version: 66.02
glider: 103
mission: 7
dive: 34
start: 11 18 107 4 7 32
data:
$ID,103
$MISSION,7
$DIVE,34
$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,-62740.055
$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,10
$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
$GPS1,040131,6134.463,-819.711,40,1.4,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-52.7
$GPS2,040553,6134.450,-819.672,11,4.8,30,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.013,-0.262
$KALMAN_X,-82145.6,1546.4,-31.4,93592.1,-973.7
$KALMAN_Y,47002.4,1109.7,-101.2,-47188.3,1238.6
$MHEAD_RNG_PITCHd_Wd,186.0,7033,-18.2,-10.000
$D_GRID,581
$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,16,-1.70,-146.6,0.0,0.0,0,80,0.00,0.00,-61.97,0.000,2,0.000,0.000,51,2893,3417
$GC,82,-1.70,-146.6,3.6,-9.5,3,104,11.38,1.77,-1.42,0.000,4,0.166,0.111,2031,3787,3501
$GC,355,-1.70,-146.6,50.8,-12.9,15,360,0.00,1.55,0.00,0.000,6,0.000,0.041,2032,2907,3501
$GC,682,-1.70,-146.6,95.3,-13.6,31,686,0.00,1.73,0.00,0.000,4,0.000,0.097,2032,3786,3501
$GC,939,-1.70,-146.6,130.3,-13.7,42,944,0.00,1.58,0.00,0.000,6,0.000,0.051,2032,2910,3501
$GC,1260,-1.70,-146.6,169.0,-12.2,58,1264,0.00,1.75,0.00,0.000,4,0.000,0.105,2031,3777,3501
$GC,1387,-1.70,-146.6,185.9,-14.1,63,1394,0.00,1.60,0.00,0.000,6,0.000,0.057,2031,2897,3501
$GC,1703,-1.70,-146.6,226.3,-12.6,79,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,2897,3501
$GC,2012,-1.70,-146.6,266.0,-12.8,94,2016,0.00,2.60,0.00,0.000,4,0.000,0.071,2031,1488,3501
$GC,2051,-1.70,-146.6,270.9,-12.6,96,2056,0.00,2.72,0.00,0.000,6,0.000,0.084,2032,2904,3501
$GC,2376,-1.70,-146.6,312.8,-13.4,112,2379,0.00,1.75,0.00,0.000,4,0.000,0.104,2032,3785,3501
$GC,2413,-1.70,-146.6,318.1,-14.3,113,2420,0.00,1.60,0.00,0.000,6,0.000,0.052,2032,2899,3501
$GC,2729,-1.70,-146.6,355.9,-12.4,129,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2899,3501
$GC,3038,-1.70,-146.6,394.1,-11.6,144,3042,0.00,1.75,0.00,0.000,4,0.000,0.102,2031,3778,3502
$GC,3227,-1.70,-146.6,416.5,-11.5,152,3232,0.00,1.60,0.00,0.000,6,0.000,0.054,2031,2897,3502
$GC,3551,-1.70,-146.6,450.6,-11.1,168,3555,0.00,2.60,0.00,0.000,4,0.000,0.070,2032,1484,3502
$GC,3701,-1.70,-146.6,467.5,-13.6,175,3705,0.00,2.70,0.00,0.000,6,0.000,0.082,2032,2900,3502
$GC,4027,-1.70,-146.6,504.2,-11.1,191,4030,0.00,1.73,0.00,0.000,4,0.000,0.102,2032,3790,3502
$GC,4103,-1.70,-146.6,513.9,-12.2,194,4108,0.00,1.60,0.00,0.000,6,0.000,0.047,2031,2898,3502
$GC,4425,-1.70,-146.6,548.5,-10.0,210,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2897,3502
$STATE,4568,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4568,begin apogee
$GC,4573,-0.42,0.0,567.1,12.9,217,4702,1.40,0.00,124.30,1.198,6,0.087,0.000,2316,1779,2901
$STATE,4702,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4704,1.70,146.6,569.6,0.0,223,4835,2.12,2.75,121.88,1.168,4,0.053,0.070,2784,367,2303
$GC,5088,1.73,175.8,544.7,8.7,240,5118,0.00,2.53,25.65,1.098,6,0.000,0.036,2784,1806,2184
$GC,5445,1.73,175.8,508.0,10.7,258,5450,0.00,2.67,0.00,0.000,4,0.000,0.065,2784,367,2183
$GC,5702,1.73,175.8,474.9,12.8,269,5709,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,1766,2183
$GC,6017,1.73,175.8,442.4,10.7,285,6022,0.00,2.60,0.00,0.000,4,0.000,0.064,2784,367,2182
$GC,6123,1.73,175.8,430.8,10.7,290,6128,0.00,2.45,0.00,0.000,6,0.000,0.037,2784,1784,2182
$GC,6456,1.81,237.0,404.1,7.2,306,6511,0.00,2.70,50.28,1.089,4,0.000,0.065,2784,367,1934
$GC,6521,1.81,243.6,398.2,9.7,308,6534,0.00,2.50,7.15,0.910,6,0.000,0.037,2784,1771,1907
$GC,6841,1.81,243.6,361.7,11.6,324,6845,0.00,2.58,0.00,0.000,4,0.000,0.064,2784,3170,1907
$GC,6863,1.81,243.6,359.2,12.1,325,6867,0.00,2.50,0.00,0.000,6,0.000,0.045,2784,1762,1907
$GC,7195,1.81,243.6,319.7,12.7,341,7199,0.00,2.60,0.00,0.000,4,0.000,0.063,2784,3168,1907
$GC,7226,1.81,243.6,315.5,12.7,342,7233,0.00,2.47,0.00,0.000,6,0.000,0.041,2784,1775,1907
$GC,7541,1.81,243.6,274.6,13.4,358,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1775,1907
$GC,7851,1.81,243.6,232.1,13.5,373,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1775,1907
$GC,8160,1.81,243.6,193.7,11.8,388,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1775,1907
$GC,8469,1.81,243.6,156.9,11.8,403,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1775,1907
$GC,8779,1.81,243.6,119.3,12.2,418,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1774,1907
$GC,9088,1.81,243.6,76.3,14.9,433,9090,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1774,1907
$GC,9398,1.89,302.4,40.9,7.3,448,9448,0.17,0.00,47.58,0.841,6,0.038,0.000,2837,1774,1668
$STATE,9685,end climb,SURFACE_DEPTH_REACHED
$STATE,9685,begin surface coast
$FINISH,-1.0,1.015395
$STATE,9706,end surface coast,CONTROL_FINISHED_OK
$STATE,9706,begin surface
$SM_CCo,9787,0.00,0.000,0,0,1665,303.19
$SM_GC,-0.20,12.57,0.00,0.00,0.041,0.000,0.000,50,2882,1665,-10.79,-0.51,303.19
$IRIDIUM_FIX,6108.28,-823.14,181107,050554
$TT8_MAMPS,0.028379
$HUMID,2078
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,475.6,99.6
$24V_AH,23.4,12.470
$10V_AH,10.1,4.648
$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,27.650,65.650,376.825,0.000,0.000,37.923,25.588,109.046,4.500,0.000,0.000,31.903,904.985,7215.238,450.905,1254.240,280.693,33.347,1071.257,0.000,1207.684,0.000,32.317
$DEVICE_MAMPS,165.672,111.215,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,333.499,315.942,305.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22364,463
$CFSIZE,260165632,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,181107,065158,6133.793,-818.855,28,3.1,47,-8.9