version: 66.02
glider: 103
mission: 7
dive: 11
start: 11 14 107 23 4 12
data:
$ID,103
$MISSION,7
$DIVE,11
$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,-62297.625
$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,1825
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,11
$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
$GPS1,225755,6133.917,-827.223,29,1.0,46,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-61.9
$GPS2,230232,6133.930,-827.181,12,1.0,17,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.144,-0.219
$KALMAN_X,-23864.1,316.9,306.3,29596.4,-5428.2
$KALMAN_Y,12463.7,-27.8,537.2,-13093.4,3976.6
$MHEAD_RNG_PITCHd_Wd,155.7,7529,-18.2,-10.000
$D_GRID,781
$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,-146.6,0.0,0.0,0,86,0.00,0.00,-68.00,0.000,6,0.000,0.000,49,2869,3499
$GC,88,-1.70,-146.6,2.8,-7.4,3,104,11.50,2.50,0.00,0.000,4,0.166,0.054,2033,1490,3500
$GC,119,-1.70,-146.6,16.2,-28.8,5,124,0.00,2.62,0.00,0.000,6,0.000,0.065,2033,2894,3500
$GC,447,-1.70,-146.6,56.2,-12.8,21,450,0.00,1.75,0.00,0.000,4,0.000,0.102,2033,3790,3500
$GC,495,-1.70,-146.6,63.2,-14.2,23,500,0.00,1.60,0.00,0.000,6,0.000,0.046,2033,2900,3500
$GC,822,-1.70,-146.6,103.1,-12.3,39,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2900,3500
$GC,1132,-1.70,-146.6,139.5,-11.3,54,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2900,3500
$GC,1441,-1.70,-146.6,175.2,-11.2,69,1445,0.00,1.75,0.00,0.000,4,0.000,0.104,2033,3784,3500
$GC,1490,-1.70,-146.6,181.1,-12.5,71,1495,0.00,1.58,0.00,0.000,6,0.000,0.046,2033,2900,3501
$GC,1816,-1.70,-146.6,216.8,-12.0,87,1821,0.00,2.55,0.00,0.000,4,0.000,0.061,2033,1489,3501
$GC,1849,-1.70,-146.6,220.8,-12.1,88,1856,0.00,2.65,0.00,0.000,6,0.000,0.068,2033,2900,3501
$GC,2164,-1.70,-146.6,258.3,-11.1,104,2167,0.00,1.75,0.00,0.000,4,0.000,0.104,2033,3779,3501
$GC,2213,-1.70,-146.6,263.9,-11.9,106,2218,0.00,1.58,0.00,0.000,6,0.000,0.046,2033,2901,3501
$GC,2540,-1.70,-146.6,302.0,-12.1,122,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2901,3501
$GC,2849,-1.70,-146.6,336.5,-10.7,137,2853,0.00,2.55,0.00,0.000,4,0.000,0.061,2033,1484,3501
$GC,2875,-1.70,-146.6,339.5,-11.0,138,2880,0.00,2.65,0.00,0.000,6,0.000,0.067,2033,2899,3501
$GC,3202,-1.70,-146.6,379.2,-12.7,154,3205,0.00,1.75,0.00,0.000,4,0.000,0.105,2033,3776,3501
$GC,3319,-1.70,-146.6,393.6,-10.9,159,3323,0.00,1.58,0.00,0.000,6,0.000,0.045,2033,2896,3501
$GC,3645,-1.70,-146.6,432.0,-13.7,175,3649,0.00,1.77,0.00,0.000,4,0.000,0.107,2033,3781,3502
$GC,3711,-1.70,-146.6,440.0,-12.2,178,3715,0.00,1.58,0.00,0.000,6,0.000,0.044,2033,2897,3502
$GC,4043,-1.70,-146.6,483.5,-14.0,194,4046,0.00,1.75,0.00,0.000,4,0.000,0.101,2033,3793,3502
$GC,4238,-1.70,-146.6,506.5,-11.0,202,4245,0.00,1.58,0.00,0.000,6,0.000,0.043,2033,2900,3502
$GC,4553,-1.70,-146.6,546.0,-12.7,218,4558,0.00,2.55,0.00,0.000,4,0.000,0.061,2033,1489,3502
$GC,4697,-1.70,-146.6,563.8,-11.5,224,4705,0.00,2.62,0.00,0.000,6,0.000,0.066,2033,2897,3502
$GC,5013,-1.70,-146.6,598.0,-9.9,240,5018,0.00,2.55,0.00,0.000,4,0.000,0.058,2033,1482,3502
$GC,5270,-1.70,-146.6,622.8,-10.3,251,5277,0.00,2.65,0.00,0.000,6,0.000,0.068,2033,2894,3502
$GC,5585,-1.70,-146.6,658.1,-13.7,267,5590,0.00,2.55,0.00,0.000,4,0.000,0.061,2033,1490,3502
$GC,5724,-1.70,-146.6,676.4,-5.7,273,5729,0.00,2.65,0.00,0.000,6,0.000,0.071,2033,2896,3501
$GC,6045,-1.70,-146.6,705.2,-13.8,289,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2897,3501
$GC,6354,-1.70,-146.6,748.7,-15.3,304,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2897,3500
$STATE,6580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6580,begin apogee
$GC,6586,-0.42,0.0,784.3,16.9,315,6715,1.40,0.00,125.18,1.411,6,0.086,0.000,2319,1830,2902
