version: 66.02
glider: 103
mission: 7
dive: 5
start: 11 14 107 1 0 31
data:
$ID,103
$MISSION,7
$DIVE,5
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,1
$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,-62185.656
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2450
$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,2775
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,12
$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,2
$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
$GPS1,005408,6130.385,-831.105,37,1.0,37,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.61
$_SM_ANGLEo,-55.0
$GPS2,005851,6130.328,-831.008,14,1.1,14,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.260,0.034
$KALMAN_X,-5759.5,-144.7,-239.3,9153.8,-2760.9
$KALMAN_Y,-2203.9,27.3,268.9,-4884.6,-732.8
$MHEAD_RNG_PITCHd_Wd,91.6,5344,-18.2,-10.000
$D_GRID,826
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.70,-146.6,0.0,0.0,0,127,0.00,0.00,-108.50,0.000,6,0.000,0.000,40,2706,3500
$GC,129,-1.70,-146.6,1.8,-2.9,5,150,11.62,2.47,0.00,0.000,4,0.164,0.057,2074,1364,3502
$GC,367,-1.70,-146.6,32.8,-10.1,15,375,0.00,2.60,0.00,0.000,6,0.000,0.060,2074,2772,3502
$GC,683,-1.70,-146.6,65.3,-9.9,31,687,0.00,1.95,0.00,0.000,4,0.000,0.097,2074,3783,3502
$GC,940,-1.70,-146.6,90.4,-9.6,42,944,0.00,1.83,0.00,0.000,6,0.000,0.048,2074,2773,3502
$GC,1261,-1.70,-146.6,123.5,-10.8,58,1265,0.00,1.98,0.00,0.000,4,0.000,0.095,2074,3786,3502
$GC,1495,-1.70,-146.6,150.8,-11.9,68,1500,0.00,1.80,0.00,0.000,6,0.000,0.049,2074,2782,3502
$GC,1816,-1.70,-146.6,188.1,-11.9,84,1820,0.00,1.95,0.00,0.000,4,0.000,0.101,2074,3783,3502
$GC,1870,-1.70,-146.6,195.0,-12.5,86,1876,0.00,1.80,0.00,0.000,6,0.000,0.048,2074,2774,3502
$GC,2192,-1.70,-146.6,231.5,-11.4,102,2195,0.00,1.98,0.00,0.000,4,0.000,0.099,2074,3787,3503
$GC,2252,-1.70,-146.6,238.4,-11.1,104,2259,0.00,1.83,0.00,0.000,6,0.000,0.048,2074,2779,3503
$GC,2567,-1.70,-146.6,271.8,-11.0,120,2571,0.00,1.95,0.00,0.000,4,0.000,0.099,2074,3783,3503
$GC,2689,-1.70,-146.6,286.4,-12.4,125,2694,0.00,1.80,0.00,0.000,6,0.000,0.051,2074,2778,3503
$GC,3011,-1.70,-146.6,327.0,-12.5,141,3015,0.00,1.98,0.00,0.000,4,0.000,0.101,2074,3783,3503
$GC,3043,-1.70,-146.6,331.2,-12.1,142,3048,0.00,1.80,0.00,0.000,6,0.000,0.050,2074,2778,3503
$GC,3364,-1.70,-146.6,371.9,-12.8,158,3368,0.00,1.98,0.00,0.000,4,0.000,0.101,2074,3790,3503
$GC,3464,-1.70,-146.6,385.4,-13.9,162,3469,0.00,1.83,0.00,0.000,6,0.000,0.050,2074,2771,3503
$GC,3785,-1.70,-146.6,425.7,-12.5,178,3789,0.00,2.00,0.00,0.000,4,0.000,0.101,2074,3790,3503
$GC,3834,-1.70,-146.6,432.7,-13.8,180,3839,0.00,1.83,0.00,0.000,6,0.000,0.048,2074,2777,3503
$GC,4162,-1.70,-146.6,476.0,-11.7,196,4165,0.00,1.98,0.00,0.000,4,0.000,0.100,2074,3783,3503
$GC,4256,-1.70,-146.6,485.4,-8.8,200,4260,0.00,1.80,0.00,0.000,6,0.000,0.048,2074,2771,3503
$GC,4582,-1.70,-146.6,523.3,-13.5,216,4586,0.00,2.00,0.00,0.000,4,0.000,0.104,2074,3783,3503
$GC,4649,-1.70,-146.6,532.6,-14.3,219,4653,0.00,1.83,0.00,0.000,6,0.000,0.048,2074,2771,3503
$GC,4979,-1.70,-146.6,569.6,-10.4,235,4984,0.00,2.55,0.00,0.000,4,0.000,0.061,2074,1357,3504
$GC,5018,-1.70,-146.6,573.5,-9.3,237,5023,0.00,2.55,0.00,0.000,6,0.000,0.056,2074,2775,3503
$GC,5344,-1.70,-146.6,601.8,-8.5,253,5348,0.00,1.92,0.00,0.000,4,0.000,0.096,2074,3783,3503
$GC,5524,-1.70,-146.6,617.2,-10.0,261,5527,0.00,1.77,0.00,0.000,6,0.000,0.050,2074,2770,3503
$GC,5855,-1.70,-146.6,652.9,-5.8,277,5859,0.00,2.53,0.00,0.000,4,0.000,0.061,2074,1363,3503
$GC,6016,-1.70,-146.6,667.2,-7.8,284,6020,0.00,2.55,0.00,0.000,6,0.000,0.058,2074,2774,3503
$GC,6337,-1.70,-146.6,698.2,-9.4,300,6341,0.00,2.58,0.00,0.000,4,0.000,0.064,2074,1358,3503
