version: 66.02
glider: 103
mission: 7
dive: 8
start: 11 14 107 12 20 49
data:
$ID,103
$MISSION,7
$DIVE,8
$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,-62251.98
$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,2875
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,10
$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
$GPS1,121437,6133.142,-826.020,40,1.7,51,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.44
$_SM_ANGLEo,-60.5
$GPS2,121909,6133.141,-825.968,15,1.2,15,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.240,-0.104
$KALMAN_X,-14652.9,369.3,-94.6,21821.5,-3307.3
$KALMAN_Y,1609.7,493.1,976.4,-4692.1,-828.7
$MHEAD_RNG_PITCHd_Wd,122.3,5879,-18.2,-10.000
$D_GRID,762
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-76.05,0.000,6,0.000,0.000,50,2869,3500
$GC,100,-1.70,-146.6,5.9,-10.3,4,121,11.45,2.62,0.00,0.000,4,0.167,0.058,2032,1460,3502
$GC,373,-1.70,-146.6,48.0,-11.2,16,377,0.00,2.62,0.00,0.000,6,0.000,0.062,2032,2871,3502
$GC,699,-1.70,-146.6,89.0,-12.7,32,704,0.00,2.58,0.00,0.000,4,0.000,0.056,2032,1454,3502
$GC,815,-1.70,-146.6,105.0,-12.7,37,820,0.00,2.65,0.00,0.000,6,0.000,0.064,2032,2874,3502
$GC,1137,-1.70,-146.6,140.6,-11.5,53,1140,0.00,1.77,0.00,0.000,4,0.000,0.100,2032,3791,3503
$GC,1213,-1.70,-146.6,151.0,-12.9,56,1218,0.00,1.65,0.00,0.000,6,0.000,0.052,2032,2874,3503
$GC,1535,-1.70,-146.6,191.0,-12.4,72,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2874,3503
$GC,1844,-1.70,-146.6,227.8,-11.7,87,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2874,3503
$GC,2153,-1.70,-146.6,263.4,-11.5,102,2157,0.00,1.83,0.00,0.000,4,0.000,0.104,2032,3784,3503
$GC,2243,-1.70,-146.6,274.7,-13.2,106,2250,0.00,1.65,0.00,0.000,6,0.000,0.055,2032,2863,3503
$GC,2576,-1.70,-146.6,317.2,-13.0,122,2579,0.00,1.85,0.00,0.000,4,0.000,0.104,2032,3786,3504
$GC,2608,-1.70,-146.6,321.5,-13.2,123,2613,0.00,1.65,0.00,0.000,6,0.000,0.054,2032,2876,3504
$GC,2929,-1.70,-146.6,360.7,-12.5,139,2933,0.00,2.58,0.00,0.000,4,0.000,0.063,2032,1455,3504
$GC,3022,-1.70,-146.6,372.6,-12.8,143,3027,0.00,2.65,0.00,0.000,6,0.000,0.066,2032,2875,3504
$GC,3343,-1.70,-146.6,414.3,-11.8,159,3347,0.00,1.80,0.00,0.000,4,0.000,0.103,2032,3786,3504
$GC,3600,-1.70,-146.6,449.9,-11.1,170,3606,0.00,1.65,0.00,0.000,6,0.000,0.053,2032,2874,3504
$GC,3921,-1.70,-146.6,491.1,-15.3,186,3925,0.00,1.80,0.00,0.000,4,0.000,0.100,2032,3790,3504
$GC,3970,-1.70,-146.6,498.1,-11.5,188,3975,0.00,1.65,0.00,0.000,6,0.000,0.050,2032,2875,3504
$GC,4297,-1.70,-146.6,536.4,-9.3,204,4301,0.00,2.58,0.00,0.000,4,0.000,0.061,2032,1452,3504
$GC,4425,-1.70,-146.6,546.9,-10.5,210,4429,0.00,2.62,0.00,0.000,6,0.000,0.067,2032,2877,3504
$GC,4750,-1.70,-146.6,566.9,-4.5,226,4755,0.00,2.58,0.00,0.000,4,0.000,0.060,2032,1460,3504
$GC,4844,-1.70,-146.6,571.4,-5.2,230,4849,0.00,2.65,0.00,0.000,6,0.000,0.068,2032,2876,3504
$GC,5166,-1.70,-146.6,584.9,-5.9,246,5170,0.00,2.58,0.00,0.000,4,0.000,0.061,2032,1460,3504
$GC,5219,-1.70,-146.6,590.0,-9.6,248,5226,0.00,2.65,0.00,0.000,6,0.000,0.070,2032,2875,3504
$GC,5535,-1.70,-146.6,625.4,-10.0,264,5539,0.00,1.77,0.00,0.000,4,0.000,0.107,2032,3786,3504
$GC,5791,-1.70,-146.6,659.5,-14.7,275,5796,0.00,1.67,0.00,0.000,6,0.000,0.057,2032,2865,3503
$GC,6113,-1.70,-146.6,695.3,-12.2,291,6116,0.00,1.83,0.00,0.000,4,0.000,0.105,2032,3787,3502
$GC,6202,-1.70,-146.6,703.9,-8.5,295,6206,0.00,1.65,0.00,0.000,6,0.000,0.055,2032,2858,3502
$GC,6533,-1.70,-146.6,733.6,-10.8,311,6538,0.00,2.55,0.00,0.000,4,0.000,0.068,2032,1466,3500
$GC,6554,-1.70,-146.6,733.8,-0.2,312,6559,0.00,2.67,0.00,0.000,6,0.000,0.073,2032,2877,3500
$STATE,6632,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6633,begin apogee
