version: 66.02
glider: 103
mission: 7
dive: 12
start: 11 15 107 2 46 35
data:
$ID,103
$MISSION,7
$DIVE,12
$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,-62316.965
$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,19
$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,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
$GPS1,024002,6133.745,-827.300,41,0.9,41,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-61.0
$GPS2,024456,6133.730,-827.245,13,0.9,18,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.245,-0.092
$KALMAN_X,-26036.9,56.2,558.2,31720.3,-4937.1
$KALMAN_Y,16452.1,12.0,-467.1,-16481.8,5266.1
$MHEAD_RNG_PITCHd_Wd,119.5,7187,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-62.00,0.000,2,0.000,0.000,35,2888,3471
$GC,82,-1.70,-146.6,4.0,-10.4,3,103,11.57,1.80,-0.47,0.000,4,0.168,0.110,2035,3790,3500
$GC,354,-1.70,-146.6,49.6,-14.1,15,359,0.00,1.60,0.00,0.000,6,0.000,0.053,2035,2907,3501
$GC,681,-1.70,-146.6,92.5,-13.2,31,685,0.00,1.73,0.00,0.000,4,0.000,0.102,2035,3787,3501
$GC,741,-1.70,-146.6,100.8,-13.0,33,749,0.00,1.62,0.00,0.000,6,0.000,0.049,2035,2891,3501
$GC,1057,-1.70,-146.6,140.7,-12.5,49,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2891,3501
$GC,1366,-1.70,-146.6,179.4,-12.7,64,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2891,3502
$GC,1675,-1.70,-146.6,222.4,-14.0,79,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2891,3502
$GC,1984,-1.70,-146.6,263.3,-13.2,94,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2891,3502
$GC,2294,-1.70,-146.6,301.6,-12.4,109,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2891,3503
$GC,2603,-1.70,-146.6,339.7,-12.3,124,2607,0.00,1.77,0.00,0.000,4,0.000,0.104,2036,3790,3503
$GC,2702,-1.70,-146.6,352.7,-13.2,128,2708,0.00,1.60,0.00,0.000,6,0.000,0.044,2035,2894,3503
$GC,3023,-1.70,-146.6,392.8,-12.9,144,3028,0.00,2.55,0.00,0.000,4,0.000,0.063,2035,1486,3503
$GC,3067,-1.70,-146.6,398.0,-12.2,146,3072,0.00,2.65,0.00,0.000,6,0.000,0.066,2035,2903,3503
$GC,3393,-1.70,-146.6,436.8,-13.7,162,3398,0.00,2.55,0.00,0.000,4,0.000,0.059,2035,1489,3503
$GC,3459,-1.70,-146.6,445.5,-12.4,165,3464,0.00,2.62,0.00,0.000,6,0.000,0.066,2036,2894,3503
$GC,3786,-1.70,-146.6,490.0,-15.2,181,3790,0.00,1.73,0.00,0.000,4,0.000,0.102,2036,3786,3503
$GC,3975,-1.70,-146.6,516.5,-13.1,189,3980,0.00,1.58,0.00,0.000,6,0.000,0.044,2035,2898,3503
$GC,4296,-1.70,-146.6,554.6,-11.6,205,4301,0.00,2.55,0.00,0.000,4,0.000,0.061,2035,1489,3503
$GC,4525,-1.70,-146.6,580.2,-9.5,215,4530,0.00,2.62,0.00,0.000,6,0.000,0.066,2035,2894,3503
$GC,4847,-1.70,-146.6,612.6,-10.7,231,4851,0.00,2.55,0.00,0.000,4,0.000,0.059,2035,1490,3503
$GC,5014,-1.70,-146.6,630.6,-9.7,238,5020,0.00,2.62,0.00,0.000,6,0.000,0.070,2035,2899,3503
$GC,5329,-1.70,-146.6,657.5,-7.8,254,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2899,3503
$GC,5638,-1.70,-146.6,700.0,-13.8,269,5642,0.00,1.80,0.00,0.000,4,0.000,0.115,2036,3785,3502
$GC,5715,-1.70,-146.6,712.4,-15.0,272,5720,0.00,1.60,0.00,0.000,6,0.000,0.051,2035,2893,3502
$GC,6036,-1.70,-146.6,756.8,-11.7,288,6040,0.00,2.60,0.00,0.000,4,0.000,0.070,2035,1481,3502
$GC,6052,-1.70,-146.6,757.5,-7.1,289,6057,0.00,2.72,0.00,0.000,6,0.000,0.084,2035,2903,3501
$STATE,6314,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6314,begin apogee
$GC,6320,-0.42,0.0,780.1,15.8,302,6449,1.38,0.00,125.38,1.416,6,0.087,0.000,2315,1817,2901
$STATE,6450,end apogee,CONTROL_FINISHED_OK
