version: 66.02
glider: 102
mission: 4
dive: 8
start: 11 14 107 15 51 27
data:
$ID,102
$MISSION,4
$DIVE,8
$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,-76428.586
$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,17
$R_STBD_OVSHOOT,29
$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
$GPS1,154538,6135.659,-824.737,36,1.2,36,-8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-64.2
$GPS2,155033,6135.627,-824.794,15,1.2,15,-8.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FBC_SIL
$TGT_LATLONG,6130.000,-825.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.055,-0.254
$KALMAN_X,-3074.4,248.8,234.2,7222.0,-969.2
$KALMAN_Y,27819.0,-770.9,-680.1,-21747.7,12382.1
$MHEAD_RNG_PITCHd_Wd,176.6,10423,-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,-146.6,0.0,0.0,0,96,0.00,0.00,-77.28,0.000,2,0.000,0.000,35,1893,3316
$GC,98,-1.46,-146.6,3.8,-5.1,4,121,11.50,2.65,-3.50,0.000,4,0.147,0.079,2171,485,3478
$GC,226,-1.46,-146.6,28.8,-13.9,9,233,0.00,2.50,0.00,0.000,6,0.000,0.039,2172,1912,3478
$GC,543,-1.46,-146.6,70.6,-13.2,25,547,0.00,2.47,0.00,0.000,4,0.000,0.047,2171,3294,3479
$GC,563,-1.46,-146.6,73.8,-14.1,26,568,0.00,2.53,0.00,0.000,6,0.000,0.043,2171,1902,3479
$GC,890,-1.46,-146.6,117.5,-13.1,42,894,0.00,2.60,0.00,0.000,4,0.000,0.067,2171,496,3479
$GC,921,-1.46,-146.6,121.7,-12.3,43,928,0.00,2.47,0.00,0.000,6,0.000,0.040,2172,1896,3479
$GC,1236,-1.46,-146.6,158.7,-12.7,59,1241,0.00,2.50,0.00,0.000,4,0.000,0.047,2172,3295,3479
$GC,1279,-1.46,-146.6,164.2,-12.7,61,1285,0.00,2.53,0.00,0.000,6,0.000,0.044,2172,1903,3479
$GC,1606,-1.46,-146.6,205.6,-12.8,77,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1903,3479
$GC,1916,-1.46,-146.6,247.6,-13.3,92,1920,0.00,2.50,0.00,0.000,4,0.000,0.047,2171,3295,3479
$GC,1947,-1.46,-146.6,252.0,-13.2,93,1955,0.00,2.53,0.00,0.000,6,0.000,0.044,2172,1904,3479
$GC,2263,-1.46,-146.6,292.2,-12.5,109,2267,0.00,2.50,0.00,0.000,4,0.000,0.047,2171,3296,3479
$GC,2295,-1.46,-146.6,296.1,-11.6,110,2300,0.00,2.53,0.00,0.000,6,0.000,0.045,2171,1905,3479
$GC,2616,-1.46,-146.6,336.7,-13.1,126,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2171,1905,3479
$GC,2927,-1.46,-146.6,377.2,-12.3,141,2931,0.00,2.60,0.00,0.000,4,0.000,0.067,2172,492,3479
$GC,2975,-1.46,-146.6,383.4,-12.4,143,2980,0.00,2.50,0.00,0.000,6,0.000,0.042,2172,1897,3479
$GC,3296,-1.46,-146.6,422.4,-12.0,159,3300,0.00,2.60,0.00,0.000,4,0.000,0.068,2172,495,3480
$GC,3379,-1.46,-146.6,433.0,-13.4,163,3383,0.00,2.45,0.00,0.000,6,0.000,0.044,2172,1900,3480
