version: 66.02
glider: 103
mission: 7
dive: 40
start: 11 18 107 22 29 41
data:
$ID,103
$MISSION,7
$DIVE,40
$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,-62834.445
$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,22
$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
$GPS1,221956,6131.183,-825.751,101,1.7,101,-8.9
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-52.9
$GPS2,222801,6131.098,-825.788,10,1.4,14,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.064,-0.254
$KALMAN_X,-79692.7,-548.7,-488.4,88350.0,1008.8
$KALMAN_Y,60473.5,-461.3,-344.9,-65029.9,5462.1
$MHEAD_RNG_PITCHd_Wd,174.7,2469,-18.2,-10.000
$D_GRID,752
$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,-146.6,0.0,0.0,0,85,0.00,0.00,-61.80,0.000,6,0.000,0.000,51,2890,3500
$GC,87,-1.70,-146.6,6.1,-10.3,4,107,11.30,2.58,0.00,0.000,4,0.161,0.062,2033,1494,3501
$GC,359,-1.70,-146.6,51.6,-14.1,16,364,0.00,2.72,0.00,0.000,6,0.000,0.084,2033,2898,3502
$GC,687,-1.70,-146.6,100.2,-11.9,32,691,0.00,2.62,0.00,0.000,4,0.000,0.072,2033,1490,3502
$GC,797,-1.70,-146.6,111.8,-12.3,37,802,0.00,2.75,0.00,0.000,6,0.000,0.090,2033,2892,3502
$GC,1123,-1.70,-146.6,153.0,-11.3,53,1128,0.00,1.77,0.00,0.000,4,0.000,0.107,2033,3778,3502
$GC,1178,-1.70,-146.6,160.3,-11.0,55,1183,0.00,1.60,0.00,0.000,6,0.000,0.058,2033,2902,3503
$GC,1500,-1.70,-146.6,199.1,-12.7,71,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2902,3502
$GC,1809,-1.70,-146.6,242.2,-11.5,86,1812,0.00,1.77,0.00,0.000,4,0.000,0.107,2033,3790,3502
$GC,1846,-1.70,-146.6,246.8,-11.9,87,1853,0.00,1.65,0.00,0.000,6,0.000,0.058,2033,2887,3502
$GC,2161,-1.70,-146.6,288.3,-13.1,103,2165,0.00,1.80,0.00,0.000,4,0.000,0.107,2033,3779,3503
$GC,2229,-1.70,-146.6,297.4,-13.2,106,2232,0.00,1.60,0.00,0.000,6,0.000,0.057,2033,2896,3502
$GC,2560,-1.70,-146.6,338.9,-12.0,122,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2896,3503
$GC,2870,-1.70,-146.6,375.1,-11.6,137,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2896,3503
$GC,3178,-1.70,-146.6,410.7,-11.7,152,3182,0.00,1.77,0.00,0.000,4,0.000,0.104,2033,3783,3503
$GC,3255,-1.70,-146.6,420.4,-12.1,155,3260,0.00,1.60,0.00,0.000,6,0.000,0.051,2033,2893,3502
$GC,3577,-1.70,-146.6,458.2,-12.0,171,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2893,3503
$GC,3886,-1.70,-146.6,495.2,-11.9,186,3889,0.00,1.75,0.00,0.000,4,0.000,0.100,2033,3786,3503
$GC,4030,-1.70,-146.6,512.0,-11.9,192,4035,0.00,1.58,0.00,0.000,6,0.000,0.045,2033,2894,3502
$GC,4351,-1.70,-146.6,545.5,-10.7,208,4355,0.00,2.55,0.00,0.000,4,0.000,0.063,2033,1483,3503
$GC,4372,-1.70,-146.6,548.5,-14.8,209,4377,0.00,2.70,0.00,0.000,6,0.000,0.077,2033,2899,3503
$GC,4698,-1.70,-146.6,585.7,-11.3,225,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2899,3503
$GC,5008,-1.70,-146.6,619.4,-8.7,240,5012,0.00,1.73,0.00,0.000,4,0.000,0.095,2033,3786,3503
$GC,5265,-1.70,-146.6,646.1,-8.3,251,5269,0.00,1.55,0.00,0.000,6,0.000,0.038,2033,2894,3503
$GC,5587,-1.70,-146.6,675.2,-8.5,267,5590,0.00,1.75,0.00,0.000,4,0.000,0.094,2033,3783,3503
$GC,5845,-1.70,-146.6,700.2,-10.6,278,5849,0.00,1.58,0.00,0.000,6,0.000,0.050,2033,2891,3502
$GC,6165,-1.70,-146.6,732.0,-7.0,294,6169,0.00,1.80,0.00,0.000,4,0.000,0.107,2033,3782,3503
$STATE,6343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6343,begin apogee
$GC,6350,-0.42,0.0,752.3,12.7,302,6485,1.38,0.00,126.45,1.336,6,0.084,0.000,2315,1778,2901
$STATE,6485,end apogee,CONTROL_FINISHED_OK
$STATE,6485,begin climb
$GC,6487,1.70,146.6,759.9,0.0,309,6619,2.12,2.75,123.88,1.311,4,0.047,0.078,2786,368,2303
$GC,6873,1.71,159.3,745.7,9.4,327,6894,0.00,2.53,12.12,1.200,6,0.000,0.043,2786,1795,2251
