version: 66.02
glider: 103
mission: 7
dive: 22
start: 11 16 107 13 18 24
data:
$ID,103
$MISSION,7
$DIVE,22
$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,-62497.539
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,131125,6135.222,-828.804,28,1.3,45,-9.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.61
$_SM_ANGLEo,-47.9
$GPS2,131644,6135.232,-828.743,11,1.3,16,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.158,-0.209
$KALMAN_X,-57858.8,-150.6,324.5,62648.0,-8004.4
$KALMAN_Y,37966.7,-1016.4,-1.6,-34644.6,5231.5
$MHEAD_RNG_PITCHd_Wd,151.8,10239,-18.2,-10.000
$D_GRID,779
$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,-146.6,0.0,0.0,0,108,0.00,0.00,-89.30,0.000,6,0.000,0.000,32,2900,3500
$GC,110,-1.70,-146.6,2.5,-5.0,4,126,11.60,1.70,0.00,0.000,4,0.167,0.087,2034,3789,3501
$GC,331,-1.70,-146.6,45.8,-14.1,13,337,0.00,1.62,0.00,0.000,6,0.000,0.056,2034,2900,3503
$GC,659,-1.70,-146.6,86.7,-12.9,29,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3504
$GC,968,-1.70,-146.6,126.8,-13.2,44,972,0.00,1.77,0.00,0.000,4,0.000,0.107,2034,3784,3504
$GC,1005,-1.70,-146.6,132.0,-13.3,45,1013,0.00,1.62,0.00,0.000,6,0.000,0.059,2034,2898,3504
$GC,1322,-1.70,-146.6,176.1,-14.1,61,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3504
$GC,1631,-1.70,-146.6,216.4,-13.0,76,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3504
$GC,1940,-1.70,-146.6,256.6,-13.1,91,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2897,3504
$GC,2249,-1.70,-146.6,294.4,-11.8,106,2253,0.00,1.80,0.00,0.000,4,0.000,0.111,2034,3787,3504
$GC,2315,-1.70,-146.6,302.7,-12.8,109,2319,0.00,1.60,0.00,0.000,6,0.000,0.061,2034,2908,3504
$GC,2647,-1.70,-146.6,343.3,-12.3,125,2650,0.00,1.77,0.00,0.000,4,0.000,0.114,2034,3777,3504
$GC,2718,-1.70,-146.6,351.9,-11.5,128,2723,0.00,1.62,0.00,0.000,6,0.000,0.063,2034,2896,3504
$GC,3045,-1.70,-146.6,388.8,-11.8,144,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2896,3505
$GC,3354,-1.70,-146.6,421.4,-11.0,159,3358,0.00,1.80,0.00,0.000,4,0.000,0.111,2034,3780,3505
$GC,3431,-1.70,-146.6,434.9,-20.2,162,3436,0.00,1.62,0.00,0.000,6,0.000,0.059,2034,2897,3505
$GC,3752,-1.70,-146.6,469.1,-10.9,178,3756,0.00,2.58,0.00,0.000,4,0.000,0.067,2034,1487,3505
$GC,3819,-1.70,-146.6,478.4,-15.6,181,3824,0.00,2.67,0.00,0.000,6,0.000,0.081,2034,2896,3505
$GC,4145,-1.70,-146.6,524.1,-11.1,197,4148,0.00,1.77,0.00,0.000,4,0.000,0.110,2034,3796,3505
$GC,4401,-1.70,-146.6,550.9,-10.2,208,4406,0.00,1.65,0.00,0.000,6,0.000,0.056,2034,2896,3505
$GC,4722,-1.70,-146.6,587.4,-12.9,224,4726,0.00,1.80,0.00,0.000,4,0.000,0.113,2034,3790,3505
$GC,4777,-1.70,-146.6,593.6,-13.1,226,4782,0.00,1.65,0.00,0.000,6,0.000,0.061,2034,2898,3505
$GC,5098,-1.70,-146.6,631.0,-13.7,242,5102,0.00,2.62,0.00,0.000,4,0.000,0.075,2034,1489,3505
$GC,5272,-1.70,-146.6,658.0,-18.6,250,5276,0.00,2.75,0.00,0.000,6,0.000,0.092,2034,2899,3505
$GC,5597,-1.70,-146.6,710.1,-12.8,266,5601,0.00,2.67,0.00,0.000,4,0.000,0.076,2034,1481,3504
$GC,5645,-1.70,-146.6,716.2,-12.4,268,5650,0.00,2.80,0.00,0.000,6,0.000,0.094,2034,2899,3504
$GC,5966,-1.70,-146.6,754.2,-10.1,284,5970,0.00,2.67,0.00,0.000,4,0.000,0.082,2034,1484,3503
$GC,6020,-1.70,-146.6,759.6,-11.1,286,6027,0.00,2.83,0.00,0.000,6,0.000,0.100,2034,2898,3503
$STATE,6231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6231,begin apogee
$GC,6237,-0.42,0.0,780.2,9.8,297,6368,1.40,0.00,126.90,1.397,6,0.088,0.000,2318,1774,2901
$STATE,6369,end apogee,CONTROL_FINISHED_OK
$STATE,6369,begin climb
$GC,6370,1.70,146.6,786.7,0.0,303,6505,2.12,2.70,124.78,1.355,4,0.054,0.059,2781,3194,2303
