version: 66.02
glider: 103
mission: 7
dive: 21
start: 11 16 107 10 12 44
data:
$ID,103
$MISSION,7
$DIVE,21
$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,-62480.766
$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,25
$R_STBD_OVSHOOT,6
$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
$GPS1,100716,6135.083,-828.586,12,1.4,31,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-55.8
$GPS2,101105,6135.096,-828.574,12,2.6,31,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.203,-0.166
$KALMAN_X,-56550.5,496.6,194.9,60993.4,-18722.5
$KALMAN_Y,35690.8,-1187.3,152.3,-32591.3,8436.2
$MHEAD_RNG_PITCHd_Wd,138.3,9953,-18.2,-10.000
$D_GRID,788
$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,-62.62,0.000,2,0.000,0.000,48,2875,3472
$GC,83,-1.70,-146.6,3.7,-9.4,3,104,11.50,1.80,-0.47,0.000,4,0.166,0.107,2041,3790,3500
$GC,329,-1.70,-146.6,44.2,-12.1,14,333,0.00,1.62,0.00,0.000,6,0.000,0.063,2041,2907,3501
$GC,660,-1.70,-146.6,87.2,-13.7,30,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2907,3501
$GC,970,-1.70,-146.6,129.0,-13.6,45,973,0.00,1.77,0.00,0.000,4,0.000,0.106,2041,3793,3501
$GC,1014,-1.70,-146.6,135.0,-13.2,47,1017,0.00,1.62,0.00,0.000,6,0.000,0.060,2041,2900,3501
$GC,1345,-1.70,-146.6,179.1,-13.3,63,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2900,3501
$GC,1654,-1.70,-146.6,219.0,-12.7,78,1658,0.00,1.80,0.00,0.000,4,0.000,0.110,2041,3787,3501
$GC,1686,-1.70,-146.6,223.3,-13.1,79,1691,0.00,1.60,0.00,0.000,6,0.000,0.057,2041,2901,3501
$GC,2007,-1.70,-146.6,264.6,-12.7,95,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2901,3501
$GC,2317,-1.70,-146.6,302.3,-11.9,110,2321,0.00,1.77,0.00,0.000,4,0.000,0.110,2041,3790,3501
$GC,2406,-1.70,-146.6,313.3,-12.0,114,2410,0.00,1.60,0.00,0.000,6,0.000,0.058,2041,2903,3501
$GC,2738,-1.70,-146.6,350.7,-10.6,130,2742,0.00,1.80,0.00,0.000,4,0.000,0.110,2041,3794,3501
$GC,2770,-1.70,-146.6,354.2,-10.3,131,2775,0.00,1.62,0.00,0.000,6,0.000,0.055,2041,2899,3501
$GC,3091,-1.70,-146.6,388.4,-12.2,147,3095,0.00,2.60,0.00,0.000,4,0.000,0.071,2041,1489,3501
$GC,3157,-1.70,-146.6,397.0,-12.4,150,3162,0.00,2.72,0.00,0.000,6,0.000,0.084,2041,2900,3501
$GC,3484,-1.70,-146.6,429.3,-8.8,166,3489,0.00,2.62,0.00,0.000,4,0.000,0.067,2041,1484,3501
$GC,3545,-1.70,-146.6,435.3,-10.1,169,3549,0.00,2.72,0.00,0.000,6,0.000,0.086,2041,2901,3501
$GC,3876,-1.70,-146.6,473.8,-11.3,185,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2901,3501
$GC,4186,-1.70,-146.6,508.5,-10.0,200,4189,0.00,1.77,0.00,0.000,4,0.000,0.111,2041,3780,3501
$GC,4442,-1.70,-146.6,543.6,-14.6,211,4447,0.00,1.60,0.00,0.000,6,0.000,0.056,2041,2900,3501
$GC,4763,-1.70,-146.6,579.4,-11.5,227,4768,0.00,2.60,0.00,0.000,4,0.000,0.070,2041,1486,3501
$GC,4848,-1.70,-146.6,590.5,-14.2,231,4852,0.00,2.70,0.00,0.000,6,0.000,0.084,2041,2899,3501
$GC,5173,-1.70,-146.6,627.4,-9.5,247,5177,0.00,2.62,0.00,0.000,4,0.000,0.073,2041,1484,3501
$GC,5400,-1.70,-146.6,648.5,-10.6,257,5406,0.00,2.78,0.00,0.000,6,0.000,0.092,2041,2896,3501
$GC,5722,-1.70,-146.6,681.3,-13.3,273,5725,0.00,1.80,0.00,0.000,4,0.000,0.123,2041,3786,3500
