version: 66.02
glider: 103
mission: 7
dive: 4
start: 11 13 107 21 39 41
data:
$ID,103
$MISSION,7
$DIVE,4
$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,-62170.164
$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,2700
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,15
$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
$GPS1,213201,6131.067,-832.132,42,1.0,42,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-58.2
$GPS2,213802,6131.022,-832.046,11,0.9,16,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.237,-0.112
$KALMAN_X,-1745.7,-663.2,-869.4,5374.5,169.2
$KALMAN_Y,-1321.8,-1900.8,752.8,-3038.4,608.4
$MHEAD_RNG_PITCHd_Wd,124.4,6508,-18.2,-10.000
$D_GRID,821
$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,17,-1.70,-146.6,0.0,0.0,0,85,0.00,0.00,-63.95,0.000,6,0.000,0.000,45,2693,3500
$GC,87,-1.70,-146.6,5.2,-9.1,4,103,11.60,2.15,0.00,0.000,4,0.163,0.093,2074,3780,3501
$GC,355,-1.70,-146.6,45.3,-11.6,15,360,0.00,1.90,0.00,0.000,6,0.000,0.043,2074,2703,3501
$GC,682,-1.70,-146.6,81.2,-10.9,31,686,0.00,2.55,0.00,0.000,4,0.000,0.059,2074,1284,3501
$GC,937,-1.70,-146.6,109.0,-10.9,42,945,0.00,2.58,0.00,0.000,6,0.000,0.058,2074,2692,3501
$GC,1253,-1.70,-146.6,145.0,-11.0,58,1258,0.00,2.53,0.00,0.000,4,0.000,0.056,2074,1289,3501
$GC,1292,-1.70,-146.6,148.9,-10.2,60,1296,0.00,2.53,0.00,0.000,6,0.000,0.058,2074,2699,3501
$GC,1618,-1.70,-146.6,181.4,-10.0,76,1621,0.00,2.08,0.00,0.000,4,0.000,0.093,2074,3786,3502
$GC,1761,-1.70,-146.6,196.9,-10.6,82,1767,0.00,1.95,0.00,0.000,6,0.000,0.048,2074,2702,3501
$GC,2083,-1.70,-146.6,229.3,-9.9,98,2087,0.00,2.08,0.00,0.000,4,0.000,0.093,2074,3780,3501
$GC,2188,-1.70,-146.6,240.2,-10.2,102,2195,0.00,1.92,0.00,0.000,6,0.000,0.049,2074,2697,3501
$GC,2504,-1.70,-146.6,271.5,-9.7,118,2507,0.00,2.10,0.00,0.000,4,0.000,0.094,2074,3781,3501
$GC,2615,-1.70,-146.6,282.7,-10.1,123,2619,0.00,1.90,0.00,0.000,6,0.000,0.048,2074,2699,3501
$GC,2946,-1.70,-146.6,313.0,-9.0,139,2950,0.00,2.08,0.00,0.000,4,0.000,0.094,2074,3780,3502
$GC,3006,-1.70,-146.6,318.9,-10.0,141,3013,0.00,1.90,0.00,0.000,6,0.000,0.049,2074,2706,3501
$GC,3322,-1.70,-146.6,347.7,-9.0,157,3326,0.00,2.08,0.00,0.000,4,0.000,0.095,2074,3783,3502
$GC,3472,-1.70,-146.6,362.2,-9.9,163,3479,0.00,1.92,0.00,0.000,6,0.000,0.048,2074,2707,3502
$GC,3787,-1.70,-146.6,391.4,-9.5,179,3791,0.00,2.08,0.00,0.000,4,0.000,0.097,2074,3784,3502
$GC,3922,-1.70,-146.6,405.2,-10.7,185,3925,0.00,1.90,0.00,0.000,6,0.000,0.048,2074,2692,3502
$GC,4253,-1.70,-146.6,438.9,-10.2,201,4257,0.00,2.10,0.00,0.000,4,0.000,0.095,2074,3781,3502
$GC,4368,-1.70,-146.6,451.3,-10.6,206,4373,0.00,1.90,0.00,0.000,6,0.000,0.047,2074,2703,3502
$GC,4695,-1.70,-146.6,484.1,-10.1,222,4699,0.00,2.08,0.00,0.000,4,0.000,0.096,2074,3783,3502
$GC,4811,-1.70,-146.6,496.0,-10.4,227,4816,0.00,1.95,0.00,0.000,6,0.000,0.047,2074,2696,3502
$GC,5138,-1.70,-146.6,528.8,-10.4,243,5142,0.00,2.10,0.00,0.000,4,0.000,0.100,2074,3780,3501
$GC,5250,-1.70,-146.6,541.2,-11.1,248,5254,0.00,1.90,0.00,0.000,6,0.000,0.047,2074,2700,3502
$GC,5581,-1.70,-146.6,573.5,-9.9,264,5585,0.00,2.10,0.00,0.000,4,0.000,0.097,2074,3786,3501
$GC,5765,-1.70,-146.6,592.3,-9.2,272,5770,0.00,1.92,0.00,0.000,6,0.000,0.044,2074,2701,3502
