version: 66.02
glider: 103
mission: 7
dive: 9
start: 11 14 107 16 5 41
data:
$ID,103
$MISSION,7
$DIVE,9
$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,-62268.887
$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,26
$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
$GPS1,155551,6133.198,-825.057,39,2.2,58,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.24
$_SM_ANGLEo,-60.4
$GPS2,160402,6133.151,-825.059,10,1.2,15,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.138,-0.222
$KALMAN_X,-18545.9,1004.8,335.7,25448.9,-5090.8
$KALMAN_Y,5243.6,-12.7,-330.0,-6479.4,2456.6
$MHEAD_RNG_PITCHd_Wd,157.0,5837,-18.2,-10.000
$D_GRID,733
$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,-62.78,0.000,2,0.000,0.000,46,2864,3500
$GC,83,-1.70,-146.6,4.4,-10.9,3,104,11.45,2.60,0.00,0.000,4,0.165,0.057,2033,1467,3501
$GC,338,-1.70,-146.6,44.6,-11.2,14,343,0.00,2.62,0.00,0.000,6,0.000,0.066,2033,2864,3501
$GC,660,-1.70,-146.6,83.5,-12.3,30,663,0.00,1.80,0.00,0.000,4,0.000,0.101,2033,3786,3501
$GC,736,-1.70,-146.6,93.5,-13.4,33,741,0.00,1.65,0.00,0.000,6,0.000,0.051,2033,2878,3501
$GC,1058,-1.70,-146.6,132.3,-11.9,49,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2878,3502
$GC,1367,-1.70,-146.6,167.0,-10.8,64,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2877,3502
$GC,1676,-1.70,-146.6,203.5,-11.9,79,1680,0.00,1.83,0.00,0.000,4,0.000,0.104,2033,3785,3502
$GC,1747,-1.70,-146.6,212.7,-12.2,82,1752,0.00,1.65,0.00,0.000,6,0.000,0.050,2033,2864,3502
$GC,2074,-1.70,-146.6,254.2,-14.1,98,2078,0.00,1.80,0.00,0.000,4,0.000,0.101,2033,3786,3502
$GC,2145,-1.70,-146.6,264.9,-14.7,101,2150,0.00,1.65,0.00,0.000,6,0.000,0.050,2033,2871,3502
$GC,2472,-1.70,-146.6,310.6,-13.2,117,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2870,3502
$GC,2782,-1.70,-146.6,351.4,-12.6,132,2786,0.00,1.80,0.00,0.000,4,0.000,0.103,2034,3784,3502
$GC,2848,-1.70,-146.6,360.3,-13.0,135,2853,0.00,1.62,0.00,0.000,6,0.000,0.048,2033,2869,3502
$GC,3180,-1.70,-146.6,399.2,-11.4,151,3184,0.00,2.53,0.00,0.000,4,0.000,0.058,2033,1466,3502
$GC,3308,-1.70,-146.6,414.5,-12.1,157,3313,0.00,2.60,0.00,0.000,6,0.000,0.066,2033,2877,3502
$GC,3634,-1.70,-146.6,457.4,-12.8,173,3638,0.00,1.80,0.00,0.000,4,0.000,0.101,2033,3801,3502
$GC,3891,-1.70,-146.6,489.0,-10.9,184,3896,0.00,1.65,0.00,0.000,6,0.000,0.045,2033,2877,3502
$GC,4212,-1.70,-146.6,528.1,-12.4,200,4216,0.00,1.80,0.00,0.000,4,0.000,0.099,2033,3784,3502
$GC,4249,-1.70,-146.6,533.3,-13.6,201,4257,0.00,1.62,0.00,0.000,6,0.000,0.044,2033,2861,3502
$GC,4565,-1.70,-146.6,570.4,-11.6,217,4569,0.00,2.50,0.00,0.000,4,0.000,0.058,2033,1468,3502
$GC,4732,-1.70,-146.6,588.8,-10.8,224,4739,0.00,2.60,0.00,0.000,6,0.000,0.063,2033,2871,3502
$GC,5047,-1.70,-146.6,623.7,-11.9,240,5051,0.00,2.53,0.00,0.000,4,0.000,0.058,2033,1464,3502
$GC,5086,-1.70,-146.6,629.0,-13.2,242,5090,0.00,2.60,0.00,0.000,6,0.000,0.067,2033,2875,3502
$GC,5412,-1.70,-146.6,670.5,-11.4,258,5415,0.00,1.80,0.00,0.000,4,0.000,0.108,2033,3790,3502
$GC,5668,-1.70,-146.6,703.6,-14.7,269,5673,0.00,1.65,0.00,0.000,6,0.000,0.050,2033,2875,3502
$GC,5990,-1.70,-146.6,731.2,-9.3,285,5993,0.00,1.83,0.00,0.000,4,0.000,0.112,2033,3784,3501
$STATE,5998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5998,begin apogee
$GC,6005,-0.42,0.0,733.0,13.5,285,6137,1.35,0.00,125.10,1.346,6,0.083,0.000,2314,1851,2901
$STATE,6138,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6139,1.70,146.6,747.9,0.0,292,6271,2.12,2.75,122.95,1.323,4,0.049,0.079,2785,443,2303
$GC,6524,1.70,146.6,727.5,12.5,310,6528,0.00,2.53,0.00,0.000,6,0.000,0.044,2785,1868,2302