$GC,6593,-1.70,-146.6,725.9,-9.3,311,6600,0.00,2.60,0.00,0.000,6,0.000,0.060,2074,2775,3503
$GC,6913,-1.70,-146.6,751.4,-8.7,327,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2775,3503
$GC,7217,-1.70,-146.6,781.8,-10.3,342,7221,0.00,2.00,0.00,0.000,4,0.000,0.110,2074,3790,3503
$GC,7474,-1.70,-146.6,798.9,-14.5,353,7479,0.00,1.85,0.00,0.000,6,0.000,0.061,2074,2780,3500
$STATE,7732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7732,begin apogee
$GC,7737,-0.42,0.0,827.3,6.9,366,7867,1.40,0.00,125.62,1.398,6,0.092,0.000,2356,1915,2901
$STATE,7868,end apogee,CONTROL_FINISHED_OK
$STATE,7868,begin climb
$GC,7869,1.70,146.6,830.3,0.0,372,8002,2.08,2.75,124.10,1.340,4,0.037,0.068,2827,3342,2303
$GC,8255,1.70,146.6,817.7,10.9,390,8260,0.00,2.58,0.00,0.000,6,0.000,0.051,2827,1920,2301
$GC,8580,1.70,146.6,780.9,21.7,406,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1919,2300
$GC,8890,1.74,180.8,754.7,8.4,421,8924,0.00,2.75,29.20,1.354,4,0.000,0.074,2826,3343,2164
$GC,8996,1.77,203.6,744.4,9.0,425,9022,0.00,2.60,20.70,1.308,6,0.000,0.052,2827,1927,2071
$GC,9343,1.77,206.8,704.6,9.9,442,9352,0.00,2.72,4.53,0.983,4,0.000,0.084,2827,521,2057
$GC,9605,1.86,277.9,673.5,6.7,454,9671,0.12,2.53,60.10,1.332,6,0.055,0.046,2859,1948,1767
$GC,9991,1.86,277.9,615.4,17.3,473,9995,0.00,2.58,0.00,0.000,4,0.000,0.069,2859,3322,1766
$GC,10192,1.86,277.9,572.7,20.9,482,10197,0.00,2.50,0.00,0.000,6,0.000,0.044,2859,1927,1765
$GC,10518,1.86,277.9,521.4,16.9,498,10523,0.00,2.58,0.00,0.000,4,0.000,0.067,2859,524,1765
$GC,10776,1.86,277.9,476.6,16.7,509,10781,0.00,2.42,0.00,0.000,6,0.000,0.038,2859,1921,1765
$GC,11091,1.86,277.9,426.4,16.0,524,11095,0.00,2.58,0.00,0.000,4,0.000,0.060,2859,518,1766
$GC,11324,1.86,277.9,386.3,17.7,534,11332,0.00,2.47,0.00,0.000,6,0.000,0.037,2859,1927,1767
$GC,11640,1.86,277.9,332.1,16.9,550,11644,0.00,2.55,0.00,0.000,4,0.000,0.060,2859,523,1767
$GC,11772,1.86,277.9,308.8,17.0,556,11777,0.00,2.45,0.00,0.000,6,0.000,0.037,2859,1920,1767
$GC,12099,1.86,277.9,256.3,15.4,572,12103,0.00,2.55,0.00,0.000,4,0.000,0.059,2859,523,1769
$GC,12237,1.86,277.9,234.4,15.7,578,12242,0.00,2.45,0.00,0.000,6,0.000,0.038,2859,1917,1769
$GC,12559,1.86,277.9,182.8,16.5,594,12563,0.00,2.53,0.00,0.000,4,0.000,0.059,2859,521,1770
$GC,12697,1.86,277.9,158.9,16.6,600,12702,0.00,2.45,0.00,0.000,6,0.000,0.037,2859,1919,1770
$GC,13025,1.86,277.9,108.3,15.3,616,13030,0.00,2.55,0.00,0.000,4,0.000,0.059,2859,520,1771
$GC,13164,1.86,277.9,85.6,15.6,622,13169,0.00,2.45,0.00,0.000,6,0.000,0.037,2859,1921,1771
$GC,13485,1.86,277.9,36.7,15.3,638,13489,0.00,2.55,0.00,0.000,4,0.000,0.059,2859,523,1771
$GC,13640,1.86,277.9,11.4,15.9,645,13645,0.00,2.45,0.00,0.000,6,0.000,0.037,2859,1920,1772
$STATE,13698,end climb,SURFACE_DEPTH_REACHED
$STATE,13698,begin surface coast
$FINISH,-1.2,1.027170
$STATE,13720,end surface coast,CONTROL_FINISHED_OK
$STATE,13720,begin surface
$SM_CCo,13740,20.52,0.693,2,0,1678,300.00
$SM_GC,-0.01,0.00,0.00,20.52,0.000,0.000,0.693,48,2768,1678,-11.05,-0.20,300.00
$IRIDIUM_FIX,6108.28,-831.40,141107,010143
$TT8_MAMPS,0.028379
$HUMID,2166
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,751.4,100.5
$24V_AH,23.4,8.022
$10V_AH,10.1,2.912
$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,27.600,125.050,364.250,20.525,0.000,39.062,48.092,118.424,9.000,0.000,0.000,14.867,1344.137,9857.384,538.479,2034.865,336.542,33.364,1535.183,0.000,1983.409,0.000,44.505
$DEVICE_MAMPS,164.138,109.681,1398.241,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.466,448.491,378.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31722,649
$CFSIZE,260165632,257794048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,33,2,0
$GPS,141107,045108,6130.561,-829.754,34,0.8,34,-8.9