version: 66.02
glider: 102
mission: 4
dive: 7
start: 11 14 107 12 22 56
data:
$ID,102
$MISSION,4
$DIVE,7
$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,-76410.938
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,120637,6136.065,-826.628,39,1.1,39,-9.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-64.8
$GPS2,122203,6136.102,-826.554,8,2.0,8,-9.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.048,-0.255
$KALMAN_X,-3413.8,97.3,-90.3,6487.1,-1272.5
$KALMAN_Y,21521.1,642.1,431.2,-17097.1,7735.8
$MHEAD_RNG_PITCHd_Wd,178.4,11384,-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,-146.6,0.0,0.0,0,101,0.00,0.00,-81.35,0.000,6,0.000,0.000,34,1889,3478
$GC,103,-1.46,-146.6,5.5,-8.1,4,124,11.52,2.58,0.00,0.000,4,0.147,0.044,2179,3301,3478
$GC,376,-1.46,-146.6,51.1,-13.7,16,380,0.00,2.55,0.00,0.000,6,0.000,0.043,2179,1901,3479
$GC,703,-1.46,-146.6,93.9,-13.0,32,707,0.00,2.53,0.00,0.000,4,0.000,0.047,2179,3302,3479
$GC,831,-1.46,-146.6,111.3,-14.6,38,836,0.00,2.53,0.00,0.000,6,0.000,0.044,2179,1894,3479
$GC,1157,-1.46,-146.6,153.8,-13.0,54,1161,0.00,2.55,0.00,0.000,4,0.000,0.047,2179,3309,3479
$GC,1177,-1.46,-146.6,156.5,-12.8,55,1182,0.00,2.55,0.00,0.000,6,0.000,0.042,2179,1901,3479
$GC,1505,-1.46,-146.6,199.8,-12.7,71,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1901,3480
$GC,1814,-1.46,-146.6,237.3,-11.8,86,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,1901,3480
$GC,2123,-1.46,-146.6,272.3,-10.8,101,2127,0.00,2.53,0.00,0.000,4,0.000,0.049,2178,3300,3480
$GC,2149,-1.46,-146.6,275.3,-10.6,102,2153,0.00,2.53,0.00,0.000,6,0.000,0.044,2179,1894,3479
$GC,2469,-1.46,-146.6,310.1,-11.2,118,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,1894,3480
$GC,2779,-1.46,-146.6,352.6,-14.8,133,2784,0.00,2.55,0.00,0.000,4,0.000,0.048,2179,3307,3480
$GC,2878,-1.46,-146.6,367.8,-14.8,137,2886,0.00,2.55,0.00,0.000,6,0.000,0.047,2179,1908,3480
$GC,3194,-1.46,-146.6,407.5,-11.1,153,3198,0.00,2.53,0.00,0.000,4,0.000,0.049,2179,3307,3480
$GC,3210,-1.46,-146.6,409.2,-10.8,154,3214,0.00,2.53,0.00,0.000,6,0.000,0.047,2178,1901,3480
$GC,3541,-1.46,-146.6,448.8,-13.6,170,3546,0.00,2.60,0.00,0.000,4,0.000,0.069,2178,494,3480
$GC,3641,-1.46,-146.6,462.6,-14.3,174,3648,0.00,2.53,0.00,0.000,6,0.000,0.044,2178,1908,3480
$GC,3956,-1.46,-146.6,510.7,-13.2,190,3960,0.00,2.53,0.00,0.000,4,0.000,0.055,2179,3302,3480
$GC,4017,-1.46,-146.6,518.5,-13.3,193,4022,0.00,2.55,0.00,0.000,6,0.000,0.053,2179,1903,3480
$GC,4349,-1.46,-146.6,558.5,-11.7,209,4353,0.00,2.55,0.00,0.000,4,0.000,0.058,2179,3294,3480
$GC,4380,-1.46,-146.6,562.2,-10.3,210,4388,0.00,2.58,0.00,0.000,6,0.000,0.052,2178,1900,3480
$GC,4697,-1.46,-146.6,590.5,-5.9,226,4701,0.00,2.58,0.00,0.000,4,0.000,0.059,2179,3300,3479
$GC,4717,-1.46,-146.6,591.7,-5.1,227,4721,0.00,2.60,0.00,0.000,6,0.000,0.054,2179,1900,3479
$GC,5043,-1.46,-146.6,634.0,-15.7,243,5047,0.00,2.55,0.00,0.000,4,0.000,0.058,2178,3294,3479
$GC,5110,-1.46,-146.6,645.1,-15.5,246,5115,0.00,2.58,0.00,0.000,6,0.000,0.057,2178,1894,3478
$GC,5430,-1.46,-146.6,680.5,-10.7,262,5434,0.00,2.60,0.00,0.000,4,0.000,0.061,2178,3300,3477
$GC,5507,-1.46,-146.6,687.6,-8.2,265,5514,0.00,2.60,0.00,0.000,6,0.000,0.058,2178,1905,3477
$GC,5823,-1.46,-146.6,715.7,-5.2,281,5828,0.00,2.58,0.00,0.000,4,0.000,0.062,2178,3298,3476
$GC,5952,-1.46,-146.6,722.7,-2.8,287,5956,0.00,2.58,0.00,0.000,6,0.000,0.061,2179,1897,3476
$STATE,6193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6193,begin apogee
