version: 66.02
glider: 102
mission: 4
dive: 5
start: 11 14 107 4 38 48
data:
$ID,102
$MISSION,4
$DIVE,5
$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,360
$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,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$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,-76369.758
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-8.5065012
$PRESSURE_SLOPE,0.00011626
$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,3
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,043158,6134.081,-826.826,27,2.7,46,-8.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-62.6
$GPS2,043707,6134.047,-826.857,33,1.1,33,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.040,-0.256
$KALMAN_X,-1787.1,-31.8,-155.3,4794.4,-359.4
$KALMAN_Y,8976.9,150.4,699.9,-8163.1,2815.0
$MHEAD_RNG_PITCHd_Wd,180.1,7673,-17.9,-10.000
$D_GRID,781
$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,-1.46,-146.6,0.0,0.0,0,110,0.00,0.00,-90.93,0.000,6,0.000,0.000,31,1892,3477
$GC,112,-1.46,-146.6,2.9,-4.6,4,133,11.57,2.53,0.00,0.000,4,0.148,0.044,2182,3305,3478
$GC,385,-1.46,-146.6,47.4,-11.2,16,389,0.00,2.55,0.00,0.000,6,0.000,0.043,2183,1897,3479
$GC,711,-1.46,-146.6,85.0,-11.5,32,716,0.00,2.53,0.00,0.000,4,0.000,0.046,2183,3305,3479
$GC,885,-1.46,-146.6,105.7,-11.7,40,890,0.00,2.53,0.00,0.000,6,0.000,0.044,2183,1897,3479
$GC,1211,-1.46,-146.6,144.1,-11.6,56,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1897,3479
$GC,1520,-1.46,-146.6,179.5,-11.9,71,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1897,3479
$GC,1830,-1.46,-146.6,216.8,-12.2,86,1834,0.00,2.53,0.00,0.000,4,0.000,0.047,2183,3303,3479
$GC,1861,-1.46,-146.6,220.9,-12.0,87,1868,0.00,2.55,0.00,0.000,6,0.000,0.044,2183,1898,3479
$GC,2177,-1.46,-146.6,258.8,-12.2,103,2181,0.00,2.53,0.00,0.000,4,0.000,0.047,2183,3304,3479
$GC,2220,-1.46,-146.6,264.2,-11.8,105,2225,0.00,2.55,0.00,0.000,6,0.000,0.045,2183,1901,3479
$GC,2547,-1.46,-146.6,302.7,-11.9,121,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1901,3479
$GC,2856,-1.46,-146.6,338.3,-11.7,136,2860,0.00,2.53,0.00,0.000,4,0.000,0.050,2183,3302,3479
$GC,2888,-1.46,-146.6,342.3,-11.8,137,2895,0.00,2.55,0.00,0.000,6,0.000,0.046,2183,1901,3479
$GC,3203,-1.46,-146.6,379.9,-12.2,153,3207,0.00,2.60,0.00,0.000,4,0.000,0.067,2183,494,3479
$GC,3252,-1.46,-146.6,386.0,-12.2,155,3257,0.00,2.50,0.00,0.000,6,0.000,0.043,2183,1905,3479
$GC,3581,-1.46,-146.6,425.8,-12.1,171,3586,0.00,2.62,0.00,0.000,4,0.000,0.069,2183,495,3479
$GC,3613,-1.46,-146.6,430.2,-12.6,172,3620,0.00,2.50,0.00,0.000,6,0.000,0.044,2182,1896,3479
$GC,3928,-1.46,-146.6,470.4,-12.1,188,3933,0.00,2.60,0.00,0.000,4,0.000,0.068,2183,492,3479
$GC,3977,-1.46,-146.6,474.8,-10.2,190,3983,0.00,2.50,0.00,0.000,6,0.000,0.044,2183,1888,3479
$GC,4299,-1.46,-146.6,497.3,-5.8,206,4303,0.00,2.55,0.00,0.000,4,0.000,0.053,2183,3310,3479
$GC,4498,-1.46,-146.6,511.7,-11.9,215,4503,0.00,2.58,0.00,0.000,6,0.000,0.049,2183,1901,3479
$GC,4826,-1.46,-146.6,544.4,-8.9,231,4830,0.00,2.58,0.00,0.000,4,0.000,0.057,2183,3311,3479
$GC,4852,-1.46,-146.6,546.7,-8.7,232,4856,0.00,2.55,0.00,0.000,6,0.000,0.050,2183,1900,3479
$GC,5172,-1.46,-146.6,571.9,-8.4,248,5177,0.00,2.65,0.00,0.000,4,0.000,0.077,2183,489,3479
$GC,5334,-1.46,-146.6,588.4,-11.0,255,5339,0.00,2.53,0.00,0.000,6,0.000,0.049,2183,1909,3479
$GC,5655,-1.46,-146.6,616.0,-6.9,271,5660,0.00,2.67,0.00,0.000,4,0.000,0.078,2183,493,3479
$GC,5878,-1.46,-146.6,632.9,-6.0,281,5883,0.00,2.53,0.00,0.000,6,0.000,0.051,2182,1898,3479
$GC,6205,-1.46,-146.6,649.9,-7.1,297,6213,0.00,2.60,0.00,0.000,4,0.000,0.064,2183,3309,3478
$GC,6284,-1.46,-146.6,657.6,-10.4,300,6289,0.00,2.62,0.00,0.000,6,0.000,0.060,2183,1906,3478
$GC,6605,-1.46,-146.6,694.6,-11.7,316,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,1906,3476
