version: 66.02
glider: 103
mission: 7
dive: 27
start: 11 17 107 5 51 1
data:
$ID,103
$MISSION,7
$DIVE,27
$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,-62600.738
$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,24
$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
$GPS1,054502,6135.075,-829.979,70,1.6,70,-9.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-53.7
$GPS2,054921,6135.064,-829.935,10,2.0,10,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.245,0.093
$KALMAN_X,-73224.3,46.2,746.6,76338.9,-8206.0
$KALMAN_Y,43329.1,-348.3,-612.0,-40376.6,3841.5
$MHEAD_RNG_PITCHd_Wd,78.2,9704,-18.2,-10.000
$D_GRID,790
$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,-62.75,0.000,2,0.000,0.000,48,2880,3392
$GC,83,-1.70,-146.6,3.1,-8.4,3,105,11.40,1.77,-2.00,0.000,4,0.163,0.110,2035,3784,3502
$GC,357,-1.70,-146.6,47.2,-11.9,15,362,0.00,1.58,0.00,0.000,6,0.000,0.050,2035,2910,3503
$GC,684,-1.70,-146.6,88.0,-12.3,31,687,0.00,1.75,0.00,0.000,4,0.000,0.104,2035,3787,3503
$GC,930,-1.70,-146.6,120.2,-12.9,42,934,0.00,1.60,0.00,0.000,6,0.000,0.057,2035,2904,3503
$GC,1261,-1.70,-146.6,164.2,-14.0,58,1265,0.00,1.77,0.00,0.000,4,0.000,0.106,2035,3785,3503
$GC,1305,-1.70,-146.6,170.6,-14.1,60,1309,0.00,1.60,0.00,0.000,6,0.000,0.057,2035,2900,3503
$GC,1637,-1.70,-146.6,216.6,-13.6,76,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2901,3503
$GC,1946,-1.70,-146.6,257.3,-12.6,91,1950,0.00,1.75,0.00,0.000,4,0.000,0.109,2035,3786,3503
$GC,1984,-1.70,-146.6,262.3,-13.1,92,1991,0.00,1.60,0.00,0.000,6,0.000,0.058,2035,2901,3503
$GC,2299,-1.70,-146.6,299.7,-11.6,108,2304,0.00,1.80,0.00,0.000,4,0.000,0.110,2034,3786,3503
$GC,2343,-1.70,-146.6,305.6,-13.8,110,2347,0.00,1.60,0.00,0.000,6,0.000,0.059,2035,2907,3503
$GC,2675,-1.70,-146.6,347.4,-12.1,126,2678,0.00,1.77,0.00,0.000,4,0.000,0.110,2035,3787,3503
$GC,2745,-1.70,-146.6,356.5,-12.6,129,2750,0.00,1.62,0.00,0.000,6,0.000,0.059,2035,2899,3504
$GC,3072,-1.70,-146.6,395.4,-12.0,145,3076,0.00,1.80,0.00,0.000,4,0.000,0.109,2035,3786,3504
$GC,3104,-1.70,-146.6,399.5,-12.8,146,3113,0.00,1.60,0.00,0.000,6,0.000,0.056,2035,2900,3504
$GC,3427,-1.70,-146.6,438.1,-10.8,162,3431,0.00,2.58,0.00,0.000,4,0.000,0.066,2035,1487,3504
$GC,3555,-1.70,-146.6,452.6,-11.6,168,3560,0.00,2.72,0.00,0.000,6,0.000,0.086,2035,2901,3504
$GC,3881,-1.70,-146.6,491.8,-12.5,184,3886,0.00,2.60,0.00,0.000,4,0.000,0.066,2035,1482,3504
$GC,4081,-1.70,-146.6,516.4,-13.9,193,4086,0.00,2.78,0.00,0.000,6,0.000,0.088,2035,2899,3504
$GC,4408,-1.70,-146.6,553.8,-10.5,209,4412,0.00,1.75,0.00,0.000,4,0.000,0.107,2035,3789,3505
