version: 66.02
glider: 103
mission: 7
dive: 23
start: 11 16 107 17 11 7
data:
$ID,103
$MISSION,7
$DIVE,23
$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,-62511.289
$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,27
$R_STBD_OVSHOOT,6
$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
$GPS1,170032,6134.493,-830.214,40,1.4,40,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-55.7
$GPS2,170927,6134.454,-830.068,13,1.3,13,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.262,-0.012
$KALMAN_X,-62230.7,257.8,944.5,64837.7,-7709.6
$KALMAN_Y,40322.0,-655.6,-1123.6,-37677.8,6625.5
$MHEAD_RNG_PITCHd_Wd,101.6,9385,-18.2,-10.000
$D_GRID,805
$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,-62.53,0.000,2,0.000,0.000,28,2886,3458
$GC,83,-1.70,-146.6,3.5,-8.6,3,105,11.55,1.83,-0.73,0.000,4,0.166,0.114,2034,3794,3502
$GC,356,-1.70,-146.6,51.6,-13.5,15,361,0.00,1.62,0.00,0.000,6,0.000,0.058,2034,2905,3502
$GC,683,-1.70,-146.6,94.2,-13.8,31,687,0.00,1.77,0.00,0.000,4,0.000,0.110,2034,3790,3502
$GC,760,-1.70,-146.6,105.7,-14.6,34,765,0.00,1.62,0.00,0.000,6,0.000,0.058,2035,2900,3502
$GC,1082,-1.70,-146.6,150.8,-14.4,50,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3503
$GC,1390,-1.70,-146.6,194.4,-13.8,65,1394,0.00,1.77,0.00,0.000,4,0.000,0.112,2034,3790,3502
$GC,1437,-1.70,-146.6,200.7,-14.5,67,1440,0.00,1.60,0.00,0.000,6,0.000,0.061,2034,2898,3503
$GC,1767,-1.70,-146.6,247.9,-13.9,83,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3503
$GC,2077,-1.70,-146.6,290.4,-13.5,98,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3503
$GC,2386,-1.70,-146.6,332.4,-13.3,113,2390,0.00,1.80,0.00,0.000,4,0.000,0.111,2034,3796,3503
$GC,2440,-1.70,-146.6,340.0,-13.4,115,2445,0.00,1.62,0.00,0.000,6,0.000,0.057,2034,2900,3503
$GC,2762,-1.70,-146.6,380.5,-12.9,131,2766,0.00,1.80,0.00,0.000,4,0.000,0.112,2034,3791,3503
$GC,2816,-1.70,-146.6,387.8,-13.0,133,2821,0.00,1.62,0.00,0.000,6,0.000,0.054,2034,2890,3503
$GC,3137,-1.70,-146.6,428.6,-13.2,149,3142,0.00,2.58,0.00,0.000,4,0.000,0.067,2034,1486,3503
$GC,3203,-1.70,-146.6,437.3,-12.9,152,3208,0.00,2.72,0.00,0.000,6,0.000,0.086,2034,2904,3503
$GC,3530,-1.70,-146.6,478.7,-12.7,168,3534,0.00,2.60,0.00,0.000,4,0.000,0.068,2034,1487,3503
$GC,3596,-1.70,-146.6,488.2,-14.4,171,3601,0.00,2.75,0.00,0.000,6,0.000,0.088,2034,2908,3503
$GC,3921,-1.70,-146.6,531.1,-13.1,187,3925,0.00,2.62,0.00,0.000,4,0.000,0.071,2034,1487,3503
$GC,4134,-1.70,-146.6,560.7,-13.1,196,4140,0.00,2.72,0.00,0.000,6,0.000,0.087,2034,2903,3503
$GC,4448,-1.70,-146.6,598.4,-11.6,212,4453,0.00,2.62,0.00,0.000,4,0.000,0.072,2034,1490,3503
$GC,4587,-1.70,-146.6,614.2,-10.4,218,4592,0.00,2.75,0.00,0.000,6,0.000,0.087,2034,2899,3503
$GC,4909,-1.70,-146.6,647.4,-9.9,234,4913,0.00,2.67,0.00,0.000,4,0.000,0.080,2034,1490,3503
$GC,5131,-1.70,-146.6,667.7,-7.3,244,5136,0.00,2.78,0.00,0.000,6,0.000,0.095,2034,2905,3503
$GC,5457,-1.70,-146.6,703.9,-11.7,260,5462,0.00,2.70,0.00,0.000,4,0.000,0.084,2034,1484,3503
$GC,5519,-1.70,-146.6,712.7,-15.9,263,5523,0.00,2.80,0.00,0.000,6,0.000,0.098,2034,2903,3503
$GC,5844,-1.70,-146.6,753.9,-9.9,279,5848,0.00,1.80,0.00,0.000,4,0.000,0.127,2034,3787,3502
$GC,5994,-1.70,-146.6,778.0,-11.0,285,6001,0.00,1.65,0.00,0.000,6,0.000,0.069,2034,2902,3501
$STATE,6309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6309,begin apogee
$GC,6315,-0.42,0.0,806.6,7.1,301,6445,1.42,0.00,125.85,1.447,6,0.098,0.000,2318,1771,2901
$STATE,6445,end apogee,CONTROL_FINISHED_OK
$STATE,6445,begin climb