$GC,3710,-1.46,-146.6,467.7,-10.3,179,3714,0.00,2.53,0.00,0.000,4,0.000,0.053,2172,3302,3480
$GC,3731,-1.46,-146.6,469.8,-10.3,180,3736,0.00,2.58,0.00,0.000,6,0.000,0.051,2172,1903,3480
$GC,4058,-1.46,-146.6,507.0,-12.5,196,4062,0.00,2.53,0.00,0.000,4,0.000,0.053,2172,3296,3480
$GC,4097,-1.46,-146.6,512.5,-13.4,198,4102,0.00,2.55,0.00,0.000,6,0.000,0.053,2172,1901,3480
$GC,4423,-1.46,-146.6,535.5,-6.0,214,4427,0.00,2.65,0.00,0.000,4,0.000,0.074,2171,486,3480
$GC,4539,-1.46,-146.6,543.9,-7.2,219,4543,0.00,2.53,0.00,0.000,6,0.000,0.049,2171,1910,3480
$GC,4860,-1.46,-146.6,563.3,-7.2,235,4864,0.00,2.53,0.00,0.000,4,0.000,0.055,2172,3303,3479
$GC,4943,-1.46,-146.6,570.2,-7.5,239,4948,0.00,2.58,0.00,0.000,6,0.000,0.055,2172,1896,3479
$GC,5269,-1.46,-146.6,599.2,-7.4,255,5273,0.00,2.60,0.00,0.000,4,0.000,0.061,2171,3305,3478
$GC,5340,-1.46,-146.6,605.0,-9.0,258,5344,0.00,2.58,0.00,0.000,6,0.000,0.057,2171,1901,3478
$GC,5660,-1.46,-146.6,635.2,-11.4,274,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,1901,3477
$GC,5970,-1.46,-146.6,663.2,-9.7,289,5974,0.00,2.58,0.00,0.000,4,0.000,0.059,2171,3302,3477
$GC,6054,-1.46,-146.6,670.5,-8.1,293,6058,0.00,2.58,0.00,0.000,6,0.000,0.058,2172,1903,3477
$GC,6379,-1.46,-146.6,704.4,-10.8,309,6383,0.00,2.60,0.00,0.000,4,0.000,0.062,2171,3309,3476
$STATE,6443,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6443,begin apogee
$GC,6449,-0.36,0.0,711.7,11.0,312,6574,1.10,0.00,121.88,1.361,6,0.070,0.000,2413,2168,2878
$STATE,6575,end apogee,CONTROL_FINISHED_OK
$STATE,6575,begin climb
$GC,6576,1.46,146.6,711.8,0.0,318,6707,1.83,2.78,120.75,1.300,4,0.061,0.073,2811,763,2279
$GC,6763,1.56,227.2,707.7,6.2,327,6838,0.12,2.58,66.60,1.301,6,0.067,0.053,2841,2175,1951
$GC,7154,1.57,232.9,670.0,9.7,346,7164,0.00,2.65,5.88,1.256,4,0.000,0.063,2841,3580,1927
$GC,7417,1.57,232.9,632.7,14.1,358,7421,0.00,2.62,0.00,0.000,6,0.000,0.056,2841,2173,1927
$GC,7742,1.57,232.9,594.0,14.6,374,7747,0.00,2.60,0.00,0.000,4,0.000,0.061,2841,3581,1925
$GC,7999,1.57,232.9,556.4,12.9,385,8007,0.00,2.62,0.00,0.000,6,0.000,0.054,2841,2179,1925
$GC,8315,1.57,232.9,517.7,12.2,401,8319,0.00,2.60,0.00,0.000,4,0.000,0.057,2841,3588,1924
$GC,8570,1.57,232.9,483.1,13.4,412,8578,0.00,2.60,0.00,0.000,6,0.000,0.051,2841,2181,1924
$GC,8886,1.57,232.9,447.7,10.6,428,8890,0.00,2.55,0.00,0.000,4,0.000,0.056,2841,3587,1924
$GC,8987,1.57,232.9,436.1,11.2,432,8991,0.00,2.58,0.00,0.000,6,0.000,0.049,2841,2171,1924
$GC,9301,1.57,232.9,399.3,12.2,447,9305,0.00,2.55,0.00,0.000,4,0.000,0.053,2841,3586,1924