$GC,4475,-1.70,-146.6,561.1,-10.1,212,4479,0.00,1.62,0.00,0.000,6,0.000,0.054,2035,2902,3505
$GC,4807,-1.70,-146.6,593.1,-9.7,228,4811,0.00,2.62,0.00,0.000,4,0.000,0.071,2035,1481,3505
$GC,4914,-1.70,-146.6,602.6,-8.0,233,4919,0.00,2.72,0.00,0.000,6,0.000,0.085,2035,2899,3505
$GC,5239,-1.70,-146.6,637.9,-13.1,249,5243,0.00,2.65,0.00,0.000,4,0.000,0.077,2035,1486,3505
$GC,5394,-1.70,-146.6,652.0,-10.0,256,5399,0.00,2.78,0.00,0.000,6,0.000,0.094,2035,2904,3505
$GC,5715,-1.70,-146.6,686.5,-9.1,272,5719,0.00,2.70,0.00,0.000,4,0.000,0.081,2035,1484,3504
$GC,5769,-1.70,-146.6,691.9,-9.7,274,5775,0.00,2.75,0.00,0.000,6,0.000,0.091,2035,2901,3503
$GC,6084,-1.70,-146.6,725.4,-6.5,290,6087,0.00,1.80,0.00,0.000,4,0.000,0.121,2035,3790,3502
$GC,6331,-1.70,-146.6,750.3,-7.6,301,6335,0.00,1.62,0.00,0.000,6,0.000,0.070,2035,2901,3501
$GC,6662,-1.70,-146.6,788.7,-14.2,317,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2899,3499
$STATE,6681,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6681,begin apogee
$GC,6687,-0.42,0.0,791.7,15.5,318,6818,1.38,0.00,126.55,1.439,6,0.087,0.000,2315,1777,2901
$STATE,6818,end apogee,CONTROL_FINISHED_OK
$STATE,6818,begin climb
$GC,6820,1.70,146.6,794.1,0.0,324,6953,2.15,2.72,124.03,1.392,4,0.056,0.066,2782,3193,2303
$GC,7206,1.70,146.6,768.5,12.7,342,7210,0.00,2.58,0.00,0.000,6,0.000,0.051,2782,1771,2302
$GC,7530,1.70,146.6,728.6,10.2,358,7535,0.00,2.67,0.00,0.000,4,0.000,0.071,2782,3191,2301
$GC,7730,1.70,146.6,717.0,10.6,367,7735,0.00,2.60,0.00,0.000,6,0.000,0.051,2782,1774,2301
$GC,8057,1.70,146.6,692.3,12.5,383,8061,0.00,2.70,0.00,0.000,4,0.000,0.085,2782,369,2300
$GC,8124,1.70,146.6,684.1,10.1,386,8129,0.00,2.55,0.00,0.000,6,0.000,0.043,2782,1805,2300
$GC,8450,1.79,224.2,656.8,6.5,402,8703,0.00,2.80,169.57,0.907,4,0.000,0.080,2782,371,1987
$GC,8957,1.79,224.2,602.2,12.0,426,8961,0.00,2.50,0.00,0.000,6,0.000,0.045,2782,1774,1984
$GC,9281,1.79,224.2,564.0,11.6,442,9286,0.00,2.67,0.00,0.000,4,0.000,0.077,2782,370,1982
$GC,9460,1.79,224.2,542.9,11.4,450,9464,0.00,2.50,0.00,0.000,6,0.000,0.043,2782,1773,1982
$GC,9786,1.79,224.2,508.3,10.7,466,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1777,1981
$GC,10096,1.79,224.2,475.7,10.9,481,10100,0.00,2.62,0.00,0.000,4,0.000,0.070,2782,368,1981
$GC,10295,1.79,224.2,450.3,14.1,490,10300,0.00,2.50,0.00,0.000,6,0.000,0.038,2782,1775,1981
$GC,10623,1.79,224.2,412.7,11.0,506,10627,0.00,2.60,0.00,0.000,4,0.000,0.064,2782,368,1981
$GC,10738,1.79,224.2,399.3,11.4,511,10743,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,1772,1981