$GC,6447,1.70,146.6,810.7,0.0,307,6580,2.20,2.72,124.03,1.414,4,0.069,0.062,2780,3194,2303
$GC,6833,1.70,146.6,797.1,10.4,325,6838,0.00,2.60,0.00,0.000,6,0.000,0.051,2779,1768,2303
$GC,7158,1.70,146.6,761.9,13.4,341,7163,0.00,2.67,0.00,0.000,4,0.000,0.065,2779,3194,2301
$GC,7415,1.74,181.7,730.7,8.4,352,7463,0.00,2.60,37.90,1.223,6,0.000,0.051,2779,1776,2160
$GC,7771,1.81,241.6,693.1,7.3,370,7878,0.10,2.75,80.15,1.087,4,0.059,0.070,2806,3192,1916
$GC,7933,1.81,241.6,679.3,13.8,378,7938,0.00,2.58,0.00,0.000,6,0.000,0.050,2806,1775,1917
$GC,8259,1.81,241.6,628.0,14.3,394,8263,0.00,2.72,0.00,0.000,4,0.000,0.087,2806,366,1916
$GC,8516,1.81,241.6,593.8,13.5,405,8523,0.00,2.55,0.00,0.000,6,0.000,0.042,2806,1794,1915
$GC,8832,1.81,241.6,550.5,14.3,421,8836,0.00,2.70,0.00,0.000,4,0.000,0.075,2806,367,1914
$GC,8982,1.81,241.6,532.2,13.3,428,8986,0.00,2.47,0.00,0.000,6,0.000,0.041,2806,1778,1913
$GC,9308,1.81,241.6,491.7,14.0,444,9312,0.00,2.65,0.00,0.000,4,0.000,0.070,2806,370,1913
$GC,9395,1.81,241.6,478.7,14.2,448,9400,0.00,2.50,0.00,0.000,6,0.000,0.038,2806,1773,1912
$GC,9722,1.81,241.6,440.0,12.2,464,9726,0.00,2.60,0.00,0.000,4,0.000,0.066,2806,370,1913
$GC,9865,1.81,241.6,420.3,13.3,470,9873,0.00,2.45,0.00,0.000,6,0.000,0.035,2806,1776,1913
$GC,10181,1.81,241.6,379.7,13.7,486,10186,0.00,2.60,0.00,0.000,4,0.000,0.064,2806,364,1914
$GC,10230,1.81,241.6,372.5,16.0,488,10235,0.00,2.47,0.00,0.000,6,0.000,0.035,2806,1773,1914
$GC,10551,1.81,241.6,332.0,12.1,504,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1773,1915
$GC,10860,1.81,241.6,292.9,12.5,519,10861,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1773,1915
$GC,11169,1.81,241.6,252.7,13.2,534,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1773,1916
$GC,11479,1.81,241.6,213.7,12.0,549,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1773,1918
$GC,11788,1.81,241.6,177.0,11.4,564,11792,0.00,2.58,0.00,0.000,4,0.000,0.061,2806,368,1918
$GC,11837,1.81,241.6,170.8,12.5,566,11842,0.00,2.47,0.00,0.000,6,0.000,0.035,2806,1775,1919
$GC,12160,1.81,241.6,134.5,11.3,582,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1775,1919
$GC,12468,1.81,241.6,95.6,12.3,597,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1778,1920
$GC,12777,1.81,241.6,59.8,11.6,612,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1778,1921
$GC,13086,1.81,241.6,21.9,13.1,627,13091,0.00,2.58,0.00,0.000,4,0.000,0.061,2806,367,1921
$GC,13107,1.81,241.6,18.8,14.1,628,13112,0.00,2.47,0.00,0.000,6,0.000,0.034,2806,1778,1921
$STATE,13269,end climb,SURFACE_DEPTH_REACHED
$STATE,13269,begin surface coast
$FINISH,-1.2,1.014519
$STATE,13290,end surface coast,CONTROL_FINISHED_OK
$STATE,13290,begin surface
$SM_CCo,13310,49.08,0.814,1,0,1678,300.00
$SM_GC,-0.52,0.00,0.00,49.08,0.000,0.000,0.814,49,2880,1678,-10.86,-0.57,300.00
$IRIDIUM_FIX,6108.28,-827.60,161107,212159
$TT8_MAMPS,0.028379
$HUMID,2101
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,726.9,89.8
$24V_AH,22.7,10.918
$10V_AH,10.1,4.036
$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,27.475,108.900,367.925,49.075,0.000,78.796,72.893,237.504,9.000,0.000,0.000,13.120,1253.590,9917.979,532.202,1709.792,542.980,33.357,1389.661,0.000,1675.281,0.000,42.845
$DEVICE_MAMPS,165.672,126.555,1447.329,813.787,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.409,437.025,370.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31742,637
$CFSIZE,260165632,256942080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,6,0
$GPS,161107,205507,6134.982,-829.480,37,1.9,42,-9.0