version: 66.02
glider: 103
mission: 7
dive: 14
start: 11 15 107 10 17 49
data:
$ID,103
$MISSION,7
$DIVE,14
$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,-62343.246
$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,26
$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,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
$GPS1,101137,6135.047,-825.918,35,1.0,35,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-61.3
$GPS2,101609,6135.056,-825.917,12,1.2,12,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.229,-0.126
$KALMAN_X,-31906.9,411.8,-125.4,39103.4,-3629.9
$KALMAN_Y,21755.0,-779.5,65.9,-19057.6,4160.9
$MHEAD_RNG_PITCHd_Wd,127.7,9399,-18.2,-10.000
$D_GRID,748
$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,-61.95,0.000,2,0.000,0.000,42,2885,3481
$GC,82,-1.70,-146.6,4.2,-10.6,3,98,11.50,1.75,-0.30,0.000,4,0.166,0.108,2034,3786,3500
$GC,350,-1.70,-146.6,48.4,-13.4,14,354,0.00,1.58,0.00,0.000,6,0.000,0.048,2034,2907,3501
$GC,677,-1.70,-146.6,91.4,-13.1,30,680,0.00,1.73,0.00,0.000,4,0.000,0.101,2034,3786,3501
$GC,833,-1.70,-146.6,112.4,-13.2,37,837,0.00,1.58,0.00,0.000,6,0.000,0.049,2034,2904,3501
$GC,1164,-1.70,-146.6,156.2,-13.2,53,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2904,3501
$GC,1474,-1.70,-146.6,196.9,-13.7,68,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2904,3501
$GC,1783,-1.70,-146.6,234.9,-11.9,83,1787,0.00,1.77,0.00,0.000,4,0.000,0.108,2034,3783,3501
$GC,1843,-1.70,-146.6,242.5,-12.7,85,1851,0.00,1.60,0.00,0.000,6,0.000,0.048,2034,2894,3501
$GC,2159,-1.70,-146.6,280.1,-11.5,101,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2894,3501
$GC,2469,-1.70,-146.6,313.1,-9.3,116,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2894,3501
$GC,2778,-1.70,-146.6,352.8,-13.5,131,2782,0.00,1.77,0.00,0.000,4,0.000,0.106,2034,3786,3501
$GC,2850,-1.70,-146.6,361.6,-12.1,134,2854,0.00,1.55,0.00,0.000,6,0.000,0.044,2034,2907,3501
$GC,3176,-1.70,-146.6,403.7,-14.4,150,3180,0.00,2.58,0.00,0.000,4,0.000,0.061,2034,1482,3501
$GC,3260,-1.70,-146.6,415.0,-14.0,154,3264,0.00,2.65,0.00,0.000,6,0.000,0.071,2034,2906,3501
$GC,3585,-1.70,-146.6,463.2,-13.7,170,3589,0.00,1.75,0.00,0.000,4,0.000,0.102,2034,3787,3501
$GC,3685,-1.70,-146.6,476.8,-13.8,174,3690,0.00,1.60,0.00,0.000,6,0.000,0.047,2034,2893,3502
$GC,4006,-1.70,-146.6,517.2,-11.9,190,4010,0.00,1.77,0.00,0.000,4,0.000,0.106,2034,3790,3502
$GC,4195,-1.70,-146.6,539.9,-13.4,198,4200,0.00,1.60,0.00,0.000,6,0.000,0.051,2034,2900,3502
$GC,4517,-1.70,-146.6,571.7,-7.2,214,4521,0.00,2.58,0.00,0.000,4,0.000,0.064,2034,1486,3502
$GC,4582,-1.70,-146.6,576.7,-7.6,217,4586,0.00,2.65,0.00,0.000,6,0.000,0.072,2034,2892,3502
$GC,4909,-1.70,-146.6,600.0,-6.3,233,4913,0.00,2.55,0.00,0.000,4,0.000,0.064,2034,1490,3501
$GC,5013,-1.70,-146.6,607.4,-6.4,237,5020,0.00,2.65,0.00,0.000,6,0.000,0.072,2034,2906,3501
$GC,5328,-1.70,-146.6,633.2,-10.3,253,5332,0.00,1.77,0.00,0.000,4,0.000,0.117,2034,3779,3500
$GC,5388,-1.70,-146.6,639.8,-11.6,255,5396,0.00,1.58,0.00,0.000,6,0.000,0.049,2034,2901,3500
$GC,5705,-1.70,-146.6,673.3,-9.6,271,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3500
$GC,6014,-1.70,-146.6,705.2,-10.7,286,6018,0.00,2.60,0.00,0.000,4,0.000,0.069,2034,1485,3498
$GC,6090,-1.70,-146.6,713.0,-9.8,289,6097,0.00,2.67,0.00,0.000,6,0.000,0.077,2034,2899,3498
$GC,6405,-1.70,-146.6,744.7,-8.5,305,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2899,3497
