version: 66.02
glider: 103
mission: 7
dive: 38
start: 11 18 107 15 20 7
data:
$ID,103
$MISSION,7
$DIVE,38
$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,-62803.598
$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,23
$R_STBD_OVSHOOT,3
$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
$GPS1,151432,6131.770,-821.192,40,1.5,40,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-53.2
$GPS2,151827,6131.733,-821.169,15,1.3,15,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.127,-0.229
$KALMAN_X,-78964.1,-770.1,-62.6,91463.9,1257.1
$KALMAN_Y,54868.2,-911.6,261.1,-58414.8,2710.8
$MHEAD_RNG_PITCHd_Wd,217.9,2111,-18.2,-10.000
$D_GRID,677
$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,-146.6,0.0,0.0,0,93,0.00,0.00,-73.88,0.000,6,0.000,0.000,51,2885,3500
$GC,95,-1.70,-146.6,1.3,-2.8,3,110,11.27,1.73,0.00,0.000,4,0.162,0.081,2034,3796,3502
$GC,361,-1.70,-146.6,50.0,-12.6,14,366,0.00,1.62,0.00,0.000,6,0.000,0.058,2034,2907,3503
$GC,688,-1.70,-146.6,91.2,-11.7,30,692,0.00,1.75,0.00,0.000,4,0.000,0.100,2034,3792,3503
$GC,945,-1.70,-146.6,131.3,-14.9,41,950,0.00,1.62,0.00,0.000,6,0.000,0.058,2034,2900,3503
$GC,1266,-1.70,-146.6,171.5,-12.0,57,1269,0.00,1.77,0.00,0.000,4,0.000,0.103,2034,3787,3503
$GC,1500,-1.70,-146.6,200.9,-12.1,67,1505,0.00,1.62,0.00,0.000,6,0.000,0.058,2034,2898,3503
$GC,1821,-1.70,-146.6,240.3,-12.8,83,1825,0.00,1.80,0.00,0.000,4,0.000,0.104,2034,3794,3503
$GC,1881,-1.70,-146.6,248.4,-13.4,85,1889,0.00,1.62,0.00,0.000,6,0.000,0.056,2034,2900,3503
$GC,2197,-1.70,-146.6,287.6,-12.1,101,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2900,3503
$GC,2506,-1.70,-146.6,323.8,-11.6,116,2510,0.00,1.77,0.00,0.000,4,0.000,0.103,2034,3797,3503
$GC,2566,-1.70,-146.6,331.2,-11.9,118,2573,0.00,1.62,0.00,0.000,6,0.000,0.054,2034,2898,3503
$GC,2881,-1.70,-146.6,368.5,-11.4,134,2885,0.00,1.77,0.00,0.000,4,0.000,0.100,2034,3792,3503
$GC,2930,-1.70,-146.6,374.2,-11.2,136,2935,0.00,1.60,0.00,0.000,6,0.000,0.051,2034,2898,3503
$GC,3257,-1.70,-146.6,410.7,-10.8,152,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3503
$GC,3566,-1.70,-146.6,447.1,-12.2,167,3570,0.00,1.77,0.00,0.000,4,0.000,0.099,2034,3792,3503
$GC,3649,-1.70,-146.6,458.0,-13.0,170,3657,0.00,1.60,0.00,0.000,6,0.000,0.051,2034,2897,3503
$GC,3965,-1.70,-146.6,493.5,-12.7,186,3969,0.00,1.75,0.00,0.000,4,0.000,0.098,2034,3792,3503
$GC,4222,-1.70,-146.6,531.2,-15.5,197,4227,0.00,1.60,0.00,0.000,6,0.000,0.048,2034,2899,3503
$GC,4543,-1.70,-146.6,574.0,-12.5,213,4547,0.00,1.73,0.00,0.000,4,0.000,0.097,2034,3793,3504
$GC,4800,-1.70,-146.6,610.9,-15.7,224,4805,0.00,1.58,0.00,0.000,6,0.000,0.044,2034,2900,3504
$STATE,5120,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5121,begin apogee
$GC,5126,-0.42,0.0,663.2,15.6,240,5256,1.38,0.00,125.75,1.266,6,0.081,0.000,2318,1772,2901
$STATE,5257,end apogee,CONTROL_FINISHED_OK
$STATE,5257,begin climb
$GC,5258,1.70,146.6,673.9,0.0,246,5390,2.12,2.72,122.80,1.234,4,0.052,0.075,2784,367,2303
$GC,5643,1.70,146.6,643.3,11.7,264,5647,0.00,2.53,0.00,0.000,6,0.000,0.038,2784,1804,2302
$GC,5968,1.72,165.8,610.5,9.1,280,5989,0.00,0.00,17.08,1.185,6,0.000,0.000,2784,1805,2225
$GC,6298,1.78,216.0,583.4,7.7,296,6347,0.00,2.62,42.58,1.240,4,0.000,0.063,2784,3169,2020
