version: 66.02
glider: 103
mission: 7
dive: 30
start: 11 17 107 14 34 48
data:
$ID,103
$MISSION,7
$DIVE,30
$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,-62669.438
$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,28
$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
$GPS1,142951,6137.188,-827.506,11,1.7,11,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.34
$_SM_ANGLEo,-55.4
$GPS2,143308,6137.162,-827.461,12,1.6,17,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.223,-0.138
$KALMAN_X,-83018.0,1548.2,199.6,87380.6,-19076.9
$KALMAN_Y,43835.3,-704.9,-616.7,-36619.8,2819.0
$MHEAD_RNG_PITCHd_Wd,130.8,12073,-18.2,-10.000
$D_GRID,734
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.70,-146.6,0.0,0.0,0,82,0.00,0.00,-62.72,0.000,2,0.000,0.000,51,2879,3459
$GC,84,-1.70,-146.6,3.6,-9.5,3,106,11.45,1.80,-0.73,0.000,4,0.166,0.107,2031,3787,3503
$GC,357,-1.70,-146.6,51.9,-14.5,15,362,0.00,1.55,0.00,0.000,6,0.000,0.041,2032,2909,3503
$GC,684,-1.70,-146.6,94.9,-12.7,31,687,0.00,1.73,0.00,0.000,4,0.000,0.098,2031,3786,3503
$GC,863,-1.70,-146.6,119.3,-14.9,39,867,0.00,1.58,0.00,0.000,6,0.000,0.051,2031,2899,3503
$GC,1194,-1.70,-146.6,162.4,-12.7,55,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2899,3503
$GC,1504,-1.70,-146.6,202.6,-12.6,70,1509,0.00,2.58,0.00,0.000,4,0.000,0.063,2032,1484,3503
$GC,1530,-1.70,-146.6,205.9,-12.6,71,1535,0.00,2.75,0.00,0.000,6,0.000,0.084,2031,2900,3503
$GC,1851,-1.70,-146.6,244.4,-12.1,87,1855,0.00,1.73,0.00,0.000,4,0.000,0.105,2032,3786,3503
$GC,1911,-1.70,-146.6,252.2,-12.7,89,1919,0.00,1.62,0.00,0.000,6,0.000,0.054,2032,2897,3503
$GC,2227,-1.70,-146.6,287.5,-11.2,105,2231,0.00,2.60,0.00,0.000,4,0.000,0.066,2032,1479,3503
$GC,2259,-1.70,-146.6,291.4,-12.0,106,2266,0.00,2.75,0.00,0.000,6,0.000,0.084,2032,2892,3503
$GC,2575,-1.70,-146.6,329.0,-11.1,122,2579,0.00,2.58,0.00,0.000,4,0.000,0.065,2032,1478,3503
$GC,2635,-1.70,-146.6,336.1,-11.5,125,2639,0.00,2.72,0.00,0.000,6,0.000,0.084,2032,2900,3503
$GC,2961,-1.70,-146.6,374.2,-11.8,141,2965,0.00,1.75,0.00,0.000,4,0.000,0.105,2032,3792,3503
$GC,3066,-1.70,-146.6,387.2,-11.7,145,3073,0.00,1.62,0.00,0.000,6,0.000,0.056,2032,2900,3503
$GC,3383,-1.70,-146.6,427.8,-14.0,161,3387,0.00,2.60,0.00,0.000,4,0.000,0.070,2032,1484,3503
$GC,3489,-1.70,-146.6,444.6,-16.6,166,3493,0.00,2.70,0.00,0.000,6,0.000,0.083,2032,2900,3503
$GC,3813,-1.70,-146.6,484.2,-10.3,182,3817,0.00,1.73,0.00,0.000,4,0.000,0.104,2032,3786,3503
$GC,3862,-1.70,-146.6,488.2,-8.1,184,3867,0.00,1.60,0.00,0.000,6,0.000,0.054,2032,2898,3503
$GC,4189,-1.70,-146.6,521.3,-10.7,200,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2898,3503
$GC,4499,-1.70,-146.6,556.2,-9.4,215,4502,0.00,1.80,0.00,0.000,4,0.000,0.109,2032,3790,3503
$GC,4581,-1.70,-146.6,561.5,-5.7,218,4588,0.00,1.62,0.00,0.000,6,0.000,0.058,2032,2898,3503
$GC,4897,-1.70,-146.6,585.1,-9.4,234,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2898,3503
$GC,5206,-1.70,-146.6,618.1,-13.4,249,5210,0.00,2.60,0.00,0.000,4,0.000,0.071,2032,1489,3501
$GC,5282,-1.70,-146.6,628.8,-14.1,252,5289,0.00,2.75,0.00,0.000,6,0.000,0.089,2032,2893,3501
$GC,5598,-1.70,-146.6,666.0,-12.1,268,5601,0.00,1.77,0.00,0.000,4,0.000,0.114,2032,3784,3500
$GC,5743,-1.70,-146.6,684.3,-12.3,274,5748,0.00,1.62,0.00,0.000,6,0.000,0.063,2032,2903,3500
