version: 66.02
glider: 103
mission: 7
dive: 386
start: 1 17 108 20 22 7
data:
$ID,103
$MISSION,7
$DIVE,386
$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,-2
$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,-70009.594
$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,22
$R_STBD_OVSHOOT,9
$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
$GPS1,201538,6245.177,-1145.601,31,1.1,31,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-60.4
$GPS2,202133,6245.082,-1145.473,14,1.1,14,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DE
$TGT_LATLONG,6237.000,-1100.000
$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,122.3,41526,-11.1,-6.000
$D_GRID,637
$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,23,begin dive
$GC,26,-1.10,-146.6,0.0,0.0,0,95,0.00,0.00,-67.25,0.000,6,0.000,0.000,48,2900,3500
$GC,99,-1.10,-146.6,1.7,-4.5,3,120,11.85,2.65,0.00,0.000,4,0.154,0.061,2166,1488,3501
$GC,260,-1.10,-146.6,24.5,-6.9,10,265,0.00,2.67,0.00,0.000,6,0.000,0.071,2166,2903,3501
$GC,583,-1.10,-146.6,45.6,-7.1,26,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2903,3502
$GC,891,-1.10,-146.6,69.5,-7.4,41,895,0.00,2.60,0.00,0.000,4,0.000,0.062,2166,1492,3501
$GC,923,-1.10,-146.6,72.1,-7.9,42,930,0.00,2.65,0.00,0.000,6,0.000,0.071,2166,2906,3502
$GC,1241,-1.10,-146.6,94.4,-6.9,58,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3501
$GC,1549,-1.10,-146.6,116.9,-7.7,73,1553,0.00,2.62,0.00,0.000,4,0.000,0.068,2166,1492,3502
$GC,1582,-1.10,-146.6,119.5,-7.7,74,1588,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2904,3502
$GC,1899,-1.10,-146.6,143.0,-7.6,90,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2905,3502
$GC,2206,-1.10,-146.6,166.1,-7.3,105,2210,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1491,3502
$GC,2239,-1.10,-146.6,168.8,-7.9,106,2245,0.00,2.62,0.00,0.000,6,0.000,0.070,2166,2901,3502
$GC,2555,-1.10,-146.6,191.4,-7.1,122,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2902,3502
$GC,2863,-1.10,-146.6,212.2,-6.8,137,2868,0.00,2.62,0.00,0.000,4,0.000,0.067,2166,1482,3502
$GC,2908,-1.10,-146.6,215.2,-6.5,139,2912,0.00,2.65,0.00,0.000,6,0.000,0.068,2166,2906,3502
$GC,3229,-1.10,-146.6,235.1,-5.9,155,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,3537,-1.10,-146.6,255.3,-6.9,170,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2906,3502
$GC,3847,-1.10,-146.6,278.5,-7.8,185,3851,0.00,2.60,0.00,0.000,4,0.000,0.064,2166,1489,3502
$GC,3910,-1.10,-146.6,283.4,-7.7,188,3914,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2901,3502
$GC,4236,-1.10,-146.6,309.5,-7.7,204,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2901,3502
$GC,4545,-1.10,-146.6,333.4,-7.8,219,4550,0.00,2.60,0.00,0.000,4,0.000,0.063,2166,1482,3502
$GC,4595,-1.10,-146.6,337.5,-7.3,221,4600,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2900,3502
$GC,4912,-1.10,-146.6,361.2,-7.4,236,4916,0.00,2.58,0.00,0.000,4,0.000,0.062,2166,1482,3502
$GC,4951,-1.10,-146.6,364.1,-7.6,238,4956,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2900,3502
$GC,5278,-1.10,-146.6,388.9,-7.6,254,5282,0.00,1.70,0.00,0.000,4,0.000,0.089,2166,3784,3502
$GC,5356,-1.10,-146.6,395.5,-8.4,257,5359,0.00,1.55,0.00,0.000,6,0.000,0.040,2166,2888,3502
$GC,5677,-1.10,-146.6,420.3,-7.7,273,5682,0.00,2.50,0.00,0.000,4,0.000,0.058,2166,1492,3502
$GC,5750,-1.10,-146.6,425.6,-6.8,276,5754,0.00,2.62,0.00,0.000,6,0.000,0.069,2166,2909,3502
$GC,6066,-1.10,-146.6,448.8,-7.6,291,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2909,3502
$GC,6375,-1.10,-146.6,469.9,-6.6,306,6379,0.00,2.53,0.00,0.000,4,0.000,0.060,2166,1498,3502
$GC,6431,-1.10,-146.6,473.6,-6.3,308,6436,0.00,2.60,0.00,0.000,6,0.000,0.066,2166,2900,3502