$GC,6094,-1.70,-146.6,626.9,-11.1,288,6098,0.00,2.08,0.00,0.000,4,0.000,0.094,2074,3780,3502
$GC,6154,-1.70,-146.6,634.5,-12.4,290,6161,0.00,1.90,0.00,0.000,6,0.000,0.043,2074,2697,3501
$GC,6470,-1.70,-146.6,663.0,-7.1,306,6474,0.00,2.53,0.00,0.000,4,0.000,0.060,2074,1286,3502
$GC,6535,-1.70,-146.6,670.6,-15.0,309,6541,0.00,2.55,0.00,0.000,6,0.000,0.054,2074,2699,3501
$GC,6862,-1.70,-146.6,706.6,-12.1,325,6866,0.00,2.53,0.00,0.000,4,0.000,0.058,2074,1284,3502
$GC,7119,-1.70,-146.6,731.9,-6.4,336,7126,0.00,2.58,0.00,0.000,6,0.000,0.058,2074,2700,3502
$GC,7435,-1.70,-146.6,752.8,-8.0,352,7439,0.00,2.58,0.00,0.000,4,0.000,0.065,2074,1290,3501
$GC,7505,-1.70,-146.6,760.1,-11.3,355,7510,0.00,2.58,0.00,0.000,6,0.000,0.061,2074,2698,3502
$GC,7827,-1.70,-146.6,794.2,-8.8,371,7830,0.00,2.12,0.00,0.000,4,0.000,0.107,2074,3784,3501
$GC,8022,-1.70,-146.6,807.5,-4.0,379,8029,0.00,1.98,0.00,0.000,6,0.000,0.061,2074,2700,3499
$STATE,8150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8151,begin apogee
$GC,8155,-0.42,0.0,823.8,15.6,386,8285,1.38,0.00,125.90,1.382,6,0.078,0.000,2360,1998,2901
$STATE,8285,end apogee,CONTROL_FINISHED_OK
$STATE,8285,begin climb
$GC,8287,1.70,146.6,839.9,0.0,392,8422,2.08,2.75,124.65,1.351,4,0.043,0.077,2826,593,2303
$GC,8663,2.20,560.0,827.7,-8.9,409,9021,0.47,2.53,344.90,1.312,6,0.031,0.046,2944,2021,618
$GC,9328,2.20,560.0,655.6,28.9,442,9332,0.00,2.70,0.00,0.000,4,0.000,0.071,2944,587,618
$GC,9440,2.20,560.0,621.6,30.4,447,9444,0.00,2.50,0.00,0.000,6,0.000,0.048,2944,1984,618
$GC,9771,2.20,560.0,519.8,31.3,463,9775,0.00,2.55,0.00,0.000,4,0.000,0.061,2944,591,618
$GC,9842,2.20,560.0,498.1,30.7,466,9847,0.00,2.53,0.00,0.000,6,0.000,0.043,2944,2002,618
$GC,10169,2.20,560.0,396.7,31.5,482,10173,0.00,2.55,0.00,0.000,4,0.000,0.058,2944,590,618
$GC,10353,2.20,560.0,341.5,28.8,490,10358,0.00,2.53,0.00,0.000,6,0.000,0.042,2944,1997,618
$GC,10674,2.20,560.0,243.0,30.8,506,10679,0.00,2.58,0.00,0.000,4,0.000,0.058,2944,586,619
$GC,10893,2.20,560.0,177.2,30.3,516,10897,0.00,2.47,0.00,0.000,6,0.000,0.042,2944,2000,621
$GC,11218,2.20,560.0,80.2,29.9,532,11222,0.00,2.58,0.00,0.000,4,0.000,0.058,2944,587,621
$GC,11423,2.20,560.0,20.4,28.3,541,11428,0.00,2.50,0.00,0.000,6,0.000,0.041,2944,1995,621
$STATE,11496,end climb,SURFACE_DEPTH_REACHED
$STATE,11496,begin surface coast
$FINISH,-1.3,1.013539
$STATE,11518,end surface coast,CONTROL_FINISHED_OK
$STATE,11518,begin surface
$SM_CCo,11599,0.00,0.000,0,0,623,558.79
$SM_GC,-0.56,12.73,0.00,0.00,0.028,0.000,0.000,40,2701,623,-10.98,0.03,558.79
$IRIDIUM_FIX,6108.28,-831.40,131107,212115
$TT8_MAMPS,0.029146
$HUMID,2215
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,16.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,750.8,104.1
$24V_AH,23.4,7.867
$10V_AH,10.1,2.840
$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,28.250,111.000,595.450,0.000,0.000,38.802,42.816,194.142,8.250,0.000,0.000,16.120,1122.057,8093.865,619.985,1773.202,401.213,32.339,1542.906,0.000,1723.101,0.000,44.852
$DEVICE_MAMPS,163.371,106.613,1382.134,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.201,374.768,303.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28552,546
$CFSIZE,260165632,257859584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,141107,005408,6130.385,-831.105,37,1.0,37,-9.0