version: 66.02
glider: 103
mission: 7
dive: 17
start: 11 15 107 22 11 16
data:
$ID,103
$MISSION,7
$DIVE,17
$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,-62408.055
$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,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,7
$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
$GPS1,220437,6135.314,-828.486,30,1.4,30,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.32
$_SM_ANGLEo,-58.7
$GPS2,220937,6135.319,-828.456,16,1.2,32,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.238,-0.109
$KALMAN_X,-42508.6,-3.8,77.4,47678.5,-4327.9
$KALMAN_Y,28666.4,-13.2,57.3,-26243.1,3677.4
$MHEAD_RNG_PITCHd_Wd,123.5,10314,-18.2,-10.000
$D_GRID,779
$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,14,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,-62.08,0.000,2,0.000,0.000,50,2886,3456
$GC,82,-1.70,-146.6,3.9,-9.9,3,104,11.48,1.80,-0.77,0.000,4,0.167,0.110,2037,3793,3502
$GC,355,-1.70,-146.6,51.4,-14.1,15,360,0.00,1.60,0.00,0.000,6,0.000,0.054,2037,2909,3502
$GC,682,-1.70,-146.6,94.5,-12.9,31,685,0.00,1.77,0.00,0.000,4,0.000,0.112,2037,3790,3502
$GC,798,-1.70,-146.6,110.3,-13.3,36,803,0.00,1.62,0.00,0.000,6,0.000,0.053,2037,2892,3502
$GC,1126,-1.70,-146.6,151.6,-12.7,52,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2892,3502
$GC,1434,-1.70,-146.6,189.8,-12.5,67,1438,0.00,1.83,0.00,0.000,4,0.000,0.114,2037,3783,3502
$GC,1471,-1.70,-146.6,194.7,-12.6,68,1479,0.00,1.60,0.00,0.000,6,0.000,0.051,2037,2899,3502
$GC,1787,-1.70,-146.6,233.4,-12.2,84,1791,0.00,1.80,0.00,0.000,4,0.000,0.110,2037,3794,3503
$GC,1824,-1.70,-146.6,238.1,-12.4,85,1832,0.00,1.62,0.00,0.000,6,0.000,0.051,2037,2898,3503
$GC,2143,-1.70,-146.6,275.6,-11.9,101,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2898,3503
$GC,2450,-1.70,-146.6,312.8,-12.5,116,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2898,3502
$GC,2760,-1.70,-146.6,351.5,-12.5,131,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2898,3503
$GC,3068,-1.70,-146.6,388.6,-12.2,146,3073,0.00,2.58,0.00,0.000,4,0.000,0.064,2037,1483,3503
$GC,3094,-1.70,-146.6,392.0,-12.3,147,3099,0.00,2.70,0.00,0.000,6,0.000,0.076,2037,2898,3503
$GC,3415,-1.70,-146.6,428.4,-10.1,163,3420,0.00,2.58,0.00,0.000,4,0.000,0.064,2037,1487,3503
$GC,3503,-1.70,-146.6,436.1,-7.8,167,3508,0.00,2.67,0.00,0.000,6,0.000,0.077,2037,2906,3503
$GC,3830,-1.70,-146.6,471.8,-11.3,183,3834,0.00,2.60,0.00,0.000,4,0.000,0.067,2037,1483,3503
$GC,3874,-1.70,-146.6,477.4,-13.1,185,3878,0.00,2.67,0.00,0.000,6,0.000,0.079,2037,2898,3503
$GC,4199,-1.70,-146.6,516.5,-10.6,201,4203,0.00,1.77,0.00,0.000,4,0.000,0.114,2037,3789,3503
$GC,4389,-1.70,-146.6,539.2,-12.5,209,4393,0.00,1.60,0.00,0.000,6,0.000,0.054,2037,2898,3503
$GC,4710,-1.70,-146.6,579.7,-12.4,225,4714,0.00,2.58,0.00,0.000,4,0.000,0.066,2037,1484,3503
$GC,4821,-1.70,-146.6,593.5,-12.0,230,4826,0.00,2.72,0.00,0.000,6,0.000,0.082,2037,2903,3503
$GC,5141,-1.70,-146.6,627.5,-10.5,246,5145,0.00,2.60,0.00,0.000,4,0.000,0.068,2037,1489,3502
$GC,5397,-1.70,-146.6,655.0,-9.6,257,5404,0.00,2.72,0.00,0.000,6,0.000,0.084,2037,2898,3502
$GC,5713,-1.70,-146.6,684.2,-8.3,273,5716,0.00,1.80,0.00,0.000,4,0.000,0.123,2037,3786,3501
$GC,5840,-1.70,-146.6,690.7,-8.7,278,5847,0.00,1.62,0.00,0.000,6,0.000,0.064,2037,2902,3500
$GC,6155,-1.70,-146.6,716.5,-13.5,294,6159,0.00,1.83,0.00,0.000,4,0.000,0.129,2037,3786,3500
$GC,6244,-1.70,-146.6,730.6,-12.5,298,6249,0.00,1.62,0.00,0.000,6,0.000,0.067,2037,2906,3500
$GC,6576,-1.70,-146.6,771.1,-9.5,314,6580,0.00,1.83,0.00,0.000,4,0.000,0.128,2037,3787,3498