$GC,6197,-0.36,0.0,736.7,6.2,299,6323,1.15,0.00,122.55,1.364,6,0.093,0.000,2417,2170,2878
$STATE,6324,end apogee,CONTROL_FINISHED_OK
$STATE,6324,begin climb
$GC,6325,1.46,146.6,736.1,0.0,305,6457,1.80,2.72,121.15,1.312,4,0.060,0.065,2811,3578,2280
$GC,6647,1.46,146.6,693.8,21.0,320,6652,0.00,2.62,0.00,0.000,6,0.000,0.054,2811,2165,2280
$GC,6973,1.46,146.6,615.4,21.8,336,6978,0.00,2.65,0.00,0.000,4,0.000,0.062,2811,3588,2279
$GC,7229,1.48,158.8,588.9,9.4,347,7245,0.00,2.65,10.88,1.280,6,0.000,0.054,2811,2173,2230
$GC,7560,1.48,158.8,554.4,12.1,364,7564,0.00,2.60,0.00,0.000,4,0.000,0.061,2811,3580,2229
$GC,7817,1.55,218.0,529.9,7.2,375,7873,0.00,2.60,48.58,1.243,6,0.000,0.051,2811,2179,1989
$GC,8194,1.55,218.0,492.9,13.5,394,8198,0.00,2.60,0.00,0.000,4,0.000,0.056,2811,3588,1988
$GC,8202,1.55,218.0,491.8,13.2,394,8210,0.00,2.60,0.00,0.000,6,0.000,0.050,2811,2184,1989
$GC,8519,1.64,294.5,465.6,6.4,410,8589,0.15,2.78,61.95,1.190,4,0.058,0.074,2856,766,1677
$GC,8841,1.64,294.5,425.4,15.5,424,8848,0.00,2.53,0.00,0.000,6,0.000,0.043,2856,2176,1677
$GC,9156,1.64,294.5,381.4,11.7,440,9160,0.00,2.55,0.00,0.000,4,0.000,0.052,2856,3576,1677
$GC,9188,1.64,294.5,377.0,14.5,441,9193,0.00,2.58,0.00,0.000,6,0.000,0.045,2856,2172,1677
$GC,9509,1.64,294.5,327.9,15.1,457,9514,0.00,2.55,0.00,0.000,4,0.000,0.050,2856,3586,1677
$GC,9525,1.64,294.5,325.3,15.1,458,9530,0.00,2.55,0.00,0.000,6,0.000,0.043,2855,2171,1678
$GC,9857,1.64,294.5,277.3,13.9,474,9861,0.00,2.53,0.00,0.000,4,0.000,0.048,2856,3579,1678
$GC,9950,1.64,294.5,264.1,14.0,478,9955,0.00,2.55,0.00,0.000,6,0.000,0.043,2856,2175,1678
$GC,10271,1.64,294.5,224.6,11.5,494,10275,0.00,2.53,0.00,0.000,4,0.000,0.048,2856,3578,1679
$GC,10387,1.64,294.5,210.7,11.5,499,10392,0.00,2.55,0.00,0.000,6,0.000,0.041,2856,2174,1679
$GC,10708,1.64,294.5,174.7,11.0,515,10713,0.00,2.53,0.00,0.000,4,0.000,0.048,2856,3578,1680
$GC,10747,1.64,294.5,170.2,11.8,517,10751,0.00,2.53,0.00,0.000,6,0.000,0.041,2856,2166,1680
$GC,11079,1.64,294.5,132.1,12.0,533,11083,0.00,2.55,0.00,0.000,4,0.000,0.047,2856,3581,1680
$GC,11099,1.64,294.5,129.4,12.3,534,11104,0.00,2.53,0.00,0.000,6,0.000,0.039,2856,2176,1681
$GC,11426,1.64,294.5,87.6,13.6,550,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2176,1681
$GC,11735,1.64,294.5,46.4,13.6,565,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2176,1682
$GC,12044,1.64,294.5,3.5,13.7,580,12049,0.00,2.53,0.00,0.000,4,0.000,0.047,2856,3581,1682
$STATE,12059,end climb,SURFACE_DEPTH_REACHED
$STATE,12060,begin surface coast
$FINISH,0.4,1.027282
$STATE,12065,end surface coast,CONTROL_FINISHED_OK
$STATE,12065,begin surface
$SM_CCo,12086,6.00,0.907,0,0,1655,300.00
$SM_GC,1.86,0.00,0.00,6.00,0.000,0.000,0.907,35,1896,1655,-11.32,-0.11,300.00
$IRIDIUM_FIX,6112.75,-823.14,141107,161622
$TT8_MAMPS,0.026845
$HUMID,2100
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,94.7
$24V_AH,23.3,13.277
$10V_AH,10.1,5.520
$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,26.800,129.375,365.100,6.000,0.000,147.880,243.018,268.228,5.500,0.000,0.000,9.867,1139.903,9085.322,496.376,1554.379,751.526,33.338,1291.400,0.000,1519.318,0.000,37.929
$DEVICE_MAMPS,147.264,73.632,1363.726,906.594,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.770,390.789,347.686,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28531,581
$CFSIZE,260165632,257507328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,141107,154538,6135.659,-824.737,36,1.2,36,-8.9