version: 66.02
glider: 103
mission: 7
dive: 7
start: 11 14 107 8 56 38
data:
$ID,103
$MISSION,7
$DIVE,7
$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,-62235.277
$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,2875
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,084938,6131.414,-828.072,40,1.6,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.38
$_SM_ANGLEo,-60.5
$GPS2,085459,6131.393,-828.018,11,2.2,30,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.259,0.040
$KALMAN_X,-11389.8,-500.0,-165.9,17678.6,-2578.2
$KALMAN_Y,-2989.7,1901.5,983.3,-4727.9,-3387.1
$MHEAD_RNG_PITCHd_Wd,90.0,3710,-18.2,-10.000
$D_GRID,805
$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,14,begin dive
$GC,16,-1.70,-146.6,0.0,0.0,0,80,0.00,0.00,-62.30,0.000,2,0.000,0.000,49,2818,3439
$GC,82,-1.70,-146.6,3.6,-9.1,3,104,11.38,2.53,-1.02,0.000,4,0.164,0.070,2033,1452,3502
$GC,356,-1.70,-146.6,47.3,-14.1,15,361,0.00,2.65,0.00,0.000,6,0.000,0.063,2033,2875,3502
$GC,683,-1.70,-146.6,92.7,-14.0,31,687,0.00,2.55,0.00,0.000,4,0.000,0.055,2033,1460,3503
$GC,747,-1.70,-146.6,101.1,-12.6,34,752,0.00,2.62,0.00,0.000,6,0.000,0.064,2033,2874,3503
$GC,1075,-1.70,-146.6,139.2,-11.5,50,1078,0.00,1.77,0.00,0.000,4,0.000,0.102,2033,3787,3503
$GC,1157,-1.70,-146.6,149.3,-12.0,53,1165,0.00,1.62,0.00,0.000,6,0.000,0.052,2033,2880,3504
$GC,1472,-1.70,-146.6,186.1,-11.6,69,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2880,3503
$GC,1781,-1.70,-146.6,224.4,-12.3,84,1787,0.00,1.80,0.00,0.000,4,0.000,0.104,2033,3782,3504
$GC,1863,-1.70,-146.6,234.8,-12.3,87,1871,0.00,1.65,0.00,0.000,6,0.000,0.054,2033,2874,3504
$GC,2179,-1.70,-146.6,271.3,-11.6,103,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2874,3504
$GC,2488,-1.70,-146.6,306.3,-11.9,118,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2874,3504
$GC,2797,-1.70,-146.6,341.8,-11.2,133,2801,0.00,1.80,0.00,0.000,4,0.000,0.100,2034,3783,3504
$GC,2842,-1.70,-146.6,347.0,-11.6,135,2846,0.00,1.62,0.00,0.000,6,0.000,0.049,2033,2882,3504
$GC,3173,-1.70,-146.6,384.2,-11.0,151,3178,0.00,2.55,0.00,0.000,4,0.000,0.060,2034,1461,3504
$GC,3228,-1.70,-146.6,390.6,-11.6,153,3235,0.00,2.60,0.00,0.000,6,0.000,0.063,2034,2869,3504
$GC,3544,-1.70,-146.6,426.6,-11.4,169,3547,0.00,1.75,0.00,0.000,4,0.000,0.098,2033,3785,3504
$GC,3643,-1.70,-146.6,438.6,-11.5,173,3648,0.00,1.65,0.00,0.000,6,0.000,0.049,2033,2867,3504
$GC,3964,-1.70,-146.6,474.6,-11.2,189,3969,0.00,1.80,0.00,0.000,4,0.000,0.098,2033,3783,3504
$GC,4108,-1.70,-146.6,491.7,-11.8,195,4113,0.00,1.62,0.00,0.000,6,0.000,0.051,2033,2876,3504
$GC,4429,-1.70,-146.6,529.7,-10.5,211,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2876,3504
$GC,4739,-1.70,-146.6,562.2,-11.5,226,4743,0.00,2.55,0.00,0.000,4,0.000,0.061,2033,1460,3504
$GC,4882,-1.70,-146.6,579.1,-12.0,232,4890,0.00,2.60,0.00,0.000,6,0.000,0.062,2033,2870,3504
$GC,5198,-1.70,-146.6,610.0,-8.1,248,5202,0.00,2.50,0.00,0.000,4,0.000,0.053,2033,1459,3504
$GC,5456,-1.70,-146.6,625.0,-6.9,259,5462,0.00,2.58,0.00,0.000,6,0.000,0.062,2033,2877,3504
$GC,5770,-1.70,-146.6,656.2,-11.7,275,5774,0.00,2.58,0.00,0.000,4,0.000,0.060,2033,1459,3504
$GC,6011,-1.70,-146.6,680.6,-12.5,286,6016,0.00,2.62,0.00,0.000,6,0.000,0.069,2033,2879,3504
