version: 66.02
glider: 103
mission: 7
dive: 32
start: 11 17 107 21 54 55
data:
$ID,103
$MISSION,7
$DIVE,32
$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,-62694.891
$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
$GPS1,214837,6135.280,-823.508,40,1.3,46,-8.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.40
$_SM_ANGLEo,-59.6
$GPS2,215315,6135.286,-823.496,11,1.2,11,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.139,-0.222
$KALMAN_X,-83639.1,727.8,1346.1,91161.8,-5001.6
$KALMAN_Y,43241.1,-198.6,442.1,-41106.4,792.0
$MHEAD_RNG_PITCHd_Wd,156.8,7950,-18.2,-10.000
$D_GRID,651
$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,-62.15,0.000,2,0.000,0.000,51,2889,3418
$GC,83,-1.70,-146.6,3.7,-9.9,3,105,11.48,1.80,-1.48,0.000,4,0.168,0.115,2033,3786,3502
$GC,357,-1.70,-146.6,49.2,-14.5,15,362,0.00,1.58,0.00,0.000,6,0.000,0.048,2033,2910,3503
$GC,684,-1.70,-146.6,90.6,-13.0,31,687,0.00,1.75,0.00,0.000,4,0.000,0.104,2033,3786,3503
$GC,760,-1.70,-146.6,100.1,-12.0,34,765,0.00,1.62,0.00,0.000,6,0.000,0.058,2033,2899,3503
$GC,1082,-1.70,-146.6,139.3,-12.3,50,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2899,3503
$GC,1390,-1.70,-146.6,179.0,-13.5,65,1394,0.00,1.80,0.00,0.000,4,0.000,0.108,2033,3786,3504
$GC,1428,-1.70,-146.6,184.1,-13.5,66,1435,0.00,1.62,0.00,0.000,6,0.000,0.058,2033,2898,3504
$GC,1743,-1.70,-146.6,223.5,-12.4,82,1748,0.00,2.60,0.00,0.000,4,0.000,0.066,2033,1481,3504
$GC,1775,-1.70,-146.6,227.6,-11.8,83,1783,0.00,2.78,0.00,0.000,6,0.000,0.088,2033,2894,3504
$GC,2091,-1.70,-146.6,267.1,-12.8,99,2095,0.00,1.77,0.00,0.000,4,0.000,0.107,2033,3792,3504
$GC,2147,-1.70,-146.6,274.5,-13.4,101,2152,0.00,1.60,0.00,0.000,6,0.000,0.054,2033,2902,3505
$GC,2466,-1.70,-146.6,314.2,-11.4,117,2470,0.00,1.80,0.00,0.000,4,0.000,0.108,2033,3790,3505
$GC,2503,-1.70,-146.6,319.0,-12.3,118,2511,0.00,1.60,0.00,0.000,6,0.000,0.056,2033,2906,3505
$GC,2819,-1.70,-146.6,358.9,-13.0,134,2823,0.00,2.60,0.00,0.000,4,0.000,0.067,2033,1485,3505
$GC,2892,-1.70,-146.6,367.6,-11.8,137,2896,0.00,2.72,0.00,0.000,6,0.000,0.086,2033,2904,3505
$GC,3206,-1.70,-146.6,403.6,-12.1,152,3209,0.00,1.75,0.00,0.000,4,0.000,0.106,2033,3793,3505
$GC,3250,-1.70,-146.6,409.2,-12.5,154,3254,0.00,1.60,0.00,0.000,6,0.000,0.054,2033,2905,3505
$GC,3581,-1.70,-146.6,447.0,-10.3,170,3586,0.00,2.60,0.00,0.000,4,0.000,0.067,2033,1484,3505
$GC,3621,-1.70,-146.6,450.3,-8.1,172,3626,0.00,2.72,0.00,0.000,6,0.000,0.083,2033,2907,3505
$GC,3947,-1.70,-146.6,485.1,-10.1,188,3950,0.00,1.77,0.00,0.000,4,0.000,0.110,2033,3785,3505
$GC,4108,-1.70,-146.6,510.3,-14.6,195,4113,0.00,1.62,0.00,0.000,6,0.000,0.061,2033,2897,3505
$GC,4435,-1.70,-146.6,541.2,-9.3,211,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2897,3505
$GC,4745,-1.70,-146.6,565.6,-7.9,226,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2897,3505
$GC,5059,-1.70,-146.6,600.3,-8.5,241,5062,0.00,1.80,0.00,0.000,4,0.000,0.112,2033,3787,3505
$GC,5180,-1.70,-146.6,613.8,-13.4,246,5185,0.00,1.62,0.00,0.000,6,0.000,0.061,2033,2901,3504
$STATE,5500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5500,begin apogee
$GC,5506,-0.42,0.0,653.7,13.0,262,5636,1.40,0.00,126.10,1.301,6,0.090,0.000,2316,1772,2902