$GC,6606,1.70,146.6,781.3,10.1,314,6611,0.00,2.58,0.00,0.000,6,0.000,0.046,2781,1766,2302
$GC,6926,1.70,146.6,735.3,16.3,330,6930,0.00,2.65,0.00,0.000,4,0.000,0.079,2781,374,2301
$GC,7092,1.70,146.6,711.8,14.1,337,7099,0.00,2.50,0.00,0.000,6,0.000,0.041,2781,1799,2300
$GC,7407,1.70,146.6,672.9,11.7,353,7412,0.00,2.72,0.00,0.000,4,0.000,0.075,2781,368,2299
$GC,7518,1.70,146.6,658.2,14.0,358,7523,0.00,2.50,0.00,0.000,6,0.000,0.042,2781,1773,2299
$GC,7845,1.70,146.6,624.1,10.1,374,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1776,2298
$GC,8154,1.79,227.3,602.5,6.3,389,8284,0.00,0.00,102.05,1.072,6,0.000,0.000,2781,1776,1974
$GC,8584,1.79,227.3,560.2,10.4,410,8588,0.00,2.60,0.00,0.000,4,0.000,0.065,2781,3172,1973
$GC,8622,1.79,227.3,555.1,12.5,412,8626,0.00,2.50,0.00,0.000,6,0.000,0.048,2781,1777,1974
$GC,8953,1.79,227.3,520.8,11.1,428,8957,0.00,2.60,0.00,0.000,4,0.000,0.061,2781,3177,1973
$GC,9002,1.79,227.3,515.0,11.4,430,9007,0.00,2.53,0.00,0.000,6,0.000,0.042,2781,1773,1973
$GC,9323,1.79,227.3,479.3,11.1,446,9328,0.00,2.60,0.00,0.000,4,0.000,0.068,2781,367,1973
$GC,9417,1.79,227.3,467.1,13.6,450,9422,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,1774,1973
$GC,9739,1.82,247.0,433.3,9.1,466,9774,0.12,2.60,24.52,0.981,4,0.048,0.059,2816,3164,1894
$GC,9836,1.82,247.0,420.7,12.7,469,9842,0.00,2.45,0.00,0.000,6,0.000,0.038,2816,1769,1895
$GC,10150,1.82,247.0,380.4,12.4,485,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1769,1895
$GC,10459,1.82,247.0,343.7,11.6,500,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1769,1896
$GC,10769,1.82,247.0,306.9,12.2,515,10773,0.00,2.55,0.00,0.000,4,0.000,0.062,2816,375,1896
$GC,10795,1.82,247.0,303.3,13.2,516,10800,0.00,2.42,0.00,0.000,6,0.000,0.034,2816,1771,1897
$GC,11116,1.82,247.0,264.1,12.2,532,11120,0.00,2.55,0.00,0.000,4,0.000,0.059,2816,375,1898
$GC,11222,1.82,247.0,250.0,12.9,537,11227,0.00,2.42,0.00,0.000,6,0.000,0.035,2816,1780,1898
$GC,11553,1.82,247.0,209.4,12.0,553,11558,0.00,2.55,0.00,0.000,4,0.000,0.063,2816,3174,1899
$GC,11592,1.82,247.0,204.5,12.7,555,11596,0.00,2.42,0.00,0.000,6,0.000,0.039,2816,1774,1899
$GC,11924,1.82,247.0,163.2,12.5,571,11925,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1774,1900
$GC,12233,1.82,247.0,123.1,13.6,586,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1774,1900
$GC,12542,1.82,247.0,82.1,13.1,601,12546,0.00,2.58,0.00,0.000,4,0.000,0.063,2816,3173,1901
$GC,12573,1.82,247.0,77.7,14.0,602,12581,0.00,2.45,0.00,0.000,6,0.000,0.041,2816,1779,1901
$GC,12891,1.82,247.0,36.5,13.5,618,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1779,1902
$STATE,13156,end climb,SURFACE_DEPTH_REACHED
$STATE,13156,begin surface coast
$FINISH,-1.2,1.014027
$STATE,13178,end surface coast,CONTROL_FINISHED_OK
$STATE,13178,begin surface
$SM_CCo,13198,46.30,0.793,2,0,1678,300.00
$SM_GC,-0.55,0.00,0.00,46.30,0.000,0.000,0.793,27,2883,1678,-10.96,-0.51,300.00
$IRIDIUM_FIX,6112.75,-832.74,161107,141429
$TT8_MAMPS,0.029146
$HUMID,2088
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,702.5,112.0
$24V_AH,23.3,10.747
$10V_AH,10.1,3.967
$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,27.425,105.775,378.250,46.300,0.000,40.827,37.400,162.127,7.250,0.000,0.000,16.143,1206.560,9926.128,595.072,1536.767,368.994,33.352,1371.427,0.000,1504.131,0.000,41.285
$DEVICE_MAMPS,167.206,113.516,1397.474,793.078,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,462.803,434.136,363.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31617,632
$CFSIZE,260165632,256999424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,24,8,0
$GPS,161107,170032,6134.493,-830.214,40,1.4,40,-9.0