$GC,7202,1.72,163.3,711.8,9.8,343,7212,0.00,2.75,4.90,0.998,4,0.000,0.076,2786,367,2235
$GC,7250,1.73,175.0,707.1,9.5,345,7267,0.00,2.53,11.57,1.213,6,0.000,0.044,2786,1774,2187
$GC,7587,1.73,175.0,667.4,13.2,362,7591,0.00,2.60,0.00,0.000,4,0.000,0.067,2786,3171,2185
$GC,7640,1.73,175.0,660.2,13.6,364,7648,0.00,2.55,0.00,0.000,6,0.000,0.049,2786,1768,2185
$GC,7956,1.73,175.0,621.9,10.5,380,7960,0.00,2.62,0.00,0.000,4,0.000,0.067,2786,3178,2184
$GC,8032,1.81,238.2,615.5,7.1,383,8090,0.00,2.55,52.28,1.316,6,0.000,0.048,2786,1775,1929
$GC,8405,1.81,238.2,575.1,11.9,402,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1775,1927
$GC,8714,1.81,241.0,540.6,9.9,417,8718,0.00,2.60,0.00,0.000,4,0.000,0.067,2786,369,1926
$GC,8768,1.81,241.0,533.7,12.6,419,8776,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,1777,1926
$GC,9084,1.81,241.0,496.8,12.3,435,9088,0.00,2.53,0.00,0.000,4,0.000,0.058,2786,3169,1926
$GC,9115,1.81,241.0,492.6,12.6,436,9124,0.00,2.47,3.67,0.818,6,0.000,0.039,2786,1769,1918
$GC,9431,1.81,241.0,452.5,12.8,452,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1769,1918
$GC,9740,1.81,241.0,412.5,12.6,467,9744,0.00,2.53,0.00,0.000,4,0.000,0.059,2786,3167,1918
$GC,9784,1.81,241.0,406.7,13.1,469,9789,0.00,2.42,0.00,0.000,6,0.000,0.039,2786,1769,1919
$GC,10116,1.81,241.0,365.6,12.8,485,10120,0.00,2.53,0.00,0.000,4,0.000,0.059,2786,3165,1919
$GC,10135,1.81,241.0,362.6,14.3,486,10140,0.00,2.45,0.00,0.000,6,0.000,0.040,2786,1778,1919
$GC,10462,1.81,241.0,320.3,12.7,502,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1778,1920
$GC,10772,1.81,241.0,280.0,13.4,517,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1778,1921
$GC,11081,1.81,241.0,240.9,12.4,532,11085,0.00,2.53,0.00,0.000,4,0.000,0.061,2786,3169,1922
$GC,11106,1.81,241.0,237.3,13.9,533,11111,0.00,2.47,0.00,0.000,6,0.000,0.041,2786,1772,1922
$GC,11428,1.81,241.0,200.4,10.5,549,11432,0.00,2.55,0.00,0.000,4,0.000,0.062,2786,3169,1922
$GC,11448,1.81,241.0,198.1,10.9,550,11453,0.00,2.47,0.00,0.000,6,0.000,0.042,2786,1774,1922
$GC,11775,1.81,241.0,158.6,12.8,566,11779,0.00,2.55,0.00,0.000,4,0.000,0.064,2786,372,1923
$GC,11823,1.81,241.0,152.2,11.6,568,11828,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,1764,1923
$GC,12144,1.81,241.0,114.6,11.7,584,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1765,1923
$GC,12454,1.84,261.6,77.0,9.1,599,12479,0.10,2.62,18.88,0.865,4,0.052,0.059,2819,371,1834
$GC,12506,1.84,261.6,72.2,10.6,601,12510,0.00,2.50,0.00,0.000,6,0.000,0.035,2819,1775,1833
$GC,12827,1.84,261.6,31.8,14.4,617,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1779,1834
$STATE,13073,end climb,SURFACE_DEPTH_REACHED
$STATE,13073,begin surface coast
$FINISH,-0.8,1.027253
$STATE,13095,end surface coast,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$SM_CCo,13116,32.62,0.802,1,0,1678,300.00
$SM_GC,0.19,0.00,0.00,32.62,0.000,0.000,0.802,52,2890,1678,-10.85,-0.28,300.00
$IRIDIUM_FIX,6103.81,-826.28,191107,020228
$TT8_MAMPS,0.029146
$HUMID,2096
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,726.2,95.3
$24V_AH,23.4,13.309
$10V_AH,10.1,4.994
$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,27.200,108.175,353.750,32.625,0.000,77.383,69.278,191.336,7.250,0.000,0.000,14.537,1220.778,9918.702,493.737,1583.281,478.192,33.348,1298.091,0.000,1547.365,0.000,42.864
$DEVICE_MAMPS,161.070,107.380,1336.114,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.334,442.348,366.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31714,630
$CFSIZE,260165632,256217088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,1,0
$GPS,191107,021008,6131.489,-826.817,41,0.9,41,-8.9