$STATE,6445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6445,begin apogee
$GC,6451,-0.42,0.0,748.6,8.4,307,6616,1.38,0.00,146.05,1.275,6,0.084,0.000,2315,1823,2901
$STATE,6616,end apogee,CONTROL_FINISHED_OK
$STATE,6616,begin climb
$GC,6618,1.70,146.6,752.3,0.0,315,6750,2.15,2.70,123.30,1.343,4,0.053,0.061,2785,3244,2304
$GC,7003,1.70,149.5,726.5,9.9,333,7013,0.00,2.58,4.45,0.946,6,0.000,0.046,2785,1812,2291
$GC,7328,1.74,186.6,699.7,8.3,349,7370,0.00,2.78,32.28,1.311,4,0.000,0.079,2785,419,2140
$GC,7452,1.74,186.6,684.7,13.7,354,7460,0.00,2.55,0.00,0.000,6,0.000,0.041,2785,1845,2140
$GC,7768,1.74,186.6,643.3,12.7,370,7772,0.00,2.70,0.00,0.000,4,0.000,0.074,2785,424,2139
$GC,7901,1.77,207.1,626.9,9.1,376,7938,0.00,2.50,22.77,1.131,6,0.000,0.042,2785,1826,2056
$GC,8246,1.77,207.1,590.0,10.6,393,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1827,2055
$GC,8555,1.77,207.1,539.9,12.5,408,8559,0.00,2.65,0.00,0.000,4,0.000,0.072,2785,416,2055
$GC,8812,1.79,223.4,511.4,9.3,419,8845,0.00,2.47,21.70,1.013,6,0.000,0.041,2785,1828,1990
$GC,9153,1.79,223.4,474.3,11.8,436,9157,0.00,2.62,0.00,0.000,4,0.000,0.069,2785,423,1990
$GC,9213,1.79,223.4,466.7,12.7,439,9217,0.00,2.45,0.00,0.000,6,0.000,0.041,2785,1826,1990
$GC,9545,1.89,302.7,434.7,6.4,455,9647,0.17,0.00,84.00,1.063,6,0.044,0.000,2831,1829,1667
$GC,9955,1.89,302.7,383.4,14.6,475,9959,0.00,2.60,0.00,0.000,4,0.000,0.063,2832,422,1667
$GC,10105,1.89,302.7,360.0,15.6,481,10112,0.00,2.47,0.00,0.000,6,0.000,0.038,2832,1820,1667
$GC,10420,1.89,302.7,312.3,14.9,497,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1820,1667
$GC,10729,1.89,302.7,264.9,15.4,512,10734,0.00,2.55,0.00,0.000,4,0.000,0.061,2832,422,1667
$GC,10807,1.89,302.7,252.3,15.9,515,10813,0.00,2.45,0.00,0.000,6,0.000,0.038,2832,1817,1668
$GC,11122,1.89,302.7,203.9,15.8,531,11126,0.00,2.58,0.00,0.000,4,0.000,0.060,2831,413,1669
$GC,11193,1.89,302.7,191.7,17.5,534,11197,0.00,2.47,0.00,0.000,6,0.000,0.038,2832,1819,1669
$GC,11514,1.89,302.7,140.9,15.6,550,11518,0.00,2.55,0.00,0.000,4,0.000,0.059,2832,417,1670
$GC,11575,1.89,302.7,130.9,16.6,553,11579,0.00,2.47,0.00,0.000,6,0.000,0.037,2832,1832,1670
$GC,11900,1.89,302.7,78.8,16.3,569,11904,0.00,2.60,0.00,0.000,4,0.000,0.060,2831,415,1670
$GC,11983,1.89,302.7,64.9,16.9,573,11987,0.00,2.47,0.00,0.000,6,0.000,0.038,2832,1828,1671
$GC,12309,1.89,302.7,12.0,16.5,589,12310,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1829,1671
$STATE,12389,end climb,SURFACE_DEPTH_REACHED
$STATE,12389,begin surface coast
$FINISH,-1.2,1.019584
$STATE,12411,end surface coast,CONTROL_FINISHED_OK
$STATE,12411,begin surface
$SM_CCo,12492,0.00,0.000,0,0,1673,301.23
$SM_GC,-0.17,12.25,0.00,0.00,0.029,0.000,0.000,37,2887,1673,-10.79,-0.37,301.23
$IRIDIUM_FIX,6108.28,-827.60,151107,101034
$TT8_MAMPS,0.028379
$HUMID,2119
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,675.2,91.3
$24V_AH,23.3,9.468
$10V_AH,10.1,3.487
$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,27.450,99.625,434.550,0.000,0.000,38.935,34.945,121.763,6.250,0.000,0.000,12.656,1156.085,9196.251,559.777,1581.595,324.384,33.352,1363.953,0.000,1547.837,0.000,39.624
$DEVICE_MAMPS,166.439,116.584,1343.017,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.943,404.715,334.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31641,594
$CFSIZE,260165632,257372160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,27,8,0
$GPS,151107,134707,6135.148,-826.201,35,0.8,35,-8.9