version: 66.02
glider: 103
mission: 7
dive: 26
start: 11 17 107 1 48 32
data:
$ID,103
$MISSION,7
$DIVE,26
$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,-62589.105
$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,24
$R_STBD_OVSHOOT,9
$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
$GPS1,014329,6134.987,-829.497,9,2.9,28,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.33
$_SM_ANGLEo,-56.0
$GPS2,014653,6134.980,-829.445,15,4.1,34,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.231,-0.123
$KALMAN_X,-72942.9,1347.0,938.0,75006.0,-24331.5
$KALMAN_Y,42510.4,-687.5,-802.8,-39168.0,8647.8
$MHEAD_RNG_PITCHd_Wd,127.1,9313,-18.2,-10.000
$D_GRID,799
$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,-62.22,0.000,2,0.000,0.000,54,2878,3442
$GC,83,-1.70,-146.6,3.6,-9.3,3,105,11.48,1.83,-1.00,0.000,4,0.166,0.113,2041,3789,3500
$GC,356,-1.70,-146.6,48.3,-13.2,15,361,0.00,1.62,0.00,0.000,6,0.000,0.067,2041,2917,3500
$GC,684,-1.70,-146.6,89.0,-12.6,31,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2917,3501
$GC,993,-1.70,-146.6,128.7,-12.9,46,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2916,3501
$GC,1302,-1.70,-146.6,168.2,-12.7,61,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2917,3500
$GC,1611,-1.70,-146.6,208.3,-13.0,76,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2917,3501
$GC,1920,-1.70,-146.6,247.8,-12.5,91,1925,0.00,2.67,0.00,0.000,4,0.000,0.073,2041,1479,3501
$GC,1963,-1.70,-146.6,253.2,-11.8,93,1968,0.00,2.78,0.00,0.000,6,0.000,0.087,2041,2898,3501
$GC,2289,-1.70,-146.6,294.6,-13.6,109,2294,0.00,2.62,0.00,0.000,4,0.000,0.069,2041,1476,3500
$GC,2343,-1.70,-146.6,302.0,-14.1,111,2350,0.00,2.78,0.00,0.000,6,0.000,0.086,2041,2899,3501
$GC,2659,-1.70,-146.6,339.6,-11.2,127,2662,0.00,1.75,0.00,0.000,4,0.000,0.110,2041,3786,3501
$GC,2826,-1.70,-146.6,359.0,-11.2,134,2831,0.00,1.62,0.00,0.000,6,0.000,0.058,2041,2895,3501
$GC,3147,-1.70,-146.6,395.3,-11.3,150,3151,0.00,2.60,0.00,0.000,4,0.000,0.069,2041,1481,3500
$GC,3172,-1.70,-146.6,398.4,-11.0,151,3177,0.00,2.72,0.00,0.000,6,0.000,0.082,2041,2892,3501
$GC,3494,-1.70,-146.6,436.2,-12.5,167,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2892,3500
$GC,3803,-1.70,-146.6,470.3,-10.8,182,3807,0.00,1.77,0.00,0.000,4,0.000,0.110,2041,3787,3500
$GC,4060,-1.70,-146.6,499.4,-11.2,193,4065,0.00,1.62,0.00,0.000,6,0.000,0.057,2041,2899,3500
$GC,4381,-1.70,-146.6,540.7,-11.2,209,4385,0.00,1.77,0.00,0.000,4,0.000,0.110,2041,3787,3501
$GC,4497,-1.70,-146.6,553.7,-12.4,214,4502,0.00,1.62,0.00,0.000,6,0.000,0.061,2041,2900,3501
$GC,4824,-1.70,-146.6,594.2,-12.7,230,4828,0.00,2.60,0.00,0.000,4,0.000,0.074,2040,1487,3500
$GC,4985,-1.70,-146.6,612.6,-12.6,237,4990,0.00,2.72,0.00,0.000,6,0.000,0.084,2041,2892,3501
$GC,5312,-1.70,-146.6,648.8,-8.8,253,5316,0.00,2.65,0.00,0.000,4,0.000,0.078,2041,1489,3500
$GC,5456,-1.70,-146.6,661.6,-8.5,259,5463,0.00,2.75,0.00,0.000,6,0.000,0.094,2041,2900,3500
$GC,5771,-1.70,-146.6,681.6,-9.2,275,5775,0.00,1.80,0.00,0.000,4,0.000,0.120,2041,3790,3499
$GC,6028,-1.70,-146.6,712.3,-11.2,286,6033,0.00,1.67,0.00,0.000,6,0.000,0.070,2041,2901,3498
$GC,6349,-1.70,-146.6,741.1,-11.6,302,6352,0.00,1.83,0.00,0.000,4,0.000,0.127,2041,3787,3496
$GC,6386,-1.70,-146.6,746.6,-14.7,303,6394,0.00,1.65,0.00,0.000,6,0.000,0.075,2041,2910,3496
$GC,6702,-1.70,-146.6,795.7,-14.5,319,6706,0.00,1.85,0.00,0.000,4,0.000,0.131,2041,3783,3494
$GC,6716,-1.70,-146.6,798.1,-12.8,319,6724,0.00,1.67,0.00,0.000,6,0.000,0.075,2041,2901,3494
$STATE,6742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6742,begin apogee
$GC,6748,-0.42,0.0,802.9,18.0,321,6878,1.35,0.00,125.60,1.452,6,0.081,0.000,2318,1771,2901
$STATE,6878,end apogee,CONTROL_FINISHED_OK
$STATE,6878,begin climb