$GC,5849,-1.70,-146.6,696.4,-12.6,278,5856,0.00,1.62,0.00,0.000,6,0.000,0.070,2041,2911,3500
$GC,6165,-1.70,-146.6,728.3,-9.9,294,6169,0.00,2.67,0.00,0.000,4,0.000,0.082,2041,1487,3499
$GC,6191,-1.70,-146.6,730.9,-9.3,295,6195,0.00,2.78,0.00,0.000,6,0.000,0.095,2041,2902,3499
$GC,6512,-1.70,-146.6,762.8,-9.3,311,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2902,3497
$STATE,6717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6717,begin apogee
$GC,6723,-0.42,0.0,788.2,12.6,321,6853,1.35,0.00,126.25,1.411,6,0.086,0.000,2316,1769,2901
$STATE,6853,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6855,1.70,146.6,787.1,0.0,327,6988,2.12,2.70,124.15,1.361,4,0.047,0.059,2785,3191,2303
$GC,7241,2.07,449.7,770.2,-3.9,345,7507,0.32,2.58,254.45,1.338,6,0.038,0.049,2866,1766,1067
$GC,7814,2.07,449.7,661.8,25.9,373,7819,0.00,2.67,0.00,0.000,4,0.000,0.071,2866,3192,1068
$GC,7835,2.07,449.7,655.7,28.1,374,7840,0.00,2.60,0.00,0.000,6,0.000,0.051,2866,1775,1068
$GC,8162,2.07,449.7,581.1,23.2,390,8166,0.00,2.67,0.00,0.000,4,0.000,0.078,2867,365,1067
$GC,8272,2.07,449.7,552.5,26.7,395,8277,0.00,2.55,0.00,0.000,6,0.000,0.043,2866,1786,1066
$GC,8599,2.07,449.7,473.5,25.9,411,8603,0.00,2.67,0.00,0.000,4,0.000,0.069,2867,364,1065
$GC,8636,2.07,449.7,463.4,28.1,413,8640,0.00,2.50,0.00,0.000,6,0.000,0.041,2867,1783,1065
$GC,8968,2.07,449.7,378.7,26.9,429,8972,0.00,2.62,0.00,0.000,4,0.000,0.064,2867,368,1065
$GC,9023,2.07,449.7,363.8,27.6,431,9029,0.00,2.47,0.00,0.000,6,0.000,0.038,2867,1782,1065
$GC,9337,2.07,449.7,286.6,23.4,447,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1783,1065
$GC,9646,2.07,449.7,213.7,23.4,462,9651,0.00,2.60,0.00,0.000,4,0.000,0.060,2867,365,1066
$GC,9672,2.07,449.7,207.1,25.8,463,9677,0.00,2.50,0.00,0.000,6,0.000,0.038,2867,1771,1066
$GC,9994,2.07,449.7,131.7,23.8,479,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1771,1067
$GC,10304,2.07,449.7,56.5,23.8,494,10308,0.00,2.58,0.00,0.000,4,0.000,0.060,2867,365,1067
$GC,10330,2.07,449.7,49.9,24.9,495,10335,0.00,2.50,0.00,0.000,6,0.000,0.039,2867,1783,1068
$STATE,10541,end climb,SURFACE_DEPTH_REACHED
$STATE,10541,begin surface coast
$FINISH,-1.2,1.027242
$STATE,10564,end surface coast,CONTROL_FINISHED_OK
$STATE,10564,begin surface
$SM_CCo,10645,0.00,0.000,0,0,1068,449.63
$SM_GC,-0.51,12.35,0.00,0.00,0.025,0.000,0.000,32,2896,1068,-10.81,-0.11,449.63
$IRIDIUM_FIX,6112.75,-828.27,161107,131324
$TT8_MAMPS,0.028379
$HUMID,2157
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,702.2,105.5
$24V_AH,22.9,10.587
$10V_AH,10.1,3.903
$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,27.650,91.275,504.850,0.000,0.000,37.532,35.604,73.355,7.500,0.000,0.000,32.621,993.441,7776.928,536.963,1369.533,262.265,33.343,1257.039,0.000,1315.182,0.000,46.841
$DEVICE_MAMPS,166.439,123.487,1410.513,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.025,344.067,286.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25366,506
$CFSIZE,260165632,257060864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,161107,131125,6135.222,-828.804,28,1.3,45,-9.0