version: 66.02
glider: 102
mission: 4
dive: 6
start: 11 14 107 8 21 30
data:
$ID,102
$MISSION,4
$DIVE,6
$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,0
$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,-76400.445
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$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,19
$R_STBD_OVSHOOT,26
$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
$GPS1,081545,6135.017,-826.734,31,1.6,37,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-63.6
$GPS2,082037,6135.039,-826.750,11,1.5,28,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.057,-0.253
$KALMAN_X,-2748.7,5.3,239.5,5416.6,-1769.1
$KALMAN_Y,15342.0,955.3,-587.8,-12208.4,8905.7
$MHEAD_RNG_PITCHd_Wd,176.3,9459,-17.9,-10.000
$D_GRID,990
$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,-146.6,0.0,0.0,0,104,0.00,0.00,-85.05,0.000,6,0.000,0.000,34,1894,3476
$GC,106,-1.46,-146.6,2.0,-2.9,4,127,11.50,2.58,0.00,0.000,4,0.147,0.044,2177,3310,3478
$GC,379,-1.46,-146.6,46.1,-11.2,16,384,0.00,2.55,0.00,0.000,6,0.000,0.041,2177,1898,3478
$GC,706,-1.46,-146.6,86.4,-12.1,32,710,0.00,2.53,0.00,0.000,4,0.000,0.046,2177,3304,3478
$GC,895,-1.46,-146.6,109.1,-11.1,40,902,0.00,2.53,0.00,0.000,6,0.000,0.042,2177,1907,3479
$GC,1212,-1.46,-146.6,147.9,-12.6,56,1216,0.00,2.53,0.00,0.000,4,0.000,0.047,2177,3313,3479
$GC,1232,-1.46,-146.6,150.8,-13.2,57,1237,0.00,2.55,0.00,0.000,6,0.000,0.042,2177,1904,3479
$GC,1558,-1.46,-146.6,191.7,-12.1,73,1563,0.00,2.53,0.00,0.000,4,0.000,0.047,2177,3312,3479
$GC,1579,-1.46,-146.6,194.2,-11.7,74,1584,0.00,2.55,0.00,0.000,6,0.000,0.043,2177,1903,3479
$GC,1906,-1.46,-146.6,232.8,-11.9,90,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1904,3479
$GC,2215,-1.46,-146.6,271.3,-12.6,105,2219,0.00,2.53,0.00,0.000,4,0.000,0.048,2177,3305,3479
$GC,2248,-1.46,-146.6,275.3,-12.0,106,2254,0.00,2.53,0.00,0.000,6,0.000,0.045,2177,1900,3479
$GC,2562,-1.46,-146.6,309.4,-10.3,122,2567,0.00,2.53,0.00,0.000,4,0.000,0.048,2177,3309,3479
$GC,2595,-1.46,-146.6,312.7,-9.8,123,2599,0.00,2.55,0.00,0.000,6,0.000,0.044,2177,1904,3479
$GC,2915,-1.46,-146.6,346.7,-11.0,139,2920,0.00,2.53,0.00,0.000,4,0.000,0.048,2177,3304,3479
$GC,2943,-1.46,-146.6,349.7,-11.2,140,2948,0.00,2.53,0.00,0.000,6,0.000,0.046,2177,1900,3479
$GC,3263,-1.46,-146.6,385.0,-10.6,156,3267,0.00,2.60,0.00,0.000,4,0.000,0.067,2178,493,3479
$GC,3288,-1.46,-146.6,387.8,-11.0,157,3293,0.00,2.50,0.00,0.000,6,0.000,0.043,2177,1907,3479
$GC,3609,-1.46,-146.6,423.5,-12.9,173,3614,0.00,2.65,0.00,0.000,4,0.000,0.070,2177,492,3479
