version: 66.02
glider: 103
mission: 7
dive: 43
start: 11 19 107 4 10 31
data:
$ID,103
$MISSION,7
$DIVE,43
$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,-62901.203
$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,12
$R_STBD_OVSHOOT,8
$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
$GPS1,040532,6130.860,-825.956,12,1.3,29,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-54.0
$GPS2,040851,6130.843,-825.956,12,1.2,12,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.108,-0.239
$KALMAN_X,-83882.7,-158.0,480.3,91008.3,-9223.5
$KALMAN_Y,68432.2,1397.7,-386.9,-75251.5,26563.9
$MHEAD_RNG_PITCHd_Wd,164.7,2627,-18.2,-10.000
$D_GRID,772
$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,-62.30,0.000,2,0.000,0.000,51,2893,3455
$GC,83,-1.70,-146.6,3.8,-9.1,3,105,11.27,2.65,-0.70,0.000,4,0.160,0.076,2033,1481,3502
$GC,357,-1.70,-146.6,48.9,-12.1,15,361,0.00,2.78,0.00,0.000,6,0.000,0.087,2033,2918,3502
$GC,685,-1.70,-146.6,86.2,-11.9,31,689,0.00,2.72,0.00,0.000,4,0.000,0.077,2033,1480,3502
$GC,772,-1.70,-146.6,95.9,-10.8,35,777,0.00,2.78,0.00,0.000,6,0.000,0.090,2033,2892,3502
$GC,1099,-1.70,-146.6,134.8,-12.3,51,1103,0.00,1.77,0.00,0.000,4,0.000,0.109,2033,3787,3502
$GC,1170,-1.70,-146.6,143.6,-12.0,54,1175,0.00,1.65,0.00,0.000,6,0.000,0.064,2033,2899,3502
$GC,1497,-1.70,-146.6,187.1,-13.2,70,1501,0.00,2.62,0.00,0.000,4,0.000,0.074,2033,1482,3502
$GC,1540,-1.70,-146.6,193.1,-13.9,72,1545,0.00,2.78,0.00,0.000,6,0.000,0.090,2033,2896,3502
$GC,1867,-1.70,-146.6,235.2,-13.3,88,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2896,3502
$GC,2176,-1.70,-146.6,278.4,-13.7,103,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2896,3502
$GC,2486,-1.70,-146.6,320.3,-13.3,118,2489,0.00,1.75,0.00,0.000,4,0.000,0.105,2033,3790,3502
$GC,2534,-1.70,-146.6,327.1,-14.0,120,2539,0.00,1.62,0.00,0.000,6,0.000,0.056,2033,2893,3502
$GC,2862,-1.70,-146.6,370.4,-13.1,136,2866,0.00,2.58,0.00,0.000,4,0.000,0.066,2033,1482,3502
$GC,2901,-1.70,-146.6,375.1,-12.1,138,2905,0.00,2.72,0.00,0.000,6,0.000,0.085,2033,2899,3502
$GC,3225,-1.70,-146.6,413.2,-11.8,154,3229,0.00,1.75,0.00,0.000,4,0.000,0.102,2033,3798,3502
$GC,3270,-1.70,-146.6,418.7,-12.7,156,3274,0.00,1.60,0.00,0.000,6,0.000,0.054,2033,2898,3502
$GC,3601,-1.70,-146.6,458.0,-11.2,172,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2898,3502
$GC,3910,-1.70,-146.6,491.7,-11.1,187,3915,0.00,2.58,0.00,0.000,4,0.000,0.064,2033,1482,3502
$GC,3931,-1.70,-146.6,494.0,-10.7,188,3936,0.00,2.70,0.00,0.000,6,0.000,0.079,2033,2895,3502
$GC,4258,-1.70,-146.6,532.5,-11.8,204,4262,0.00,2.55,0.00,0.000,4,0.000,0.062,2033,1482,3502
$GC,4297,-1.70,-146.6,537.7,-14.7,206,4301,0.00,2.67,0.00,0.000,6,0.000,0.077,2033,2900,3502
$GC,4622,-1.70,-146.6,575.0,-8.3,222,4627,0.00,2.60,0.00,0.000,4,0.000,0.062,2033,1474,3502
$GC,4704,-1.70,-146.6,584.6,-13.2,225,4711,0.00,2.72,0.00,0.000,6,0.000,0.081,2033,2895,3502
$GC,5020,-1.70,-146.6,623.8,-11.6,241,5023,0.00,1.73,0.00,0.000,4,0.000,0.097,2033,3779,3503
$GC,5276,-1.70,-146.6,656.0,-13.1,252,5281,0.00,1.60,0.00,0.000,6,0.000,0.044,2033,2894,3502
$GC,5597,-1.70,-146.6,686.4,-7.6,268,5601,0.00,1.77,0.00,0.000,4,0.000,0.100,2033,3782,3502
$GC,5854,-1.70,-146.6,710.1,-12.0,279,5859,0.00,1.60,0.00,0.000,6,0.000,0.055,2033,2901,3502
$GC,6175,-1.70,-146.6,744.8,-12.6,295,6179,0.00,1.77,0.00,0.000,4,0.000,0.111,2033,3790,3502
$STATE,6309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6309,begin apogee
$GC,6316,-0.42,0.0,772.2,23.9,301,6450,1.40,0.00,125.95,1.380,6,0.087,0.000,2318,1778,2901