$GC,6419,1.78,216.0,571.4,10.9,301,6426,0.00,2.53,0.00,0.000,6,0.000,0.045,2784,1776,2019
$GC,6735,1.78,219.2,541.0,9.9,317,6741,0.00,0.00,4.20,0.882,6,0.000,0.000,2784,1776,2007
$GC,7044,1.79,221.6,510.5,9.9,332,7048,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,3177,2006
$GC,7222,1.79,221.6,490.3,11.2,340,7232,0.00,2.50,3.60,0.803,6,0.000,0.040,2784,1774,1997
$GC,7548,1.79,221.6,453.8,10.7,356,7552,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,3171,1996
$GC,7579,1.79,221.6,450.3,10.8,357,7586,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,1774,1997
$GC,7894,1.79,221.6,416.7,10.9,373,7895,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1774,1997
$GC,8203,1.79,221.6,383.3,11.0,388,8208,0.00,2.58,0.00,0.000,4,0.000,0.064,2784,369,1997
$GC,8242,1.79,221.6,378.8,11.6,390,8246,0.00,2.40,0.00,0.000,6,0.000,0.032,2784,1779,1997
$GC,8574,1.79,221.6,342.7,10.5,406,8578,0.00,2.53,0.00,0.000,4,0.000,0.061,2784,3170,1997
$GC,8622,1.79,221.6,337.0,11.5,408,8627,0.00,2.45,0.00,0.000,6,0.000,0.038,2784,1777,1997
$GC,8943,1.79,221.6,299.1,11.6,424,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1776,1998
$GC,9252,1.79,221.6,264.2,11.3,439,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1776,1999
$GC,9562,1.79,221.6,227.1,12.5,454,9566,0.00,2.53,0.00,0.000,4,0.000,0.060,2784,3165,1999
$GC,9582,1.79,221.6,224.2,13.4,455,9587,0.00,2.45,0.00,0.000,6,0.000,0.038,2784,1774,1999
$GC,9909,1.79,221.6,181.4,13.6,471,9913,0.00,2.53,0.00,0.000,4,0.000,0.061,2784,374,1999
$GC,9968,1.79,221.6,173.2,13.0,473,9975,0.00,2.40,0.00,0.000,6,0.000,0.033,2784,1763,1999
$GC,10284,1.79,221.6,133.6,13.7,489,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1764,2000
$GC,10594,1.79,221.6,94.8,11.0,504,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1768,2000
$GC,10903,1.79,221.6,59.2,12.8,519,10907,0.00,2.53,0.00,0.000,4,0.000,0.058,2784,374,2000
$GC,10945,1.79,221.6,53.0,14.9,521,10950,0.00,2.42,0.00,0.000,6,0.000,0.034,2784,1770,2000
$GC,11273,1.79,221.6,25.4,11.6,537,11277,0.00,2.53,0.00,0.000,4,0.000,0.058,2784,373,2000
$GC,11334,1.79,221.6,17.9,13.4,540,11338,0.00,2.42,0.00,0.000,6,0.000,0.035,2784,1787,2000
$STATE,11562,end climb,SURFACE_DEPTH_REACHED
$STATE,11562,begin surface coast
$FINISH,-0.9,1.025787
$STATE,11582,end surface coast,CONTROL_FINISHED_OK
$STATE,11582,begin surface
$SM_CCo,11603,65.15,0.791,2,0,1678,300.00
$SM_GC,0.23,0.00,0.00,65.15,0.000,0.000,0.791,51,2879,1678,-10.85,-0.59,300.00
$IRIDIUM_FIX,6108.28,-818.01,181107,161603
$TT8_MAMPS,0.029146
$HUMID,2073
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,575.4,96.1
$24V_AH,23.4,13.005
$10V_AH,10.1,4.861
$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,26.950,84.700,316.000,65.150,0.000,40.313,31.283,89.296,5.750,0.000,0.000,15.598,1089.147,8614.029,507.012,1483.562,280.170,33.347,1238.628,0.000,1451.460,0.000,35.975
$DEVICE_MAMPS,161.837,103.545,1266.317,790.777,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.643,379.313,347.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28565,552
$CFSIZE,260165632,256331776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,2,0
$GPS,181107,183556,6131.111,-822.664,38,1.5,38,-8.9