$GC,6638,-0.42,0.0,740.0,9.0,316,6767,1.40,0.00,125.22,1.371,6,0.081,0.000,2320,1853,2901
$STATE,6768,end apogee,CONTROL_FINISHED_OK
$STATE,6768,begin climb
$GC,6769,1.70,146.6,748.8,0.0,322,6901,2.10,2.75,123.12,1.325,4,0.049,0.079,2782,443,2303
$GC,7155,1.83,256.3,730.1,5.0,340,7257,0.12,2.55,92.10,1.310,6,0.054,0.045,2815,1881,1856
$GC,7564,1.83,256.3,674.5,15.0,360,7569,0.00,2.58,0.00,0.000,4,0.000,0.073,2815,3249,1855
$GC,7821,1.83,256.3,632.9,17.2,371,7826,0.00,2.55,0.00,0.000,6,0.000,0.050,2815,1851,1854
$GC,8142,1.83,256.3,590.7,10.8,387,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1851,1852
$GC,8452,1.83,256.3,557.2,12.2,402,8456,0.00,2.65,0.00,0.000,4,0.000,0.077,2815,447,1852
$GC,8708,1.83,256.3,522.5,12.0,413,8715,0.00,2.47,0.00,0.000,6,0.000,0.041,2815,1838,1851
$GC,9023,1.83,256.3,489.0,10.1,429,9027,0.00,2.62,0.00,0.000,4,0.000,0.071,2815,443,1851
$GC,9162,1.83,256.3,473.6,10.2,435,9167,0.00,2.53,0.00,0.000,6,0.000,0.040,2815,1856,1851
$GC,9489,1.83,256.3,432.0,12.0,451,9493,0.00,2.62,0.00,0.000,4,0.000,0.067,2815,444,1851
$GC,9543,1.83,256.3,424.9,12.6,453,9550,0.00,2.50,0.00,0.000,6,0.000,0.038,2815,1855,1851
$GC,9858,1.83,256.3,381.8,13.6,469,9862,0.00,2.60,0.00,0.000,4,0.000,0.064,2815,444,1851
$GC,10042,1.83,256.3,354.5,15.2,477,10047,0.00,2.47,0.00,0.000,6,0.000,0.037,2815,1846,1851
$GC,10368,1.83,256.3,310.1,13.5,493,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1847,1852
$GC,10678,1.83,256.3,270.0,12.9,508,10682,0.00,2.58,0.00,0.000,4,0.000,0.063,2815,437,1853
$GC,10716,1.83,256.3,264.7,15.2,510,10720,0.00,2.45,0.00,0.000,6,0.000,0.036,2815,1850,1853
$GC,11048,1.83,256.3,220.7,13.7,526,11052,0.00,2.55,0.00,0.000,4,0.000,0.062,2815,3249,1854
$GC,11067,1.83,256.3,217.7,15.0,527,11073,0.00,2.47,0.00,0.000,6,0.000,0.038,2815,1842,1855
$GC,11394,1.83,256.3,174.5,12.9,543,11398,0.00,2.55,0.00,0.000,4,0.000,0.064,2815,451,1855
$GC,11478,1.83,256.3,163.6,14.1,547,11482,0.00,2.42,0.00,0.000,6,0.000,0.037,2815,1849,1856
$GC,11811,1.83,256.3,121.2,12.7,563,11815,0.00,2.58,0.00,0.000,4,0.000,0.062,2815,447,1856
$GC,11838,1.83,256.3,117.4,13.6,564,11842,0.00,2.45,0.00,0.000,6,0.000,0.035,2815,1858,1856
$GC,12152,1.83,256.3,75.9,13.1,579,12156,0.00,2.55,0.00,0.000,4,0.000,0.061,2815,450,1857
$GC,12184,1.83,256.3,71.4,13.5,580,12192,0.00,2.45,0.00,0.000,6,0.000,0.036,2815,1841,1857
$GC,12501,1.83,256.3,29.8,13.1,596,12506,0.00,2.55,0.00,0.000,4,0.000,0.061,2815,449,1858
$GC,12550,1.83,256.3,23.3,11.9,598,12555,0.00,2.45,0.00,0.000,6,0.000,0.035,2815,1842,1858
$STATE,12726,end climb,SURFACE_DEPTH_REACHED
$STATE,12726,begin surface coast
$FINISH,-1.0,1.027243
$STATE,12748,end surface coast,CONTROL_FINISHED_OK
$STATE,12748,begin surface
$SM_CCo,12768,36.95,0.803,1,0,1678,300.00
$SM_GC,-0.07,0.00,0.00,36.95,0.000,0.000,0.803,46,2863,1678,-10.87,-0.34,300.00
$IRIDIUM_FIX,6108.28,-827.60,141107,121206
$TT8_MAMPS,0.028379
$HUMID,2120
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,16.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,650.5,99.1
$24V_AH,23.3,8.522
$10V_AH,10.1,3.107
$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,27.275,125.575,340.450,36.950,0.000,41.048,36.662,118.154,6.750,0.000,0.000,16.080,1228.225,9348.230,512.528,1726.647,325.829,33.350,1380.272,0.000,1685.040,0.000,40.895
$DEVICE_MAMPS,167.206,107.380,1371.396,803.049,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,451.382,416.109,359.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31612,608
$CFSIZE,260165632,257654784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
$GPS,141107,155551,6133.198,-825.057,39,2.2,58,-8.9