version: 66.02
glider: 103
mission: 7
dive: 388
start: 1 18 108 7 43 24
data:
$ID,103
$MISSION,7
$DIVE,388
$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,-70039.852
$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,7
$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
$GPS1,073639,6234.299,-1124.645,39,1.0,39,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.48
$_SM_ANGLEo,-56.1
$GPS2,074251,6234.148,-1124.417,12,1.2,12,-10.9
$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,86.7,21459,-11.1,-6.000
$D_GRID,691
$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,26,-1.10,-146.6,0.0,0.0,0,93,0.00,0.00,-65.75,0.000,6,0.000,0.000,40,2895,3500
$GC,96,-1.10,-146.6,2.6,-7.4,3,118,12.00,2.60,0.00,0.000,4,0.159,0.056,2165,1491,3501
$GC,370,-1.10,-146.6,32.6,-7.8,15,374,0.00,2.70,0.00,0.000,6,0.000,0.077,2165,2904,3502
$GC,691,-1.10,-146.6,59.7,-7.7,31,695,0.00,2.62,0.00,0.000,4,0.000,0.067,2165,1491,3502
$GC,821,-1.10,-146.6,68.6,-6.9,37,826,0.00,2.65,0.00,0.000,6,0.000,0.071,2165,2903,3502
$GC,1149,-1.10,-146.6,92.4,-7.8,53,1150,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2903,3502
$GC,1457,-1.10,-146.6,115.6,-7.2,68,1461,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1491,3502
$GC,1501,-1.10,-146.6,118.9,-7.6,70,1506,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2901,3502
$GC,1822,-1.10,-146.6,140.7,-6.2,86,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2900,3502
$GC,2131,-1.10,-146.6,160.6,-6.7,101,2136,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1490,3502
$GC,2194,-1.10,-146.6,164.7,-6.6,104,2198,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3502
$GC,2520,-1.10,-146.6,186.3,-6.8,120,2524,0.00,2.60,0.00,0.000,4,0.000,0.066,2165,1492,3502
$GC,2559,-1.10,-146.6,189.1,-6.9,122,2564,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2900,3502
$GC,2886,-1.10,-146.6,211.8,-6.8,138,2891,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1487,3502
$GC,2919,-1.10,-146.6,214.0,-6.2,139,2925,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2905,3502
$GC,3235,-1.10,-146.6,232.9,-6.4,155,3239,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1490,3502
$GC,3274,-1.10,-146.6,235.5,-6.7,157,3279,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2904,3502
$GC,3601,-1.10,-146.6,257.0,-7.4,173,3605,0.00,2.60,0.00,0.000,4,0.000,0.064,2165,1484,3502
$GC,3667,-1.10,-146.6,262.0,-7.1,176,3672,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2908,3502
$GC,3989,-1.10,-146.6,284.7,-7.6,192,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2907,3502
$GC,4298,-1.10,-146.6,306.2,-6.7,207,4302,0.00,2.60,0.00,0.000,4,0.000,0.061,2165,1483,3502
$GC,4360,-1.10,-146.6,309.9,-5.6,210,4364,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2899,3502
$GC,4687,-1.10,-146.6,332.6,-7.1,226,4691,0.00,2.55,0.00,0.000,4,0.000,0.061,2165,1489,3502
$GC,4726,-1.10,-146.6,335.6,-7.0,228,4730,0.00,2.62,0.00,0.000,6,0.000,0.071,2165,2902,3502
$GC,5052,-1.10,-146.6,359.6,-7.6,244,5057,0.00,2.58,0.00,0.000,4,0.000,0.064,2165,1488,3502
$GC,5085,-1.10,-146.6,362.2,-7.5,245,5092,0.00,2.60,0.00,0.000,6,0.000,0.071,2165,2898,3502
$GC,5402,-1.10,-146.6,384.2,-6.7,261,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2898,3502
$GC,5711,-1.10,-146.6,406.2,-7.2,276,5715,0.00,2.55,0.00,0.000,4,0.000,0.060,2165,1489,3502
$GC,5760,-1.10,-146.6,409.9,-7.6,278,5765,0.00,2.65,0.00,0.000,6,0.000,0.072,2166,2899,3502
$GC,6076,-1.10,-146.6,433.1,-7.1,293,6080,0.00,2.55,0.00,0.000,4,0.000,0.059,2165,1488,3502
$GC,6125,-1.10,-146.6,436.8,-7.5,295,6129,0.00,2.62,0.00,0.000,6,0.000,0.070,2165,2900,3502