$STATE,6451,end apogee,CONTROL_FINISHED_OK
$STATE,6451,begin climb
$GC,6452,1.70,146.6,772.9,0.0,308,6584,2.10,2.70,122.90,1.342,4,0.047,0.063,2785,3194,2303
$GC,6836,1.78,216.0,745.5,6.8,325,6904,0.00,2.60,58.75,1.308,6,0.000,0.051,2785,1778,2020
$GC,7214,1.78,216.0,706.6,10.0,344,7218,0.00,2.62,0.00,0.000,4,0.000,0.063,2785,3190,2019
$GC,7415,1.84,267.2,691.1,7.7,353,7465,0.12,2.58,43.17,1.311,6,0.053,0.050,2817,1774,1811
$GC,7781,1.84,267.2,646.6,14.1,371,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1774,1809
$GC,8089,1.84,267.2,599.4,16.6,386,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1774,1807
$GC,8399,1.84,267.2,550.4,14.9,401,8403,0.00,2.62,0.00,0.000,4,0.000,0.071,2817,365,1806
$GC,8470,1.84,267.2,538.6,17.1,404,8474,0.00,2.53,0.00,0.000,6,0.000,0.037,2817,1799,1806
$GC,8790,1.84,267.2,497.9,12.0,420,8795,0.00,2.50,0.00,0.000,4,0.000,0.060,2817,3173,1806
$GC,8829,1.84,267.2,492.9,13.1,422,8834,0.00,2.45,0.00,0.000,6,0.000,0.039,2817,1769,1806
$GC,9155,1.84,267.2,450.1,13.3,438,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1768,1806
$GC,9464,1.84,267.2,410.5,12.3,453,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1768,1807
$GC,9773,1.84,267.2,371.9,12.6,468,9774,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1768,1807
$GC,10083,1.84,267.2,332.3,13.2,483,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1768,1808
$GC,10392,1.84,267.2,289.6,13.9,498,10396,0.00,2.53,0.00,0.000,4,0.000,0.063,2817,375,1808
$GC,10429,1.84,267.2,283.9,14.8,499,10436,0.00,2.42,0.00,0.000,6,0.000,0.035,2817,1765,1808
$GC,10744,1.84,267.2,239.1,14.1,515,10748,0.00,2.55,0.00,0.000,4,0.000,0.060,2817,369,1809
$GC,10783,1.84,267.2,233.3,14.9,516,10789,0.00,2.45,0.00,0.000,6,0.000,0.036,2817,1776,1809
$GC,11098,1.84,267.2,189.8,13.6,532,11102,0.00,2.58,0.00,0.000,4,0.000,0.066,2817,3176,1810
$GC,11123,1.84,267.2,186.0,14.9,533,11128,0.00,2.47,0.00,0.000,6,0.000,0.042,2817,1774,1810
$GC,11445,1.84,267.2,144.5,13.0,549,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1774,1811
$GC,11756,1.84,267.2,104.0,14.3,564,11760,0.00,2.55,0.00,0.000,4,0.000,0.062,2817,368,1812
$GC,11817,1.84,267.2,94.9,13.4,567,11821,0.00,2.45,0.00,0.000,6,0.000,0.037,2817,1775,1812
$GC,12148,1.84,267.2,48.9,13.9,583,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1775,1812
$GC,12457,1.84,267.2,4.8,14.5,598,12462,0.00,2.55,0.00,0.000,4,0.000,0.059,2817,372,1813
$STATE,12477,end climb,SURFACE_DEPTH_REACHED
$STATE,12477,begin surface coast
$FINISH,1.3,1.027245
$STATE,12483,end surface coast,CONTROL_FINISHED_OK
$STATE,12483,begin surface
$SM_CCo,12507,29.77,0.755,2,0,1678,300.00
$SM_GC,0.30,0.00,0.00,29.77,0.000,0.000,0.755,46,2893,1678,-10.87,-0.20,300.00
$IRIDIUM_FIX,6103.81,-826.28,191107,070740
$TT8_MAMPS,0.028379
$HUMID,2113
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,19.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,725.2,100.4
$24V_AH,23.4,13.652
$10V_AH,10.1,5.108
$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,27.450,107.550,350.775,29.775,0.000,38.259,26.219,73.983,6.750,0.000,0.000,12.214,1168.294,9361.247,489.275,1523.264,272.256,33.344,1263.475,0.000,1492.238,0.000,42.888
$DEVICE_MAMPS,160.303,111.215,1379.833,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.517,419.072,351.224,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31702,599
$CFSIZE,260165632,256143360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
$GPS,191107,074037,6130.848,-827.188,12,1.7,26,-8.9