$GC,3648,-1.46,-146.6,429.0,-14.5,175,3652,0.00,2.47,0.00,0.000,6,0.000,0.044,2177,1903,3480
$GC,3979,-1.46,-146.6,469.8,-11.4,191,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1906,3479
$GC,4289,-1.46,-146.6,497.5,-11.4,206,4293,0.00,2.65,0.00,0.000,4,0.000,0.070,2177,488,3479
$GC,4337,-1.46,-146.6,501.9,-7.6,208,4342,0.00,2.50,0.00,0.000,6,0.000,0.045,2178,1899,3479
$GC,4658,-1.46,-146.6,530.9,-9.5,224,4662,0.00,2.65,0.00,0.000,4,0.000,0.074,2177,489,3479
$GC,4712,-1.46,-146.6,535.5,-7.5,226,4719,0.00,2.50,0.00,0.000,6,0.000,0.045,2177,1898,3480
$GC,5028,-1.46,-146.6,570.2,-8.9,242,5032,0.00,2.58,0.00,0.000,4,0.000,0.061,2177,3303,3479
$GC,5194,-1.46,-146.6,589.7,-7.9,249,5201,0.00,2.60,0.00,0.000,6,0.000,0.060,2177,1898,3479
$GC,5509,-1.46,-146.6,613.1,-6.6,265,5514,0.00,2.67,0.00,0.000,4,0.000,0.081,2177,491,3479
$GC,5564,-1.46,-146.6,618.8,-10.0,267,5571,0.00,2.53,0.00,0.000,6,0.000,0.054,2177,1892,3479
$GC,5882,-1.46,-146.6,679.7,-23.0,283,5886,0.00,2.60,0.00,0.000,4,0.000,0.061,2177,3305,3477
$GC,5975,-1.46,-146.6,689.9,2.5,287,5980,0.00,2.62,0.00,0.000,6,0.000,0.058,2177,1898,3477
$GC,6296,-1.46,-146.6,698.2,-12.0,303,6300,0.00,2.60,0.00,0.000,4,0.000,0.065,2177,3305,3476
$GC,6395,-1.46,-146.6,704.0,-3.5,307,6402,0.00,2.62,0.00,0.000,6,0.000,0.061,2177,1904,3475
$GC,6710,-1.46,-146.6,738.6,-16.4,323,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,1904,3474
$STATE,6957,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6957,begin apogee
$GC,6961,-0.36,0.0,765.6,8.4,335,7087,1.15,0.00,122.53,1.403,6,0.092,0.000,2416,2171,2878
$STATE,7087,end apogee,CONTROL_FINISHED_OK
$STATE,7088,begin climb
$GC,7089,1.46,146.6,769.4,0.0,341,7220,1.80,2.75,121.70,1.340,4,0.058,0.072,2810,767,2280
$GC,7241,1.50,174.5,767.3,8.7,348,7274,0.00,2.60,24.23,1.331,6,0.000,0.055,2810,2159,2166
$GC,7582,1.50,174.5,722.4,13.7,365,7586,0.00,2.65,0.00,0.000,4,0.000,0.075,2810,761,2164
$GC,7838,1.50,174.5,674.9,19.7,376,7843,0.00,2.60,0.00,0.000,6,0.000,0.051,2810,2181,2164
$GC,8160,1.50,174.5,617.4,16.5,392,8164,0.00,2.67,0.00,0.000,4,0.000,0.074,2810,765,2163
$GC,8416,1.50,174.5,586.0,15.6,403,8423,0.00,2.58,0.00,0.000,6,0.000,0.049,2811,2172,2163
$GC,8731,1.51,189.2,542.3,9.3,419,8753,0.00,2.67,12.55,1.316,4,0.000,0.064,2810,3571,2106
$GC,9004,1.51,189.2,511.9,11.3,431,9009,0.00,2.60,0.00,0.000,6,0.000,0.055,2811,2180,2106
$GC,9331,1.57,237.4,484.6,7.7,447,9376,0.12,2.65,39.45,1.256,4,0.067,0.060,2843,3578,1910
$GC,9432,1.57,237.4,472.5,11.1,452,9436,0.00,2.62,0.00,0.000,6,0.000,0.054,2843,2170,1910
$GC,9758,1.57,237.4,431.6,12.3,468,9762,0.00,2.58,0.00,0.000,4,0.000,0.054,2842,3582,1909
