$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
$GPS1,231628,6130.258,-908.993,35,4.1,54,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-55.7
$GPS2,232308,6130.264,-908.746,11,1.6,16,-9.3
$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,167.1,20535,-11.1,-6.000
$D_GRID,607
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.10,-146.6,0.0,0.0,0,103,0.00,0.00,-70.68,0.000,6,0.000,0.000,48,2896,3500
$GC,106,-1.10,-146.6,5.6,-8.3,4,122,11.88,1.73,0.00,0.000,4,0.155,0.082,2163,3789,3501
$GC,374,-1.10,-146.6,41.8,-8.3,15,378,0.00,1.60,0.00,0.000,6,0.000,0.054,2163,2899,3501
$GC,702,-1.10,-146.6,73.0,-10.8,31,705,0.00,1.75,0.00,0.000,4,0.000,0.096,2164,3790,3501
$GC,820,-1.10,-146.6,82.4,-7.3,36,823,0.00,1.60,0.00,0.000,6,0.000,0.052,2163,2897,3501
$GC,1147,-1.10,-146.6,106.3,-6.3,52,1150,0.00,1.75,0.00,0.000,4,0.000,0.094,2164,3793,3501
$GC,1225,-1.10,-146.6,111.9,-7.5,55,1229,0.00,1.60,0.00,0.000,6,0.000,0.053,2163,2895,3501
$GC,1547,-1.10,-146.6,133.1,-9.5,71,1551,0.00,2.55,0.00,0.000,4,0.000,0.064,2164,1484,3501
$GC,1613,-1.10,-146.6,142.4,-12.2,74,1618,0.00,2.65,0.00,0.000,6,0.000,0.067,2164,2906,3501
$GC,1935,-1.10,-146.6,167.0,-6.3,90,1938,0.00,1.70,0.00,0.000,4,0.000,0.097,2164,3790,3501
$GC,2043,-1.10,-146.6,176.3,-9.5,94,2049,0.00,1.58,0.00,0.000,6,0.000,0.050,2164,2899,3501
$GC,2358,-1.10,-146.6,202.9,-7.1,110,2363,0.00,2.58,0.00,0.000,4,0.000,0.063,2164,1480,3501
$GC,2403,-1.10,-146.6,206.0,-6.9,112,2408,0.00,2.62,0.00,0.000,6,0.000,0.066,2164,2901,3501
$GC,2725,-1.10,-146.6,230.2,-7.6,128,2728,0.00,1.70,0.00,0.000,4,0.000,0.097,2164,3787,3501
$GC,2815,-1.10,-146.6,238.6,-9.8,132,2819,0.00,1.58,0.00,0.000,6,0.000,0.048,2164,2889,3502
$GC,3148,-1.10,-146.6,270.0,-10.1,148,3152,0.00,2.53,0.00,0.000,4,0.000,0.063,2164,1486,3501
$GC,3198,-1.10,-146.6,275.1,-9.2,150,3203,0.00,2.65,0.00,0.000,6,0.000,0.068,2164,2910,3501
$GC,3514,-1.10,-146.6,299.8,-7.5,165,3519,0.00,2.58,0.00,0.000,4,0.000,0.056,2164,1483,3501
$GC,3543,-1.10,-146.6,301.9,-7.3,166,3548,0.00,2.62,0.00,0.000,6,0.000,0.064,2164,2900,3501
$GC,3866,-1.10,-146.6,326.1,-7.7,182,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2900,3501
$GC,4174,-1.10,-146.6,351.9,-7.8,197,4178,0.00,2.55,0.00,0.000,4,0.000,0.058,2164,1488,3501
$GC,4218,-1.10,-146.6,355.4,-8.1,199,4223,0.00,2.60,0.00,0.000,6,0.000,0.060,2164,2906,3501
$GC,4540,-1.10,-146.6,378.8,-7.0,215,4543,0.00,1.70,0.00,0.000,4,0.000,0.093,2164,3783,3501
$GC,4573,-1.10,-146.6,381.4,-7.9,216,4576,0.00,1.58,0.00,0.000,6,0.000,0.045,2164,2900,3501
$GC,4894,-1.10,-146.6,405.1,-7.5,232,4899,0.00,2.53,0.00,0.000,4,0.000,0.054,2164,1482,3501