$GC,6915,-1.46,-146.6,728.5,-14.5,331,6919,0.00,2.60,0.00,0.000,4,0.000,0.065,2183,3302,3475
$GC,7065,-1.46,-146.6,754.9,-15.3,338,7069,0.00,2.58,0.00,0.000,6,0.000,0.061,2183,1897,3474
$GC,7391,-1.46,-146.6,776.6,-5.6,354,7395,0.00,2.62,0.00,0.000,4,0.000,0.067,2183,3309,3473
$STATE,7443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7443,begin apogee
$GC,7449,-0.36,0.0,781.1,15.4,356,7576,1.15,0.00,122.72,1.446,6,0.094,0.000,2426,2175,2878
$STATE,7576,end apogee,CONTROL_FINISHED_OK
$STATE,7576,begin climb
$GC,7578,1.46,146.6,786.5,0.0,363,7708,1.85,2.72,122.57,1.382,4,0.064,0.072,2825,3577,2280
$GC,7786,1.46,146.6,775.3,18.0,373,7791,0.00,2.65,0.00,0.000,6,0.000,0.063,2825,2177,2280
$GC,8112,1.64,288.2,751.8,3.4,389,8236,0.17,2.85,117.35,1.373,4,0.061,0.086,2869,762,1703
$GC,8460,1.64,288.2,695.7,25.0,405,8465,0.00,2.58,0.00,0.000,6,0.000,0.057,2870,2171,1702
$GC,8786,1.64,288.2,637.0,18.8,421,8791,0.00,2.65,0.00,0.000,4,0.000,0.068,2870,3581,1700
$GC,8918,1.64,288.2,610.5,22.1,427,8923,0.00,2.67,0.00,0.000,6,0.000,0.061,2869,2174,1700
$GC,9245,1.64,288.2,558.7,13.9,443,9249,0.00,2.70,0.00,0.000,4,0.000,0.082,2869,763,1700
$GC,9333,1.64,288.2,543.6,18.1,447,9338,0.00,2.58,0.00,0.000,6,0.000,0.051,2869,2174,1699
$GC,9660,1.64,288.2,489.8,14.1,463,9664,0.00,2.58,0.00,0.000,4,0.000,0.057,2869,3581,1698
$GC,9747,1.64,288.2,475.4,15.2,467,9752,0.00,2.62,0.00,0.000,6,0.000,0.051,2869,2168,1698
$GC,10074,1.64,288.2,423.0,15.6,483,10078,0.00,2.62,0.00,0.000,4,0.000,0.070,2870,765,1698
$GC,10117,1.64,288.2,415.6,17.3,485,10122,0.00,2.55,0.00,0.000,6,0.000,0.043,2869,2181,1698
$GC,10444,1.64,288.2,364.1,15.8,501,10449,0.00,2.53,0.00,0.000,4,0.000,0.051,2870,3588,1699
$GC,10499,1.64,288.2,355.3,15.6,503,10506,0.00,2.58,0.00,0.000,6,0.000,0.044,2870,2174,1700
$GC,10814,1.64,288.2,310.0,14.0,519,10818,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,3580,1700
$GC,10875,1.64,288.2,301.4,14.0,522,10879,0.00,2.53,0.00,0.000,6,0.000,0.043,2869,2168,1701
$GC,11206,1.64,288.2,254.4,14.1,538,11211,0.00,2.53,0.00,0.000,4,0.000,0.048,2870,3580,1702
$GC,11278,1.64,288.2,244.0,15.2,541,11283,0.00,2.55,0.00,0.000,6,0.000,0.041,2870,2171,1702
$GC,11599,1.64,288.2,198.2,14.0,557,11603,0.00,2.55,0.00,0.000,4,0.000,0.047,2869,3590,1703
$GC,11686,1.64,288.2,184.8,14.6,561,11691,0.00,2.55,0.00,0.000,6,0.000,0.041,2870,2175,1703
$GC,12013,1.64,288.2,137.2,15.1,577,12018,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,3582,1704
$GC,12120,1.64,288.2,121.1,14.3,582,12124,0.00,2.50,0.00,0.000,6,0.000,0.040,2870,2174,1704
$GC,12445,1.64,288.2,71.2,15.1,598,12449,0.00,2.53,0.00,0.000,4,0.000,0.046,2869,3582,1705
$GC,12554,1.64,288.2,54.4,15.6,603,12559,0.00,2.53,0.00,0.000,6,0.000,0.038,2870,2174,1705
$GC,12882,1.64,288.2,4.5,15.3,619,12886,0.00,2.53,0.00,0.000,4,0.000,0.046,2870,3583,1706
$STATE,12901,end climb,SURFACE_DEPTH_REACHED
$STATE,12901,begin surface coast
$FINISH,0.5,1.027279
$STATE,12908,end surface coast,CONTROL_FINISHED_OK
$STATE,12908,begin surface
$SM_CCo,12929,11.65,0.877,1,0,1655,300.00
$SM_GC,0.21,0.00,0.00,11.65,0.000,0.000,0.877,34,1895,1655,-11.39,-0.14,300.00
$IRIDIUM_FIX,6112.75,-832.74,141107,050501
$TT8_MAMPS,0.026845
$HUMID,2120
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,73.2
$24V_AH,23.2,12.965
$10V_AH,10.1,5.386
$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,27.000,144.225,362.650,11.650,0.000,38.246,37.739,136.971,6.500,0.000,0.000,34.634,1235.707,9494.710,537.813,1712.486,333.163,33.362,1385.443,0.000,1647.022,0.000,45.674
$DEVICE_MAMPS,148.031,85.904,1445.795,876.681,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.373,417.540,358.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31688,620
$CFSIZE,260165632,257605632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
$GPS,141107,081545,6135.017,-826.734,31,1.6,37,-8.9