$GC,9783,1.57,237.4,427.4,15.6,469,9788,0.00,2.60,0.00,0.000,6,0.000,0.048,2843,2173,1909
$GC,10105,1.57,237.4,386.3,13.0,485,10109,0.00,2.55,0.00,0.000,4,0.000,0.052,2843,3585,1910
$GC,10143,1.57,237.4,381.6,12.8,487,10147,0.00,2.55,0.00,0.000,6,0.000,0.044,2843,2171,1910
$GC,10474,1.57,237.4,339.4,12.8,503,10478,0.00,2.55,0.00,0.000,4,0.000,0.050,2843,3589,1910
$GC,10674,1.57,237.4,312.1,12.4,512,10679,0.00,2.58,0.00,0.000,6,0.000,0.042,2842,2170,1911
$GC,11001,1.57,237.4,273.0,11.8,528,11005,0.00,2.53,0.00,0.000,4,0.000,0.048,2843,3583,1911
$GC,11113,1.57,237.4,258.9,13.0,533,11117,0.00,2.53,0.00,0.000,6,0.000,0.041,2843,2167,1912
$GC,11438,1.57,237.4,219.4,11.9,549,11443,0.00,2.53,0.00,0.000,4,0.000,0.048,2843,3583,1912
$GC,11571,1.57,237.4,202.7,12.4,555,11576,0.00,2.53,0.00,0.000,6,0.000,0.040,2843,2181,1913
$GC,11899,1.57,237.4,165.2,10.8,571,11903,0.00,2.60,0.00,0.000,4,0.000,0.061,2843,762,1913
$GC,11919,1.57,237.4,162.9,10.8,572,11924,0.00,2.53,0.00,0.000,6,0.000,0.039,2843,2182,1913
$GC,12246,1.57,237.4,128.2,10.6,588,12250,0.00,2.50,0.00,0.000,4,0.000,0.048,2843,3580,1914
$GC,12356,1.57,237.4,116.0,10.6,593,12360,0.00,2.53,0.00,0.000,6,0.000,0.039,2843,2175,1915
$GC,12684,1.57,237.4,79.0,11.5,609,12688,0.00,2.53,0.00,0.000,4,0.000,0.047,2843,3579,1915
$GC,12850,1.57,237.4,58.6,11.0,616,12858,0.00,2.53,0.00,0.000,6,0.000,0.039,2843,2171,1915
$GC,13167,1.57,237.4,22.8,12.3,632,13171,0.00,2.53,0.00,0.000,4,0.000,0.047,2843,3579,1916
$GC,13282,1.57,237.4,8.2,13.8,637,13287,0.00,2.53,0.00,0.000,6,0.000,0.039,2843,2175,1916
$STATE,13335,end climb,SURFACE_DEPTH_REACHED
$STATE,13335,begin surface coast
$FINISH,-0.6,1.027284
$STATE,13357,end surface coast,CONTROL_FINISHED_OK
$STATE,13357,begin surface
$SM_CCo,13375,43.00,0.844,3,0,1655,300.00
$SM_GC,0.07,0.00,0.00,43.00,0.000,0.000,0.844,35,1890,1655,-11.32,-0.28,300.00
$IRIDIUM_FIX,6112.75,-823.14,141107,080824
$TT8_MAMPS,0.026845
$HUMID,2070
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,679.7,94.8
$24V_AH,23.2,13.109
$10V_AH,10.1,5.453
$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,26.775,149.950,320.450,43.000,0.000,38.670,37.852,122.927,5.750,0.000,0.000,30.061,1280.567,9846.524,538.666,1784.460,285.401,33.338,1429.754,0.000,1724.383,0.000,39.558
$DEVICE_MAMPS,147.264,81.302,1402.843,843.700,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,470.297,431.639,382.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31660,641
$CFSIZE,260165632,257552384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,3,0
$GPS,141107,120637,6136.065,-826.628,39,1.1,39,-9.0