version: 66.02
glider: 103
mission: 7
dive: 19
start: 11 16 107 5 36 54
data:
$ID,103
$MISSION,7
$DIVE,19
$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,-62434.871
$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,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
$GPS1,052737,6135.585,-827.430,37,1.3,42,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-57.2
$GPS2,053515,6135.569,-827.460,10,1.4,10,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.124,-0.231
$KALMAN_X,-49530.0,286.7,234.3,55130.5,-4833.4
$KALMAN_Y,32560.9,27.4,-765.0,-28883.1,2650.7
$MHEAD_RNG_PITCHd_Wd,160.6,10541,-18.2,-10.000
$D_GRID,762
$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,-62.83,0.000,2,0.000,0.000,52,2881,3496
$GC,83,-1.70,-146.6,4.2,-10.4,3,99,11.48,1.77,0.00,0.000,4,0.167,0.087,2033,3788,3496
$GC,327,-1.70,-146.6,47.5,-15.2,13,332,0.00,1.60,0.00,0.000,6,0.000,0.045,2033,2898,3497
$GC,654,-1.70,-146.6,91.5,-12.2,29,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2897,3497
$GC,964,-1.70,-146.6,130.0,-12.0,44,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2897,3497
$GC,1272,-1.70,-146.6,168.6,-12.6,59,1276,0.00,1.77,0.00,0.000,4,0.000,0.104,2033,3779,3497
$GC,1299,-1.70,-146.6,172.1,-12.7,60,1304,0.00,1.60,0.00,0.000,6,0.000,0.051,2034,2895,3497
$GC,1626,-1.70,-146.6,212.4,-12.6,76,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2895,3497
$GC,1936,-1.70,-146.6,251.1,-12.5,91,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2895,3498
$GC,2245,-1.70,-146.6,292.4,-13.6,106,2248,0.00,1.80,0.00,0.000,4,0.000,0.113,2033,3787,3498
$GC,2266,-1.70,-146.6,295.5,-13.8,107,2270,0.00,1.60,0.00,0.000,6,0.000,0.053,2033,2898,3498
$GC,2598,-1.70,-146.6,338.1,-12.1,123,2602,0.00,2.58,0.00,0.000,4,0.000,0.065,2033,1488,3498
$GC,2646,-1.70,-146.6,344.0,-11.3,125,2651,0.00,2.72,0.00,0.000,6,0.000,0.084,2033,2890,3498
$GC,2968,-1.70,-146.6,384.0,-12.3,141,2971,0.00,1.80,0.00,0.000,4,0.000,0.114,2033,3793,3498
$GC,3022,-1.70,-146.6,391.0,-12.7,143,3027,0.00,1.60,0.00,0.000,6,0.000,0.053,2033,2899,3498
$GC,3343,-1.70,-146.6,428.7,-11.4,159,3347,0.00,2.58,0.00,0.000,4,0.000,0.066,2033,1489,3498
$GC,3381,-1.70,-146.6,433.2,-11.8,161,3386,0.00,2.72,0.00,0.000,6,0.000,0.084,2033,2908,3498
$GC,3706,-1.70,-146.6,473.0,-12.3,177,3710,0.00,1.75,0.00,0.000,4,0.000,0.111,2033,3779,3498
$GC,3750,-1.70,-146.6,478.9,-13.0,179,3754,0.00,1.60,0.00,0.000,6,0.000,0.054,2033,2899,3498
$GC,4081,-1.70,-146.6,517.3,-10.8,195,4085,0.00,1.77,0.00,0.000,4,0.000,0.108,2033,3792,3498
$GC,4231,-1.70,-146.6,536.5,-12.3,201,4238,0.00,1.62,0.00,0.000,6,0.000,0.055,2033,2895,3498
$GC,4547,-1.70,-146.6,576.1,-11.7,217,4552,0.00,2.58,0.00,0.000,4,0.000,0.068,2033,1489,3498
$GC,4804,-1.70,-146.6,601.3,-9.0,228,4811,0.00,2.67,0.00,0.000,6,0.000,0.081,2033,2900,3498
$GC,5120,-1.70,-146.6,631.5,-7.7,244,5124,0.00,2.65,0.00,0.000,4,0.000,0.073,2033,1482,3498
$GC,5158,-1.70,-146.6,633.6,-6.4,246,5163,0.00,2.75,0.00,0.000,6,0.000,0.090,2033,2899,3498
$GC,5484,-1.70,-146.6,670.6,-10.0,262,5487,0.00,1.77,0.00,0.000,4,0.000,0.117,2033,3787,3498
$GC,5595,-1.70,-146.6,682.2,-10.9,267,5599,0.00,1.62,0.00,0.000,6,0.000,0.066,2034,2907,3497
$GC,5927,-1.70,-146.6,725.7,-9.2,283,5932,0.00,2.67,0.00,0.000,4,0.000,0.079,2033,1481,3496
$GC,5958,-1.70,-146.6,730.2,-14.2,284,5965,0.00,2.80,0.00,0.000,6,0.000,0.094,2033,2899,3496
$STATE,6211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6211,begin apogee
$GC,6216,-0.42,0.0,764.3,12.8,297,6345,1.40,0.00,124.82,1.401,6,0.087,0.000,2318,1776,2901