$GC,6441,-1.10,-146.6,457.9,-6.4,310,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2901,3502
$GC,6750,-1.10,-146.6,479.3,-8.0,325,6754,0.00,2.55,0.00,0.000,4,0.000,0.058,2165,1487,3502
$GC,6805,-1.10,-146.6,484.3,-9.4,327,6811,0.00,2.62,0.00,0.000,6,0.000,0.067,2165,2907,3502
$GC,7121,-1.10,-146.6,509.5,-7.1,343,7125,0.00,2.58,0.00,0.000,4,0.000,0.058,2165,1481,3502
$GC,7176,-1.10,-146.6,513.4,-7.2,345,7182,0.00,2.60,0.00,0.000,6,0.000,0.067,2165,2899,3502
$GC,7493,-1.10,-146.6,532.4,-6.0,361,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2899,3502
$GC,7801,-1.10,-146.6,552.0,-6.2,376,7805,0.00,2.53,0.00,0.000,4,0.000,0.055,2165,1484,3502
$GC,7868,-1.10,-146.6,556.1,-5.7,379,7872,0.00,2.60,0.00,0.000,6,0.000,0.066,2165,2900,3502
$GC,8189,-1.10,-146.6,574.8,-6.4,395,8194,0.00,2.55,0.00,0.000,4,0.000,0.055,2165,1484,3502
$GC,8246,-1.10,-146.6,578.3,-6.7,397,8250,0.00,2.62,0.00,0.000,6,0.000,0.065,2165,2901,3502
$GC,8562,-1.10,-146.6,600.4,-7.2,412,8566,0.00,2.55,0.00,0.000,4,0.000,0.054,2165,1480,3501
$GC,8647,-1.10,-146.6,606.9,-7.2,416,8651,0.00,2.60,0.00,0.000,6,0.000,0.064,2165,2901,3502
$GC,8973,-1.10,-146.6,630.8,-7.3,432,8977,0.00,2.53,0.00,0.000,4,0.000,0.051,2165,1482,3501
$GC,9039,-1.10,-146.6,635.5,-7.4,435,9043,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2900,3502
$GC,9361,-1.10,-146.6,656.4,-6.6,451,9365,0.00,2.53,0.00,0.000,4,0.000,0.051,2165,1483,3502
$GC,9438,-1.10,-146.6,661.3,-6.2,454,9445,0.00,2.60,0.00,0.000,6,0.000,0.065,2165,2899,3501
$GC,9757,-1.10,-146.6,676.3,-5.5,470,9761,0.00,2.53,0.00,0.000,4,0.000,0.052,2165,1484,3501
$GC,9852,-1.10,-146.6,681.9,-5.4,474,9856,0.00,2.65,0.00,0.000,6,0.000,0.069,2165,2907,3501
$STATE,10000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10000,begin apogee
$GC,10009,-0.42,0.0,691.2,6.3,481,10143,0.77,0.00,126.93,1.307,6,0.098,0.000,2319,2094,2901
$STATE,10144,end apogee,CONTROL_FINISHED_OK
$STATE,10144,begin climb
$GC,10147,1.10,146.6,697.1,0.0,488,10279,1.52,2.62,123.43,1.270,4,0.057,0.060,2646,689,2303
$GC,10444,1.10,146.6,687.6,6.3,501,10450,0.00,2.53,0.00,0.000,6,0.000,0.041,2646,2114,2301
$GC,10760,1.11,150.0,669.0,5.9,517,10766,0.00,0.00,4.32,0.881,6,0.000,0.000,2646,2115,2289
$GC,11069,1.13,171.4,651.5,5.4,532,11094,0.00,2.67,19.73,1.235,4,0.000,0.071,2646,3507,2202
$GC,11139,1.13,171.4,647.3,6.5,535,11144,0.00,2.53,0.00,0.000,6,0.000,0.040,2646,2092,2202
$GC,11454,1.13,171.4,627.7,6.5,550,11458,0.00,2.53,0.00,0.000,4,0.000,0.061,2646,698,2201
$GC,11527,1.13,171.4,622.3,7.4,553,11531,0.00,2.47,0.00,0.000,6,0.000,0.041,2646,2100,2200
$GC,11848,1.14,174.5,601.7,5.9,569,11857,0.00,2.65,4.00,0.872,4,0.000,0.072,2646,3508,2189
$GC,11880,1.14,174.5,599.6,6.1,570,11884,0.00,2.50,0.00,0.000,6,0.000,0.040,2646,2091,2189
$GC,12195,1.14,174.5,580.8,6.1,585,12200,0.00,2.65,0.00,0.000,4,0.000,0.069,2646,3508,2188
$GC,12229,1.14,174.5,578.6,6.7,586,12235,0.00,2.50,0.00,0.000,6,0.000,0.041,2646,2094,2188
$GC,12547,1.14,174.5,558.9,6.3,602,12548,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2094,2188
$GC,12854,1.17,202.0,541.1,5.2,617,12884,0.00,2.72,24.60,1.223,4,0.000,0.069,2646,3511,2077
$GC,12936,1.17,202.0,536.2,6.4,621,12941,0.00,2.50,0.00,0.000,6,0.000,0.041,2646,2100,2077
$GC,13263,1.17,202.0,515.5,6.2,637,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2100,2076
$GC,13573,1.21,232.1,498.1,5.2,652,13607,0.12,2.75,26.40,1.184,4,0.048,0.071,2682,3507,1954
$GC,13646,1.21,232.1,493.2,6.6,655,13651,0.00,2.50,0.00,0.000,6,0.000,0.041,2682,2099,1953
$GC,13962,1.21,232.1,469.4,8.1,670,13966,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3515,1953