$GC,6337,-1.70,-146.6,720.1,-18.3,302,6340,0.00,1.83,0.00,0.000,4,0.000,0.113,2033,3783,3502
$GC,6441,-1.70,-146.6,730.6,-6.5,306,6448,0.00,1.65,0.00,0.000,6,0.000,0.061,2034,2880,3502
$GC,6757,-1.70,-146.6,770.4,-14.7,322,6761,0.00,2.65,0.00,0.000,4,0.000,0.076,2033,1457,3501
$GC,6772,-1.70,-146.6,772.1,-16.2,323,6777,0.00,2.65,0.00,0.000,6,0.000,0.076,2033,2875,3501
$STATE,7056,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7056,begin apogee
$GC,7061,-0.42,0.0,796.6,9.4,337,7190,1.38,0.00,125.10,1.421,6,0.079,0.000,2319,1848,2901
$STATE,7191,end apogee,CONTROL_FINISHED_OK
$STATE,7191,begin climb
$GC,7192,1.70,146.6,801.0,0.0,343,7324,2.08,2.78,123.05,1.377,4,0.038,0.079,2789,3265,2303
$GC,7503,1.98,378.4,786.5,-0.6,357,7707,0.20,2.60,195.45,1.331,6,0.037,0.054,2852,1846,1358
$GC,8021,1.98,378.4,697.8,21.6,383,8026,0.00,2.67,0.00,0.000,4,0.000,0.071,2853,3264,1358
$GC,8177,1.98,378.4,669.4,17.7,390,8182,0.00,2.58,0.00,0.000,6,0.000,0.051,2853,1856,1358
$GC,8504,1.98,378.4,611.6,18.3,406,8509,0.00,2.72,0.00,0.000,4,0.000,0.086,2853,441,1357
$GC,8760,1.98,378.4,561.3,25.8,417,8767,0.00,2.55,0.00,0.000,6,0.000,0.042,2853,1856,1357
$GC,9076,1.98,378.4,500.2,17.0,433,9080,0.00,2.62,0.00,0.000,4,0.000,0.069,2853,444,1356
$GC,9152,1.98,378.4,485.7,17.5,436,9159,0.00,2.53,0.00,0.000,6,0.000,0.041,2853,1852,1356
$GC,9467,1.98,378.4,423.1,19.7,452,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1853,1356
$GC,9777,1.98,378.4,361.4,19.3,467,9781,0.00,2.62,0.00,0.000,4,0.000,0.064,2853,436,1356
$GC,9876,1.98,378.4,341.4,20.7,471,9883,0.00,2.50,0.00,0.000,6,0.000,0.038,2853,1844,1357
$GC,10191,1.98,378.4,283.4,17.9,487,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1844,1357
$GC,10500,1.98,378.4,227.0,17.9,502,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1845,1358
$GC,10810,1.98,378.4,167.7,19.6,517,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1845,1358
$GC,11119,1.98,378.4,108.7,18.1,532,11124,0.00,2.58,0.00,0.000,4,0.000,0.062,2853,443,1359
$GC,11168,1.98,378.4,99.2,19.6,534,11173,0.00,2.47,0.00,0.000,6,0.000,0.037,2853,1841,1360
$GC,11489,1.98,378.4,38.4,19.0,550,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1841,1360
$STATE,11694,end climb,SURFACE_DEPTH_REACHED
$STATE,11694,begin surface coast
$FINISH,-1.2,1.002652
$STATE,11716,end surface coast,CONTROL_FINISHED_OK
$STATE,11717,begin surface
$SM_CCo,11797,0.00,0.000,0,0,1360,378.01
$SM_GC,-0.36,12.43,0.00,0.00,0.034,0.000,0.000,50,2868,1360,-10.79,-0.23,378.01
$IRIDIUM_FIX,6108.28,-831.40,141107,080854
$TT8_MAMPS,0.028379
$HUMID,2148
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,726.0,80.2
$24V_AH,23.3,8.374
$10V_AH,10.1,3.041
$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,27.450,91.900,443.600,0.000,0.000,38.501,36.416,150.725,7.500,0.000,0.000,31.100,1084.070,8680.790,516.831,1545.947,343.556,33.352,1296.316,0.000,1489.994,0.000,45.799
$DEVICE_MAMPS,164.138,112.749,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.987,383.400,320.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28532,561
$CFSIZE,260165632,257724416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,141107,121437,6133.142,-826.020,40,1.7,51,-8.9