version: 66.02
glider: 103
mission: 7
dive: 28
start: 11 17 107 9 55 48
data:
$ID,103
$MISSION,7
$DIVE,28
$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,-62620.246
$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,27
$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
$GPS1,094938,6136.398,-829.229,26,1.8,26,-9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.45
$_SM_ANGLEo,-57.6
$GPS2,095409,6136.404,-829.208,18,1.9,18,-9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.250,0.079
$KALMAN_X,-76118.2,106.2,669.7,79904.8,-5961.7
$KALMAN_Y,43991.2,-495.2,-286.6,-38733.0,2678.9
$MHEAD_RNG_PITCHd_Wd,81.3,11412,-18.2,-10.000
$D_GRID,766
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.70,-146.6,0.0,0.0,0,81,0.00,0.00,-62.05,0.000,2,0.000,0.000,50,2888,3407
$GC,83,-1.70,-146.6,3.4,-9.0,3,105,11.45,2.58,-1.67,0.000,4,0.166,0.072,2034,1497,3502
$GC,110,-1.70,-146.6,13.7,-33.0,4,114,0.00,2.72,0.00,0.000,6,0.000,0.080,2034,2901,3502
$GC,436,-1.70,-146.6,56.8,-13.1,20,441,0.00,2.58,0.00,0.000,4,0.000,0.061,2034,1488,3503
$GC,693,-1.70,-146.6,85.9,-10.9,31,701,0.00,2.75,0.00,0.000,6,0.000,0.085,2034,2897,3503
$GC,1009,-1.70,-146.6,124.9,-11.7,47,1013,0.00,2.60,0.00,0.000,4,0.000,0.067,2034,1497,3503
$GC,1124,-1.70,-146.6,140.1,-11.9,52,1129,0.00,2.72,0.00,0.000,6,0.000,0.086,2035,2895,3503
$GC,1445,-1.70,-146.6,180.8,-12.8,68,1449,0.00,1.77,0.00,0.000,4,0.000,0.108,2035,3789,3503
$GC,1505,-1.70,-146.6,189.0,-12.9,70,1513,0.00,1.62,0.00,0.000,6,0.000,0.064,2034,2905,3503
$GC,1821,-1.70,-146.6,233.9,-14.2,86,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2905,3503
$GC,2131,-1.70,-146.6,275.1,-12.9,101,2135,0.00,1.80,0.00,0.000,4,0.000,0.110,2035,3782,3503
$GC,2208,-1.70,-146.6,285.6,-13.0,104,2213,0.00,1.65,0.00,0.000,6,0.000,0.064,2034,2889,3503
$GC,2530,-1.70,-146.6,327.7,-13.8,120,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2889,3503
$GC,2838,-1.70,-146.6,367.0,-12.7,135,2842,0.00,1.80,0.00,0.000,4,0.000,0.111,2035,3786,3503
$GC,2960,-1.70,-146.6,384.5,-14.0,140,2965,0.00,1.65,0.00,0.000,6,0.000,0.064,2035,2896,3504
$GC,3282,-1.70,-146.6,424.8,-12.4,156,3287,0.00,2.58,0.00,0.000,4,0.000,0.068,2035,1487,3504
$GC,3358,-1.70,-146.6,434.6,-12.2,159,3363,0.00,2.75,0.00,0.000,6,0.000,0.090,2035,2892,3504
$GC,3679,-1.70,-146.6,469.1,-11.3,175,3684,0.00,2.58,0.00,0.000,4,0.000,0.067,2035,1487,3504
$GC,3718,-1.70,-146.6,473.0,-11.4,177,3722,0.00,2.72,0.00,0.000,6,0.000,0.086,2034,2904,3504
$GC,4043,-1.70,-146.6,506.5,-13.5,193,4048,0.00,2.62,0.00,0.000,4,0.000,0.074,2035,1488,3504
$GC,4205,-1.70,-146.6,526.4,-11.7,200,4210,0.00,2.72,0.00,0.000,6,0.000,0.087,2035,2900,3504
$GC,4526,-1.70,-146.6,566.5,-12.7,216,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3504
$GC,4836,-1.70,-146.6,597.9,-8.9,231,4840,0.00,2.65,0.00,0.000,4,0.000,0.075,2034,1489,3504
$GC,4974,-1.70,-146.6,610.5,-9.5,237,4978,0.00,2.72,0.00,0.000,6,0.000,0.087,2034,2900,3504
$GC,5295,-1.70,-146.6,643.2,-9.7,253,5298,0.00,1.77,0.00,0.000,4,0.000,0.114,2035,3789,3503
$GC,5423,-1.70,-146.6,657.0,-11.7,258,5429,0.00,1.62,0.00,0.000,6,0.000,0.067,2034,2909,3504
$GC,5738,-1.70,-146.6,689.8,-10.5,274,5742,0.00,2.67,0.00,0.000,4,0.000,0.080,2034,1482,3503
$GC,5769,-1.70,-146.6,693.4,-11.2,275,5777,0.00,2.78,0.00,0.000,6,0.000,0.091,2034,2894,3503
$GC,6085,-1.70,-146.6,724.5,-5.7,291,6089,0.00,1.77,0.00,0.000,4,0.000,0.117,2034,3786,3502
$GC,6332,-1.70,-146.6,747.5,-10.6,302,6336,0.00,1.65,0.00,0.000,6,0.000,0.070,2035,2900,3500
$STATE,6497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6497,begin apogee
$GC,6502,-0.42,0.0,769.7,18.9,310,6645,1.40,0.00,133.77,1.368,6,0.087,0.000,2318,1774,2901
$STATE,6646,end apogee,CONTROL_FINISHED_OK