$GC,4973,-1.10,-146.6,410.8,-7.5,235,4979,0.00,2.58,0.00,0.000,6,0.000,0.064,2164,2901,3501
$GC,5289,-1.10,-146.6,434.7,-7.8,251,5292,0.00,1.70,0.00,0.000,4,0.000,0.094,2164,3780,3501
$GC,5328,-1.10,-146.6,438.1,-8.7,252,5334,0.00,1.58,0.00,0.000,6,0.000,0.044,2164,2879,3501
$GC,5644,-1.10,-146.6,461.9,-7.3,268,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2879,3501
$GC,5953,-1.10,-146.6,483.3,-6.8,283,5957,0.00,2.47,0.00,0.000,4,0.000,0.053,2164,1483,3501
$GC,6008,-1.10,-146.6,487.1,-6.9,285,6015,0.00,2.60,0.00,0.000,6,0.000,0.062,2164,2905,3501
$GC,6325,-1.10,-146.6,506.2,-5.5,301,6329,0.00,2.53,0.00,0.000,4,0.000,0.052,2164,1483,3501
$GC,6364,-1.10,-146.6,508.5,-6.2,303,6369,0.00,2.60,0.00,0.000,6,0.000,0.063,2164,2904,3501
$GC,6692,-1.10,-146.6,528.2,-6.6,319,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,2163,2904,3501
$STATE,6998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6998,begin apogee
$GC,7006,-0.42,0.0,551.4,7.8,334,7134,0.77,0.00,124.55,1.196,6,0.101,0.000,2315,2097,2901
$STATE,7135,end apogee,CONTROL_FINISHED_OK
$STATE,7135,begin climb
$GC,7138,1.10,146.6,556.1,0.0,340,7269,1.55,2.70,120.68,1.157,4,0.053,0.058,2651,3516,2303
$GC,7524,1.10,146.6,541.6,6.2,357,7530,0.00,2.47,0.00,0.000,6,0.000,0.032,2651,2091,2302
$GC,7840,1.11,150.3,525.1,5.9,373,7850,0.00,2.62,4.72,0.832,4,0.000,0.058,2651,3516,2288
$GC,8009,1.11,150.3,514.4,6.6,380,8015,0.00,2.45,0.00,0.000,6,0.000,0.034,2651,2101,2288
$GC,8326,1.11,155.9,494.8,5.8,396,8339,0.00,2.65,6.70,0.957,4,0.000,0.060,2651,3519,2265
$GC,8402,1.13,168.9,490.3,5.6,399,8421,0.00,2.47,12.45,1.061,6,0.000,0.035,2651,2104,2212
$GC,8744,1.13,168.9,468.9,6.8,416,8749,0.00,2.62,0.00,0.000,4,0.000,0.064,2651,3520,2211
$GC,8767,1.13,168.9,467.3,7.1,417,8771,0.00,2.50,0.00,0.000,6,0.000,0.038,2651,2098,2211
$GC,9088,1.13,168.9,445.7,7.0,433,9092,0.00,2.55,0.00,0.000,4,0.000,0.058,2651,691,2211
$GC,9121,1.13,168.9,443.4,6.8,434,9127,0.00,2.50,0.00,0.000,6,0.000,0.038,2651,2115,2211
$GC,9436,1.13,168.9,420.0,8.1,450,9441,0.00,2.55,0.00,0.000,4,0.000,0.065,2651,3506,2211
$GC,9526,1.13,168.9,412.2,9.3,454,9530,0.00,2.47,0.00,0.000,6,0.000,0.040,2651,2100,2211
$GC,9847,1.13,168.9,390.1,6.1,470,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2100,2211
$GC,10157,1.15,184.1,372.0,5.6,485,10178,0.00,2.67,13.73,1.019,4,0.000,0.067,2651,3498,2150
$GC,10207,1.16,189.3,368.9,5.9,487,10218,0.00,2.50,6.25,0.882,6,0.000,0.041,2651,2095,2129
$GC,10528,1.20,223.7,350.8,5.0,502,10563,0.00,2.67,29.33,1.052,4,0.000,0.067,2651,3504,1989
$GC,10608,1.20,223.7,346.4,6.2,505,10615,0.00,2.50,0.00,0.000,6,0.000,0.041,2651,2100,1988