$GC,11059,1.79,224.2,364.6,10.2,527,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1772,1981
$GC,11368,1.79,224.2,331.3,10.8,542,11373,0.00,2.58,0.00,0.000,4,0.000,0.065,2782,3171,1982
$GC,11429,1.79,224.2,324.5,11.7,545,11434,0.00,2.45,0.00,0.000,6,0.000,0.042,2781,1766,1983
$GC,11761,1.79,224.2,290.3,10.6,561,11766,0.00,2.60,0.00,0.000,4,0.000,0.064,2782,3174,1984
$GC,11826,1.79,224.2,283.5,10.7,564,11832,0.00,2.47,0.00,0.000,6,0.000,0.042,2782,1777,1984
$GC,12154,1.80,233.1,251.8,9.6,580,12168,0.00,2.62,8.80,0.935,4,0.000,0.065,2782,3164,1950
$GC,12197,1.81,242.1,247.6,9.6,582,12212,0.10,2.45,8.88,0.922,6,0.055,0.042,2810,1774,1915
$GC,12526,1.81,242.1,209.7,11.2,598,12530,0.00,2.58,0.00,0.000,4,0.000,0.066,2810,377,1915
$GC,12565,1.81,242.1,204.7,12.5,600,12569,0.00,2.45,0.00,0.000,6,0.000,0.035,2810,1779,1915
$GC,12897,1.81,242.1,165.0,11.8,616,12901,0.00,2.55,0.00,0.000,4,0.000,0.066,2810,3175,1915
$GC,12922,1.81,242.1,161.7,13.0,617,12927,0.00,2.47,0.00,0.000,6,0.000,0.043,2810,1776,1916
$GC,13244,1.81,242.1,122.4,12.9,633,13245,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1776,1916
$GC,13553,1.81,242.1,79.0,13.6,648,13557,0.00,2.55,0.00,0.000,4,0.000,0.064,2810,378,1917
$GC,13591,1.81,242.1,74.7,11.1,650,13595,0.00,2.42,0.00,0.000,6,0.000,0.035,2811,1777,1917
$GC,13916,1.81,242.1,33.5,13.3,666,13920,0.00,2.55,0.00,0.000,4,0.000,0.058,2810,376,1918
$GC,13977,1.81,242.1,23.2,17.3,669,13981,0.00,2.42,0.00,0.000,6,0.000,0.038,2810,1772,1918
$STATE,14156,end climb,SURFACE_DEPTH_REACHED
$STATE,14157,begin surface coast
$FINISH,-1.2,1.027254
$STATE,14178,end surface coast,CONTROL_FINISHED_OK
$STATE,14179,begin surface
$SM_CCo,14199,49.40,0.802,2,0,1678,300.00
$SM_GC,-0.55,0.00,0.00,49.40,0.000,0.000,0.802,50,2888,1678,-10.85,-0.34,300.00
$IRIDIUM_FIX,6108.28,-827.60,171107,050542
$TT8_MAMPS,0.029146
$HUMID,2093
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,701.9,106.5
$24V_AH,23.3,11.505
$10V_AH,10.1,4.272
$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,27.300,133.425,437.825,49.400,0.000,40.291,26.673,116.477,8.750,0.000,0.000,11.005,1350.729,10313.998,629.849,1949.882,328.706,33.347,1628.185,0.000,1908.205,0.000,41.292
$DEVICE_MAMPS,163.371,121.186,1438.892,801.515,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.017,464.821,382.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34858,679
$CFSIZE,260165632,256757760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,32,17,0
$GPS,171107,094938,6136.398,-829.229,26,1.8,26,-9.0