version: 66.02
glider: 103
mission: 7
dive: 6
start: 11 14 107 5 0 49
data:
$ID,103
$MISSION,7
$DIVE,6
$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,-62203.547
$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,2825
$C_ROLL_CLIMB,1925
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$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
$GPS1,045108,6130.561,-829.754,34,0.8,34,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-61.1
$GPS2,045909,6130.464,-829.656,17,1.1,17,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.261,-0.018
$KALMAN_X,-9118.7,-739.9,597.9,13455.3,-4700.4
$KALMAN_Y,-3092.2,1749.9,-859.2,-4339.9,384.2
$MHEAD_RNG_PITCHd_Wd,102.9,4203,-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,17,-1.70,-146.6,0.0,0.0,0,81,0.00,0.00,-62.60,0.000,2,0.000,0.000,48,2770,3494
$GC,83,-1.70,-146.6,4.4,-11.6,3,104,11.70,2.53,0.00,0.000,4,0.167,0.058,2076,1414,3495
$GC,355,-1.70,-146.6,41.7,-10.6,15,360,0.00,2.62,0.00,0.000,6,0.000,0.061,2076,2823,3495
$GC,682,-1.70,-146.6,76.7,-11.2,31,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2823,3495
$GC,991,-1.70,-146.6,113.1,-12.5,46,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2823,3495
$GC,1301,-1.70,-146.6,148.2,-10.8,61,1304,0.00,1.85,0.00,0.000,4,0.000,0.100,2076,3789,3496
$GC,1377,-1.70,-146.6,157.2,-11.7,64,1382,0.00,1.73,0.00,0.000,6,0.000,0.051,2076,2827,3496
$GC,1698,-1.70,-146.6,193.6,-11.5,80,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2827,3496
$GC,2008,-1.70,-146.6,228.0,-11.2,95,2011,0.00,1.88,0.00,0.000,4,0.000,0.102,2076,3787,3496
$GC,2056,-1.70,-146.6,233.8,-11.4,97,2062,0.00,1.73,0.00,0.000,6,0.000,0.051,2076,2825,3496
$GC,2383,-1.70,-146.6,269.4,-11.4,113,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2825,3497
$GC,2692,-1.70,-146.6,305.5,-11.5,128,2697,0.00,2.55,0.00,0.000,4,0.000,0.062,2076,1412,3496
$GC,2731,-1.70,-146.6,310.1,-11.7,130,2736,0.00,2.58,0.00,0.000,6,0.000,0.061,2076,2831,3497
$GC,3057,-1.70,-146.6,345.5,-10.2,146,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2831,3496
$GC,3368,-1.70,-146.6,375.6,-9.4,161,3371,0.00,1.85,0.00,0.000,4,0.000,0.100,2076,3790,3496
$GC,3467,-1.70,-146.6,385.3,-9.5,165,3472,0.00,1.70,0.00,0.000,6,0.000,0.048,2076,2832,3497
$GC,3788,-1.70,-146.6,419.4,-10.6,181,3792,0.00,1.88,0.00,0.000,4,0.000,0.103,2076,3784,3497
$GC,3848,-1.70,-146.6,426.2,-10.9,183,3855,0.00,1.73,0.00,0.000,6,0.000,0.051,2076,2827,3497
$GC,4164,-1.70,-146.6,457.5,-9.2,199,4167,0.00,1.88,0.00,0.000,4,0.000,0.101,2076,3786,3497
$GC,4201,-1.70,-146.6,461.3,-9.7,200,4208,0.00,1.73,0.00,0.000,6,0.000,0.050,2076,2827,3496
$GC,4517,-1.70,-146.6,492.9,-10.0,216,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2827,3497
$GC,4826,-1.70,-146.6,523.4,-10.3,231,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2827,3497
$GC,5136,-1.70,-146.6,552.4,-9.4,246,5140,0.00,2.55,0.00,0.000,4,0.000,0.061,2076,1410,3497
$GC,5219,-1.70,-146.6,559.8,-9.0,250,5223,0.00,2.58,0.00,0.000,6,0.000,0.060,2076,2829,3497
$GC,5544,-1.70,-146.6,591.3,-9.9,266,5549,0.00,2.55,0.00,0.000,4,0.000,0.057,2076,1406,3497
$GC,5610,-1.70,-146.6,597.6,-9.0,269,5615,0.00,2.58,0.00,0.000,6,0.000,0.057,2076,2816,3497
$GC,5936,-1.70,-146.6,631.6,-11.2,285,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2816,3497
$GC,6246,-1.70,-146.6,664.1,-9.7,300,6250,0.00,2.53,0.00,0.000,4,0.000,0.058,2076,1404,3497
$GC,6504,-1.70,-146.6,683.1,-9.1,311,6510,0.00,2.62,0.00,0.000,6,0.000,0.064,2076,2828,3497
$GC,6818,-1.70,-146.6,711.1,-8.0,327,6822,0.00,2.58,0.00,0.000,4,0.000,0.063,2076,1414,3497
$GC,6973,-1.70,-146.6,722.0,-7.8,334,6978,0.00,2.62,0.00,0.000,6,0.000,0.067,2076,2822,3497