$STATE,6450,begin climb
$GC,6451,1.70,146.6,787.0,0.0,308,6584,2.10,2.72,124.28,1.358,4,0.039,0.062,2791,3248,2303
$GC,6837,1.77,205.5,762.6,7.3,326,6894,0.00,2.60,50.72,1.336,6,0.000,0.051,2791,1817,2063
$GC,7204,1.87,292.1,734.1,6.0,343,7287,0.12,2.75,73.38,1.344,4,0.051,0.064,2824,3243,1710
$GC,7443,1.87,292.1,694.8,18.2,354,7448,0.00,2.55,0.00,0.000,6,0.000,0.048,2824,1820,1710
$GC,7775,1.87,292.1,644.5,15.9,370,7779,0.00,2.67,0.00,0.000,4,0.000,0.068,2824,3252,1709
$GC,7813,1.87,292.1,637.2,19.2,372,7817,0.00,2.58,0.00,0.000,6,0.000,0.051,2824,1824,1709
$GC,8138,1.87,292.1,586.1,14.2,388,8143,0.00,2.67,0.00,0.000,4,0.000,0.077,2824,418,1708
$GC,8367,1.87,292.1,550.1,17.2,398,8372,0.00,2.53,0.00,0.000,6,0.000,0.041,2824,1839,1707
$GC,8688,1.87,292.1,502.2,14.5,414,8692,0.00,2.67,0.00,0.000,4,0.000,0.072,2824,422,1706
$GC,8799,1.87,292.1,485.4,12.7,419,8804,0.00,2.47,0.00,0.000,6,0.000,0.039,2824,1823,1707
$GC,9125,1.87,292.1,440.3,14.2,435,9130,0.00,2.60,0.00,0.000,4,0.000,0.064,2824,422,1707
$GC,9225,1.87,292.1,424.7,16.0,439,9232,0.00,2.45,0.00,0.000,6,0.000,0.036,2824,1820,1707
$GC,9540,1.87,292.1,378.2,14.3,455,9545,0.00,2.60,0.00,0.000,4,0.000,0.064,2824,417,1707
$GC,9579,1.87,292.1,372.3,15.1,457,9583,0.00,2.45,0.00,0.000,6,0.000,0.037,2824,1830,1707
$GC,9910,1.87,292.1,326.9,12.5,473,9914,0.00,2.60,0.00,0.000,4,0.000,0.060,2824,418,1708
$GC,9998,1.87,292.1,314.9,13.2,477,10003,0.00,2.47,0.00,0.000,6,0.000,0.035,2824,1822,1708
$GC,10325,1.87,292.1,271.2,13.6,493,10329,0.00,2.55,0.00,0.000,4,0.000,0.061,2824,420,1709
$GC,10357,1.87,292.1,266.4,15.1,494,10364,0.00,2.47,0.00,0.000,6,0.000,0.035,2824,1823,1709
$GC,10673,1.87,292.1,222.1,13.8,510,10677,0.00,2.55,0.00,0.000,4,0.000,0.061,2824,420,1709
$GC,10734,1.87,292.1,213.1,15.5,513,10738,0.00,2.45,0.00,0.000,6,0.000,0.035,2824,1829,1710
$GC,11065,1.87,292.1,165.2,14.7,529,11069,0.00,2.58,0.00,0.000,4,0.000,0.061,2824,415,1711
$GC,11104,1.87,292.1,159.4,15.9,531,11108,0.00,2.42,0.00,0.000,6,0.000,0.036,2824,1827,1711
$GC,11429,1.87,292.1,111.7,14.7,547,11433,0.00,2.58,0.00,0.000,4,0.000,0.060,2824,420,1712
$GC,11477,1.87,292.1,103.9,15.7,549,11482,0.00,2.47,0.00,0.000,6,0.000,0.036,2824,1823,1712
$GC,11798,1.87,292.1,54.0,15.9,565,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1823,1713
$GC,12108,1.87,292.1,7.2,14.9,580,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1824,1713
$STATE,12148,end climb,SURFACE_DEPTH_REACHED
$STATE,12148,begin surface coast
$FINISH,-1.1,1.026884
$STATE,12170,end surface coast,CONTROL_FINISHED_OK
$STATE,12170,begin surface
$SM_CCo,12190,8.50,0.781,0,0,1678,300.00
$SM_GC,0.75,0.00,0.00,8.50,0.000,0.000,0.781,43,2881,1678,-10.88,-0.54,300.00
$IRIDIUM_FIX,6108.28,-827.60,151107,020223
$TT8_MAMPS,0.029146
$HUMID,2134
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,677.5,108.8
$24V_AH,23.3,9.153
$10V_AH,10.1,3.357
$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,27.450,108.450,373.750,8.500,0.000,41.333,38.484,131.539,7.000,0.000,0.000,18.711,1149.835,9013.142,481.562,1566.895,337.152,33.351,1268.586,0.000,1525.973,0.000,39.664
$DEVICE_MAMPS,167.973,115.050,1415.882,780.806,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.059,397.776,335.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28479,583
$CFSIZE,260165632,257474560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
$GPS,151107,061108,6134.114,-826.263,41,1.5,41,-8.9