$GC,6747,-1.10,-146.6,494.2,-7.0,323,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,7056,-1.10,-146.6,516.5,-7.3,338,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2900,3502
$GC,7365,-1.10,-146.6,541.4,-8.3,353,7369,0.00,2.53,0.00,0.000,4,0.000,0.055,2166,1496,3502
$GC,7438,-1.10,-146.6,547.2,-7.6,356,7442,0.00,2.55,0.00,0.000,6,0.000,0.064,2166,2899,3502
$GC,7754,-1.10,-146.6,567.6,-5.9,371,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2899,3502
$GC,8063,-1.10,-146.6,585.0,-5.5,386,8067,0.00,2.50,0.00,0.000,4,0.000,0.052,2166,1493,3502
$GC,8090,-1.10,-146.6,586.7,-5.7,387,8095,0.00,2.60,0.00,0.000,6,0.000,0.063,2166,2906,3502
$GC,8406,-1.10,-146.6,604.3,-5.3,402,8410,0.00,2.50,0.00,0.000,4,0.000,0.054,2165,1493,3502
$GC,8452,-1.10,-146.6,606.7,-5.1,404,8457,0.00,2.58,0.00,0.000,6,0.000,0.065,2166,2899,3502
$GC,8779,-1.10,-146.6,625.0,-6.0,420,8789,0.00,2.50,0.00,0.000,4,0.000,0.052,2166,1491,3502
$GC,8830,-1.10,-146.6,627.9,-5.9,422,8834,0.00,2.60,0.00,0.000,6,0.000,0.064,2166,2908,3502
$STATE,8988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8988,begin apogee
$GC,8996,-0.42,0.0,638.3,6.5,430,9126,0.75,0.00,126.18,1.262,6,0.084,0.000,2318,2103,2901
$STATE,9126,end apogee,CONTROL_FINISHED_OK
$STATE,9127,begin climb
$GC,9130,1.10,146.6,643.5,0.0,436,9261,1.55,2.62,122.85,1.220,4,0.061,0.055,2648,692,2303
$GC,9426,1.13,171.2,635.9,5.3,449,9453,0.00,2.50,22.12,1.167,6,0.000,0.035,2648,2118,2203
$GC,9762,1.14,174.8,617.0,5.9,466,9772,0.00,2.60,4.78,0.890,4,0.000,0.065,2648,3507,2188
$GC,9801,1.14,175.3,614.6,6.0,468,9806,0.00,2.47,0.00,0.000,6,0.000,0.037,2648,2093,2188
$GC,10128,1.14,177.4,594.6,5.9,484,10137,0.00,2.65,3.88,0.808,4,0.000,0.067,2648,3504,2177
$GC,10154,1.14,177.4,592.8,7.5,485,10158,0.00,2.47,0.00,0.000,6,0.000,0.038,2648,2092,2177
$GC,10475,1.14,177.4,572.0,6.5,501,10479,0.00,2.60,0.00,0.000,4,0.000,0.068,2648,3500,2176
$GC,10519,1.14,177.4,569.0,6.8,503,10523,0.00,2.45,0.00,0.000,6,0.000,0.041,2648,2102,2176
$GC,10845,1.14,177.4,548.7,6.1,519,10849,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3501,2175
$GC,10877,1.14,177.4,546.5,6.4,520,10884,0.00,2.45,0.00,0.000,6,0.000,0.041,2648,2094,2175
$GC,11194,1.15,186.8,527.2,5.7,536,11205,0.00,0.00,9.10,1.099,6,0.000,0.000,2648,2095,2139
$GC,11503,1.19,215.7,510.6,5.2,551,11534,0.00,2.70,25.75,1.182,4,0.000,0.069,2648,3498,2021
$GC,11601,1.19,215.7,504.4,6.1,555,11608,0.00,2.47,0.00,0.000,6,0.000,0.042,2648,2104,2020
$GC,11917,1.19,215.7,484.4,6.7,571,11922,0.00,2.60,0.00,0.000,4,0.000,0.068,2648,3499,2020
$GC,11957,1.19,215.7,481.7,7.5,573,11961,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2098,2020
$GC,12283,1.19,215.7,461.0,6.2,589,12288,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3501,2020
$GC,12323,1.19,215.7,458.4,6.6,591,12328,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2098,2020
$GC,12650,1.19,215.7,436.8,6.8,607,12654,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3505,2020
$GC,12712,1.19,215.7,432.4,7.5,610,12716,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2095,2020
$GC,13038,1.19,215.7,409.6,7.3,626,13043,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3502,2020
$GC,13078,1.19,215.7,406.4,7.4,628,13082,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2093,2021
$GC,13404,1.19,215.7,382.5,7.0,644,13409,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3507,2020
$GC,13448,1.19,215.7,379.3,7.2,646,13452,0.00,2.50,0.00,0.000,6,0.000,0.043,2648,2095,2021
$GC,13768,1.19,215.7,356.8,6.8,662,13773,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3507,2021
$GC,13809,1.19,215.7,353.8,7.7,664,13813,0.00,2.47,0.00,0.000,6,0.000,0.041,2648,2096,2021
