version: 66.02
glider: 103
mission: 7
dive: 31
start: 11 17 107 18 2 20
data:
$ID,103
$MISSION,7
$DIVE,31
$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,-62682.355
$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,20
$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
$GPS1,175226,6135.623,-825.998,40,1.7,40,-8.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-58.4
$GPS2,180039,6135.550,-825.926,12,1.9,12,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.186,-0.184
$KALMAN_X,-82376.0,672.5,419.4,88725.5,-5774.9
$KALMAN_Y,41888.9,-394.2,-389.2,-38217.5,-123.9
$MHEAD_RNG_PITCHd_Wd,143.6,8814,-18.2,-10.000
$D_GRID,743
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-66.20,0.000,6,0.000,0.000,33,2890,3500
$GC,86,-1.70,-146.6,2.5,-6.7,3,107,11.52,2.62,0.00,0.000,4,0.165,0.063,2038,1491,3501
$GC,358,-1.70,-146.6,45.9,-12.5,15,363,0.00,2.78,0.00,0.000,6,0.000,0.087,2038,2903,3501
$GC,687,-1.70,-146.6,83.7,-12.0,31,691,0.00,2.67,0.00,0.000,4,0.000,0.075,2038,1483,3501
$GC,808,-1.70,-146.6,98.5,-12.3,36,815,0.00,2.75,0.00,0.000,6,0.000,0.084,2038,2900,3502
$GC,1125,-1.70,-146.6,135.5,-10.7,52,1128,0.00,1.75,0.00,0.000,4,0.000,0.107,2038,3786,3502
$GC,1207,-1.70,-146.6,145.0,-10.9,55,1215,0.00,1.62,0.00,0.000,6,0.000,0.060,2038,2903,3502
$GC,1523,-1.70,-146.6,180.0,-11.2,71,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2903,3502
$GC,1832,-1.70,-146.6,215.1,-11.5,86,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2903,3502
$GC,2144,-1.70,-146.6,251.5,-11.7,101,2148,0.00,2.62,0.00,0.000,4,0.000,0.072,2038,1484,3502
$GC,2186,-1.70,-146.6,256.8,-11.4,103,2191,0.00,2.75,0.00,0.000,6,0.000,0.084,2038,2901,3502
$GC,2513,-1.70,-146.6,293.6,-11.2,119,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2901,3502
$GC,2823,-1.70,-146.6,327.2,-10.7,134,2826,0.00,1.73,0.00,0.000,4,0.000,0.103,2038,3786,3503
$GC,2877,-1.70,-146.6,333.9,-12.0,136,2882,0.00,1.60,0.00,0.000,6,0.000,0.055,2038,2900,3503
$GC,3198,-1.70,-146.6,372.0,-12.1,152,3202,0.00,1.77,0.00,0.000,4,0.000,0.106,2038,3781,3503
$GC,3292,-1.70,-146.6,383.7,-13.6,156,3297,0.00,1.62,0.00,0.000,6,0.000,0.058,2038,2886,3502
$GC,3619,-1.70,-146.6,423.6,-11.8,172,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2038,2886,3502
$GC,3928,-1.70,-146.6,459.3,-11.6,187,3932,0.00,2.58,0.00,0.000,4,0.000,0.069,2037,1486,3502
$GC,4184,-1.70,-146.6,487.6,-9.3,198,4191,0.00,2.72,0.00,0.000,6,0.000,0.084,2038,2894,3503
$GC,4500,-1.70,-146.6,513.7,-8.9,214,4504,0.00,2.60,0.00,0.000,4,0.000,0.067,2038,1488,3503
$GC,4688,-1.70,-146.6,533.1,-13.8,222,4695,0.00,2.72,0.00,0.000,6,0.000,0.081,2038,2903,3504
$GC,5004,-1.70,-146.6,576.1,-12.0,238,5009,0.00,2.65,0.00,0.000,4,0.000,0.076,2038,1490,3504
$GC,5053,-1.70,-146.6,582.5,-12.4,240,5058,0.00,2.72,0.00,0.000,6,0.000,0.084,2038,2897,3503
$GC,5375,-1.70,-146.6,612.9,-8.0,256,5378,0.00,1.75,0.00,0.000,4,0.000,0.108,2038,3787,3503
$GC,5412,-1.70,-146.6,617.2,-10.5,257,5419,0.00,1.62,0.00,0.000,6,0.000,0.056,2038,2902,3503
$GC,5728,-1.70,-146.6,649.2,-11.3,273,5732,0.00,2.65,0.00,0.000,4,0.000,0.076,2038,1481,3502
$GC,5803,-1.70,-146.6,657.8,-11.3,276,5810,0.00,2.75,0.00,0.000,6,0.000,0.086,2038,2893,3501
$GC,6119,-1.70,-146.6,691.4,-10.7,292,6123,0.00,2.62,0.00,0.000,4,0.000,0.077,2037,1483,3501
$GC,6145,-1.70,-146.6,693.8,-9.5,293,6150,0.00,2.72,0.00,0.000,6,0.000,0.084,2038,2900,3501
$GC,6472,-1.70,-146.6,725.3,-13.3,309,6476,0.00,2.65,0.00,0.000,4,0.000,0.079,2038,1484,3499
$STATE,6504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6504,begin apogee
$GC,6508,-0.42,0.0,729.0,10.1,310,6636,1.38,0.00,124.40,1.405,6,0.094,0.000,2316,1788,2901
$STATE,6637,end apogee,CONTROL_FINISHED_OK
$STATE,6637,begin climb
$GC,6638,1.70,146.6,732.2,0.0,317,6774,2.15,2.75,124.60,1.328,4,0.058,0.074,2781,3184,2304