$GC,7300,-1.70,-146.6,746.8,-6.4,350,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2822,3495
$GC,7609,-1.70,-146.6,769.7,-7.1,365,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2822,3495
$GC,7918,-1.70,-146.6,795.5,-4.4,380,7922,0.00,1.92,0.00,0.000,4,0.000,0.117,2076,3789,3493
$GC,7950,-1.70,-146.6,797.6,-6.8,381,7955,0.00,1.77,0.00,0.000,6,0.000,0.066,2076,2831,3492
$GC,8271,-1.70,-146.6,815.8,-9.0,397,8275,0.00,1.88,0.00,0.000,4,0.000,0.107,2076,3786,3491
$STATE,8386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8386,begin apogee
$GC,8394,-0.42,0.0,826.7,9.1,402,8522,1.35,0.00,123.85,1.439,6,0.082,0.000,2358,1915,2901
$STATE,8522,end apogee,CONTROL_FINISHED_OK
$STATE,8522,begin climb
$GC,8524,1.70,146.6,832.0,0.0,408,8656,2.05,2.75,123.60,1.398,4,0.033,0.069,2827,3340,2303
$GC,8910,1.89,303.9,800.0,2.8,426,9053,0.15,2.58,131.80,1.370,6,0.051,0.054,2865,1919,1661
$GC,9360,1.89,303.9,729.6,21.9,448,9364,0.00,2.72,0.00,0.000,4,0.000,0.076,2865,3344,1661
$GC,9391,1.89,303.9,722.9,22.5,449,9396,0.00,2.60,0.00,0.000,6,0.000,0.053,2865,1933,1661
$GC,9712,1.89,303.9,666.6,15.0,465,9717,0.00,2.72,0.00,0.000,4,0.000,0.086,2865,522,1660
$GC,9969,1.89,303.9,620.9,17.7,476,9976,0.00,2.55,0.00,0.000,6,0.000,0.045,2865,1937,1659
$GC,10284,1.89,303.9,565.3,18.5,492,10289,0.00,2.65,0.00,0.000,4,0.000,0.069,2865,519,1658
$GC,10446,1.89,303.9,535.9,21.4,499,10451,0.00,2.50,0.00,0.000,6,0.000,0.041,2865,1924,1658
$GC,10772,1.89,303.9,475.6,18.9,515,10777,0.00,2.58,0.00,0.000,4,0.000,0.063,2865,518,1658
$GC,10991,1.89,303.9,435.6,17.6,525,10995,0.00,2.45,0.00,0.000,6,0.000,0.038,2865,1933,1658
$GC,11323,1.89,303.9,377.8,17.4,541,11327,0.00,2.60,0.00,0.000,4,0.000,0.061,2865,518,1659
$GC,11460,1.89,303.9,352.7,18.6,547,11465,0.00,2.47,0.00,0.000,6,0.000,0.036,2865,1917,1659
$GC,11781,1.89,303.9,297.5,17.3,563,11786,0.00,2.53,0.00,0.000,4,0.000,0.059,2865,517,1661
$GC,12005,1.89,303.9,258.0,17.9,573,12009,0.00,2.45,0.00,0.000,6,0.000,0.037,2865,1931,1661
$GC,12337,1.89,303.9,202.4,16.6,589,12341,0.00,2.58,0.00,0.000,4,0.000,0.059,2865,517,1662
$GC,12516,1.89,303.9,171.1,18.3,597,12520,0.00,2.45,0.00,0.000,6,0.000,0.037,2865,1922,1662
$GC,12841,1.89,303.9,117.4,16.6,613,12846,0.00,2.58,0.00,0.000,4,0.000,0.061,2865,516,1663
$GC,12997,1.89,303.9,91.3,16.3,620,13001,0.00,2.47,0.00,0.000,6,0.000,0.037,2865,1924,1664
$GC,13325,1.89,303.9,39.8,15.7,636,13329,0.00,2.58,0.00,0.000,4,0.000,0.060,2865,515,1665
$GC,13446,1.89,303.9,19.5,16.4,641,13454,0.00,2.47,0.00,0.000,6,0.000,0.038,2865,1922,1665
$STATE,13554,end climb,SURFACE_DEPTH_REACHED
$STATE,13555,begin surface coast
$FINISH,-1.2,1.003331
$STATE,13578,end surface coast,CONTROL_FINISHED_OK
$STATE,13578,begin surface
$SM_CCo,13658,0.00,0.000,0,0,1664,303.44
$SM_GC,-0.24,12.48,0.00,0.00,0.035,0.000,0.000,49,2817,1664,-10.97,-0.23,303.44
$IRIDIUM_FIX,6108.28,-826.28,141107,040447
$TT8_MAMPS,0.028379
$HUMID,2161
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.40
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,750.1,90.1
$24V_AH,23.3,8.190
$10V_AH,10.1,2.981
$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,27.725,110.825,379.250,0.000,0.000,79.882,131.959,128.178,8.000,0.000,0.000,17.265,1282.376,10163.759,468.283,1807.620,470.326,33.347,1365.543,0.000,1760.247,0.000,44.469
$DEVICE_MAMPS,167.206,116.584,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.404,445.907,364.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31641,648
$CFSIZE,260165632,257748992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$GPS,141107,084938,6131.414,-828.072,40,1.6,40,-8.9