$GC,10924,1.20,223.7,324.7,9.0,521,10929,0.00,2.62,0.00,0.000,4,0.000,0.067,2651,3510,1988
$GC,10974,1.20,223.7,318.9,10.8,523,10979,0.00,2.50,0.00,0.000,6,0.000,0.044,2651,2095,1987
$GC,11290,1.20,223.7,291.9,7.2,538,11294,0.00,2.60,0.00,0.000,4,0.000,0.066,2651,3504,1987
$GC,11317,1.20,223.7,289.8,7.9,539,11321,0.00,2.50,0.00,0.000,6,0.000,0.043,2651,2096,1987
$GC,11633,1.20,223.7,266.0,6.5,554,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2096,1987
$GC,11942,1.24,256.1,247.8,5.1,569,11977,0.12,2.72,27.08,0.988,4,0.044,0.069,2693,3502,1856
$GC,12017,1.24,256.1,242.8,7.0,572,12021,0.00,2.53,0.00,0.000,6,0.000,0.047,2693,2095,1856
$GC,12332,1.24,256.1,211.7,9.6,587,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2094,1856
$GC,12642,1.24,256.1,185.6,9.3,602,12646,0.00,2.55,0.00,0.000,4,0.000,0.062,2693,692,1856
$GC,12691,1.24,256.1,180.0,12.6,604,12696,0.00,2.47,0.00,0.000,6,0.000,0.042,2693,2098,1856
$GC,13007,1.24,256.1,150.0,7.1,619,13011,0.00,2.62,0.00,0.000,4,0.000,0.073,2693,3505,1856
$GC,13051,1.24,256.1,145.9,9.1,621,13055,0.00,2.50,0.00,0.000,6,0.000,0.045,2693,2094,1856
$GC,13372,1.24,256.1,120.5,9.0,637,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2094,1856
$GC,13681,1.24,256.1,90.6,9.5,652,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2094,1856
$GC,13990,1.24,256.1,66.2,7.4,667,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2094,1856
$GC,14301,1.24,256.1,45.9,7.6,682,14303,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2094,1856
$GC,14609,1.24,256.1,20.5,11.2,697,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2094,1856
$STATE,14812,end climb,SURFACE_DEPTH_REACHED
$STATE,14812,begin surface coast
$FINISH,-0.7,1.027342
$STATE,14834,end surface coast,CONTROL_FINISHED_OK
$STATE,14834,begin surface
$SM_CCo,14859,37.53,0.782,2,0,1679,300.00
$SM_GC,-0.02,0.00,0.00,37.53,0.000,0.000,0.782,50,2901,1679,-10.85,0.03,300.00
$IRIDIUM_FIX,6108.28,-917.36,240497,171738
$TT8_MAMPS,0.029146
$HUMID,2057
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,525.2,34.4
$24V_AH,23.2,74.204
$10V_AH,10.1,34.548
$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,25.900,133.850,345.475,37.525,0.000,40.401,42.787,175.775,5.000,0.000,0.000,16.805,1338.798,11196.263,503.520,1713.314,562.937,0.000,1377.642,0.000,1671.881,0.000,32.657
$DEVICE_MAMPS,154.934,96.642,1195.753,781.573,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.287,499.331,468.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34865,708
$CFSIZE,260165632,234459136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,300108,033326,6129.235,-901.787,41,1.0,41,-9.2