$GC,7027,1.71,155.3,712.4,9.6,335,7042,0.00,2.55,9.12,1.157,6,0.000,0.044,2781,1761,2267
$GC,7357,1.71,155.3,679.4,12.3,351,7361,0.00,2.65,0.00,0.000,4,0.000,0.059,2781,3191,2266
$GC,7540,1.71,155.3,649.2,20.0,359,7545,0.00,2.55,0.00,0.000,6,0.000,0.046,2781,1785,2266
$GC,7861,1.79,222.9,629.0,6.9,375,7924,0.00,2.67,56.50,1.310,4,0.000,0.061,2781,3188,1992
$GC,8175,1.79,222.9,593.9,10.2,389,8180,0.00,2.58,0.00,0.000,6,0.000,0.046,2781,1772,1991
$GC,8501,1.79,222.9,557.8,11.2,405,8506,0.00,2.65,0.00,0.000,4,0.000,0.063,2781,3191,1991
$GC,8550,1.79,222.9,551.7,11.6,407,8555,0.00,2.58,0.00,0.000,6,0.000,0.047,2781,1774,1992
$GC,8871,1.79,222.9,514.6,12.9,423,8875,0.00,2.62,0.00,0.000,4,0.000,0.078,2781,372,1991
$GC,8983,1.79,222.9,499.2,12.5,428,8987,0.00,2.47,0.00,0.000,6,0.000,0.040,2781,1789,1990
$GC,9314,1.79,222.9,460.5,10.9,444,9319,0.00,2.67,0.00,0.000,4,0.000,0.071,2781,368,1990
$GC,9477,1.79,222.9,442.6,11.6,451,9481,0.00,2.47,0.00,0.000,6,0.000,0.040,2781,1789,1989
$GC,9792,1.80,234.3,410.2,9.5,466,9834,0.00,2.70,25.45,0.831,4,0.000,0.066,2781,368,1946
$GC,9996,1.80,234.3,385.1,11.8,475,10001,0.00,2.45,0.00,0.000,6,0.000,0.038,2781,1772,1946
$GC,10317,1.80,234.3,349.6,11.1,491,10321,0.00,2.60,0.00,0.000,4,0.000,0.067,2781,3177,1947
$GC,10359,1.80,234.3,344.6,10.9,493,10364,0.00,2.53,0.00,0.000,6,0.000,0.043,2781,1764,1946
$GC,10685,1.80,234.3,308.2,11.4,509,10690,0.00,2.55,0.00,0.000,4,0.000,0.064,2781,372,1947
$GC,10712,1.80,234.3,304.8,12.6,510,10717,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,1777,1947
$GC,11033,1.80,234.3,269.9,10.8,526,11038,0.00,2.58,0.00,0.000,4,0.000,0.067,2781,3172,1948
$GC,11087,1.80,234.3,263.9,10.9,528,11095,0.00,2.47,0.00,0.000,6,0.000,0.044,2781,1778,1948
$GC,11403,1.80,234.3,229.9,10.9,544,11407,0.00,2.58,0.00,0.000,4,0.000,0.067,2781,3175,1949
$GC,11429,1.80,234.3,226.7,12.1,545,11434,0.00,2.47,0.00,0.000,6,0.000,0.043,2781,1783,1950
$GC,11751,1.80,234.3,190.6,11.2,561,11755,0.00,2.58,0.00,0.000,4,0.000,0.067,2781,3171,1950
$GC,11793,1.80,234.3,185.5,11.2,563,11798,0.00,2.47,0.00,0.000,6,0.000,0.044,2781,1778,1950
$GC,12120,1.80,234.3,148.3,11.0,579,12124,0.00,2.58,0.00,0.000,4,0.000,0.067,2781,3178,1951
$GC,12164,1.80,234.3,143.2,12.0,581,12168,0.00,2.47,0.00,0.000,6,0.000,0.045,2781,1770,1951
$GC,12491,1.80,234.3,107.0,10.7,597,12495,0.00,2.60,0.00,0.000,4,0.000,0.066,2781,3172,1952
$GC,12510,1.80,234.3,104.5,10.4,598,12516,0.00,2.47,0.00,0.000,6,0.000,0.045,2781,1782,1952
$GC,12837,1.80,234.3,69.3,10.1,614,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1782,1952
$GC,13147,1.80,234.3,30.7,12.4,629,13151,0.00,2.58,0.00,0.000,4,0.000,0.067,2781,3171,1953
$GC,13172,1.80,234.3,27.3,12.1,630,13177,0.00,2.50,0.00,0.000,6,0.000,0.045,2781,1771,1954
$STATE,13389,end climb,SURFACE_DEPTH_REACHED
$STATE,13389,begin surface coast
$FINISH,-0.8,1.027271
$STATE,13411,end surface coast,CONTROL_FINISHED_OK
$STATE,13411,begin surface
$SM_CCo,13432,56.12,0.804,2,0,1678,300.00
$SM_GC,-0.35,0.00,0.00,56.12,0.000,0.000,0.804,50,2886,1678,-10.86,-0.40,300.00
$IRIDIUM_FIX,6112.75,-823.14,171107,212104
$TT8_MAMPS,0.029146
$HUMID,2093
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,650.5,88.0
$24V_AH,23.3,12.066
$10V_AH,10.1,4.489
$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,27.025,138.725,340.075,56.125,0.000,70.899,74.109,207.739,7.250,0.000,0.000,12.292,1274.771,10004.548,541.880,1734.057,495.625,33.350,1421.681,0.000,1697.577,0.000,40.808
$DEVICE_MAMPS,164.905,108.147,1405.144,803.816,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,471.691,445.854,383.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31843,642
$CFSIZE,260165632,256598016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,32,4,0
$GPS,171107,214837,6135.280,-823.508,40,1.3,46,-8.9