version: 66.02
glider: 103
mission: 7
dive: 46
start: 11 19 107 9 43 43
data:
$ID,103
$MISSION,7
$DIVE,46
$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,-62991.727
$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,15
$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
$GPS1,093829,6129.545,-826.396,10,2.7,29,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-58.9
$GPS2,094205,6129.533,-826.408,13,2.8,32,-8.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6131.000,-823.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.179,-0.191
$KALMAN_X,-90054.9,-243.8,9.3,97331.9,-21906.6
$KALMAN_Y,73657.4,-1120.8,-517.1,-80258.2,29230.7
$MHEAD_RNG_PITCHd_Wd,145.7,4055,-18.2,-10.000
$D_GRID,800
$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,18,-1.70,-146.6,0.0,0.0,0,82,0.00,0.00,-62.33,0.000,2,0.000,0.000,47,2892,3498
$GC,84,-1.70,-146.6,4.3,-10.1,3,105,11.45,2.62,0.00,0.000,4,0.166,0.059,2034,1483,3501
$GC,217,-1.70,-146.6,28.6,-12.4,9,221,0.00,2.75,0.00,0.000,6,0.000,0.088,2034,2900,3501
$GC,542,-1.70,-146.6,68.4,-12.7,25,546,0.00,1.75,0.00,0.000,4,0.000,0.109,2034,3785,3501
$GC,677,-1.70,-146.6,86.2,-14.2,31,680,0.00,1.62,0.00,0.000,6,0.000,0.065,2034,2898,3501
$GC,1008,-1.70,-146.6,127.7,-12.7,47,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3501
$GC,1317,-1.70,-146.6,164.8,-12.3,62,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3501
$GC,1627,-1.70,-146.6,200.7,-10.8,77,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3501
$GC,1935,-1.70,-146.6,234.5,-10.8,92,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3501
$GC,2245,-1.70,-146.6,268.3,-11.1,107,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2897,3501
$GC,2554,-1.70,-146.6,303.2,-11.4,122,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2898,3501
$GC,2863,-1.70,-146.6,338.5,-11.4,137,2867,0.00,2.58,0.00,0.000,4,0.000,0.066,2034,1480,3501
$GC,2895,-1.70,-146.6,342.5,-11.9,138,2900,0.00,2.75,0.00,0.000,6,0.000,0.084,2034,2900,3501
$GC,3216,-1.70,-146.6,379.8,-11.2,154,3220,0.00,1.75,0.00,0.000,4,0.000,0.102,2034,3786,3501
$GC,3242,-1.70,-146.6,383.0,-12.8,155,3248,0.00,1.62,0.00,0.000,6,0.000,0.054,2034,2896,3501
$GC,3570,-1.70,-146.6,419.9,-11.4,171,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2897,3501
$GC,3879,-1.70,-146.6,455.4,-11.6,186,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2897,3501
$GC,4188,-1.70,-146.6,491.0,-12.1,201,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2897,3501
$GC,4500,-1.70,-146.6,526.9,-11.5,216,4504,0.00,2.55,0.00,0.000,4,0.000,0.064,2034,1485,3501
$GC,4531,-1.70,-146.6,530.9,-12.1,217,4538,0.00,2.67,0.00,0.000,6,0.000,0.076,2034,2892,3501
$GC,4847,-1.70,-146.6,568.9,-12.4,233,4850,0.00,1.75,0.00,0.000,4,0.000,0.099,2034,3780,3501
$GC,5019,-1.70,-146.6,594.2,-15.4,240,5027,0.00,1.58,0.00,0.000,6,0.000,0.049,2034,2896,3501
$GC,5335,-1.70,-146.6,633.0,-12.6,256,5339,0.00,2.53,0.00,0.000,4,0.000,0.060,2034,1486,3501
$GC,5553,-1.70,-146.6,661.9,-11.9,266,5558,0.00,2.60,0.00,0.000,6,0.000,0.065,2034,2902,3501
$GC,5878,-1.70,-146.6,703.8,-12.4,282,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2901,3501
$GC,6188,-1.70,-146.6,738.6,-11.8,297,6192,0.00,2.60,0.00,0.000,4,0.000,0.069,2034,1489,3501
$GC,6203,-1.70,-146.6,740.2,-11.4,298,6208,0.00,2.70,0.00,0.000,6,0.000,0.086,2034,2898,3501
$GC,6528,-1.70,-146.6,775.3,-13.5,314,6533,0.00,2.62,0.00,0.000,4,0.000,0.074,2034,1486,3500
$GC,6550,-1.70,-146.6,779.1,-17.9,315,6555,0.00,2.75,0.00,0.000,6,0.000,0.087,2034,2904,3500
$STATE,6682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6682,begin apogee
$GC,6688,-0.42,0.0,800.1,14.4,322,6819,1.40,0.00,126.88,1.415,6,0.088,0.000,2319,1775,2901
$STATE,6820,end apogee,CONTROL_FINISHED_OK