$STATE,6346,end apogee,CONTROL_FINISHED_OK
$STATE,6346,begin climb
$GC,6347,1.70,146.6,770.6,0.0,303,6480,2.10,2.78,123.60,1.353,4,0.049,0.080,2782,361,2303
$GC,6733,1.70,146.6,744.1,10.6,321,6738,0.00,2.55,0.00,0.000,6,0.000,0.044,2782,1796,2302
$GC,7059,1.70,146.6,705.3,13.9,337,7063,0.00,2.72,0.00,0.000,4,0.000,0.075,2782,365,2300
$GC,7264,1.70,146.6,676.3,13.8,346,7269,0.00,2.53,0.00,0.000,6,0.000,0.044,2782,1777,2300
$GC,7585,1.75,191.2,659.6,8.0,362,7648,0.00,2.65,45.10,1.213,4,0.000,0.067,2782,3170,2121
$GC,7731,1.85,271.8,648.3,6.3,368,7828,0.15,2.55,79.72,1.216,6,0.050,0.053,2821,1768,1792
$GC,8147,1.85,271.8,587.6,14.8,389,8152,0.00,2.67,0.00,0.000,4,0.000,0.080,2821,367,1792
$GC,8269,1.85,271.8,568.1,15.2,394,8276,0.00,2.50,0.00,0.000,6,0.000,0.042,2821,1771,1791
$GC,8584,1.85,271.8,521.1,15.3,410,8588,0.00,2.65,0.00,0.000,4,0.000,0.072,2821,365,1791
$GC,8700,1.85,271.8,503.2,14.5,415,8706,0.00,2.50,0.00,0.000,6,0.000,0.041,2821,1774,1791
$GC,9028,1.85,271.8,455.1,15.6,431,9032,0.00,2.58,0.00,0.000,4,0.000,0.064,2821,3169,1790
$GC,9048,1.85,271.8,451.6,16.5,432,9053,0.00,2.50,0.00,0.000,6,0.000,0.042,2821,1770,1790
$GC,9374,1.85,271.8,403.5,15.3,448,9379,0.00,2.58,0.00,0.000,4,0.000,0.067,2821,375,1790
$GC,9458,1.85,271.8,389.9,15.9,452,9462,0.00,2.42,0.00,0.000,6,0.000,0.035,2821,1780,1790
$GC,9790,1.85,271.8,340.1,15.4,468,9794,0.00,2.60,0.00,0.000,4,0.000,0.061,2821,368,1791
$GC,9832,1.85,271.8,333.5,14.5,470,9837,0.00,2.47,0.00,0.000,6,0.000,0.037,2821,1775,1791
$GC,10159,1.85,271.8,286.9,14.4,486,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1775,1793
$GC,10468,1.85,271.8,244.0,13.4,501,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1775,1793
$GC,10778,1.85,271.8,200.2,14.3,516,10779,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1775,1794
$GC,11087,1.85,271.8,156.7,13.8,531,11091,0.00,2.58,0.00,0.000,4,0.000,0.060,2821,367,1795
$GC,11118,1.85,271.8,151.8,14.8,532,11125,0.00,2.47,0.00,0.000,6,0.000,0.037,2821,1770,1795
$GC,11434,1.85,271.8,108.6,14.0,548,11435,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1772,1797
$GC,11743,1.85,271.8,64.7,14.5,563,11747,0.00,2.55,0.00,0.000,4,0.000,0.059,2821,372,1798
$GC,11781,1.85,271.8,58.8,14.7,565,11785,0.00,2.45,0.00,0.000,6,0.000,0.037,2821,1778,1798
$GC,12107,1.85,271.8,14.4,14.3,581,12111,0.00,2.55,0.00,0.000,4,0.000,0.064,2821,3175,1798
$GC,12138,1.85,271.8,10.3,13.2,582,12146,0.00,2.47,0.00,0.000,6,0.000,0.041,2821,1776,1798
$STATE,12207,end climb,SURFACE_DEPTH_REACHED
$STATE,12207,begin surface coast
$FINISH,-1.3,1.002663
$STATE,12227,end surface coast,CONTROL_FINISHED_OK
$STATE,12227,begin surface
$SM_CCo,12248,26.92,0.767,2,0,1678,300.00
$SM_GC,-0.14,0.00,0.00,26.92,0.000,0.000,0.767,42,2889,1678,-10.90,-0.31,300.00
$IRIDIUM_FIX,6108.28,-827.60,161107,090908
$TT8_MAMPS,0.028379
$HUMID,2115
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,701.6,97.3
$24V_AH,23.3,10.282
$10V_AH,10.1,3.820
$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,27.325,111.100,373.250,26.925,0.000,80.279,68.934,170.035,8.000,0.000,0.000,11.106,1143.603,9163.588,518.545,1516.312,456.482,33.352,1299.453,0.000,1487.193,0.000,41.248
$DEVICE_MAMPS,167.206,116.584,1401.309,767.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,432.619,400.698,343.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28475,587
$CFSIZE,260165632,257118208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,6,0
$GPS,161107,090255,6135.229,-829.143,26,1.4,43,-9.0