version: 66.02
glider: 103
mission: 7
dive: 39
start: 11 18 107 18 45 20
data:
$ID,103
$MISSION,7
$DIVE,39
$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,-62819.281
$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,25
$R_STBD_OVSHOOT,11
$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
$GPS1,183556,6131.111,-822.664,38,1.5,38,-8.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-52.5
$GPS2,184339,6131.008,-822.594,15,1.6,15,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.100,-0.242
$KALMAN_X,-78472.8,-962.6,100.2,89760.2,1420.9
$KALMAN_Y,57401.7,-1177.6,-255.9,-61494.7,4283.8
$MHEAD_RNG_PITCHd_Wd,211.4,359,-18.2,-10.000
$D_GRID,733
$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,-61.95,0.000,2,0.000,0.000,51,2879,3412
$GC,82,-1.70,-146.6,3.8,-9.5,3,104,11.35,1.80,-1.55,0.000,4,0.163,0.107,2033,3790,3500
$GC,356,-1.70,-146.6,52.8,-11.4,15,361,0.00,1.58,0.00,0.000,6,0.000,0.052,2033,2911,3500
$GC,683,-1.70,-146.6,84.6,-9.7,31,686,0.00,1.73,0.00,0.000,4,0.000,0.098,2033,3786,3500
$GC,940,-1.70,-146.6,114.8,-13.5,42,944,0.00,1.60,0.00,0.000,6,0.000,0.056,2033,2900,3500
$GC,1262,-1.70,-146.6,151.8,-11.7,58,1265,0.00,1.75,0.00,0.000,4,0.000,0.104,2033,3784,3500
$GC,1518,-1.70,-146.6,187.5,-13.7,69,1523,0.00,1.62,0.00,0.000,6,0.000,0.057,2033,2898,3500
$GC,1840,-1.70,-146.6,226.4,-12.0,85,1843,0.00,1.77,0.00,0.000,4,0.000,0.104,2033,3789,3500
$GC,1974,-1.70,-146.6,243.4,-12.7,91,1978,0.00,1.60,0.00,0.000,6,0.000,0.058,2033,2893,3500
$GC,2305,-1.70,-146.6,282.9,-11.6,107,2309,0.00,1.80,0.00,0.000,4,0.000,0.108,2033,3797,3501
$GC,2343,-1.70,-146.6,287.4,-11.7,108,2350,0.00,1.62,0.00,0.000,6,0.000,0.054,2033,2897,3501
$GC,2658,-1.70,-146.6,322.5,-11.3,124,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2897,3501
$GC,2967,-1.70,-146.6,356.5,-11.0,139,2971,0.00,1.77,0.00,0.000,4,0.000,0.105,2033,3782,3501
$GC,3095,-1.70,-146.6,371.8,-12.7,144,3102,0.00,1.60,0.00,0.000,6,0.000,0.051,2033,2896,3501
$GC,3410,-1.70,-146.6,407.2,-11.7,160,3414,0.00,1.73,0.00,0.000,4,0.000,0.100,2033,3784,3501
$GC,3459,-1.70,-146.6,413.1,-12.0,162,3464,0.00,1.58,0.00,0.000,6,0.000,0.047,2033,2900,3501
$GC,3787,-1.70,-146.6,450.6,-11.6,178,3790,0.00,1.73,0.00,0.000,4,0.000,0.097,2033,3787,3501
$GC,3841,-1.70,-146.6,457.6,-12.3,180,3846,0.00,1.58,0.00,0.000,6,0.000,0.043,2033,2899,3501
$GC,4163,-1.70,-146.6,497.6,-12.4,196,4166,0.00,1.73,0.00,0.000,4,0.000,0.093,2033,3790,3501
$GC,4419,-1.70,-146.6,533.2,-16.0,207,4424,0.00,1.58,0.00,0.000,6,0.000,0.038,2033,2890,3501
$GC,4741,-1.70,-146.6,576.2,-13.1,223,4744,0.00,1.73,0.00,0.000,4,0.000,0.087,2033,3790,3501
$GC,4997,-1.70,-146.6,612.9,-13.2,234,5002,0.00,1.55,0.00,0.000,6,0.000,0.037,2033,2899,3501
$GC,5318,-1.70,-146.6,652.3,-10.5,250,5322,0.00,1.70,0.00,0.000,4,0.000,0.088,2033,3779,3501
$GC,5575,-1.70,-146.6,682.2,-13.5,261,5580,0.00,1.58,0.00,0.000,6,0.000,0.040,2033,2893,3502
$GC,5896,-1.70,-146.6,727.5,-16.3,277,5900,0.00,1.77,0.00,0.000,4,0.000,0.110,2033,3789,3501
$STATE,5933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5933,begin apogee
$GC,5940,-0.42,0.0,733.8,15.5,278,6070,1.38,0.00,125.85,1.332,6,0.089,0.000,2315,1788,2901
$STATE,6071,end apogee,CONTROL_FINISHED_OK
$STATE,6071,begin climb
$GC,6072,1.70,146.6,747.8,0.0,285,6205,2.15,2.78,123.43,1.309,4,0.054,0.078,2784,364,2302
$GC,6458,1.70,146.6,719.3,16.4,303,6462,0.00,2.53,0.00,0.000,6,0.000,0.042,2784,1796,2302
$GC,6783,1.74,180.0,684.9,8.5,319,6817,0.00,2.80,28.77,1.287,4,0.000,0.076,2784,360,2167
$GC,7072,1.74,180.0,649.6,14.5,332,7077,0.00,2.50,0.00,0.000,6,0.000,0.044,2784,1772,2165