$GC,13989,1.21,232.1,466.8,9.3,671,13993,0.00,2.50,0.00,0.000,6,0.000,0.042,2682,2101,1953
$GC,14305,1.21,232.1,442.4,7.6,686,14309,0.00,2.62,0.00,0.000,4,0.000,0.069,2682,3508,1953
$GC,14349,1.21,232.1,438.8,7.6,688,14353,0.00,2.47,0.00,0.000,6,0.000,0.042,2682,2101,1954
$GC,14670,1.21,232.1,413.6,8.1,704,14671,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2101,1954
$GC,14979,1.21,232.1,387.6,8.5,719,14984,0.00,2.65,0.00,0.000,4,0.000,0.070,2682,3514,1954
$GC,15023,1.21,232.1,383.5,8.7,721,15028,0.00,2.47,0.00,0.000,6,0.000,0.043,2682,2099,1954
$GC,15351,1.21,232.1,356.5,7.9,737,15352,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2099,1954
$GC,15660,1.21,232.1,331.9,7.8,752,15664,0.00,2.65,0.00,0.000,4,0.000,0.070,2682,3515,1955
$GC,15709,1.21,232.1,327.9,7.6,754,15713,0.00,2.50,0.00,0.000,6,0.000,0.042,2682,2093,1955
$GC,16025,1.21,232.1,303.5,7.9,769,16029,0.00,2.62,0.00,0.000,4,0.000,0.071,2682,3511,1955
$GC,16065,1.21,232.1,300.2,8.7,771,16069,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2096,1955
$GC,16391,1.21,232.1,274.6,7.8,787,16392,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2097,1956
$GC,16700,1.21,232.1,251.2,7.4,802,16705,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3508,1956
$GC,16745,1.21,232.1,247.6,8.8,804,16749,0.00,2.47,0.00,0.000,6,0.000,0.044,2682,2104,1956
$GC,17065,1.21,232.1,223.1,8.0,820,17066,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2104,1956
$GC,17375,1.21,232.1,197.3,8.9,835,17379,0.00,2.62,0.00,0.000,4,0.000,0.069,2682,3509,1957
$GC,17407,1.21,232.1,194.1,9.4,836,17414,0.00,2.50,0.00,0.000,6,0.000,0.044,2682,2093,1957
$GC,17723,1.21,232.1,165.4,8.9,852,17727,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3508,1957
$GC,17767,1.21,232.1,161.2,9.3,854,17771,0.00,2.50,0.00,0.000,6,0.000,0.045,2682,2092,1957
$GC,18089,1.21,232.1,134.5,8.1,870,18090,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2092,1957
$GC,18397,1.21,232.1,109.5,8.0,885,18402,0.00,2.65,0.00,0.000,4,0.000,0.071,2682,3508,1958
$GC,18430,1.21,232.1,106.8,7.8,886,18437,0.00,2.50,0.00,0.000,6,0.000,0.048,2682,2093,1958
$GC,18748,1.21,232.1,78.0,9.7,902,18749,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2093,1958
$GC,19056,1.21,232.1,50.8,8.1,917,19060,0.00,2.67,0.00,0.000,4,0.000,0.074,2682,3514,1958
$GC,19088,1.21,232.1,47.9,8.1,918,19095,0.00,2.50,0.00,0.000,6,0.000,0.050,2682,2098,1958
$GC,19406,1.21,232.1,27.0,6.0,934,19410,0.00,2.55,0.00,0.000,4,0.000,0.065,2682,698,1958
$GC,19461,1.21,232.1,22.9,8.2,936,19468,0.00,2.53,0.00,0.000,6,0.000,0.051,2682,2124,1958
$STATE,19733,end climb,SURFACE_DEPTH_REACHED
$STATE,19733,begin surface coast
$FINISH,-0.7,1.027370
$STATE,19757,end surface coast,CONTROL_FINISHED_OK
$STATE,19757,begin surface
$SM_CCo,19781,56.58,0.817,1,0,1678,300.00
$SM_GC,-0.61,0.00,0.00,56.58,0.000,0.000,0.817,40,2899,1678,-10.90,-0.03,300.00
$IRIDIUM_FIX,6216.53,-1127.77,180108,050502
$TT8_MAMPS,0.029146
$HUMID,2072
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,16.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,675.2,60.2
$24V_AH,23.2,65.139
$10V_AH,10.1,29.939
$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,25.900,204.600,329.400,56.575,0.000,38.145,36.304,169.846,6.250,0.000,0.000,12.848,1767.940,15146.072,557.229,2144.105,609.973,0.000,1650.961,0.000,2111.904,0.000,39.539
$DEVICE_MAMPS,158.769,85.137,1306.968,816.855,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,703.029,657.153,576.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47403,951
$CFSIZE,260165632,237842432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,42,1,0
$GPS,180108,131526,6231.153,-1113.904,42,1.2,42,-10.8