$GC,14135,1.19,215.7,329.5,7.7,680,14139,0.00,2.62,0.00,0.000,4,0.000,0.068,2648,3508,2021
$GC,14178,1.19,215.7,325.9,8.3,682,14182,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2100,2021
$GC,14506,1.19,215.7,301.7,7.1,698,14510,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3501,2021
$GC,14555,1.19,215.7,297.9,6.4,700,14559,0.00,2.45,0.00,0.000,6,0.000,0.042,2648,2100,2021
$GC,14870,1.19,215.7,276.2,6.6,715,14875,0.00,2.62,0.00,0.000,4,0.000,0.068,2648,3507,2022
$GC,14904,1.19,215.7,273.9,6.7,716,14910,0.00,2.47,0.00,0.000,6,0.000,0.041,2649,2100,2022
$GC,15219,1.19,215.7,253.7,6.6,732,15224,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3500,2022
$GC,15259,1.19,215.7,250.9,6.7,734,15263,0.00,2.45,0.00,0.000,6,0.000,0.042,2648,2100,2022
$GC,15586,1.19,215.7,228.9,6.7,750,15590,0.00,2.62,0.00,0.000,4,0.000,0.069,2648,3508,2022
$GC,15635,1.19,215.7,225.2,7.1,752,15639,0.00,2.45,0.00,0.000,6,0.000,0.041,2648,2100,2022
$GC,15956,1.19,215.7,203.3,7.0,768,15960,0.00,2.60,0.00,0.000,4,0.000,0.067,2648,3501,2022
$GC,16011,1.19,215.7,199.2,6.9,770,16018,0.00,2.45,0.00,0.000,6,0.000,0.041,2648,2099,2022
$GC,16329,1.19,215.7,177.9,6.7,786,16333,0.00,2.62,0.00,0.000,4,0.000,0.068,2648,3508,2023
$GC,16372,1.19,215.7,174.5,7.1,788,16377,0.00,2.47,0.00,0.000,6,0.000,0.040,2648,2093,2023
$GC,16694,1.19,215.7,153.1,6.5,804,16698,0.00,2.62,0.00,0.000,4,0.000,0.067,2648,3506,2023
$GC,16743,1.19,215.7,149.7,6.9,806,16747,0.00,2.47,0.00,0.000,6,0.000,0.044,2648,2093,2023
$GC,17065,1.19,215.7,128.9,6.6,822,17069,0.00,2.62,0.00,0.000,4,0.000,0.070,2648,3501,2023
$GC,17127,1.19,215.7,125.0,6.3,825,17132,0.00,2.47,0.00,0.000,6,0.000,0.043,2648,2094,2024
$GC,17455,1.19,215.7,104.0,6.7,841,17459,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3501,2023
$GC,17504,1.19,215.7,100.4,6.7,843,17508,0.00,2.45,0.00,0.000,6,0.000,0.044,2648,2101,2023
$GC,17822,1.19,215.7,80.6,6.1,858,17826,0.00,2.62,0.00,0.000,4,0.000,0.071,2648,3504,2024
$GC,17866,1.19,215.7,77.6,7.2,860,17870,0.00,2.47,0.00,0.000,6,0.000,0.044,2648,2097,2024
$GC,18187,1.19,215.7,56.7,6.5,876,18191,0.00,2.62,0.00,0.000,4,0.000,0.072,2648,3500,2024
$GC,18242,1.19,215.7,53.1,6.9,878,18249,0.00,2.47,0.00,0.000,6,0.000,0.046,2648,2100,2023
$GC,18558,1.19,215.7,33.3,6.7,894,18562,0.00,2.62,0.00,0.000,4,0.000,0.073,2648,3500,2024
$GC,18590,1.19,215.7,31.0,6.1,895,18597,0.00,2.47,0.00,0.000,6,0.000,0.048,2648,2102,2024
$GC,18908,1.19,215.7,11.0,6.4,911,18913,0.00,2.55,0.00,0.000,4,0.000,0.063,2648,695,2024
$GC,18975,1.19,215.7,6.4,6.9,914,18980,0.00,2.45,0.00,0.000,6,0.000,0.040,2648,2089,2024
$STATE,19046,end climb,SURFACE_DEPTH_REACHED
$STATE,19046,begin surface coast
$FINISH,0.4,1.027324
$STATE,19068,end surface coast,CONTROL_FINISHED_OK
$STATE,19069,begin surface
$SM_CCo,19092,68.85,0.805,1,0,1678,300.00
$SM_GC,-0.49,0.00,0.00,68.85,0.000,0.000,0.805,45,2904,1678,-10.88,0.11,300.00
$IRIDIUM_FIX,6225.82,-1156.47,170108,191922
$TT8_MAMPS,0.029146
$HUMID,2045
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,15.80
$XPDR_PINGS,2
$24V_AH,23.2,64.849
$10V_AH,10.1,29.755
$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,25.750,211.150,314.650,68.850,0.000,37.148,33.146,157.756,6.000,0.000,0.000,14.425,1726.783,14595.281,556.862,2063.606,594.818,0.000,1622.044,0.000,2036.226,0.000,39.147
$DEVICE_MAMPS,154.167,88.972,1261.715,805.350,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,672.140,649.789,596.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47480,919
$CFSIZE,260165632,237977600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
$GPS,180108,014238,6239.440,-1137.593,27,1.6,27,-11.1