$STATE,5637,end apogee,CONTROL_FINISHED_OK
$STATE,5637,begin climb
$GC,5638,1.70,146.6,660.0,0.0,268,5767,2.15,0.00,123.43,1.256,6,0.054,0.000,2782,1772,2304
$GC,6069,1.70,146.6,626.9,10.2,289,6073,0.00,2.65,0.00,0.000,4,0.000,0.061,2782,3198,2302
$GC,6151,1.78,217.8,619.7,6.7,292,6220,0.00,2.58,59.75,1.226,6,0.000,0.045,2782,1774,2013
$GC,6529,1.78,217.8,575.7,16.0,311,6533,0.00,2.65,0.00,0.000,4,0.000,0.064,2782,3190,2013
$GC,6684,1.78,217.8,558.4,15.7,318,6689,0.00,2.55,0.00,0.000,6,0.000,0.044,2782,1776,2013
$GC,7010,1.78,217.8,511.6,14.3,334,7015,0.00,2.62,0.00,0.000,4,0.000,0.072,2782,374,2012
$GC,7104,1.78,217.8,501.6,10.1,338,7109,0.00,2.50,0.00,0.000,6,0.000,0.038,2782,1789,2012
$GC,7426,1.83,253.4,476.1,8.4,354,7462,0.12,2.60,30.30,1.185,4,0.052,0.062,2815,3171,1867
$GC,7500,1.83,253.4,469.4,11.5,356,7507,0.00,2.53,0.00,0.000,6,0.000,0.044,2815,1776,1867
$GC,7815,1.83,253.4,429.2,13.8,372,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1776,1866
$GC,8124,1.83,253.4,393.9,12.4,387,8129,0.00,2.60,0.00,0.000,4,0.000,0.067,2815,370,1865
$GC,8151,1.83,253.4,391.0,10.8,388,8156,0.00,2.50,0.00,0.000,6,0.000,0.037,2815,1778,1865
$GC,8477,1.83,253.4,346.7,14.3,404,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1778,1865
$GC,8787,1.83,253.4,303.2,14.2,419,8791,0.00,2.58,0.00,0.000,4,0.000,0.064,2815,3181,1865
$GC,8813,1.83,253.4,299.2,15.0,420,8818,0.00,2.50,0.00,0.000,6,0.000,0.041,2815,1768,1865
$GC,9134,1.83,253.4,254.6,14.6,436,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1768,1865
$GC,9443,1.83,253.4,211.8,13.4,451,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1768,1867
$GC,9753,1.83,253.4,165.3,14.6,466,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1768,1867
$GC,10062,1.83,253.4,124.7,12.8,481,10066,0.00,2.60,0.00,0.000,4,0.000,0.064,2815,3175,1868
$GC,10093,1.83,253.4,119.9,14.3,482,10100,0.00,2.47,0.00,0.000,6,0.000,0.044,2815,1780,1868
$GC,10410,1.83,253.4,76.3,13.6,498,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1780,1869
$GC,10718,1.83,253.4,33.4,14.6,513,10723,0.00,2.58,0.00,0.000,4,0.000,0.065,2815,3174,1869
$GC,10739,1.83,253.4,30.2,14.9,514,10744,0.00,2.47,0.00,0.000,6,0.000,0.044,2815,1783,1869
$STATE,10963,end climb,SURFACE_DEPTH_REACHED
$STATE,10963,begin surface coast
$FINISH,-1.2,1.002107
$STATE,10983,end surface coast,CONTROL_FINISHED_OK
$STATE,10984,begin surface
$SM_CCo,11004,40.38,0.791,2,0,1678,300.00
$SM_GC,-0.65,0.00,0.00,40.38,0.000,0.000,0.791,47,2884,1678,-10.87,-0.42,300.00
$IRIDIUM_FIX,6112.75,-828.27,171107,212135
$TT8_MAMPS,0.029146
$HUMID,2100
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.3,103.1
$24V_AH,23.4,12.208
$10V_AH,10.1,4.544
$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,27.325,88.425,339.575,40.375,0.000,34.430,27.327,141.030,5.750,0.000,0.000,11.907,1013.308,8313.130,491.777,1248.024,321.526,33.351,1139.502,0.000,1224.819,0.000,34.793
$DEVICE_MAMPS,167.973,115.050,1300.832,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.562,359.012,329.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25463,526
$CFSIZE,260165632,256577536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,2,0
$GPS,181107,010028,6134.765,-822.387,25,2.9,44,-8.9