$GC,6064,-1.70,-146.6,722.2,-13.1,290,6067,0.00,1.80,0.00,0.000,4,0.000,0.116,2032,3778,3499
$STATE,6162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6162,begin apogee
$GC,6169,-0.42,0.0,734.6,14.3,294,6301,1.40,0.00,125.03,1.376,6,0.092,0.000,2316,1776,2901
$STATE,6302,end apogee,CONTROL_FINISHED_OK
$STATE,6302,begin climb
$GC,6303,1.70,146.6,741.4,0.0,301,6436,2.12,2.75,123.97,1.322,4,0.051,0.078,2780,367,2303
$GC,6548,1.70,146.6,719.6,14.9,312,6555,0.00,2.55,0.00,0.000,6,0.000,0.039,2780,1801,2302
$GC,6863,1.70,146.6,675.6,10.7,328,6867,0.00,2.55,0.00,0.000,4,0.000,0.066,2780,3173,2302
$GC,6947,1.86,280.7,665.8,3.9,332,7070,0.15,2.53,111.90,1.281,6,0.052,0.048,2817,1764,1756
$GC,7377,1.86,280.7,619.6,16.8,353,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1764,1755
$GC,7686,1.86,280.7,569.5,14.3,368,7690,0.00,2.62,0.00,0.000,4,0.000,0.074,2817,365,1754
$GC,7763,1.86,280.7,556.1,16.8,371,7768,0.00,2.50,0.00,0.000,6,0.000,0.040,2817,1775,1754
$GC,8084,1.86,280.7,507.4,15.3,387,8088,0.00,2.65,0.00,0.000,4,0.000,0.070,2817,365,1753
$GC,8183,1.86,280.7,492.7,14.2,391,8190,0.00,2.50,0.00,0.000,6,0.000,0.040,2817,1776,1753
$GC,8499,1.86,280.7,450.2,14.4,407,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1779,1752
$GC,8808,1.86,280.7,405.7,14.9,422,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1780,1751
$GC,9117,1.86,280.7,362.6,14.5,437,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1780,1751
$GC,9427,1.86,280.7,314.9,15.3,452,9431,0.00,2.60,0.00,0.000,4,0.000,0.062,2817,366,1752
$GC,9548,1.86,280.7,295.9,15.2,457,9555,0.00,2.45,0.00,0.000,6,0.000,0.036,2817,1762,1752
$GC,9863,1.86,280.7,248.8,14.2,473,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1762,1752
$GC,10173,1.86,280.7,204.2,14.5,488,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1762,1753
$GC,10482,1.86,280.7,163.6,12.5,503,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1762,1753
$GC,10792,1.86,280.7,121.9,14.6,518,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1762,1754
$GC,11101,1.86,280.7,78.2,14.3,533,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1762,1755
$GC,11410,1.86,280.7,39.9,11.1,548,11414,0.00,2.55,0.00,0.000,4,0.000,0.061,2817,370,1755
$GC,11436,1.86,280.7,36.7,13.2,549,11441,0.00,2.47,0.00,0.000,6,0.000,0.037,2817,1766,1755
$STATE,11715,end climb,SURFACE_DEPTH_REACHED
$STATE,11715,begin surface coast
$FINISH,-1.1,1.027249
$STATE,11737,end surface coast,CONTROL_FINISHED_OK
$STATE,11737,begin surface
$SM_CCo,11757,17.75,0.766,2,0,1678,300.00
$SM_GC,-0.74,0.00,0.00,17.75,0.000,0.000,0.766,33,2887,1678,-10.93,-0.37,300.00
$IRIDIUM_FIX,6112.75,-828.27,171107,171758
$TT8_MAMPS,0.029146
$HUMID,2111
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,675.3,83.0
$24V_AH,23.3,11.907
$10V_AH,10.1,4.420
$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,27.200,88.650,360.900,17.750,0.000,39.149,25.410,67.418,6.250,0.000,0.000,17.562,1074.861,8832.659,483.097,1404.151,255.485,33.345,1196.348,0.000,1372.638,0.000,42.540
$DEVICE_MAMPS,166.439,115.817,1375.998,766.233,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,410.307,384.367,336.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28575,564
$CFSIZE,260165632,256671744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,2,0
$GPS,171107,175226,6135.623,-825.998,40,1.7,40,-8.9