$GC,6602,-1.70,-146.6,775.5,-17.4,315,6607,0.00,1.62,0.00,0.000,6,0.000,0.061,2037,2900,3498
$STATE,6639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6639,begin apogee
$GC,6645,-0.42,0.0,780.6,14.3,317,6786,1.40,0.00,131.93,1.378,6,0.092,0.000,2319,1777,2901
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6788,1.70,146.6,788.6,0.0,324,6923,2.08,2.70,124.60,1.358,4,0.039,0.063,2788,3191,2303
$GC,7176,1.70,146.6,768.6,10.9,342,7181,0.00,2.58,0.00,0.000,6,0.000,0.051,2788,1770,2303
$GC,7501,1.83,258.6,742.5,4.9,358,7614,0.00,2.75,101.40,1.303,4,0.000,0.069,2788,3191,1846
$GC,7854,1.83,258.6,700.3,11.9,374,7858,0.00,2.60,0.00,0.000,6,0.000,0.049,2788,1772,1846
$GC,8175,1.83,258.6,659.4,11.5,390,8179,0.00,2.65,0.00,0.000,4,0.000,0.068,2788,3192,1846
$GC,8206,1.83,258.6,655.3,12.2,391,8212,0.00,2.62,0.00,0.000,6,0.000,0.054,2788,1774,1846
$GC,8528,1.83,258.6,612.1,12.6,407,8532,0.00,2.65,0.00,0.000,4,0.000,0.068,2788,3190,1846
$GC,8570,1.83,258.6,606.8,12.4,409,8575,0.00,2.58,0.00,0.000,6,0.000,0.049,2788,1777,1845
$GC,8897,1.83,258.6,561.9,13.2,425,8901,0.00,2.67,0.00,0.000,4,0.000,0.081,2788,371,1845
$GC,9002,1.83,258.6,547.1,14.3,429,9009,0.00,2.53,0.00,0.000,6,0.000,0.041,2788,1793,1844
$GC,9318,1.85,268.6,512.2,9.5,445,9359,0.10,0.00,24.48,0.848,6,0.054,0.000,2818,1797,1806
$GC,9667,1.85,268.6,471.5,10.7,462,9671,0.00,2.67,0.00,0.000,4,0.000,0.070,2817,370,1805
$GC,9846,1.85,268.6,444.9,18.2,470,9851,0.00,2.47,0.00,0.000,6,0.000,0.040,2818,1787,1805
$GC,10172,1.85,268.6,389.7,12.0,486,10176,0.00,2.62,0.00,0.000,4,0.000,0.063,2818,368,1805
$GC,10210,1.85,268.6,385.1,12.6,488,10214,0.00,2.45,0.00,0.000,6,0.000,0.038,2818,1773,1805
$GC,10535,1.85,268.6,343.9,14.8,504,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1775,1806
$GC,10844,1.85,268.6,299.7,13.6,519,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1775,1806
$GC,11153,1.85,268.6,254.7,14.8,534,11158,0.00,2.58,0.00,0.000,4,0.000,0.061,2818,368,1807
$GC,11192,1.85,268.6,248.8,14.7,536,11196,0.00,2.45,0.00,0.000,6,0.000,0.037,2818,1776,1807
$GC,11518,1.85,268.6,200.6,15.4,552,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1777,1809
$GC,11827,1.85,268.6,152.1,16.0,567,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1777,1810
$GC,12137,1.85,268.6,104.8,14.8,582,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1777,1811
$GC,12446,1.85,268.6,61.4,13.4,597,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1777,1811
$GC,12756,1.85,268.6,18.8,14.3,612,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1778,1812
$STATE,12898,end climb,SURFACE_DEPTH_REACHED
$STATE,12898,begin surface coast
$FINISH,-1.1,1.005286
$STATE,12920,end surface coast,CONTROL_FINISHED_OK
$STATE,12920,begin surface
$SM_CCo,12941,30.33,0.752,3,0,1679,300.00
$SM_GC,-0.41,0.00,0.00,30.33,0.000,0.000,0.752,32,2879,1679,-10.93,-0.59,300.00
$IRIDIUM_FIX,6108.28,-827.60,151107,212130
$TT8_MAMPS,0.029146
$HUMID,2121
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,700.1,93.4
$24V_AH,23.3,9.970
$10V_AH,10.1,3.694
$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,27.200,99.625,382.400,30.325,0.000,37.155,37.564,127.951,8.500,0.000,0.000,32.197,1197.241,9639.824,532.038,1630.914,340.021,33.353,1348.232,0.000,1582.537,0.000,41.244
$DEVICE_MAMPS,167.206,128.856,1377.532,751.660,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.562,422.740,353.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31671,620
$CFSIZE,260165632,257212416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,7,0
$GPS,161107,014856,6136.331,-828.180,41,1.0,41,-9.0