$GC,9317,1.57,232.9,397.5,10.9,448,9321,0.00,2.55,0.00,0.000,6,0.000,0.046,2841,2171,1924
$GC,9648,1.57,232.9,358.1,13.0,464,9653,0.00,2.55,0.00,0.000,4,0.000,0.051,2841,3588,1924
$GC,9703,1.57,232.9,350.4,13.3,466,9710,0.00,2.55,0.00,0.000,6,0.000,0.044,2841,2182,1924
$GC,10018,1.57,232.9,307.1,13.3,482,10022,0.00,2.53,0.00,0.000,4,0.000,0.051,2841,3591,1925
$GC,10090,1.57,232.9,297.6,13.9,485,10095,0.00,2.58,0.00,0.000,6,0.000,0.044,2841,2173,1925
$GC,10417,1.57,232.9,256.0,12.7,501,10421,0.00,2.55,0.00,0.000,4,0.000,0.050,2841,3591,1925
$GC,10459,1.57,232.9,250.3,13.6,503,10464,0.00,2.55,0.00,0.000,6,0.000,0.042,2841,2179,1925
$GC,10786,1.57,232.9,210.1,11.6,519,10790,0.00,2.53,0.00,0.000,4,0.000,0.050,2841,3588,1926
$GC,10992,1.57,232.9,184.9,12.2,528,10997,0.00,2.53,0.00,0.000,6,0.000,0.040,2841,2177,1926
$GC,11313,1.57,232.9,148.2,11.6,544,11317,0.00,2.55,0.00,0.000,4,0.000,0.048,2841,3591,1927
$GC,11397,1.57,232.9,138.4,12.3,548,11402,0.00,2.53,0.00,0.000,6,0.000,0.041,2841,2172,1927
$GC,11723,1.57,232.9,100.8,12.1,564,11727,0.00,2.55,0.00,0.000,4,0.000,0.047,2841,3592,1927
$GC,11821,1.57,232.9,88.4,12.4,568,11829,0.00,2.55,0.00,0.000,6,0.000,0.040,2841,2174,1928
$GC,12137,1.57,232.9,52.6,10.8,584,12142,0.00,2.55,0.00,0.000,4,0.000,0.048,2841,3592,1928
$GC,12221,1.57,232.9,42.0,12.3,588,12225,0.00,2.53,0.00,0.000,6,0.000,0.040,2841,2172,1929
$GC,12546,1.57,232.9,3.8,11.8,604,12550,0.00,2.53,0.00,0.000,4,0.000,0.046,2841,3588,1929
$STATE,12561,end climb,SURFACE_DEPTH_REACHED
$STATE,12561,begin surface coast
$FINISH,1.2,1.027288
$STATE,12566,end surface coast,CONTROL_FINISHED_OK
$STATE,12566,begin surface
$SM_CCo,12587,51.35,0.867,5,0,1655,300.00
$SM_GC,0.44,0.00,0.00,51.35,0.000,0.000,0.867,29,1895,1655,-11.34,-0.14,300.00
$IRIDIUM_FIX,6112.75,-823.80,141107,161609
$TT8_MAMPS,0.026845
$HUMID,2076
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.7,95.9
$24V_AH,23.3,13.420
$10V_AH,10.1,5.583
$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,27.050,148.400,315.100,51.350,0.000,40.325,51.420,124.157,5.250,0.000,0.000,17.020,1201.503,9308.085,535.245,1627.917,298.413,33.356,1366.291,0.000,1584.581,0.000,36.315
$DEVICE_MAMPS,147.264,79.001,1361.425,867.477,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,443.845,407.410,367.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31782,605
$CFSIZE,260165632,257454080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,12,5,0
$GPS,141107,192501,6135.467,-822.539,116,1.5,116,-8.9