$GC,6880,1.70,146.6,812.7,0.0,327,7015,2.12,2.83,124.70,1.388,4,0.053,0.083,2781,366,2303
$GC,7171,1.70,146.6,778.5,15.5,340,7179,0.00,2.58,0.00,0.000,6,0.000,0.044,2781,1793,2303
$GC,7487,1.70,146.6,747.1,13.3,356,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1797,2302
$GC,7796,1.70,146.6,714.5,10.3,371,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1797,2301
$GC,8106,1.80,233.0,693.3,6.0,386,8211,0.00,2.67,87.75,1.254,4,0.000,0.067,2781,3174,1951
$GC,8255,1.80,233.0,681.0,12.6,393,8260,0.00,2.58,0.00,0.000,6,0.000,0.049,2781,1774,1951
$GC,8582,1.80,233.0,638.1,10.7,409,8586,0.00,2.67,0.00,0.000,4,0.000,0.081,2781,368,1950
$GC,8716,1.80,233.0,620.9,14.1,415,8720,0.00,2.50,0.00,0.000,6,0.000,0.044,2781,1779,1950
$GC,9036,1.80,233.0,582.9,10.6,431,9040,0.00,2.67,0.00,0.000,4,0.000,0.076,2781,368,1949
$GC,9201,1.80,233.0,561.0,14.5,438,9209,0.00,2.50,0.00,0.000,6,0.000,0.042,2781,1777,1949
$GC,9517,1.80,233.0,525.4,12.0,454,9521,0.00,2.60,0.00,0.000,4,0.000,0.070,2781,3171,1948
$GC,9571,1.80,233.0,518.6,11.7,456,9578,0.00,2.53,0.00,0.000,6,0.000,0.049,2781,1778,1948
$GC,9887,1.80,233.0,489.1,10.7,472,9891,0.00,2.62,0.00,0.000,4,0.000,0.072,2781,363,1947
$GC,9981,1.80,233.0,478.7,10.7,476,9986,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,1779,1947
$GC,10301,1.80,233.0,447.5,10.9,492,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1784,1947
$GC,10611,1.82,246.1,414.5,9.4,507,10641,0.10,2.58,19.75,0.932,4,0.054,0.063,2813,3166,1897
$GC,10894,1.82,246.1,382.0,11.1,520,10898,0.00,2.47,0.00,0.000,6,0.000,0.043,2812,1760,1898
$GC,11219,1.82,246.1,347.2,10.6,536,11223,0.00,2.60,0.00,0.000,4,0.000,0.061,2813,3174,1899
$GC,11475,1.82,246.1,316.5,12.1,547,11482,0.00,2.47,0.00,0.000,6,0.000,0.040,2812,1774,1899
$GC,11790,1.82,246.1,278.8,11.5,563,11795,0.00,2.55,0.00,0.000,4,0.000,0.063,2812,3168,1900
$GC,11834,1.82,246.1,273.8,11.1,565,11838,0.00,2.47,0.00,0.000,6,0.000,0.041,2813,1769,1901
$GC,12160,1.82,246.1,234.0,12.7,581,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1769,1901
$GC,12470,1.82,246.1,196.4,12.1,596,12474,0.00,2.58,0.00,0.000,4,0.000,0.064,2812,3171,1902
$GC,12491,1.82,246.1,193.8,12.8,597,12495,0.00,2.47,0.00,0.000,6,0.000,0.044,2813,1768,1902
$GC,12811,1.82,246.1,153.3,12.8,613,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1768,1903
$GC,13121,1.82,246.1,115.0,12.4,628,13122,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1768,1904
$GC,13430,1.82,246.1,76.0,13.1,643,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1768,1905
$GC,13739,1.82,246.1,35.3,13.3,658,13744,0.00,2.60,0.00,0.000,4,0.000,0.068,2812,3168,1905
$GC,13760,1.82,246.1,32.7,11.2,659,13770,0.00,2.47,3.47,0.621,6,0.000,0.045,2812,1777,1897
$STATE,14003,end climb,SURFACE_DEPTH_REACHED
$STATE,14003,begin surface coast
$FINISH,-1.0,1.027244
$STATE,14023,end surface coast,CONTROL_FINISHED_OK
$STATE,14024,begin surface
$SM_CCo,14045,42.47,0.836,0,0,1677,300.00
$SM_GC,-0.12,0.00,0.00,42.47,0.000,0.000,0.836,48,2877,1677,-10.87,-0.65,300.00
$IRIDIUM_FIX,6112.75,-828.27,171107,040427
$TT8_MAMPS,0.029146
$HUMID,2109
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.40
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,727.3,89.1
$24V_AH,23.3,11.335
$10V_AH,10.1,4.199
$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,27.350,111.850,361.275,42.475,0.000,38.159,26.790,58.298,9.750,0.000,0.000,35.116,1304.984,10463.435,544.964,1773.641,272.144,33.340,1411.339,0.000,1723.887,0.000,45.666
$DEVICE_MAMPS,166.439,131.157,1451.931,836.030,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,497.995,461.375,380.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34825,672
$CFSIZE,260165632,256819200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,30,3,0
$GPS,171107,054502,6135.075,-829.979,70,1.6,70,-9.0