$GC,7398,1.80,231.0,618.9,7.7,348,7447,0.00,2.67,42.62,1.289,4,0.000,0.065,2784,3171,1960
$GC,7464,1.80,231.0,611.6,12.7,351,7469,0.00,2.58,0.00,0.000,6,0.000,0.047,2784,1766,1960
$GC,7791,1.80,231.0,573.6,12.2,367,7795,0.00,2.60,0.00,0.000,4,0.000,0.058,2784,3179,1957
$GC,7867,1.80,231.0,563.8,11.1,370,7874,0.00,2.53,0.00,0.000,6,0.000,0.042,2784,1770,1957
$GC,8183,1.80,231.0,527.9,10.8,386,8187,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,3174,1957
$GC,8225,1.80,231.0,522.8,12.1,388,8230,0.00,2.50,0.00,0.000,6,0.000,0.041,2784,1776,1956
$GC,8552,1.80,231.0,486.5,10.9,404,8556,0.00,2.53,0.00,0.000,4,0.000,0.051,2784,3174,1956
$GC,8572,1.80,231.0,484.0,12.1,405,8577,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,1774,1956
$GC,8900,1.80,231.0,446.8,11.3,421,8904,0.00,2.53,0.00,0.000,4,0.000,0.051,2784,3173,1957
$GC,8925,1.80,231.0,443.5,12.5,422,8930,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,1774,1957
$GC,9247,1.80,231.0,406.7,11.2,438,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1774,1957
$GC,9556,1.80,231.0,370.5,12.1,453,9560,0.00,2.53,0.00,0.000,4,0.000,0.056,2784,3172,1958
$GC,9605,1.80,231.0,364.3,12.4,455,9610,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,1773,1958
$GC,9926,1.82,244.5,331.2,9.4,471,9941,0.00,0.00,12.80,1.002,6,0.000,0.000,2784,1773,1904
$GC,10235,1.82,244.5,298.4,11.3,486,10240,0.00,2.55,0.00,0.000,4,0.000,0.059,2784,3172,1905
$GC,10255,1.82,244.5,296.0,11.8,487,10261,0.00,2.47,0.00,0.000,6,0.000,0.041,2784,1776,1904
$GC,10582,1.82,244.5,259.1,11.4,503,10587,0.00,2.55,0.00,0.000,4,0.000,0.059,2784,3178,1905
$GC,10621,1.82,244.5,254.5,11.8,505,10625,0.00,2.45,0.00,0.000,6,0.000,0.041,2784,1774,1905
$GC,10947,1.82,244.5,217.7,11.0,521,10951,0.00,2.55,0.00,0.000,4,0.000,0.064,2784,375,1905
$GC,11030,1.82,244.5,207.4,12.2,525,11034,0.00,2.40,0.00,0.000,6,0.000,0.034,2784,1774,1906
$GC,11362,1.82,244.5,168.8,13.1,541,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1777,1906
$GC,11671,1.82,244.5,129.7,10.0,556,11675,0.00,2.55,0.00,0.000,4,0.000,0.064,2784,3171,1907
$GC,11691,1.82,244.5,127.4,11.6,557,11696,0.00,2.45,0.00,0.000,6,0.000,0.041,2784,1784,1907
$GC,12017,1.82,244.5,80.6,16.6,573,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1783,1907
$GC,12326,1.82,244.5,40.6,13.6,588,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1783,1907
$GC,12636,1.82,244.5,3.9,11.6,603,12640,0.00,2.62,0.00,0.000,4,0.000,0.072,2784,365,1908
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12655,begin surface coast
$FINISH,1.2,1.027260
$STATE,12667,end surface coast,CONTROL_FINISHED_OK
$STATE,12667,begin surface
$SM_CCo,12691,46.47,0.796,1,0,1678,300.00
$SM_GC,-0.41,0.00,0.00,46.47,0.000,0.000,0.796,51,2887,1678,-10.85,-0.37,300.00
$IRIDIUM_FIX,6108.28,-826.94,181107,222227
$TT8_MAMPS,0.029146
$HUMID,2091
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,19.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,650.5,103.6
$24V_AH,23.3,13.156
$10V_AH,10.1,4.927
$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,27.475,110.475,333.475,46.475,0.000,73.293,62.716,181.384,6.250,0.000,0.000,15.059,1212.784,9397.053,494.674,1701.068,459.342,33.361,1339.082,0.000,1662.842,0.000,38.030
$DEVICE_MAMPS,163.371,109.681,1332.279,796.146,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,438.942,418.642,361.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31661,604
$CFSIZE,260165632,256266240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
$GPS,181107,221956,6131.183,-825.751,101,1.7,101,-8.9