$STATE,6716,end apogee,CONTROL_FINISHED_OK
$STATE,6716,begin climb
$GC,6717,1.70,146.6,791.0,0.0,321,6850,2.12,2.72,124.07,1.365,4,0.051,0.064,2782,3250,2303
$GC,7103,1.70,146.6,756.4,13.2,339,7108,0.00,2.58,0.00,0.000,6,0.000,0.048,2782,1823,2301
$GC,7429,1.83,256.5,724.1,5.0,355,7532,0.12,2.78,92.05,1.358,4,0.051,0.068,2815,3243,1856
$GC,7779,1.83,256.5,679.0,17.3,371,7783,0.00,2.58,0.00,0.000,6,0.000,0.050,2816,1822,1855
$GC,8104,1.83,256.5,621.5,14.5,387,8108,0.00,2.67,0.00,0.000,4,0.000,0.079,2815,419,1854
$GC,8164,1.83,256.5,612.0,16.4,390,8169,0.00,2.53,0.00,0.000,6,0.000,0.044,2815,1847,1853
$GC,8491,1.83,256.5,569.1,10.0,406,8495,0.00,2.72,0.00,0.000,4,0.000,0.076,2815,415,1852
$GC,8709,1.83,256.5,535.1,17.6,416,8713,0.00,2.50,0.00,0.000,6,0.000,0.042,2815,1831,1852
$GC,9033,1.83,256.5,489.5,12.3,432,9038,0.00,2.55,0.00,0.000,4,0.000,0.063,2816,3223,1852
$GC,9118,1.83,256.5,478.5,14.9,436,9122,0.00,2.50,0.00,0.000,6,0.000,0.044,2816,1817,1852
$GC,9442,1.83,256.5,439.8,10.7,452,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1817,1852
$GC,9752,1.83,256.5,400.6,12.3,467,9756,0.00,2.58,0.00,0.000,4,0.000,0.067,2816,413,1852
$GC,9790,1.83,256.5,395.4,13.2,469,9794,0.00,2.45,0.00,0.000,6,0.000,0.035,2816,1835,1852
$GC,10121,1.83,256.5,352.2,13.5,485,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1836,1852
$GC,10431,1.83,256.5,309.9,13.7,500,10435,0.00,2.58,0.00,0.000,4,0.000,0.062,2815,420,1853
$GC,10491,1.83,256.5,301.3,15.0,503,10495,0.00,2.45,0.00,0.000,6,0.000,0.035,2816,1830,1853
$GC,10822,1.83,256.5,257.1,12.9,519,10827,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,419,1855
$GC,10900,1.83,256.5,246.6,14.0,522,10907,0.00,2.47,0.00,0.000,6,0.000,0.035,2816,1827,1855
$GC,11215,1.83,256.5,207.0,12.6,538,11219,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,415,1856
$GC,11269,1.83,256.5,199.4,14.9,540,11277,0.00,2.45,0.00,0.000,6,0.000,0.035,2816,1822,1856
$GC,11585,1.83,256.5,155.6,14.3,556,11589,0.00,2.58,0.00,0.000,4,0.000,0.061,2815,412,1857
$GC,11633,1.83,256.5,148.8,13.4,558,11638,0.00,2.47,0.00,0.000,6,0.000,0.035,2816,1822,1857
$GC,11955,1.83,256.5,107.3,12.6,574,11959,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,414,1858
$GC,12038,1.83,256.5,96.3,12.8,578,12042,0.00,2.42,0.00,0.000,6,0.000,0.036,2816,1827,1858
$GC,12363,1.83,256.5,55.7,12.5,594,12368,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,420,1859
$GC,12406,1.83,256.5,50.2,12.0,596,12411,0.00,2.45,0.00,0.000,6,0.000,0.035,2816,1824,1859
$GC,12733,1.83,256.5,8.9,12.8,612,12738,0.00,2.58,0.00,0.000,4,0.000,0.058,2816,413,1859
$GC,12765,1.83,256.5,4.4,14.2,613,12772,0.00,2.45,0.00,0.000,6,0.000,0.035,2815,1821,1859
$STATE,12791,end climb,SURFACE_DEPTH_REACHED
$STATE,12791,begin surface coast
$FINISH,-1.1,1.013765
$STATE,12813,end surface coast,CONTROL_FINISHED_OK
$STATE,12813,begin surface
$SM_CCo,12833,37.40,0.822,1,0,1677,300.00
$SM_GC,0.02,0.00,0.00,37.40,0.000,0.000,0.822,35,2887,1677,-10.93,-0.37,300.00
$IRIDIUM_FIX,6108.28,-826.94,141107,232337
$TT8_MAMPS,0.029146
$HUMID,2103
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,702.2,93.6
$24V_AH,23.3,8.995
$10V_AH,10.1,3.296
$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,27.300,121.450,341.300,37.400,0.000,40.167,34.592,121.628,7.250,0.000,0.000,17.079,1211.497,9532.377,505.045,1630.255,331.874,33.358,1325.502,0.000,1593.367,0.000,41.241
$DEVICE_MAMPS,165.672,106.613,1410.513,822.224,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.367,423.480,368.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31696,616
$CFSIZE,260165632,257519616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,151107,024002,6133.745,-827.300,41,0.9,41,-8.9