$STATE,6820,begin climb
$GC,6821,1.70,146.6,807.8,0.0,328,6954,2.12,2.75,124.00,1.387,4,0.052,0.076,2782,365,2303
$GC,6998,1.82,247.1,811.4,5.4,337,7092,0.08,2.58,84.47,1.374,6,0.041,0.042,2811,1797,1893
$GC,7399,1.82,247.1,766.1,12.6,357,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1797,1891
$GC,7708,1.82,247.1,722.2,12.8,372,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1797,1890
$GC,8018,1.82,248.9,689.4,9.9,387,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1797,1888
$GC,8327,1.82,248.9,652.8,11.3,402,8332,0.00,2.70,0.00,0.000,4,0.000,0.082,2811,367,1886
$GC,8415,1.82,248.9,639.2,19.1,406,8421,0.00,2.53,0.00,0.000,6,0.000,0.047,2811,1759,1886
$GC,8742,1.82,248.9,600.1,12.4,422,8746,0.00,2.60,0.00,0.000,4,0.000,0.066,2811,367,1885
$GC,8768,1.82,248.9,596.3,15.0,423,8773,0.00,2.50,0.00,0.000,6,0.000,0.038,2811,1783,1885
$GC,9089,1.82,248.9,553.7,12.7,439,9094,0.00,2.62,0.00,0.000,4,0.000,0.063,2811,365,1885
$GC,9129,1.82,248.9,548.5,13.6,441,9133,0.00,2.47,0.00,0.000,6,0.000,0.040,2811,1779,1885
$GC,9454,1.82,248.9,504.1,13.8,457,9458,0.00,2.60,0.00,0.000,4,0.000,0.061,2811,365,1885
$GC,9569,1.82,248.9,487.9,13.6,462,9574,0.00,2.47,0.00,0.000,6,0.000,0.036,2811,1768,1885
$GC,9890,1.82,248.9,445.3,12.9,478,9895,0.00,2.55,0.00,0.000,4,0.000,0.061,2811,366,1886
$GC,9956,1.82,248.9,436.1,14.2,481,9961,0.00,2.47,0.00,0.000,6,0.000,0.037,2811,1764,1887
$GC,10283,1.82,248.9,390.3,14.3,497,10287,0.00,2.60,0.00,0.000,4,0.000,0.068,2811,3178,1888
$GC,10344,1.82,248.9,381.4,15.4,500,10349,0.00,2.47,0.00,0.000,6,0.000,0.042,2811,1766,1888
$GC,10671,1.82,248.9,332.9,14.9,516,10675,0.00,2.62,0.00,0.000,4,0.000,0.067,2811,3179,1889
$GC,10792,1.82,248.9,314.4,15.7,521,10799,0.00,2.47,0.00,0.000,6,0.000,0.043,2811,1780,1889
$GC,11108,1.82,248.9,266.2,14.4,537,11112,0.00,2.58,0.00,0.000,4,0.000,0.068,2811,3178,1889
$GC,11245,1.82,248.9,246.4,15.1,543,11250,0.00,2.50,0.00,0.000,6,0.000,0.048,2811,1786,1889
$GC,11567,1.82,248.9,194.3,16.4,559,11571,0.00,2.60,0.00,0.000,4,0.000,0.065,2811,364,1890
$GC,11599,1.82,248.9,188.9,15.2,560,11606,0.00,2.45,0.00,0.000,6,0.000,0.038,2811,1779,1890
$GC,11914,1.82,248.9,140.6,16.0,576,11915,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1780,1891
$GC,12225,1.82,248.9,95.5,13.1,591,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1780,1892
$GC,12533,1.82,248.9,54.4,12.8,606,12534,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1782,1892
$GC,12842,1.82,248.9,14.2,12.7,621,12846,0.00,2.58,0.00,0.000,4,0.000,0.069,2811,3182,1893
$GC,12862,1.82,248.9,11.4,12.0,622,12867,0.00,2.50,0.00,0.000,6,0.000,0.046,2811,1780,1893
$STATE,12940,end climb,SURFACE_DEPTH_REACHED
$STATE,12940,begin surface coast
$FINISH,-0.8,1.027210
$STATE,12964,end surface coast,CONTROL_FINISHED_OK
$STATE,12964,begin surface
$SM_CCo,12984,43.30,0.845,1,0,1678,300.00
$SM_GC,-0.13,0.00,0.00,43.30,0.000,0.000,0.845,43,2892,1678,-10.88,-0.25,300.00
$IRIDIUM_FIX,6108.28,-822.48,191107,121256
$TT8_MAMPS,0.029146
$HUMID,2102
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,17.50
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,751.4,93.9
$24V_AH,23.3,13.995
$10V_AH,10.1,5.222
$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,27.200,102.400,335.350,43.300,0.000,40.302,29.396,64.428,12.250,0.000,0.000,33.466,1180.685,9923.231,485.705,1462.698,262.947,33.341,1218.302,0.000,1410.550,0.000,47.305
$DEVICE_MAMPS,165.672,108.914,1415.115,845.234,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.260,436.110,363.170,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31697,627
$CFSIZE,260165632,256049152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,191107,132208,6129.029,-826.880,39,0.9,39,-8.9