$GC,6849,1.78,215.6,697.6,6.8,326,6914,0.00,2.65,58.10,1.321,4,0.000,0.068,2785,3247,2022
$GC,6925,1.80,233.4,690.6,9.2,329,6947,0.00,2.58,16.70,1.233,6,0.000,0.048,2785,1847,1949
$GC,7256,1.81,236.3,645.6,9.9,345,7265,0.00,2.65,4.00,0.910,4,0.000,0.069,2785,3251,1937
$GC,7438,1.81,236.3,622.2,11.7,353,7443,0.00,2.55,0.00,0.000,6,0.000,0.050,2785,1850,1936
$GC,7765,1.81,236.3,586.0,10.6,369,7769,0.00,2.65,0.00,0.000,4,0.000,0.077,2785,446,1936
$GC,7903,1.81,236.3,570.0,11.0,375,7908,0.00,2.50,0.00,0.000,6,0.000,0.041,2785,1853,1935
$GC,8225,1.81,236.3,530.5,12.8,391,8230,0.00,2.65,0.00,0.000,4,0.000,0.070,2785,441,1935
$GC,8465,1.81,236.3,499.9,12.5,402,8470,0.00,2.47,0.00,0.000,6,0.000,0.040,2785,1851,1934
$GC,8797,1.81,236.3,461.2,13.5,418,8801,0.00,2.55,0.00,0.000,4,0.000,0.063,2785,3248,1934
$GC,8880,1.81,236.3,447.5,18.5,422,8884,0.00,2.47,0.00,0.000,6,0.000,0.042,2785,1839,1934
$GC,9211,1.82,246.4,411.2,9.5,438,9226,0.00,2.62,9.55,1.078,4,0.000,0.068,2785,446,1896
$GC,9342,1.82,246.4,397.2,12.0,443,9347,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,1853,1896
$GC,9669,1.82,246.4,359.5,12.6,459,9674,0.00,2.60,0.00,0.000,4,0.000,0.063,2785,446,1896
$GC,9730,1.82,246.4,350.9,14.7,462,9735,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,1855,1896
$GC,10056,1.82,246.4,310.7,11.6,478,10060,0.00,2.58,0.00,0.000,4,0.000,0.061,2785,444,1897
$GC,10088,1.82,246.4,306.8,12.0,479,10095,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,1852,1897
$GC,10403,1.82,246.4,271.5,11.4,495,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1852,1898
$GC,10713,1.82,246.4,236.0,11.6,510,10717,0.00,2.58,0.00,0.000,4,0.000,0.060,2785,444,1898
$GC,10744,1.82,246.4,231.8,12.8,511,10751,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,1852,1898
$GC,11060,1.82,246.4,192.7,12.8,527,11064,0.00,2.53,0.00,0.000,4,0.000,0.060,2785,447,1899
$GC,11104,1.82,246.4,186.6,13.8,529,11108,0.00,2.42,0.00,0.000,6,0.000,0.036,2785,1853,1899
$GC,11435,1.82,246.4,145.2,11.9,545,11440,0.00,2.55,0.00,0.000,4,0.000,0.063,2785,3253,1900
$GC,11456,1.82,246.4,142.5,12.5,546,11461,0.00,2.45,0.00,0.000,6,0.000,0.038,2785,1852,1901
$GC,11783,1.82,246.4,104.0,12.0,562,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1852,1901
$GC,12092,1.82,246.4,71.2,11.3,577,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1852,1901
$GC,12403,1.82,247.9,37.6,9.9,592,12409,0.00,0.00,4.32,0.685,6,0.000,0.000,2785,1851,1890
$STATE,12711,end climb,SURFACE_DEPTH_REACHED
$STATE,12711,begin surface coast
$FINISH,-1.0,1.018038
$STATE,12731,end surface coast,CONTROL_FINISHED_OK
$STATE,12731,begin surface
$SM_CCo,12752,41.05,0.828,0,0,1678,300.00
$SM_GC,0.13,0.00,0.00,41.05,0.000,0.000,0.828,50,2857,1678,-10.86,-0.51,300.00
$IRIDIUM_FIX,6108.28,-704.71,141107,191924
$TT8_MAMPS,0.029146
$HUMID,2122
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.30
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,651.0,111.5
$24V_AH,23.3,8.676
$10V_AH,10.1,3.174
$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,27.000,113.225,340.725,41.050,0.000,65.550,102.583,176.309,7.000,0.000,0.000,16.283,1204.871,9500.899,486.295,1661.492,486.632,33.336,1314.931,0.000,1627.459,0.000,38.057
$DEVICE_MAMPS,164.905,111.982,1346.085,827.593,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.181,416.712,371.694,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31659,608
$CFSIZE,260165632,257609728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,141107,194008,6133.426,-826.555,41,1.1,41,-8.9