$STATE,6646,begin climb
$GC,6647,1.70,146.6,777.1,0.0,317,6783,2.15,2.83,124.62,1.368,4,0.056,0.081,2783,365,2303
$GC,6906,1.85,273.3,774.4,4.2,329,7020,0.10,2.55,107.50,1.332,6,0.038,0.043,2816,1792,1787
$GC,7327,1.85,273.3,724.7,13.1,349,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1792,1786
$GC,7636,1.85,273.3,687.6,13.5,364,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1792,1785
$GC,7946,1.85,273.3,651.9,11.7,379,7950,0.00,2.58,0.00,0.000,4,0.000,0.071,2816,3165,1784
$GC,7972,1.85,273.3,648.4,13.1,380,7977,0.00,2.55,0.00,0.000,6,0.000,0.048,2816,1764,1784
$GC,8299,1.85,273.3,603.7,13.2,396,8304,0.00,2.65,0.00,0.000,4,0.000,0.080,2816,367,1784
$GC,8415,1.85,273.3,586.7,14.4,401,8421,0.00,2.53,0.00,0.000,6,0.000,0.044,2816,1765,1783
$GC,8736,1.85,273.3,539.8,14.6,417,8741,0.00,2.65,0.00,0.000,4,0.000,0.073,2816,365,1782
$GC,8852,1.85,273.3,520.6,16.3,422,8857,0.00,2.50,0.00,0.000,6,0.000,0.042,2816,1772,1782
$GC,9174,1.85,273.3,468.1,16.6,438,9178,0.00,2.62,0.00,0.000,4,0.000,0.068,2816,368,1782
$GC,9227,1.85,273.3,459.0,17.4,440,9235,0.00,2.50,0.00,0.000,6,0.000,0.041,2816,1766,1782
$GC,9543,1.85,273.3,411.0,14.6,456,9547,0.00,2.58,0.00,0.000,4,0.000,0.064,2816,371,1782
$GC,9665,1.85,273.3,392.2,16.0,461,9670,0.00,2.50,0.00,0.000,6,0.000,0.038,2816,1775,1782
$GC,9986,1.85,273.3,347.1,13.1,477,9990,0.00,2.58,0.00,0.000,4,0.000,0.061,2816,370,1782
$GC,10075,1.85,273.3,334.9,13.6,481,10080,0.00,2.45,0.00,0.000,6,0.000,0.038,2816,1776,1782
$GC,10406,1.85,273.3,294.0,11.4,497,10411,0.00,2.60,0.00,0.000,4,0.000,0.061,2816,365,1783
$GC,10461,1.85,273.3,287.2,12.7,499,10468,0.00,2.50,0.00,0.000,6,0.000,0.038,2816,1775,1783
$GC,10776,1.85,273.3,247.1,12.9,515,10780,0.00,2.58,0.00,0.000,4,0.000,0.060,2816,366,1784
$GC,10859,1.85,273.3,235.9,13.4,518,10866,0.00,2.50,0.00,0.000,6,0.000,0.038,2816,1775,1785
$GC,11174,1.85,273.3,195.6,12.6,534,11178,0.00,2.55,0.00,0.000,4,0.000,0.060,2816,369,1785
$GC,11234,1.85,273.3,187.6,13.8,536,11241,0.00,2.47,0.00,0.000,6,0.000,0.037,2816,1770,1785
$GC,11550,1.85,273.3,149.3,12.6,552,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1771,1786
$GC,11859,1.85,273.3,109.0,13.3,567,11864,0.00,2.55,0.00,0.000,4,0.000,0.059,2816,368,1787
$GC,11914,1.85,273.3,100.9,14.5,569,11921,0.00,2.47,0.00,0.000,6,0.000,0.037,2816,1766,1787
$GC,12230,1.85,273.3,57.1,13.0,585,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1766,1788
$GC,12539,1.85,273.3,19.0,11.0,600,12543,0.00,2.58,0.00,0.000,4,0.000,0.062,2816,364,1789
$GC,12603,1.85,273.3,10.8,13.5,603,12608,0.00,2.50,0.00,0.000,6,0.000,0.040,2816,1763,1789
$STATE,12662,end climb,SURFACE_DEPTH_REACHED
$STATE,12662,begin surface coast
$FINISH,-0.6,1.027252
$STATE,12683,end surface coast,CONTROL_FINISHED_OK
$STATE,12683,begin surface
$SM_CCo,12704,25.02,0.758,2,0,1678,300.00
$SM_GC,-0.23,0.00,0.00,25.02,0.000,0.000,0.758,48,2898,1678,-10.87,-0.06,300.00
$IRIDIUM_FIX,6112.75,-832.74,171107,090933
$TT8_MAMPS,0.029146
$HUMID,2113
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.20
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,702.5,86.4
$24V_AH,23.3,11.663
$10V_AH,10.1,4.335
$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,27.375,125.575,365.900,25.025,0.000,41.012,27.417,118.250,9.250,0.000,0.000,18.877,1187.919,9414.556,520.151,1611.130,330.199,33.355,1340.955,0.000,1570.217,0.000,46.799
$DEVICE_MAMPS,165.672,117.351,1368.328,757.796,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.028,415.606,360.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31689,607
$CFSIZE,260165632,256720896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,3,0
$GPS,171107,132928,6137.642,-828.717,28,2.7,47,-9.0